arXiv subjects

Jiarui Li

Publications and source records attributed to Jiarui Li.

At least 19 recordsLinked to original sources

arXiv2026

Physical AI: Concepts, Techniques, and Challenges

In recent years, physical artificial intelligence (physical AI) has experienced rapid development, capturing significant attention in academia and industry. However, the field has yet to reach consensus on its definition, technical landscape, and core challenges. To address this gap, this monograph seeks to define physical AI, present its technical landscape, and examine each key technical subfield in depth. In doing so, it establishes a unified framework for Physical AI: artificial systems that perceive, model, and act upon the physical world through continuous feedback under real-world constraints. Further, this monograph distinguishes physical AI from conventional digital AI, embodied AI, cyber-physical systems, and digital twins. It develops the foundations of physical AI across physics, control, cognition, learning, and reasoning. It reviews key methodologies, including multimodal perception, physical data and simulation, world models, embodied foundation models, motor-control systems, multi-agent coordination, and hardware-software co-design. Furthermore, it examines applications spanning robotics, manufacturing, infrastructure, scientific experimentation, and autonomous services. Particular attention is given to sim-to-real transfer, reliability, real-time execution, evaluation, safety, governance, and long-term deployment. By connecting perception, prediction, decision-making, action, and adaptation in a closed loop, this monograph identifies the technical challenges and research directions required to advance from narrow automation toward more generalizable physical AI and, ultimately, physical artificial general intelligence (Physical AGI).

cs.AI↗

arXiv2026

3DTCR: Vortex-following generative reconstruction improves tropical cyclone intensity prediction from global AI weather forecasts

Global numerical weather prediction (NWP) and artificial intelligence (AI) models often underestimate tropical cyclone (TC) intensity, partly because coarse grids underresolve fine-scale three-dimensional inner-core structures that influence TC intensity evolution. Kilometer-scale NWP simulations can better resolve these structures but are too costly for operational use, which also makes high-resolution TC data limited. Here we construct a 3-km, TC-centered dataset for 2018--2024 using the Weather Research and Forecasting (WRF) model and develop 3DTCR, a vortex-following generative framework that reconstructs three-dimensional TC structure from FuXi global forecasts. 3DTCR combines conditional flow matching (CFM) with two-stage training to learn a coarse-to-fine mapping from center-aligned reanalysis simulation pairs and then adapt it to forecast inputs through latent space alignment. Evaluated on 2024 western North Pacific (WNP) forecasts, 3DTCR reduces the root mean square error (RMSE) and the magnitude of the mean bias error (MBE) in maximum 10-m wind speed by 36.5% and 60.7% relative to FuXi, and by 8.9% and 28.2% relative to the European Centre for Medium-Range Weather Forecasts high-resolution system (ECMWF-HRES), respectively. Case studies suggest that reconstructions capture wind gradients between the eye and eyewall, vertical structure of horizontal winds, and vortex asymmetries, while inheriting the FuXi-predicted TC tracks. 3DTCR generates 5-day TC-centered atmospheric fields in approximately 3 minutes on one GPU, whereas a full-basin 3-km WRF simulation takes about 400 hours on 32 CPU cores. These results demonstrate that such a vortex-following generative reconstruction can add localized three-dimensional detail to global forecasts and improve TC intensity prediction without basin-wide kilometer-scale numerical integration.

