arXiv subjects

Mingyang Li

Publications and source records attributed to Mingyang Li.

At least 19 recordsLinked to original sources

arXiv2026

Surfsvr: 2D Surface Priors as 3D Geometric Regularizers for Sparse Voxel Reconstruction

Sparse voxel reconstruction offers an efficient representation for high-fidelity 3D modeling, yet its geometry is commonly optimized from local photometric evidence and discrete visibility statistics. This often leads to fragmented surfaces, excessive subdivision, and floating artifacts, particularly in weakly textured or sparsely observed regions. We introduce SurfSVR, a novel sparse voxel reconstruction paradigm that treats 2D surface priors as explicit 3D geometric regularizers. Instead of directly lifting noisy pixel-wise depth predictions, SurfSVR first organizes each image into coherent surface regions by jointly reasoning over appearance, monocular depth, normals and cross-view geometry. Each region is then represented by an adaptively selected planar or quadratic surface model based on fitting reliability and geometric complexity, while cross-model agreement distinguishes reliable geometry from ambiguous predictions. These structured 2D priors are lifted into 3D and integrated throughout the reconstruction pipeline. They guide surface-adaptive voxel subdivision, provide region-level depth and normal supervision during optimization, enhance geometrically reliable sparse-observed surfaces in voxel pruning, and suppress off-surface floaters during post-refinement training. This unified design converts semantic and geometric coherence in image space into persistent structural constraints in 3D. Extensive experiments on 3 public benchmarks demonstrate that SurfSVR consistently improves sparse voxel reconstruction across scenes with substantially different visibility and geometry characteristics, achieving state-of-the-art reconstruction quality. Codes and models will be released soon.

cs.CV↗

arXiv2026

Calling the Bluff: Detecting Ever-Shifting Harmful Chat Dialogue via Ordered Reasoning Chain Regularization

Harmful chat dialogues are ever-shifting through type-shifting and lexical evasion, yet we find they share invariant principles, i.e., an Ordered Reasoning Chain (ORC) of recurring topics, harm language indicators, severity hierarchies, and type characteristics, which can help us capture the key information in the frequently changing lexical expressions. We propose BRACE, which encodes the ORC as four differentiable stages (Topic -> Indicator -> Severity -> Type) with intermediate supervision, serving as a structured regularizer blended with direct heads, and supported by prototype-based feature augmentation and feature path disentanglement. The evaluation results show that, across 4 domains and 5 harm categories, BRACE achieves harm-type macro F1 of 0.934 (RoBERTa-wwm-ext, 3-seed mean), with decoder backbones (Qwen3-1.7B LoRA) reaching 0.949. Ablation studies show that all components contribute to BRACE, and the structural decomposition of ORC enables BRACE to distinguish harmful types with semantic ambiguity. Disclaimer: This paper may contain content that is disturbing to some readers.

cs.CL↗

arXiv2026

Decoupling Intention from Trajectory: A Representational Deduction Framework for World Action Models

World Action Models (WAMs) aim to construct a unified architecture capable of understanding world state evolution and guiding to generative motion planning. However, existing visual branches focus on predicting static visual observation, rather than reflecting potential transition information that captures the evolution of world states under motion interactions. This leads to representational entanglement between high-level physical condition evolution and low-level action trajectory generation within the Action Model, creating a structural bottleneck while weakening the predictive capability of world evolution modeling for action generation. We propose PILOT (Physical Inference for Latent Optimized Trajectories), whose core Representational Deduction (RD) bridges this gap by integrating motion thought-of-chain (CoT) guidance as a native model capability. Specifically, RD aims to encourage the action branch to explicitly model potential state transition tokens, which are retained as CoT in the reasoning space to guide fine-grained motion trajectory. Experiments demonstrate that RD not only significantly improves the success rate and generalization ability of WAMs in complex robotic manipulation tasks but also enhances the model's physical interpretability by decoupling high-level motion semantics from low-level trajectory details. Furthermore, the abundant state transition supervision signals introduced by RD effectively alleviate the sparse supervision in action generation, enabling it to serve as an efficient few-shot real-robot fine-tuning strategy and demonstrating superior scalability for migration to mainstream WAM architectures.

