arXiv subjects

Mingxu Wang

Publications and source records attributed to Mingxu Wang.

7 recordsLinked to original sources

arXiv2026

HODAgent: Towards On-Demand, Responsive Humanoids for Physical World Human Interaction

We propose HODAgent, a System-2 embodied agent for humanoid robots in service settings, addressing situated intent, responsive execution, task revision, and outcome verification. Its semi-duplex architecture integrates an Env-Interactor, Planner, Executor, and hierarchical Memory to maintain coherent interaction, planning, and task state during service episodes. This allows handling new requests during motion, retaining progress, revising actions, and grounding closure in execution outcomes. A shared interface connects simulation and physical robots (Unitree G1), isolating platform-specific control. In an interactive simulation with 164 cases, HODAgent achieves 84.8% and 91.5% Joint Success under two VLM backbones, outperforming baselines by 9.8 and 18.9 points. On physical robots, pass rates are 92% (atomic), 72% (composite), and 63.3% (complete tasks). On multiple embodied benchmarks, it improves over baselines by 0.7-9.0 points. Results show a unified System-2 agent enables adaptive humanoid service across simulation and reality.

cs.RO↗

arXiv2026

PRISM-Net: Patient-specific reference-guided inter-breast symmetry matching for three-class breast DCE-MRI classification

Breast DCE-MRI AI is increasingly being explored for breast-level classification of no-lesion, benign, and malignant findings, beyond conventional lesion-centered diagnosis. Within this broader diagnostic scope, however, patient-specific background variability remains a major source of imaging confounding across classification tasks. Existing approaches predominantly focus on unilateral or lesion-centric analysis, whereas bilateral methods offer limited explicit modeling of spatially adaptive cross-breast correspondence. We propose PRISM-Net, a registration-free bilateral framework that leverages contralateral breast features as patient-specific references for background-aware representation learning. PRISM-Net integrates bilateral feature matching and asymmetry-aware attention to establish adaptive inter-breast correspondence and enhance representations of discriminative asymmetric patterns. On ODELIA, Macro AUC, Micro AUC, and quadratic weighted kappa were $84.11 \pm 2.33$, $90.64 \pm 1.61$, and $60.94 \pm 5.64$ on the in-distribution test set, and $68.51 \pm 4.54$, $80.74 \pm 2.68$, and $43.45 \pm 7.10$ on the held-out institution, respectively, outperforming the evaluated baseline methods across the primary evaluation metrics. PRISM-Net further demonstrated performance on independent institutional and background-complexity evaluations. Ablation experiments revealed that both bilateral relation modeling and asymmetry-aware reweighting contributed to improved classification performance. These findings highlight patient-specific bilateral reference modeling as a clinically grounded strategy for DCE-MRI interpretation, improving asymmetric pattern discrimination through explicit modeling of background complexity.

cs.CV↗

arXiv2026

Done, But Not Sure: Disentangling World Completion from Self-Termination in Embodied Agents

Standard embodied evaluations do not independently score whether an agent correctly commits to task completion at episode closure, a capacity we call terminal commitment. Behaviorally distinct failures--never completing the task, completing it but failing to stop, and reporting success without sufficient evidence--collapse into the same benchmark failure. We introduce VIGIL, an evaluation framework that makes terminal commitment independently measurable. Under VIGIL's default protocol, agents observe only egocentric RGB, receive no action-success signals, and must end each episode with a semantic report checked deterministically against hidden world state. This yields two separate scores: world-state completion (W) and benchmark success (B), where B additionally requires a correct terminal report. This decoupling makes four outcome categories distinguishable: missed execution, post-attainment drift, unsupported commitment, and verified success. Across 20 models on 1,000 frozen episodes, systems with comparable W differ by up to 19.7 pp in B: one model converts achieved states into correct reports, while another with near-identical execution drifts past the goal without closing. An action-feedback intervention further tests the separation: execution-oriented signals improve W broadly, yet commitment failures persist in models that do not already ground terminal reports in the achieved state. VIGIL provides a protocol that makes terminal commitment independently visible and scorable.

cs.AI↗

arXiv2025

Modified uni-travelling-carrier photodiodes with 206 GHz bandwidth and 0.81 A/W external responsivity