cs.LG↗

arXiv2026

RoboBridge: A Self-Evolving Embodied Agent Framework for Sim-to-Real Transfer

A key challenge in bringing embodied intelligence into the real world is transferring capabilities from simulation to reality and enabling agents to continually adapt after deployment. End-to-end vision-language-action policies provide strong manipulation capabilities, but their transfer to physical environments typically relies on calibrating simulated visual and dynamical conditions, collecting additional target-domain demonstrations, and optimizing the policy through further training. Tool-using embodied agents offer flexible task orchestration, yet existing systems primarily emphasize task execution and experience reuse within a given environment, with limited support for transferring procedural knowledge and continuously adapting it across simulation and reality. We propose RoboBridge, a framework that treats sim-to-real transfer as the continued adaptation of executable task skills. The agent represents task knowledge as procedures connecting task intent, observations, tool operations, and outcome verification. Interaction feedback is used to generate candidate skill revisions, which are evaluated before being persisted or rejected. A pretrained vision-language-action policy is exposed as a reusable action tool and enhanced with inference-time guidance, enabling fine-grained execution without retraining the underlying policy. RoboBridge grounds transferable skills in task semantics and interaction interfaces shared across simulation and reality. This representation preserves reusable task structure while allowing environment-dependent operations to be selectively revised through real-world execution feedback. We evaluate the framework on LIBERO-PRO and corresponding physical tasks, studying both skill evolution and post-transfer adaptation. Our framework provides a route from one-shot policy deployment to continual procedural learning across environments.

cs.RO↗

arXiv2026

Explainability from Training with Applications to TCR-Epitope Prediction

Deep learning models have achieved strong performance in artificial intelligence for science, yet their black-box nature limits our understanding of how they learn scientific tasks. Existing methods for interpretability provide limited insight into how models organize evidence and evolve during learning. We introduce explainability from training (EFT), a model-agnostic paradigm that traces model interpretation during training to explain why models rely on specific features and how they organize these features as predictive evidence. We apply EFT to four state-of-the-art T cell receptor (TCR)-epitope prediction models, TCR-SRIM, TULIP, MixTCRpred, and NetTCR-2.2, spanning post-hoc and interpret-by-design approaches as well as transformers and CNNs. To investigate how structural information affects model explanations, we introduce a benchmark, TCR-XAI2, containing 388 unique experimentally resolved TCR-epitope structures, complemented by structures predicted using AlphaFold3, Boltz-2, TCRModel2, tFold-TCR, and OpenFold3. Using EFT with TCR-XAI2, we demonstrate that (1) CNN and transformer models exhibit distinct learning trajectories; (2) TCR $α$ and $β$ evidence can conflict during learning, limiting the benefits of jointly modeling both chains, while MHC information mitigates this; and (3) real versus predicted structural data for TCR-epitope prediction exhibits distinct TCR and peptide feature preferences as well as differing trajectories of model certainty.

cs.LG↗

arXiv2026

Grow the Harness, Not the Context: From Strategy-Free Scaffolds to Reusable Specialist Agents

Large language model (LLM) agents often handle streams of related tasks, yet standard harnesses repeatedly ask the model to reconstruct the same control decisions inside each task's context. We study whether task feedback can instead turn recurring control into reusable executable code, while reserving LLM calls for task-specific semantic reasoning. We introduce Growing Harness, a failure-guided training paradigm that learns the agent harness itself from a strategy-free scaffold that exposes fixed model and tool interfaces but encodes no task-solving controller. Function-level execution traces localize each failure to a bounded code surface, an optimizer repairs a window of failures jointly, and a success-first held-out gate rolls back repair sequences that harm prior capability. Accepted edits accumulate in one shared harness, allowing its control structure to emerge from task feedback. Across BrowseComp-Plus and WebArena-Verified with three deployment models from 4B to 120B parameters, Growing Harness achieves the highest mean success in five of six benchmark-model settings and trails the best mean by 0.7 pp. in the sixth. Relative to a Tool-Calling agent, it reduces LLM calls by 76.0-91.8% and deployed-agent inference cost by 74.4-98.6%. On WebArena-Verified, its success remains 44.7-45.3% across model scales, whereas Tool-Calling falls to 6.7% with the 4B model. Ablations show that trace-local edits, joint repair, and gate-based rollback each improve final success. These results show that persistent program growth can move recurring control out of model context and into low-cost code, yielding reusable specialist agents that remain effective with smaller deployment models.

cs.AI↗

arXiv2026

Designing heterostructures to control oxygen stoichiometry in helimagnetic perovskite strontium ferrite