cs.RO↗

arXiv2026

TrajWiki: Source-Grounded Memory Trajectories for Long-Horizon Dialogue Agents

Large language model agents have shown strong capabilities in generating coherent and contextually appropriate responses, yet robust long-horizon dialogue remains limited by the lack of external memory that is traceable, updatable, and diagnostically transparent. Existing memory-augmented agents often store memories as isolated records or overwritable states, making it difficult to preserve how information originates, evolves, conflicts, or becomes obsolete over time. We propose TrajWiki, a trajectory-based memory framework for long-horizon conversational agents. Instead of treating memory as static entries, TrajWiki represents each memory as a source-grounded evolution trajectory, maintained through immutable episodic snapshots and claim-level operations such as ADD, REVISE, and DEPRECATE. To reduce fragmentation and retrieval cost, TrajWiki further introduces Memory Wiki, a persistent intermediate layer that incrementally compiles dialogue history into structured and interlinked wiki pages capturing salient entities, events, quantities, topics, and conflicts. At inference time, queries are routed hierarchically from relevant wiki pages to linked memory trajectories, then to corresponding snapshots and source messages for evidence-grounded answer synthesis. Experiments on LoCoMo and MedMT show that TrajWiki improves long-horizon dialogue performance across both open-source and closed-source LLM backbones, while providing greater interpretability and diagnostic visibility into memory evolution, retrieval failures, and answer generation.

cs.AI↗

arXiv2026

Automated Tensor Scheduling for Hybrid CPU-GPU LLM Inference on Consumer Devices

Running large language models on consumer devices such as laptops and desktops is challenging because model weights often exceed GPU memory capacity, making offloading inference necessary to extend effective model capacity with CPU memory. Existing offloading systems, however, typically rely on coarse layer-level or expert-level scheduling, which overlooks substantial heterogeneity among tensors within the same layer and adapts poorly to changing hardware load conditions on such devices. This paper presents ATSInfer, a hybrid CPU-GPU inference system for consumer devices that performs offloading at tensor granularity. ATSInfer combines static tensor placement with load-aware dynamic transfer, and introduces asynchronous CPU-GPU coordination to efficiently schedule hardware storage, data movement, and computation across heterogeneous backends. We implement ATSInfer and evaluate it on representative consumer platforms using both dense and MoE models. Compared with existing systems, ATSInfer improves prefill throughput by up to 1.94$\times$ and decode throughput by up to 3.29$\times$, while also increasing GPU utilization and making more effective use of PCIe bandwidth. These results show that ATSInfer can substantially improve the user experience of local LLM deployment on personal consumer devices.

cs.DC↗

arXiv2026

Diagnosis-Driven Automatic Repair for Agentic Workflow via Symbolic Inference

Platform-orchestrated agentic workflows have become a popular paradigm for developing LLM-based applications. However, their reliability remains a major challenge due to the uncertainty of LLM outputs, complex inter-node dependencies, and heterogeneous tool interactions. Existing agentic workflow optimization and agent enhancement methods primarily rely on trajectory-level feedback. Without explicitly identifying the underlying failure root causes, their resulting repair plans are often insufficiently targeted. We propose FlowFixer, a diagnosis-driven automated repair framework for agentic workflows. FlowFixer first transforms workflow executions into unified symbolic traces and performs symbolic inference to derive executable behavioral specifications that capture node correctness, temporal dependencies, and causal relationships. Based on specification verification, it conducts failure attribution and root cause analysis, and then generates targeted repair patches. To reduce verification costs, FlowFixer further employs a multi-dimensional pre-execution assessment to filter infeasible repairs before dynamic verification. We evaluate FlowFixer on workflow failures collected from three popular development platforms: Dify, Coze and n8n. Results show that FlowFixer achieves a repair success rate of 71.3%, outperforming state-of-the-art baselines by 11.9% to 27.6%. It also improves failure attribution accuracy by 4.8% to 33.1% and root cause analysis accuracy by 15.3% to 38.8%. This work offers a new perspective on reliable diagnosis and repair of agentic workflows through symbolic modeling and inference.

cs.SE↗

arXiv2026

MUTE: Return-Preserving Communication Unlearning for Efficient Multi-Agent Coordination

Inter-agent communication is critical for coordinating Multi-Agent Reinforcement Learning (MARL) agents under partial observability to perform effectively in cooperative games; however, real-world bandwidth constraints demand sparse interactions. Prior approaches primarily address this trade-off by optimizing information-theoretic surrogates. We argue that these statistical proxies are fundamentally misaligned with the true objective: a message can be highly informative yet irrelevant to the joint return of the task. In this work, we propose Message Unlearning for Targeted Efficiency (MUTE), a framework that views communication reduction as a value-guided machine unlearning problem. MUTE rigorously quantifies the Counterfactual Message Value using an attention-based estimator, and systematically unlearns the transmission of low-value messages from a policy trained without any communication constraints. This is achieved through a dual-objective mechanism that enforces communication sparsity while preserving the return of the original joint policy. We derive a theoretical upper bound on the performance gap induced by this sparsification, guaranteeing controlled return degradation. We also empirically evaluate MUTE on various complex multi-agent environments, achieving 80% to 90% bandwidth reduction while maintaining performance comparable to state-of-the-art baselines.

