arXiv subjects

Liu Liu

Publications and source records attributed to Liu Liu.

At least 73 records · Page 4Linked to original sources

arXiv2026

IRIS-SLAM: Unified Geo-Instance Representations for Robust Semantic Localization and Mapping

Geometry foundation models have significantly advanced dense geometric SLAM, yet existing systems often lack deep semantic understanding and robust loop closure capabilities. Meanwhile, contemporary semantic mapping approaches are frequently hindered by decoupled architectures and fragile data association. We propose IRIS-SLAM, a novel RGB semantic SLAM system that leverages unified geometric-instance representations derived from an instance-extended foundation model. By extending a geometry foundation model to concurrently predict dense geometry and cross-view consistent instance embeddings, we enable a semantic-synergized association mechanism and instance-guided loop closure detection. Our approach effectively utilizes viewpoint-agnostic semantic anchors to bridge the gap between geometric reconstruction and open-vocabulary mapping. Experimental results demonstrate that IRIS-SLAM significantly outperforms state-of-the-art methods, particularly in map consistency and wide-baseline loop closure reliability.

cs.CV↗

arXiv2026

QuadFM: Foundational Text-Driven Quadruped Motion Dataset for Generation and Control

Despite significant advances in quadrupedal robotics, a critical gap persists in foundational motion resources that holistically integrate diverse locomotion, emotionally expressive behaviors, and rich language semantics-essential for agile, intuitive human-robot interaction. Current quadruped motion datasets are limited to a few mocap primitives (e.g., walk, trot, sit) and lack diverse behaviors with rich language grounding. To bridge this gap, we introduce Quadruped Foundational Motion (QuadFM) , the first large-scale, ultra-high-fidelity dataset designed for text-to-motion generation and general motion control. QuadFM contains 11,784 curated motion clips spanning locomotion, interactive, and emotion-expressive behaviors (e.g., dancing, stretching, peeing), each with three-layer annotation-fine-grained action labels, interaction scenarios, and natural language commands-totaling 35,352 descriptions to support language-conditioned understanding and command execution. We further propose Gen2Control RL, a unified framework that jointly trains a general motion controller and a text-to-motion generator, enabling efficient end-to-end inference on edge hardware. On a real quadruped robot with an NVIDIA Orin, our system achieves real-time motion synthesis (<500 ms latency). Simulation and real-world results show realistic, diverse motions while maintaining robust physical interaction. The dataset will be released at https://github.com/GaoLii/QuadFM.

cs.RO↗

arXiv2026

Uni3R: Unified 3D Reconstruction and Semantic Understanding via Generalizable Gaussian Splatting from Unposed Multi-View Images

Reconstructing and semantically interpreting 3D scenes from sparse 2D views remains a fundamental challenge in computer vision. Conventional methods often decouple semantic understanding from reconstruction or necessitate costly per-scene optimization, thereby restricting their scalability and generalizability. In this paper, we introduce Uni3R, a novel feed-forward framework that jointly reconstructs a unified 3D scene representation enriched with open-vocabulary semantics, directly from unposed multi-view images. Our approach leverages a Cross-View Transformer to robustly integrate information across arbitrary multi-view inputs, which then regresses a set of 3D Gaussian primitives endowed with semantic feature fields. This unified representation facilitates high-fidelity novel view synthesis, open-vocabulary 3D semantic segmentation, and depth prediction, all within a single, feed-forward pass. Extensive experiments demonstrate that Uni3R establishes a new state-of-the-art across multiple benchmarks, including 25.07 PSNR on RE10K and 55.84 mIoU on ScanNet. Our work signifies a novel paradigm towards generalizable, unified 3D scene reconstruction and understanding. The code is available at https://github.com/HorizonRobotics/Uni3R.

cs.CV↗

arXiv2026

High-performance Sources of Multidimensionally Engineered Quantum Light Based on Monolithic Microcavity-metalens Interfaces