A large challenge in determining the physics of helimagnetic SrFeO3 is in stabilizing the stoichiometric chemical phase over long enough time scales to conduct extensive measurements. Degradation in SrFeO3 manifests mainly as a crossover from metallic to insulating behavior. Using a combination of electronic transport and density functional theory, we show that this degradation is dominated by oxygen loss, possibly on the order of one percent. We further demonstrate that high quality SrFeO3 thin films can be stabilized long-term by combining a nanoscale band insulator capping layer with an ex situ ozone anneal. We show that this produces a nearly-pristine cation sublattice and preserves metallicity for at least several weeks. These results establish a reliable pathway for producing chemically stable SrFeO3 thin films, enabling reproducible studies of its unusual helimagnetism.

cond-mat.mtrl-sci↗

arXiv2026

A Finger on the Scale: Covert Policy Steering through Agentic Skills

Reusable agent skills extend large language model (LLM) agents with task procedures, tool-use guidance, and output constraints. Yet these skills also act as externalized behavioral policies, which create a supply-chain risk: a third-party skill may preserve the declared task and valid output interface while covertly redirecting agent decisions toward an undisclosed objective. We formalize Skill Policy Integrity, which requires a Skill-induced policy to remain aligned with its declared functionality and the user-authorized objective. We further present SkillShift, a constrained black-box framework for covert policy steering without explicit target command injection or task hijacking. It combines semantically plausible policy edits with hierarchical validation, failure-guided optimization, and strategy compression to preserve effectiveness, output validity, transferability, and inconspicuousness. We instantiate this threat in agentic commerce and software dependency use, with SkillShift achieving attacker-favored selection rates of 81.33% and 63.33% while maintaining a 100% utility-preserving rate. The frozen policies also transfer without further optimization across heterogeneous LLM backends and agent environments. Moreover, the evaluated scanners fail to detect the constructed skills, motivating behavioral auditing of reusable skills as agent policy artifacts.

cs.CR↗

arXiv2026

Send a SCOUT First: Pre-hoc Reasoning for Adaptive Detector Allocation in Prompt-Injection Defense

Prompt-injection detectors are heterogeneous: each is strong on a different slice of attacks, and none is always reliable. Yet existing systems still treat detection as a fixed single-detector pipeline, committing every request to one detector's blind spots. We reframe defense as detector allocation: given a heterogeneous pool, decide per request which detectors to run and whether to escalate to an LLM judge. Our framework SCOUT (Scalable and Controllable Outcome-prediction for Uncertainty-aware Triage) makes this decision dynamic by predicting each detector's per-sample reliability and latency from how it behaved on similar past inputs, and exposes a single safety-utility threshold to the operator (where utility bundles benign-pass rate and wall-clock). To evaluate this setting, we build SCOUT-450, a benchmark that captures the structurally complex, agent-facing injections that older prompt-injection sets under-represent. On SCOUT-450, a safety-oriented operating point reduces attack-success rate by 46% and total wall-clock by 40% relative to an always-on GPT-4o judge, at a 5.1-point benign-utility drop. SCOUT also transfers to three external benchmarks (BIPIA, IPI, and IHEval), improving the safety-utility frontier.

cs.CR↗

arXiv2026

Dual-Informed Vertical Expansion for Multi-Objective Node Selection in Anytime Conflict-Based Search

Conflict-Based Search (CBS) is a leading exact algorithm for Multi-Agent Path Finding (MAPF), but its high-level node-selection rule is usually treated as a fixed implementation detail. Standard best-first selection is strong for minimizing expanded nodes and closing the optimality certificate, yet it can maintain a large frontier, interrupt parent-child expansion sequences, and provide no feasible incumbent until termination. This paper studies node selection as a first-class design choice for exact CBS. We introduce Dual-Informed Vertical Expansion (DIVE), a policy that is best-bound between dives and depth-oriented within a dive. DIVE starts each dive from the current best-bound frontier, follows promising children to exploit parent-child locality, and uses incumbent pruning to limit unproductive excursions. We formalize CBS node selection through a branch-and-bound view, prove that the traversal policy can be changed without affecting exactness, and analyze the resulting trade-offs among expanded nodes, dive breaks, queue size, and primal-dual bound progress. The analysis predicts three complementary extremes. Best-first search is node efficient, iterative deepening is memory efficient, and DIVE is dive efficient while retaining regular best-bound reanchoring. Experiments on standard MAPF benchmarks support this trade-off map. DIVE consistently reduces dive breaks, provides early incumbents with certified gaps, uses substantially less queue memory than best-first search, and benefits from warm starts and simple responsive variants in dense or memory-limited regimes.