cs.MA↗

arXiv2026

Dual-domain fused LSTM modeling for efficient time-dependent reliability analysis

Time-dependent reliability analysis is crucial for ensuring the long-term safety and performance of engineering systems under uncertainties. However, traditional surrogate model methods often struggle to incorporate time-independent random variables and capture their complex interactions with time-dependent stochastic processes. To overcome this limitation, this paper proposes a dual-domain fused long short-term memory (DDF-LSTM) model for efficient and accurate time-dependent reliability analysis. A novel network architecture is developed to jointly process information from both time-dependent and time-independent domains. Specifically, the time-independent variables are embedded into the initial hidden states, and a fully connected layer is introduced to map both LSTM outputs and time-independent variables into the final output space. Furthermore, an improved loss function is designed to emphasize the model's sensitivity to minimum responses, thereby improving the precision of failure probability estimation. The proposed method effectively captures the dependencies among random variables, stochastic processes, and the temporal behavior of limit state functions. Once trained, the DDF-LSTM model enables efficient Monte Carlo simulation to estimate time-dependent failure probabilities with minimal computational cost. Four case studies validate the proposed method's enhanced computational efficiency and predictive accuracy.

cs.LG↗

arXiv2026

Scalpel3: A High-Performance Data Carving Architecture for Recovery of Fragmented Files

File carving recovers files from raw storage without filesystem metadata, a key capability in digital forensics, data recovery, and digital exploration. Existing tools recover contiguous files effectively, but, to our knowledge, no publicly available, format-agnostic, high-performance framework exists in which researchers can develop and deploy new fragmented recovery strategies. Scalpel3 fills this gap with a massively threaded architecture for contiguous and fragmented recovery. Researchers need only write single-threaded validation and reassembly code for a new file type; Scalpel3 supplies worker scheduling, synchronization, checkpointing, and I/O. This separation allows new recovery methods to be added without modifying the backend infrastructure. The architecture also integrates the ONNX Runtime, allowing learned models to be used within validators and recovery strategies. Operational features include interactive human-in-the-loop control, block deduplication, persistent restart checkpoints, incremental output, and a FUSE filesystem for hybrid workflows. We evaluate Scalpel3 on a mixed corpus of more than 80,000 files under contiguous recovery and three controlled fragmentation scenarios: gaps, out-of-order block placement, and both together. Results show fast and accurate contiguous recovery and demonstrate that Scalpel3's massively threaded architecture makes validated fragmented results available substantially earlier than single-threaded execution. Furthermore, strategies tailored to individual file types maintain high overall accuracy across increasingly difficult layouts. Together, these results demonstrate that Scalpel3 provides a practical foundation for developing and deploying fragmented recovery strategies at scale.

cs.DC↗

arXiv2026

JoyAI-Sim: A Simulation-Enabled Interconversion Toolchain for the Embodied Data Pyramid

Generalist robot policies require trustworthy evaluation and robot-usable training data, but both are difficult to scale with physical robots alone. Real-robot trials and demonstrations remain the most faithful source of deployment signals, yet they are slow, costly, and hard to reproduce. We present JoyAI-Sim, a simulation-enabled interconversion toolchain for human-robot aligned model evaluation and data generation, denoted as Robot $\rightleftharpoons$ Simulation $\rightleftharpoons$ Human. On the one hand, the Robot $\rightarrow$ Simulation $\rightarrow$ Human pathway supports human-robot aligned model evaluation by reconstructing real-robot tabletop organization tasks as calibrated digital twins for scalable evaluation, while using human embodied feedback to inspect and refine the naturalness of simulated motions. On the other hand, the Human $\rightarrow$ Simulation $\rightarrow$ Robot pathway supports human-robot aligned data generation: it lifts ego-centric human demonstrations into simulation, checks them under robot physical constraints, and converts them into robot-centered trajectories, annotations, and visual observations. Together, these pathways use the JoySim simulator as both a scalable evaluation layer and a physical consistency filter for robot data generation. We further package the core reconstruction, simulation, rendering, and realism-augmentation modules as cloud services on JD Cloud, turning the system into a reusable and scalable infrastructure for robot data generation and model evaluation.

