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Nan Wang

Publications and source records attributed to Nan Wang.

At least 19 recordsLinked to original sources
arXiv2026

Fundamental Limits of Joint Target Detection and Parameter Estimation - Characterizing Mixed-State Sensing Limits via Posterior Entropy Volume

The development of integrated sensing and communication calls for a unified theoretical foundation for sensing. This paper models target-presence patterns and continuous physical parameters as a mixed discrete-continuous state $\Xi$ on a branched reference measure, and treats posterior entropy volume and joint mutual information as two complementary representations of the same limit. Entropy volume carries physical units, can be compared with engineering scales such as resolution cells, and remains meaningful when the number of active targets varies; mutual information is dimensionless, invariant to coordinates and units, and additive through the chain rule. We define entropy number, entropy volume, and mixed entropy volume for discrete, continuous, and mixed states, respectively. The maximum-entropy principle for the uniform distribution on a support of fixed measure explains the measure-theoretic meaning of the exponential entropy scale, while the main limit follows from a mixed asymptotic equipartition property and a posterior probability-volume inequality through conditional typical sets. For asymptotically reliable high-probability sensing regions, the minimum achievable first-order posterior mixed entropy volume equals the prior mixed entropy volume multiplied by $2^{-I(\Xi;Y)}$, where $I(\Xi;Y)=I(V;Y)+I(X_V;Y\mid V)$. Thus, detection and estimation contributions multiply in the volume domain and add in the bit domain, and one sensing bit halves the posterior effective measure. We further prove that posterior-preserving cascades attain the direct-inference limit, while arbitrary intermediate compression incurs the exact information loss $I(\Xi;Y\mid Z)$. Numerical results for a single-target presence-range model illustrate the information composition, posterior entropy-volume contraction, and cascade-interface loss.

cs.IT↗
arXiv2026

GE-Act 2.0: Pretraining and Scaling a World-Action Model for Robotic Manipulation

World-action models (WAM) predict future states to guide robot actions, enabling learning from both action-free video and action-labeled interaction. Most inherit pretrained video generators, leaving WAM pretraining and scaling underexplored. We introduce Genie Envisioner Act 2.0 (GE-Act 2.0), a world-action model whose trainable generative and action components are all initialized from scratch on manipulation data. It combines a control-oriented autoencoder (CoAE), a single-step visual planner (SVP), and an inverse dynamics model (IDM). CoAE retains action- and instruction-relevant information under aggressive compression, while SVP produces a complete future state in one differentiable pass, so visual planning and inverse dynamics can be pretrained separately on complementary data. The components are then jointly trained with knowledge-aligned selective optimization (KASO), which reduces mismatched supervision by selecting only predicted futures judged behaviorally compatible with the recorded action. We evaluate pretrained checkpoints directly, without per-task fine-tuning, on 100 tasks across 20 manipulation skill groups with held-out scenes, backgrounds, lighting, and object instances. Scaling co-training data from 300 to 30,000 hours raises success from 17.1% to 44.1% on G1-OP and from 13.4% to 31.1% on G2-90D; despite comprising less than 2% of the co-training data, G2-90D improves by 17.7 points, suggesting cross-embodiment transfer. Gains span 19/20 and 18/20 skill groups, and skill-specific coverage strongly correlates with zero-shot out-of-distribution (OOD) success (Pearson r=0.80; Spearman rho=0.85). Under the same protocol, the model grounds object, color, shape, and position references in at least 90% of trials and follows explicit instructions even when they conflict with an already-committed behavior or a conventional scene association.