cs.RO↗

arXiv2026

PL-NBA: A Possession-level Universal Basketball Video Dataset Supporting Multiple Visual Understanding Tasks

Visual understanding in sports has emerged as a hot topic in computer vision in recent years. Most existing basketball video datasets adopt single action or activity as sample, which can neither preserve the temporal continuity of game events nor support complex tasks such as action anticipation. To address this issue, this paper constructs the first possession-level basketball video dataset (PL-NBA), in which each sample is composed of a complete NBA offensive possession. Collected from 60 NBA games, PL-NBA contains 11,000 valid offensive possession clips and 31,567 annotated events with player names, captions, event types and timestamps. Each video clip includes multiple events and preserves the continuity of events, which is helpful for analysis of tactic. Experiment is conducted on multiple visual understanding tasks, including event recognition, video captioning, temporal action localization and action anticipation. Experimental results show that existing methods achieve limited performance on above four tasks, demonstrating that PL-NBA is a challenging benchmark for sports video understanding.

cs.CV↗

arXiv2026

ShortOPD: Recovering Pruned LLMs with Short-to-Long On-Policy Distillation

Structured pruning is a hardware-friendly way to compress LLMs, but it is mostly validated on multiple-choice recognition tasks, while the same compressed checkpoints can collapse on the free-form generation that deployment actually requires. Two observations trace this gap. First, greedy \textsc{pass}@$1$ nearly vanishes after compression, yet \textsc{pass}@$k$ recovers substantially under repeated sampling: useful generations are demoted, not erased. Second, the recoverable regime fails mainly through suffix repetition. Recovery should therefore train on the compressed model's own on-policy states with dense token-level supervision, which On-Policy Distillation (OPD) provides by reusing the pre-compression model as a frozen teacher. However, long on-policy rollouts spend early recovery budget on low-information repetitive suffixes, delaying loss descent. To mitigate this waste, we propose \textbf{\shortopd}, a short-to-long OPD schedule that detects teacher-confirmed repetitive suffixes, treats the surviving prefix as each rollout's effective length, and allocates future rollout budgets to the effective lengths the policy can currently use. Across math, code, and open-ended generation, \shortopd\ raises the compressed model's score to about $9\times$ its unrecovered value and $1.6$--$4.4\times$ standard recovery recipes (SFT w/o KD, KD, and SeqKD), and it matches a fixed $8192$-token rollout horizon within two points using a quarter of the training time ($8.5$ vs.\ $35.9$ hours) and $71\%$ fewer rollout tokens. We hope this recipe helps move structured pruning beyond marginal gains on perplexity and multiple-choice benchmarks, a step closer to deployment-ready generation quality.

cs.LG↗

arXiv2026

Understanding How University Guidelines Address Privacy and Security Issues of Generative AI in Academic Settings

Generative artificial intelligence (GenAI) is transforming the educational landscape by augmenting learning paradigms. However, state-of-the-art GenAI systems driving this transformation are predominantly developed and controlled by a small number of private companies; there is little clarity about their data retention practices and limited user control over inputs and outputs. In the context of education, end-users lack the awareness of how to safely adopt GenAI in learning. This raises significant concerns, particularly when proprietary or personally identifiable educational information may be shared with external GenAI platforms. In response to these concerns, universities are developing their own usage guidelines and policies to balance innovation with academic integrity, privacy, and security. Our research seeks to understand these emerging guidelines, with a particular focus on the privacy and security implications of integrating GenAI tools into academic environments - an area that has received little attention to date. We conducted an in-depth qualitative analysis of GenAI-usage guidelines from 43 universities across 12 countries. Our findings reveal several key challenges, including barriers faced by universities in deploying privacy measures and adopting existing security frameworks. These insights lay the groundwork for designing more robust, privacy-aware GenAI guidelines for higher education.