The accelerating demand for wireless communication necessitates wideband, energy-efficient photonic sub-terahertz (sub-THz) sources to enable ultra-fast data transfer. However, as critical components for THz photonic mixing, photodiodes (PDs) face a fundamental trade-off between quantum efficiency and bandwidth, presenting a major obstacle to achieving high-speed performance with high optoelectronic conversion efficiency. Here, we overcome this challenge by demonstrating an InP-based, waveguide-integrated modified uni-traveling carrier photodiode (MUTC-PD) with bandwidth exceeding 200 GHz and a bandwidth-efficiency product (BEP) surpassing 130 GHz. Incorporating a spot-size converter (SSC) together with optimized electric-field distribution, balanced carrier transport, and minimized parasitic capacitance, the device achieves a 3-dB bandwidth of 206 GHz and an external responsivity of 0.81 A/W, setting a new BEP benchmark. Packaged with WR-5.1 waveguide output, it delivers radio-frequency (RF) power exceeding -5 dBm across the 127-185 GHz frequency range. As a proof of concept, we achieved a wireless transmission of 54 meters with a single-line rate of up to 120 Gbps, leveraging photonics-aided technology without requiring a low-noise amplifier (LNA). This work establishes a pathway to significantly enhance optical power budgets and reduce energy consumption, presenting a transformative step toward high-bandwidth, high-efficiency sub-THz communication systems and next-generation wireless networks.

physics.app-ph↗

arXiv2024

FutureNet-LOF: Joint Trajectory Prediction and Lane Occupancy Field Prediction with Future Context Encoding

Most prior motion prediction endeavors in autonomous driving have inadequately encoded future scenarios, leading to predictions that may fail to accurately capture the diverse movements of agents (e.g., vehicles or pedestrians). To address this, we propose FutureNet, which explicitly integrates initially predicted trajectories into the future scenario and further encodes these future contexts to enhance subsequent forecasting. Additionally, most previous motion forecasting works have focused on predicting independent futures for each agent. However, safe and smooth autonomous driving requires accurately predicting the diverse future behaviors of numerous surrounding agents jointly in complex dynamic environments. Given that all agents occupy certain potential travel spaces and possess lane driving priority, we propose Lane Occupancy Field (LOF), a new representation with lane semantics for motion forecasting in autonomous driving. LOF can simultaneously capture the joint probability distribution of all road participants' future spatial-temporal positions. Due to the high compatibility between lane occupancy field prediction and trajectory prediction, we propose a novel network with future context encoding for the joint prediction of these two tasks. Our approach ranks 1st on two large-scale motion forecasting benchmarks: Argoverse 1 and Argoverse 2.

cs.CV↗

arXiv2023

GANet: Goal Area Network for Motion Forecasting

Predicting the future motion of road participants is crucial for autonomous driving but is extremely challenging due to staggering motion uncertainty. Recently, most motion forecasting methods resort to the goal-based strategy, i.e., predicting endpoints of motion trajectories as conditions to regress the entire trajectories, so that the search space of solution can be reduced. However, accurate goal coordinates are hard to predict and evaluate. In addition, the point representation of the destination limits the utilization of a rich road context, leading to inaccurate prediction results in many cases. Goal area, i.e., the possible destination area, rather than goal coordinate, could provide a more soft constraint for searching potential trajectories by involving more tolerance and guidance. In view of this, we propose a new goal area-based framework, named Goal Area Network (GANet), for motion forecasting, which models goal areas rather than exact goal coordinates as preconditions for trajectory prediction, performing more robustly and accurately. Specifically, we propose a GoICrop (Goal Area of Interest) operator to effectively extract semantic lane features in goal areas and model actors' future interactions, which benefits a lot for future trajectory estimations. GANet ranks the 1st on the leaderboard of Argoverse Challenge among all public literature (till the paper submission), and its source codes will be released.

cs.CV↗

arXiv2022

High-throughput calculations combining machine learning to investigate the corrosion properties of binary Mg alloys

Magnesium (Mg) alloys have shown great prospects as both structural and biomedical materials, while poor corrosion resistance limits their further application. In this work, to avoid the time-consuming and laborious experiment trial, a high-throughput computational strategy based on first-principles calculations is designed for screening corrosion-resistant binary Mg alloy with intermetallics, from both the thermodynamic and kinetic perspectives. The stable binary Mg intermetallics with low equilibrium potential difference with respect to the Mg matrix are firstly identified. Then, the hydrogen adsorption energies on the surfaces of these Mg intermetallics are calculated, and the corrosion exchange current density is further calculated by a hydrogen evolution reaction (HER) kinetic model. Several intermetallics, e.g. Y3Mg, Y2Mg and La5Mg, are identified to be promising intermetallics which might effectively hinder the cathodic HER. Furthermore, machine learning (ML) models are developed to predict Mg intermetallics with proper hydrogen adsorption energy employing work function (W_f) and weighted first ionization energy (WFIE). The generalization of the ML models is tested on five new binary Mg intermetallics with the average root mean square error (RMSE) of 0.11 eV. This study not only predicts some promising binary Mg intermetallics which may suppress the galvanic corrosion, but also provides a high-throughput screening strategy and ML models for the design of corrosion-resistant alloy, which can be extended to ternary Mg alloys or other alloy systems.

cond-mat.mtrl-sci↗