cs.RO↗

arXiv2026

Speaking the Language of Science: Toward a General-Purpose Generative Foundation Model for the Natural Sciences

In this report, we present LOGOS (Language Of Generative Objects in Science), a scientific generative language model that unifies heterogeneous tasks across the natural sciences within a single autoregressive framework based on a shared scientific grammar. It encodes diverse scientific objects and their spatial interactions as token sequences over a common vocabulary. By representing spatial contact and constraint patterns as discrete tokens, the model captures complex structural interactions in a purely sequential manner, without relying on explicit coordinates or geometric neural networks. This unified representation enables a wide range of downstream tasks to be formulated consistently as next-token prediction in the same grammar space, creating strong alignment between continued multi-domain pre-training and downstream objectives. Across diverse tasks, LOGOS consistently matches or outperforms domain-specific baselines, providing preliminary evidence for the feasibility of "one model fits all" in the natural sciences. We train LOGOS models at different scales (1B, 3B, and 8B parameters) and find a consistent positive correlation between model size and performance. This suggests that the future of AI for Science (AI4S) may not lie in building an independent technical stack that is separated from large language models (LLMs). Instead, it may depend on deeply aligning scientific foundation models with LLMs through shared architectures, shared training paradigms, and shared inference infrastructure, so that LLMs can truly become a new entry point for AI4S. We release the model weights and associated resources to facilitate further research.

cs.CL↗

arXiv2026

Geometry of gravitational instantons

We survey recent progress in the classification of hyperk\"ahler and Hermitian gravitational instantons (i.e., complete noncompact 4 dimensional Ricci-flat manifolds with quadratic curvature decay), as well as the construction of non-Hermitian gravitational instantons via harmonic maps. We also present a list of open questions related to gravitational instantons.

math.DG↗

arXiv2026

Poincar\'e-Einstein 4-manifolds with cusps

In this paper, we construct Poincar\'e-Einstein 4-manifolds with various kinds of cusps. In particular, we construct: (1) Infinite families of Einstein metrics on $(0,\infty)\times \mathscr{N}$, where $\mathscr{N}\to T^2$ is a principal $\mathbb{S}^1$-bundle over $T^2$, with one Poincar\'e-Einstein end and one end asymptotic to a real or complex hyperbolic cusp. (2) Infinite families of Einstein metrics on $(0,\infty)\times P$, where $P\to \Sigma_{\mathtt{g}}$ is a principal $\mathbb{S}^1$-bundle over a closed Riemann surface $\Sigma_{\mathtt{g}}$ of genus $\mathtt{g}\geq 2$, with one Poincar\'e-Einstein end and one end asymptotic to a bundle of two-dimensional hyperbolic cusps over hyperbolic $\Sigma_{\mathtt{g}}$. Universal covers of (1) and (2) provide new complete negative Einstein metrics on $\mathbb{R}^4$. These Einstein metrics also exhibit interesting degeneration phenomena. With this construction, we give a negative answer to a question of Anderson concerning cusp formation for Poincar\'e-Einstein 4-manifolds.

math.DG↗

arXiv2026

OASIS: Observation-Action Space Alignment via SE(3) Trajectory Prediction for Robotic Manipulation

Recent vision-language-action (VLA) models and world action models (WAMs) advance robotic manipulation by enriching intermediate representations with auxiliary spatial features or future visual-state prediction. However, these representations largely remain within the observation space and do not share the rigid-body geometry of the action space, forcing the action decoder to implicitly recover this geometry. We propose OASIS, a visuomotor policy that aligns the intermediate representation with the action space via $SE(3)$ end-effector trajectory prediction. OASIS couples a 3D-aware feature encoder that fuses vision-language and metric-depth features with an $SE(3)$ trajectory predictor that produces a camera-frame end-effector trajectory. Conditioned on the predictor's pose-supervised hidden states, the action decoder generates action chunks consistent with rigid-body motion. Across simulation and real-world experiments, OASIS outperforms VLA and WAM baselines in success rate and out-of-distribution generalization. Our project page is available at https://npuhandsome.github.io/OASIS_web.

cs.RO↗

arXiv2026

VoxAfford: Multi-Scale Voxel-Token Fusion for Open-Vocabulary 3D Affordance Detection