cs.HC↗

arXiv2026

Collective Magnetic Excitations in a Photo-excited Electron-doped Cuprate Superconductor

Elucidating the microscopic behavior of cuprates under ultrafast photoexcitation offers critical insights into their highly correlated out-of-equilibrium states. Although quasiparticle dynamics have been investigated extensively, the behavior of collective magnetic excitations remains comparatively unexplored. Here, we use time-resolved resonant inelastic X-ray scattering (trRIXS) at the Cu $L_3$-edge to track the collective magnetic excitations (paramagnons) in an optimally electron-doped cuprate driven out-of-equilibrium by a femtosecond pump laser pulse. Upon pumping, we observed an anti-Stokes signal associated with paramagnon generation, which modifies the paramagnon dispersion near the zone center, although the bandwidth remained unchanged. Moreover, the spectral weight exhibits a momentum-dependent variation across the Brillouin zone. The light-driven boost of the paramagnon population and the resulting spectral-weight transfer could provide new leverage to manipulate the properties of cuprates.

cond-mat.mtrl-sci↗

arXiv2026

Banshee: Target Switch Attacks on Gimbal-Stabilized Visual Tracking Systems via Acoustic Injection

Gimbal-stabilized visual tracking is critical for modern autonomous systems such as Unmanned Aerial Vehicles (UAVs). While prior work shows acoustic signals can disturb gimbal internals, the impact of such attacks on real-world applications like UAV tracking and following remains underexplored. Existing demonstrations largely overlook practical challenges for real-world attacks, such as object-motion uncertainty and runtime latency. To bridge this gap, we present Banshee, the first physically realizable attack that induces target switching in UAV visual tracking systems by exploiting acoustic vulnerabilities in gimbal-camera systems. Banshee generates carefully crafted acoustic waveforms that induce optimized adversarial gimbal oscillations, causing directionally biased camera-view drifts that break inter-frame target associations. Consequently, the onboard tracker is driven to switch from the original target to an attacker-selected object with high probability, with occasional target loss. Banshee achieves a 93.6% success rate in simulation across two commercial gimbal systems and five trackers. Real-world benchtop and in-flight black-box attacks against a commercial drone across varied scenarios show an overall 95.5% attack success rate. Our results reveal a practical cross-domain vulnerability between acoustics and vision, highlighting the need for robust designs of gimbal systems and applications. Our code is available at: https://github.com/U1ltra/Banshee.

cs.CV↗

arXiv2026

Structure-Regularized Interpretable TCR-Epitope Prediction

T cell receptor (TCR)-epitope binding prediction is essential for understanding adaptive immunity and developing immunotherapies. Existing sequence- and structure-based models often generalize poorly to unseen epitopes and provide limited interpretability. Furthermore, the impact of generated structures on model learning remains unclear. We present TCR-SRIM, a structure-regularized interpretable-by-design model that combines protein language model embeddings with interpretable contact prototypes to capture residue-level TCR-epitope interactions. TCR-SRIM achieves state-of-the-art predictive performance and improved interpretation quality on the TCR-XAI benchmark. Using its inherent interpretability, we further evaluate the effect of generated structures on model learning. While structures predicted by AlphaFold3, TCRModel2, and tFold-TCR yield competitive performance, they lead to less accurate interaction patterns and reduced binding-site diversity than experimentally-resolved structures. Our results highlight limitations of current structure prediction models for TCR-epitope learning and demonstrate the value of interpretable-by-design models for studying generated biological structures.