The ultimate non-classic light sources for modern photonic quantum technology require on-demand generation of indistinguishable quantum light with high brightness and flexible engineering of quantum emission in multiple degrees of freedom. In this work, we present monolithic microcavity-metalens interfaces consisting of quantum-dot-micropillar single-photon sources and ultra-thin metalenses accurately aligned on opposite sides of an III-V compound semiconductor chip. The pronounced cavity quantum electrodynamics effect enabled by the micropillar cavity facilitates single-photon emission from quantum dots with simultaneous high degrees of single-photon purity, source brightness and photon indistinguishability while the multi-functional metalenses concurrently tailor quantum emission in multiple physical degrees of freedom including radiation divergence, emission directionality, polarization state and orbital angular momentum (OAM). Furthermore, high-fidelity polarization-OAM entanglement and single photons with local spin topologies are successfully generated in our integrated device. In particular, we demonstrate stable propagations of single-photon skrymions in atmospheric turbulence and reveal their topological advantages over the conventional structured quantum light. Our work advances the research fields of integrated quantum photonics and meta-optics, providing integrated high-dimensional quantum light sources for advanced photonic quantum science and technology.

physics.optics↗

arXiv2026

A bi-fidelity method for the uncertain Vlasov-Poisson system near quasineutrality in an asymptotic-preserving particle-in-cell framework

In this paper, we study the Vlasov-Poisson system with massless electrons (VPME) near quasineutrality and with uncertainties. Based on the idea of reformulation on the Poisson equation by [P. Degond et.al., $\textit{Journal of Computational Physics}$, 229 (16), 2010, pp. 5630--5652], we first consider the deterministic problem and develop an efficient asymptotic-preserving particle-in-cell (AP-PIC) method to capture the quasineutral limit numerically, without resolving the discretizations subject to the small Debye length in plasma. The main challenge and difference compared to previous related works is that we consider the nonlinear Poisson in the VPME system which contains $e^ϕ$ (with $ϕ$ being the electric potential) and provide an explicit scheme. In the second part, we extend to study the uncertainty quantification (UQ) problem and develop an efficient bi-fidelity method for solving the VPME system with multidimensional random parameters, by choosing the Euler-Poisson equation as the low-fidelity model. Several numerical experiments are shown to demonstrate the asymptotic-preserving property of our deterministic solver and the effectiveness of our bi-fidelity method for solving the model with random uncertainties.

math.NA↗

arXiv2026

Hybrid Integration of Quantum Dot Single Photon Sources with Lithium Tantalate Photonics for On Chip Routing

A promising pathway towards scalable quantum photonic processors involves the simultaneous integration of deterministic single-photon sources, low-loss photonic circuitry, and fast reconfigurability. Thin-film lithium tantalate on insulator (LTOI) offers an exceptional electro-optic response and low optical loss at 900 nm wavelength band, yet its lack of efficient quantum emitters has hindered progress toward fully integrated quantum technologies. Here, we demonstrate heterogeneous integration of indium arsenide quantum dots (QDs) with low-loss reconfigurable LTOI waveguides using micro-transfer printing. By directly butt-coupling tapered gallium arsenide waveguides with inversely tapered LTOI waveguides, we achieve robust and alignment-tolerant inter-waveguide coupling. The hybrid chip operates at cryogenic temperatures, enabling deterministic routing of successively emitted single photons from the QDs with a halfwave voltage-length product, confirming the cryogenic stability of LTOI's electro-optic coefficient. These results establish the first demonstration of high-speed on-chip routing of single photons with hybrid QD-LTOI circuits, providing a scalable pathway toward integrated quantum photonic processors.