Open-vocabulary 3D affordance detection requires localizing interaction regions on point clouds given novel affordance descriptions. Recent methods extend multimodal large language models (MLLMs) with special output tokens that are decoded into segmentation masks. However, these tokens are produced through autoregressive generation, which models sequential dependencies rather than spatial neighborhood relations, leaving them semantically rich but spatially impoverished for 3D localization. We propose Voxel-enhanced Affordance detection (VoxAfford), which bypasses this bottleneck by injecting multi-scale geometric features from a frozen pre-trained 3D VQVAE encoder into the output tokens after generation. Each output token uses its affordance semantics as a query to retrieve relevant geometric patterns from its paired voxel scale via cross-attention, with a learned compatibility gate controlling the injection strength. The enhanced tokens are then aggregated into a spatially-aware affordance prompt through semantic-conditioned attention and propagated alongside per-point features to generate the final mask. Experiments on open-vocabulary affordance detection tasks show that VoxAfford achieves state-of-the-art performance with approximately an 8% improvement in mIoU, and real robot experiments confirm zero-shot transfer to novel objects.

cs.CV↗

arXiv2026

JoyAI-RA 0.1: A Foundation Model for Robotic Autonomy

Robotic autonomy in open-world environments is fundamentally limited by insufficient data diversity and poor cross-embodiment generalization. Existing robotic datasets are often limited in scale and task coverage, while relatively large differences across robot embodiments impede effective behavior knowledge transfer. To address these challenges, we propose JoyAI-RA, a vision-language-action (VLA) embodied foundation model tailored for generalizable robotic manipulation. JoyAI-RA presents a multi-source multi-level pretraining framework that integrates web data, large-scale egocentric human manipulation videos, simulation-generated trajectories, and real-robot data. Through training on heterogeneous multi-source data with explicit action-space unification, JoyAI-RA effectively bridges embodiment gaps, particularly between human manipulation and robotic control, thereby enhancing cross-embodiment behavior learning. JoyAI-RA outperforms state-of-the-art methods in both simulation and real-world benchmarks, especially on diverse tasks with generalization demands.

cs.RO↗

arXiv2026

MapATM: Enhancing HD Map Construction through Actor Trajectory Modeling

High-definition (HD) mapping tasks, which perform lane detections and predictions, are extremely challenging due to non-ideal conditions such as view occlusions, distant lane visibility, and adverse weather conditions. Those conditions often result in compromised lane detection accuracy and reduced reliability within autonomous driving systems. To address these challenges, we introduce MapATM, a novel deep neural network that effectively leverages historical actor trajectory information to improve lane detection accuracy, where actors refer to moving vehicles. By utilizing actor trajectories as structural priors for road geometry, MapATM achieves substantial performance enhancements, notably increasing AP by 4.6 for lane dividers and mAP by 2.6 on the challenging NuScenes dataset, representing relative improvements of 10.1% and 6.1%, respectively, compared to strong baseline methods. Extensive qualitative evaluations further demonstrate MapATM's capability to consistently maintain stable and robust map reconstruction across diverse and complex driving scenarios, underscoring its practical value for autonomous driving applications.

cs.CV↗

arXiv2026

AffordSim: A Scalable Data Generator and Benchmark for Affordance-Aware Robotic Manipulation

Many everyday robot manipulation skills are affordance-dependent, with success determined by whether the robot contacts the functional object region required by the subsequent action. Current simulation data generators obtain contacts from generic grasp estimators or per-object manual contact annotations, but generic estimators rank stable grasps without task semantics and often select contacts that are misaligned with the downstream action, while manual contact annotations must be rewritten for each new object and task. To solve these challenges, we introduce AffordSim, a scalable data generator and benchmark that integrates open-vocabulary 3D affordance prediction into simulation-based trajectory generation. Given a natural-language task description, AffordSim synthesizes a task-relevant scene, emits affordance queries, grounds them on object surfaces, samples region-conditioned grasps, and selects executable candidates with motion planning. It further randomizes object pose, texture, lighting, image noise, and cross-viewpoint backgrounds for sim-to-real transfer. We instantiate AffordSim as a 50-task benchmark across diverse manipulation skills, five robot embodiments, and 500+ rigid and articulated objects. AffordSim achieves 93% of the trajectory collection success rate of manual contact annotations on affordance-critical tasks and 89% on hard composite tasks. Vision-language-action policies trained on AffordSim data transfer zero-shot to a real Franka FR3, reaching 24% average success.

cs.RO↗