q-bio.BM↗

arXiv2026

SpaceDG: Benchmarking Spatial Intelligence under Visual Degradation

Multimodal Large Language Models (MLLMs) have made rapid progress in spatial intelligence, yet existing spatial reasoning benchmarks largely assume pristine visual inputs and overlook the degradations that commonly occur in real-world deployment, such as motion blur, low light, adverse weather, lens distortion, and compression artifacts. This raises a fundamental question: how robust is the spatial intelligence of current MLLMs when visual observations are imperfect? To answer this question, we introduce SpaceDG, the first large-scale dataset for degradation-aware spatial understanding. It is constructed with a physically grounded degradation synthesis engine that embeds degradation formation process into 3D Gaussian Splatting (3DGS) rendering, enabling realistic simulation of nine degradation types. The resulting dataset contains approximately 1M QA pairs from nearly 1,000 indoor scenes. We further introduce SpaceDG-Bench, an human-verified benchmark with 1,102 questions spanning 11 reasoning categories and 9 visual degradation types, yielding over 10K VQA instances. Evaluating 25 open- and closed-source MLLMs reveals that visual degradations consistently and substantially impair spatial reasoning, exposing a critical robustness gap. Finally, we show that finetuning on SpaceDG markedly improves degradation robustness and can even surpass human performance under degraded conditions without any performance drop on clean images, highlighting the promise of degradation-aware training for robust spatial intelligence.

cs.CV↗

arXiv2026

Adaptive-Horizon Conflict-Based Search for Closed-Loop Multi-Agent Path Finding

Multi-Agent Path Finding (MAPF) is a core coordination problem for large robot fleets in automated warehouses and logistics. Existing approaches are typically either open-loop planners, which must compute complete trajectories before execution and therefore may incur substantial planning latency before actions can be taken, or closed-loop heuristics without reliable performance guarantees, limiting their use in safety-critical deployments. This paper presents Anytime Closed-Loop Conflict-Based Search (ACCBS), a closed-loop algorithm built on a finite-horizon variant of Conflict-Based Search (CBS) with a horizon-changing mechanism inspired by iterative horizon-deepening in Model Predictive Control (MPC). ACCBS dynamically adjusts the planning horizon based on the available computational budget, and reuses a single constraint tree to enable seamless transitions between horizons. As a result, it produces high-quality feasible solutions quickly while being asymptotically optimal as the budget increases, exhibiting anytime behavior. Extensive case studies demonstrate that ACCBS achieves a favorable balance between computational efficiency, solution quality, and execution flexibility, while naturally accommodating online disturbances through its closed-loop formulation.

cs.RO↗

arXiv2026

Interlayer Five-Spin Polaron in Superconducting Bilayer Nickelates

The discovery of high-$T_c$ superconductivity in Ruddlesden-Popper nickelates has sparked substantial effort towards understanding unconventional electronic states beyond a traditional cuprate-like $d^9$ configurational ground state. An understanding of the interplay between magnetic ground states and multi-orbital physics is key for establishing a microscopic mechanism for superconductivity. In the bilayer nickelates, spin density wave (SDW) order is a prominent feature in the non-superconducting regime, yet its relation to superconducting pairing remains an open question. Here, we use resonant x-ray scattering to examine the existence of SDW order in superconducting bilayer nickelate thin films La$_2$PrNi$_2$O$_7$ (LPNO). Comparing superconducting and oxygen-deficient LPNO thin films, we find that superconductivity occurs in SDW-free, oxygen-stoichiometric regions, whereas oxygen-deficiency promotes SDW order, indicating phase segregation of SDW and superconductivity. Furthermore, Ni-$L_3$ and O-$K$ edge spectroscopy reveals distinct electronic structures - particularly along the $c$-axis - between the two regions. Our results identify oxygen stoichiometry as a key parameter controlling interlayer coupling and thus the electronic structure of bilayer nickelates. In concert with theory, we propose that a ligand hole primarily resides at the inter-bilayer apical oxygen, forming a robust interlayer five-spin polaron state, which serves as the ground state for superconducting bilayer nickelates.

cond-mat.str-el↗