physics.optics↗

arXiv2026

MotionAnymesh: Physics-Grounded Articulation for Simulation-Ready Digital Twins

Converting static 3D meshes into interactable articulated assets is crucial for embodied AI and robotic simulation. However, existing zero-shot pipelines struggle with complex assets due to a critical lack of physical grounding. Specifically, ungrounded Vision-Language Models (VLMs) frequently suffer from kinematic hallucinations, while unconstrained joint estimation inevitably leads to catastrophic mesh inter-penetration during physical simulation. To bridge this gap, we propose MotionAnymesh, an automated zero-shot framework that seamlessly transforms unstructured static meshes into simulation-ready digital twins. Our method features a kinematic-aware part segmentation module that grounds VLM reasoning with explicit SP4D physical priors, effectively eradicating kinematic hallucinations. Furthermore, we introduce a geometry-physics joint estimation pipeline that combines robust type-aware initialization with physics-constrained trajectory optimization to rigorously guarantee collision-free articulation. Extensive experiments demonstrate that MotionAnymesh significantly outperforms state-of-the-art baselines in both geometric precision and dynamic physical executability, providing highly reliable assets for downstream applications.

cs.RO↗

arXiv2026

SynHLMA:Synthesizing Hand Language Manipulation for Articulated Object with Discrete Human Object Interaction Representation

Generating hand grasps with language instructions is a widely studied topic that benefits from embodied AI and VR/AR applications. While transferring into hand articulatied object interaction (HAOI), the hand grasps synthesis requires not only object functionality but also long-term manipulation sequence along the object deformation. This paper proposes a novel HAOI sequence generation framework SynHLMA, to synthesize hand language manipulation for articulated objects. Given a complete point cloud of an articulated object, we utilize a discrete HAOI representation to model each hand object interaction frame. Along with the natural language embeddings, the representations are trained by an HAOI manipulation language model to align the grasping process with its language description in a shared representation space. A joint-aware loss is employed to ensure hand grasps follow the dynamic variations of articulated object joints. In this way, our SynHLMA achieves three typical hand manipulation tasks for articulated objects of HAOI generation, HAOI prediction and HAOI interpolation. We evaluate SynHLMA on our built HAOI-lang dataset and experimental results demonstrate the superior hand grasp sequence generation performance comparing with state-of-the-art. We also show a robotics grasp application that enables dexterous grasps execution from imitation learning using the manipulation sequence provided by our SynHLMA. Our codes and datasets will be made publicly available.

cs.RO↗

arXiv2026

Robust Heterogeneous Analog-Digital Computing for Mixture-of-Experts Models with Theoretical Generalization Guarantees

Sparse Mixture-of-Experts (MoE) models enable efficient scalability by activating only a small sub-set of experts per input, yet their massive parameter counts lead to substantial memory and energy inefficiency during inference. Analog in-memory computing (AIMC) offers a promising solution by eliminating frequent data movement between memory and compute units. However, mitigating hardware nonidealities of AIMC typically requires noise-aware retraining, which is infeasible for large MoE models. In this paper, we propose a retraining-free heterogeneous computation framework in which noise-sensitive experts, which are provably identifiable by their maximum neuron norm, are computed digitally while the majority of the experts are executed on AIMC hardware. We further assign densely activated modules, such as attention layers, to digital computation due to their high noise sensitivity despite comprising a small fraction of parameters. Extensive experiments on large MoE language models, including DeepSeekMoE and OLMoE, across multiple benchmark tasks validate the robustness of our approach in maintaining accuracy under analog nonidealities.

cs.LG↗

arXiv2026

Recycling Failures: Salvaging Exploration in RLVR via Fine-Grained Off-Policy Guidance

