arXiv subjects

Kevin Wang

Publications and source records attributed to Kevin Wang.

At least 37 records · Page 2Linked to original sources

arXiv2026

XRZero-G0: Pushing the Frontier of Dexterous Robotic Manipulation with Interfaces, Quality and Ratios

The acquisition of high-quality, action-aligned demonstration data remains a fundamental bottleneck in scaling foundation models for dexterous robot manipulation. Although robot-free human demonstrations (e.g., the UMI paradigm) offer a scalable alternative to traditional teleoperation, current systems are constrained by sub-optimal hardware ergonomics, open-loop workflows, and a lack of systematic data-mixing strategies. To address these limitations, we present XRZero-G0, a hardware-software co-designed system for embodied data collection and policy learning. The system features an ergonomic, virtual reality interface equipped with a top-view camera and dual specialized grippers to directly improve collection efficiency. To ensure dataset reliability, we propose a closed-loop collection, inspection, training, and evaluation pipeline for non-proprioceptive data. This workflow achieves an 85% data validity rate and establishes a transparent mechanism for quality control. Furthermore, we investigate the empirical scaling behaviors and optimal mixing ratios of robot-free data. Extensive experiments indicate that combining a minimal volume of real-robot data with large-scale robot-free data (e.g., a 10:1 ratio) achieves performance comparable to exclusively real-robot datasets, while reducing acquisition costs by a factor of twenty. Utilizing XRZero-G0, we construct a 2,000-hour robot-free dataset that enables zero-shot cross-embodiment transfer to a target physical robot, demonstrating a highly scalable methodology for generalized real-world manipulation.Our project repository: https://github.com/X-Square-Robot/XRZero-G0

cs.RO↗

arXiv2026

HASS: Hierarchical Simulation of Logopenic Aphasic Speech for Scalable PPA Detection

Building a diagnosis model for primary progressive aphasia (PPA) has been challenging due to the data scarcity. Collecting clinical data at scale is limited by the high vulnerability of clinical population and the high cost of expert labeling. To circumvent this, previous studies simulate dysfluent speech to generate training data. However, those approaches are not comprehensive enough to simulate PPA as holistic, multi-level phenotypes, instead relying on isolated dysfluencies. To address this, we propose a novel, clinically grounded simulation framework, Hierarchical Aphasic Speech Simulation (HASS). HASS aims to simulate behaviors of logopenic variant of PPA (lvPPA) with varying degrees of severity. To this end, semantic, phonological, and temporal deficits of lvPPA are systematically identified by clinical experts, and simulated. We demonstrate that our framework enables more accurate and generalizable detection models.

eess.AS↗

arXiv2026

MEMO: Memory-Augmented Model Context Optimization for Robust Multi-Turn Multi-Agent LLM Games

Multi-turn, multi-agent LLM game evaluations often exhibit substantial run-to-run variance. In long-horizon interactions, small early deviations compound across turns and are amplified by multi-agent coupling. This biases win rate estimates and makes rankings unreliable across repeated tournaments. Prompt choice worsens this further by producing different effective policies. We address both instability and underperformance with MEMO (Memory-augmented MOdel context optimization), a self-play framework that optimizes inference-time context by coupling retention and exploration. Retention maintains a persistent memory bank that stores structured insights from self-play trajectories and injects them as priors during later play. Exploration runs tournament-style prompt evolution with uncertainty-aware selection via TrueSkill, and uses prioritized replay to revisit rare and decisive states. Across five text-based games, MEMO raises mean win rate from 25.1% to 49.5% for GPT-4o-mini and from 20.9% to 44.3% for Qwen-2.5-7B-Instruct, using $2,000$ self-play games per task. Run-to-run variance also drops, giving more stable rankings across prompt variations. These results suggest that multi-agent LLM game performance and robustness have substantial room for improvement through context optimization. MEMO achieves the largest gains in negotiation and imperfect-information games, while RL remains more effective in perfect-information settings. All code is open-source and available here: https://github.com/openverse-ai/MEMO

cs.AI↗

arXiv2026

Spectrum and low-temperature bulk properties of triangular quantum spin liquid candidate NaYbSe$_2$