Reinforcement Learning from Verifiable Rewards (RLVR) has emerged as a powerful paradigm for enhancing the complex reasoning capabilities of Large Reasoning Models. However, standard outcome-based supervision suffers from a critical limitation that penalizes trajectories that are largely correct but fail due to several missteps as heavily as completely erroneous ones. This coarse feedback signal causes the model to discard valuable largely correct rollouts, leading to a degradation in rollout diversity that prematurely narrows the exploration space. Process Reward Models have demonstrated efficacy in providing reliable step-wise verification for test-time scaling, naively integrating these signals into RLVR as dense rewards proves ineffective.Prior methods attempt to introduce off-policy guided whole-trajectory replacement that often outside the policy model's distribution, but still fail to utilize the largely correct rollouts generated by the model itself and thus do not effectively mitigate the narrowing of the exploration space. To address these issues, we propose SCOPE (Step-wise Correction for On-Policy Exploration), a novel framework that utilizes Process Reward Models to pinpoint the first erroneous step in suboptimal rollouts and applies fine-grained, step-wise off-policy rectification. By applying precise refinement on partially correct rollout, our method effectively salvages partially correct trajectories and increases diversity score by 13.5%, thereby sustaining a broad exploration space. Extensive experiments demonstrate that our approach establishes new state-of-the-art results, achieving an average accuracy of 46.6% on math reasoning and exhibiting robust generalization with 53.4% accuracy on out-of-distribution reasoning tasks.

cs.AI↗

arXiv2026

DICArt: Advancing Category-level Articulated Object Pose Estimation in Discrete State-Spaces

Articulated object pose estimation is a core task in embodied AI. Existing methods typically regress poses in a continuous space, but often struggle with 1) navigating a large, complex search space and 2) failing to incorporate intrinsic kinematic constraints. In this work, we introduce DICArt (DIsCrete Diffusion for Articulation Pose Estimation), a novel framework that formulates pose estimation as a conditional discrete diffusion process. Instead of operating in a continuous domain, DICArt progressively denoises a noisy pose representation through a learned reverse diffusion procedure to recover the GT pose. To improve modeling fidelity, we propose a flexible flow decider that dynamically determines whether each token should be denoised or reset, effectively balancing the real and noise distributions during diffusion. Additionally, we incorporate a hierarchical kinematic coupling strategy, estimating the pose of each rigid part hierarchically to respect the object's kinematic structure. We validate DICArt on both synthetic and real-world datasets. Experimental results demonstrate its superior performance and robustness. By integrating discrete generative modeling with structural priors, DICArt offers a new paradigm for reliable category-level 6D pose estimation in complex environments.

cs.CV↗

arXiv2026

Hybrid Fusion: One-Minute Efficient Training for Zero-Shot Cross-Domain Image Fusion

Image fusion seeks to integrate complementary information from multiple sources into a single, superior image. While traditional methods are fast, they lack adaptability and performance. Conversely, deep learning approaches achieve state-of-the-art (SOTA) results but suffer from critical inefficiencies: their reliance on slow, resource-intensive, patch-based training introduces a significant gap with full-resolution inference. We propose a novel hybrid framework that resolves this trade-off. Our method utilizes a learnable U-Net to generate a dynamic guidance map that directs a classic, fixed Laplacian pyramid fusion kernel. This decoupling of policy learning from pixel synthesis enables remarkably efficient full-resolution training, eliminating the train-inference gap. Consequently, our model achieves SOTA-comparable performance in about one minute on a RTX 4090 or two minutes on a consumer laptop GPU from scratch without any external model and demonstrates powerful zero-shot generalization across diverse tasks, from infrared-visible to medical imaging. By design, the fused output is linearly constructed solely from source information, ensuring high faithfulness for critical applications. The codes are available at https://github.com/Zirconium233/HybridFusion

cs.CV↗

arXiv2026

Dynamical low-rank approximation for the semiclassical Schrodinger equation with uncertainties