We report neutron scattering, pressure-dependent AC calorimetry, and AC magnetic susceptibility measurements of triangular lattice NaYbSe$_2$. We observe a continuum of scattering, which is reproduced by matrix product simulations, and no phase transition is detected in any bulk measurements. Comparison to heat capacity simulations suggest the material is within the Heisenberg spin liquid phase. AC Susceptibility shows a frequency-dependent peak at 40 mK, as has been observed in several triangular magnets.

cond-mat.str-el↗

arXiv2026

Ultraslow optical centrifuge with arbitrarily low rotational acceleration

We outline the design and characterization of a laser pulse shaper, which creates an ``ultraslow optical centrifuge'' - a linearly polarized field whose polarization vector rotates with arbitrarily low angular acceleration. By directly recording this rotation in time with nonlinear cross-correlation, we demonstrate the tunability of such centrifuge (both in terms of its initial and its final rotational frequencies) in the range of accelerations which are three orders of magnitude lower than those available with a conventional centrifuge design. We showcase the functionality of the ultraslow centrifuge by spinning CS$_2$ molecules in a molecular jet. Utilizing the extremely low angular acceleration to control molecular rotation inside viscous media is a promising application for this unique optical tool.

physics.chem-ph↗

arXiv2026

Nonlinear light cone spreading of correlations in a triangular quantum magnet: a hard quantum simulation target

Dynamical correlations of quantum many-body systems are typically analyzed in the momentum space and frequency basis. However, quantum simulators operate more naturally in real space, real time settings. Here we analyze the real-space time-dependent van Hove spin correlations $G(r,t)$ of the 2D triangular antiferromagnet KYbSe$_2$ as obtained from high-resolution Fourier-transformed neutron spectroscopy. We compare this to $G(r,t)$ from five theoretical simulations of the well-established spin Hamiltonian. Our analysis reveals non-linear sub-ballistic low-temperature transport in KYbSe$_2$ which none of the current state-of-the-art numerical or field-theoretical methods reproduce. Our observation signals an emergent collective hydrodynamics, perhaps associated with the quantum critical phase of a quantum spin liquid, and provides an ideal benchmark for future quantum simulations.

cond-mat.str-el↗

arXiv2026

Neurosymbolic LoRA: Why and When to Tune Weights vs. Rewrite Prompts

Large language models (LLMs) can be adapted either through numerical updates that alter model parameters or symbolic manipulations that work on discrete prompts or logical constraints. While numerical fine-tuning excels at injecting new factual knowledge, symbolic updates offer flexible control of style and alignment without retraining. We introduce a neurosymbolic LoRA framework that dynamically combines these two complementary strategies. Specifically, we present a unified monitoring signal and a reward-based classifier to decide when to employ LoRA for deeper factual reconstruction and when to apply TextGrad for token-level edits. Our approach remains memory-efficient by offloading the symbolic transformations to an external LLM only when needed. Additionally, the refined prompts produced during symbolic editing serve as high-quality, reusable training data, an important benefit in data-scarce domains like mathematical reasoning. Extensive experiments across multiple LLM backbones show that neurosymbolic LoRA consistently outperforms purely numerical or purely symbolic baselines, demonstrating superior adaptability and improved performance. Our findings highlight the value of interleaving numerical and symbolic updates to unlock a new level of versatility in language model fine-tuning.

cs.AI↗

arXiv2025

Measuring Aleatoric and Epistemic Uncertainty in LLMs: Empirical Evaluation on ID and OOD QA Tasks

Large Language Models (LLMs) have become increasingly pervasive, finding applications across many industries and disciplines. Ensuring the trustworthiness of LLM outputs is paramount, where Uncertainty Estimation (UE) plays a key role. In this work, a comprehensive empirical study is conducted to examine the robustness and effectiveness of diverse UE measures regarding aleatoric and epistemic uncertainty in LLMs. It involves twelve different UE methods and four generation quality metrics including LLMScore from LLM criticizers to evaluate the uncertainty of LLM-generated answers in Question-Answering (QA) tasks on both in-distribution (ID) and out-of-distribution (OOD) datasets. Our analysis reveals that information-based methods, which leverage token and sequence probabilities, perform exceptionally well in ID settings due to their alignment with the model's understanding of the data. Conversely, density-based methods and the P(True) metric exhibit superior performance in OOD contexts, highlighting their effectiveness in capturing the model's epistemic uncertainty. Semantic consistency methods, which assess variability in generated answers, show reliable performance across different datasets and generation metrics. These methods generally perform well but may not be optimal for every situation.

cs.CL↗

arXiv2025

Superdiffusion resilience in Heisenberg Chains with 2D interactions on a quantum processor

Observing superdiffusive scaling in the spin transport of the integrable 1D Heisenberg model is one of the key discoveries in non-equilibrium quantum many-body physics. Despite this remarkable theoretical development and the subsequent experimental observation of the phenomena in KCuF$_3$, real materials are often imperfect and contain integrability breaking interactions. Understanding the effect of such terms on the superdiffusion is crucial in identifying connections to such materials. Current quantum hardware has already ascertained its utility in studying such non-equilibrium phenomena by simulating the superdiffusion of the 1D Heisenberg model. In this work, we perform a quantum simulation of the superdiffusion breakdown by generalizing the superdiffusive Floquet-type 1D Heisenberg model to a general 2D model. We comprehensively study the effect of different 2D interactions on the superdiffusion breakdown by tuning up their strength from zero, corresponding to the 1D Heisenberg chain, to finite nonzero values. We observe that certain 2D interactions are more resilient against superdiffusion breakdown than others and that the $SU(2)$ preserving 2D interaction has the highest resilience among all the 2D interactions we study. Importantly, this observed resilience has direct implications for sustaining superdiffusive spin transport in two-dimensional lattices. We reason out the relative resilience against the superdiffusion breakdown through an analysis of the scattering coefficients off the 2D interaction in otherwise 1D chains. The relative resilience of different interaction types against superdiffusion breakdown was also captured in quantum hardware with remarkable accuracy, further establishing the current quantum hardware's applicability in simulating interesting non-equilibrium quantum many-body phenomena.

quant-ph↗

arXiv2025

SPIN-Bench: How Well Do LLMs Plan Strategically and Reason Socially?

Reasoning and strategic behavior in social interactions is a hallmark of intelligence. This form of reasoning is significantly more sophisticated than isolated planning or reasoning tasks in static settings (e.g., math problem solving). In this paper, we present Strategic Planning, Interaction, and Negotiation (SPIN-Bench), a new multi-domain evaluation designed to measure the intelligence of strategic planning and social reasoning. While many existing benchmarks focus on narrow planning or single-agent reasoning, SPIN-Bench combines classical PDDL tasks, competitive board games, cooperative card games, and multi-agent negotiation scenarios in one unified framework. The framework includes both a benchmark as well as an arena to simulate and evaluate the variety of social settings to test reasoning and strategic behavior of AI agents. We formulate the benchmark SPIN-Bench by systematically varying action spaces, state complexity, and the number of interacting agents to simulate a variety of social settings where success depends on not only methodical and step-wise decision making, but also conceptual inference of other (adversarial or cooperative) participants. Our experiments reveal that while contemporary LLMs handle basic fact retrieval and short-range planning reasonably well, they encounter significant performance bottlenecks in tasks requiring deep multi-hop reasoning over large state spaces and socially adept coordination under uncertainty. We envision SPIN-Bench as a catalyst for future research on robust multi-agent planning, social reasoning, and human--AI teaming. Project Website: https://spinbench.github.io/

cs.AI↗

arXiv2025

Dstack: A Zero Trust Framework for Confidential Containers

Web3 applications require execution platforms that maintain confidentiality and integrity without relying on centralized trust authorities. While Trusted Execution Environments (TEEs) offer promising capabilities for confidential computing, current implementations face significant limitations when applied to Web3 contexts, particularly in security reliability, censorship resistance, and vendor independence. This paper presents dstack, a comprehensive framework that transforms raw TEE technology into a true Zero Trust platform. We introduce three key innovations: (1) Portable Confidential Containers that enable seamless workload migration across heterogeneous TEE environments while maintaining security guarantees, (2) Decentralized Code Management that leverages smart contracts for transparent governance of TEE applications, and (3) Verifiable Domain Management that ensures secure and verifiable application identity without centralized authorities. These innovations are implemented through three core components: dstack-OS, dstack-KMS, and dstack-Gateway. Together, they demonstrate how to achieve both the performance advantages of VM-level TEE solutions and the trustless guarantees required by Web3 applications. Our evaluation shows that dstack provides comprehensive security guarantees while maintaining practical usability for real-world applications.