In this paper, we propose a dynamical low-rank (DLR) approximation framework for solving the semiclassical Schrodinger equation with uncertainties. The primary numerical challenges arise from the dual nature of the oscillations: the spatial oscillations inherent in the semiclassical limit and the high-frequency oscillations in the random space induced by uncertainties. We extend two robust integrators -- the projector-splitting integrator and the unconventional integrator -- to the semiclassical regime to evolve the solution on a low-rank manifold. Through extensive numerical experiments, we demonstrate that the DLR method is significantly more computationally efficient than the standard stochastic Galerkin method, as it captures the essential quantum dynamics using a much smaller number of basis functions. Our findings reveal that despite the complex oscillatory patterns of the wave function, its evolution remains concentrated in a low-rank subspace for the cases investigated. Specifically, we observe that the DLR method achieves high fidelity with a remarkably small numerical rank, which remains robust even as the semiclassical parameter $\varepsilon$ decreases. Within our problem settings, the results further suggest that the rank growth is primarily driven by the randomness and regularity of the potential. These results provide practical insights into the low-rank structure of uncertain quantum systems and offer an efficient approach for high-dimensional uncertainty quantification in the semiclassical regime.

math.NA↗

arXiv2026

ABot-N0: Technical Report on the VLA Foundation Model for Versatile Embodied Navigation

Embodied navigation has long been fragmented by task-specific architectures. We introduce ABot-N0, a unified Vision-Language-Action (VLA) foundation model that achieves a ``Grand Unification'' across 5 core tasks: Point-Goal, Object-Goal, Instruction-Following, POI-Goal, and Person-Following. ABot-N0 utilizes a hierarchical ``Brain-Action'' architecture, pairing an LLM-based Cognitive Brain for semantic reasoning with a Flow Matching-based Action Expert for precise, continuous trajectory generation. To support large-scale learning, we developed the ABot-N0 Data Engine, curating 16.9M expert trajectories and 5.0M reasoning samples across 7,802 high-fidelity 3D scenes (10.7 $\text{km}^2$). ABot-N0 achieves new SOTA performance across 7 benchmarks, significantly outperforming specialized models. Furthermore, our Agentic Navigation System integrates a planner with hierarchical topological memory, enabling robust, long-horizon missions in dynamic real-world environments.

cs.RO↗

arXiv2026

IMAGINE: Integrating Multi-Agent System into One Model for Complex Reasoning and Planning

Although large language models (LLMs) have made significant strides across various tasks, they still face significant challenges in complex reasoning and planning. For example, even with carefully designed prompts and prior information explicitly provided, GPT-4o achieves only a 7% Final Pass Rate on the TravelPlanner dataset in the sole-planning mode. Similarly, even in the thinking mode, Qwen3-8B-Instruct and DeepSeek-R1-671B, only achieve Final Pass Rates of 5.9% and 40%, respectively. Although well-organized Multi-Agent Systems (MAS) can offer improved collective reasoning, they often suffer from high reasoning costs due to multi-round internal interactions, long per-response latency, and difficulties in end-to-end training. To address these challenges, we propose a general and scalable framework called IMAGINE, short for Integrating Multi-Agent System into One Model. This framework not only integrates the reasoning and planning capabilities of MAS into a single, compact model, but also significantly surpass the capabilities of the MAS through a simple end-to-end training. Through this pipeline, a single small-scale model is not only able to acquire the structured reasoning and planning capabilities of a well-organized MAS but can also significantly outperform it. Experimental results demonstrate that, when using Qwen3-8B-Instruct as the base model and training it with our method, the model achieves an 82.7% Final Pass Rate on the TravelPlanner benchmark, far exceeding the 40% of DeepSeek-R1-671B, while maintaining a much smaller model size.

cs.AI↗

arXiv2026

REArtGS++: Generalizable Articulation Reconstruction with Temporal Geometry Constraint via Planar Gaussian Splatting