cs.CR↗

arXiv2025

Enhancing Self-Driving Segmentation in Adverse Weather Conditions: A Dual Uncertainty-Aware Training Approach to SAM Optimization

Recent advances in vision foundation models, such as the Segment Anything Model (SAM) and its successor SAM2, have achieved state-of-the-art performance on general image segmentation benchmarks. However, these models struggle in adverse weather conditions where visual ambiguity is high, largely due to their lack of uncertainty quantification. Inspired by progress in medical imaging, where uncertainty-aware training has improved reliability in ambiguous cases, we investigate two approaches to enhance segmentation robustness for autonomous driving. First, we introduce a multi-step finetuning procedure for SAM2 that incorporates uncertainty metrics directly into the loss function, improving overall scene recognition. Second, we adapt the Uncertainty-Aware Adapter (UAT), originally designed for medical image segmentation, to driving contexts. We evaluate both methods on CamVid, BDD100K, and GTA driving datasets. Experiments show that UAT-SAM outperforms standard SAM in extreme weather, while SAM2 with uncertainty-aware loss achieves improved performance across diverse driving scenes. These findings underscore the value of explicit uncertainty modeling for safety-critical autonomous driving in challenging environments.

cs.CV↗

arXiv2025

M2C: An Open-Source Software for Multiphysics Simulation of Compressible Multi-Material Flows and Fluid-Structure Interactions

M2C (Multiphysics Modeling and Computation) is an open-source software for simulating multi-material fluid flows and fluid-structure interactions under extreme conditions, such as high pressures, high temperatures, shock waves, and large interface deformations. It employs a finite volume method to solve the compressible Navier-Stokes equations and supports a wide range of thermodynamic equations of state. M2C incorporates models of laser radiation and absorption, phase transition, and ionization, coupled with continuum dynamics. Multi-material interfaces are evolved using a level set method, while fluid-structure interfaces are tracked using an embedded boundary method. Advective fluxes across interfaces are computed using FIVER (FInite Volume method based on Exact multi-material Riemann problems). For two-way fluid-structure interaction, M2C is coupled with the open-source structural dynamics solver Aero-S using a partitioned procedure. The M2C code is written in C++ and parallelized with MPI for high-performance computing. The source package includes a set of example problems for demonstration and user training. Accuracy is verified through benchmark cases such as Riemann problems, interface evolution, single-bubble dynamics, and ionization response. Several multiphysics applications are also presented, including laser-induced thermal cavitation, explosion and blast mitigation, and hypervelocity impact.

physics.flu-dyn↗

arXiv2025

Can Test-Time Scaling Improve World Foundation Model?

World foundation models, which simulate the physical world by predicting future states from current observations and inputs, have become central to many applications in physical intelligence, including autonomous driving and robotics. However, these models require substantial computational resources for pretraining and are further constrained by available data during post-training. As such, scaling computation at test time emerges as both a critical and practical alternative to traditional model enlargement or re-training. In this work, we introduce SWIFT, a test-time scaling framework tailored for WFMs. SWIFT integrates our extensible WFM evaluation toolkit with process-level inference strategies, including fast tokenization, probability-based Top-K pruning, and efficient beam search. Empirical results on the COSMOS model demonstrate that test-time scaling exists even in a compute-optimal way. Our findings reveal that test-time scaling laws hold for WFMs and that SWIFT provides a scalable and effective pathway for improving WFM inference without retraining or increasing model size. Project page: https://scalingwfm.github.io/.