Articulated objects are pervasive in daily environments, such as drawers and refrigerators. Towards their part-level surface reconstruction and joint parameter estimation, REArtGS introduces a category-agnostic approach using multi-view RGB images at two different states. However, we observe that REArtGS still struggles with screw-joint or multi-part objects and lacks geometric constraints for unseen states. In this paper, we propose REArtGS++, a novel method towards generalizable articulated object reconstruction with temporal geometry constraint and planar Gaussian splatting. We first model a decoupled screw motion for each joint without type prior, and jointly optimize part-aware Gaussians with joint parameters through part motion blending. To introduce time-continuous geometric constraint for articulated modeling, we encourage Gaussians to be planar and propose a temporally consistent regularization between planar normal and depth through Taylor first-order expansion. Extensive experiments on both synthetic and real-world articulated objects demonstrate our superiority in generalizable part-level surface reconstruction and joint parameter estimation, compared to existing approaches. Project Site: https://sites.google.com/view/reartgs2/home.

cs.CV↗

arXiv2026

DiffVL: Diffusion-Based Visual Localization on 2D Maps via BEV-Conditioned GPS Denoising

Accurate visual localization is crucial for autonomous driving, yet existing methods face a fundamental dilemma: While high-definition (HD) maps provide high-precision localization references, their costly construction and maintenance hinder scalability, which drives research toward standard-definition (SD) maps like OpenStreetMap. Current SD-map-based approaches primarily focus on Bird's-Eye View (BEV) matching between images and maps, overlooking a ubiquitous signal-noisy GPS. Although GPS is readily available, it suffers from multipath errors in urban environments. We propose DiffVL, the first framework to reformulate visual localization as a GPS denoising task using diffusion models. Our key insight is that noisy GPS trajectory, when conditioned on visual BEV features and SD maps, implicitly encode the true pose distribution, which can be recovered through iterative diffusion refinement. DiffVL, unlike prior BEV-matching methods (e.g., OrienterNet) or transformer-based registration approaches, learns to reverse GPS noise perturbations by jointly modeling GPS, SD map, and visual signals, achieving sub-meter accuracy without relying on HD maps. Experiments on multiple datasets demonstrate that our method achieves state-of-the-art accuracy compared to BEV-matching baselines. Crucially, our work proves that diffusion models can enable scalable localization by treating noisy GPS as a generative prior-making a paradigm shift from traditional matching-based methods.

cs.CV↗

arXiv2026

TRACE: Unlocking Effective CXL Bandwidth via Lossless Compression and Precision Scaling

LLM inference is increasingly limited by memory bandwidth, and the bottleneck worsens at long context as the KV cache grows. CXL memory adds capacity to offload weights and KV, but its link and device-side DDR bandwidth are far below HBM, so decoding stalls once traffic shifts to the CXL tier. Many CXL controllers are starting to add generic \emph{lossless} compression, yet applying commodity codecs directly to standard word-major LLM tensors is largely ineffective, especially for token-major KV streams. We propose TRACE (\textbf{T}raffic-\textbf{R}educed \textbf{A}rchitecture for \textbf{C}ompression and \textbf{E}lasticity), which preserves the unmodified CXL.mem interface but changes the device-internal representation. It stores tensors in a channel-major, disaggregated bit-plane layout, and applies a KV-specific transform before compression, converting mixed-field words into low-entropy plane streams that commodity codecs can compress. The same substrate enables precision-proportional fetch by reading only the required bit-planes. Across public LLMs, TRACE reduces BF16 weight footprint by 25.2\% and BF16 KV footprint by 46.9\% losslessly, with per-layer KV ratios peaking at 2.69$\times$. In trace-driven system modeling, once KV spills to CXL, GPT-OSS-120B-MXFP4 improves throughput at 128k tokens from 16.28 to 68.99 tok/s (4.24$\times$). DRAMSim3 shows up to 40.3\% lower DRAM access energy under plane-aligned fetch. A 7\,nm SystemVerilog implementation sustains 256\,GB/s device bandwidth. Relative to a CXL controller with generic inline lossless compression, TRACE only adds 7.2\% area, 4.7\% power, and 6.0\% load-to-use latency at 2\,GHz and 0.7\,V.

cs.AR↗