cs.CV↗

arXiv2025

VideoLifter: Lifting Videos to 3D with Fast Hierarchical Stereo Alignment

Efficiently reconstructing 3D scenes from monocular video remains a core challenge in computer vision, vital for applications in virtual reality, robotics, and scene understanding. Recently, frame-by-frame progressive reconstruction without camera poses is commonly adopted, incurring high computational overhead and compounding errors when scaling to longer videos. To overcome these issues, we introduce VideoLifter, a novel video-to-3D pipeline that leverages a local-to-global strategy on a fragment basis, achieving both extreme efficiency and SOTA quality. Locally, VideoLifter leverages learnable 3D priors to register fragments, extracting essential information for subsequent 3D Gaussian initialization with enforced inter-fragment consistency and optimized efficiency. Globally, it employs a tree-based hierarchical merging method with key frame guidance for inter-fragment alignment, pairwise merging with Gaussian point pruning, and subsequent joint optimization to ensure global consistency while efficiently mitigating cumulative errors. This approach significantly accelerates the reconstruction process, reducing training time by over 82% while holding better visual quality than current SOTA methods.

cs.CV↗

arXiv2025

InstantSplat: Sparse-view Gaussian Splatting in Seconds

While neural 3D reconstruction has advanced substantially, its performance significantly degrades with sparse-view data, which limits its broader applicability, since SfM is often unreliable in sparse-view scenarios where feature matches are scarce. In this paper, we introduce InstantSplat, a novel approach for addressing sparse-view 3D scene reconstruction at lightning-fast speed. InstantSplat employs a self-supervised framework that optimizes 3D scene representation and camera poses by unprojecting 2D pixels into 3D space and aligning them using differentiable neural rendering. The optimization process is initialized with a large-scale trained geometric foundation model, which provides dense priors that yield initial points through model inference, after which we further optimize all scene parameters using photometric errors. To mitigate redundancy introduced by the prior model, we propose a co-visibility-based geometry initialization, and a Gaussian-based bundle adjustment is employed to rapidly adapt both the scene representation and camera parameters without relying on a complex adaptive density control process. Overall, InstantSplat is compatible with multiple point-based representations for view synthesis and surface reconstruction. It achieves an acceleration of over 30x in reconstruction and improves visual quality (SSIM) from 0.3755 to 0.7624 compared to traditional SfM with 3D-GS.

cs.CV↗

arXiv2025

FlexGS: Train Once, Deploy Everywhere with Many-in-One Flexible 3D Gaussian Splatting

3D Gaussian splatting (3DGS) has enabled various applications in 3D scene representation and novel view synthesis due to its efficient rendering capabilities. However, 3DGS demands relatively significant GPU memory, limiting its use on devices with restricted computational resources. Previous approaches have focused on pruning less important Gaussians, effectively compressing 3DGS but often requiring a fine-tuning stage and lacking adaptability for the specific memory needs of different devices. In this work, we present an elastic inference method for 3DGS. Given an input for the desired model size, our method selects and transforms a subset of Gaussians, achieving substantial rendering performance without additional fine-tuning. We introduce a tiny learnable module that controls Gaussian selection based on the input percentage, along with a transformation module that adjusts the selected Gaussians to complement the performance of the reduced model. Comprehensive experiments on ZipNeRF, MipNeRF and Tanks\&Temples scenes demonstrate the effectiveness of our approach. Code is available at https://flexgs.github.io.

cs.CV↗

arXiv2025

Approximating Nash Equilibria in General-Sum Games via Meta-Learning

Nash equilibrium is perhaps the best-known solution concept in game theory. Such a solution assigns a strategy to each player which offers no incentive to unilaterally deviate. While a Nash equilibrium is guaranteed to always exist, the problem of finding one in general-sum games is PPAD-complete, generally considered intractable. Regret minimization is an efficient framework for approximating Nash equilibria in two-player zero-sum games. However, in general-sum games, such algorithms are only guaranteed to converge to a coarse-correlated equilibrium (CCE), a solution concept where players can correlate their strategies. In this work, we use meta-learning to minimize the correlations in strategies produced by a regret minimizer. This encourages the regret minimizer to find strategies that are closer to a Nash equilibrium. The meta-learned regret minimizer is still guaranteed to converge to a CCE, but we give a bound on the distance to Nash equilibrium in terms of our meta-loss. We evaluate our approach in general-sum imperfect information games. Our algorithms provide significantly better approximations of Nash equilibria than state-of-the-art regret minimization techniques.

cs.GT↗