cs.RO↗
arXiv2026

Belief-Calibrated Optimization: An Explicit World Model for Agentic Optimization

The performance of an LLM agent depends on the scaffold around a frozen model. A common way to improve that scaffold is to use a coding agent as an optimizer: it reads current scores and traces and iteratively edits the source, producing a new candidate each round. Each edit is chosen according to a belief about how the environment will respond: what went wrong, and which change should help. That belief is typically implicit. It lives in the coding agent's reasoning on the current call, or remains latent in its parameters, rather than as something written down. Later calls therefore see scores and traces, but they do not use that belief. We introduce Belief-Calibrated Optimization (BCO), a method that writes that belief down as a persistent in-context document and continually revises that document as new candidates are evaluated. The resulting document is a world model: the current account of how the environment responds to edits. Added to an otherwise standard loop, BCO reaches a higher train passrate than a matched control that lacks only the world model, on five benchmarks spanning memory QA, tool-use QA, code-as-action app agents, and terminal agents. The gap remains on every held-out split, which is not used to select the candidate. After a target-model swap, in which the frozen model is replaced and the scaffold is not, the selected BCO scaffold leads on the tasks we test, except where context-window overruns leave it unfinished. An offline ablation then asks whether that gap comes from what the world model says. A fresh predictor given the accumulated document forecasts how the environment will respond more accurately than predictors given either no document or a same-form copy whose content has been falsified. The comparison indicates that the document carries reusable information in its content, not only in its form.

cs.AI↗
arXiv2026

Aero Hand Open: A Simulation-Ready Tendon-Driven Hand for Dexterous Manipulation Learning

Tendon-driven hands are anthropomorphic, and moving the actuators off the joints is what makes a hand of this capability affordable to build. Two effects produce that saving. Routing force through a cable removes the requirement that a motor fit inside the joint it drives, so smaller and cheaper motors suffice, and one motor can drive several joints through a single cable, so fewer motors are needed. They are also harder to learn on than a direct-drive hand. The underactuated transmission that produces the saving is itself difficult to represent in a simulator, and the joints one cable drives are not independently commandable. We present Aero Hand Open, a tendon-driven anthropomorphic hand that is released simulation-ready. Three things ship with it. A simulation model reproduces the cable transmission itself. An identified actuation map connects that model to the motor commands in both directions, including the three-way coupling of the thumb. A reinforcement learning package trains policies for the hand. Together they let a policy be trained entirely in simulation and run on the hand with no fine-tuning and no state estimation. We release the mechanical design, the simulation model, the identified mapping, the training environment and the deployment stack.

cs.RO↗
arXiv2026

Direct lattice QCD calculation of the $\theta$-induced CP-violating pion-nucleon coupling

We present the first direct lattice QCD determination of the $\theta$-induced CP-violating pion-nucleon-nucleon coupling $\tilde g_{\pi NN}$. Using overlap valence fermions on three $2+1$-flavor domain-wall ensembles at a single lattice spacing, we calculate the forward proton matrix element of the isovector pseudoscalar density in the $\theta$-vacuum to first order in $\bar\theta$. The parity-mixing effect in the external nucleon states is included in the extraction. The cluster-decomposition error-reduction method is used to improve the statistical precision. A simultaneous extrapolation in the valence- and sea-pion masses, with model averaging over 7 forms based on the Akaike information criterion, gives $\tilde g_{\pi NN}=0.0306(56)(124)\,\bar\theta$ at the physical point. The first uncertainty includes the statistical and matrix-element-fit systematic uncertainties, whereas the second reflects the spread among the extrapolation forms. Within these uncertainties, the result is consistent with the indirect determination based on the strong neutron-proton mass splitting. The present precision is limited primarily by the extrapolation from the relatively heavy sea-pion masses.

hep-lat↗
arXiv2026

AMPBench-MT: A Homology-Controlled Benchmark for Antimicrobial Peptide Potency, Spectrum, and Safety Prediction

Computational AMP discovery is often evaluated through AMP/non-AMP recognition, yet follow-up decisions depend on assay-derived evidence such as target-species potency, hemolysis, toxicity, and selectivity. Existing AMP and peptide benchmarks cover binary recognition, multilabel annotation, assay regression, or broader peptide-model comparison, but they do not jointly place AMP recognition, species-conditioned potency, spectrum, safety-facing proxy endpoints, and cross-endpoint behavior within one sequence-homology-controlled protocol. To address this problem, we introduce AMPBench-MT, a provenance-preserving benchmark that standardizes canonical peptide records and organizes them into binary recognition, species-conditioned pMIC regression, and endpoint-specific potency and safety-facing readouts. Across 161 endpoint-specific model evaluations, high binary performance does not reliably indicate assay-endpoint behavior. Frozen protein-language-model embeddings form the leading pMIC error cluster, while graph and classical regressors remain close. Spectrum labels further reveal that PR-oriented metrics can be misleading under scarce observed negatives, whereas low-toxicity, HC50 hemolysis, and selectivity expose smaller but more assay-facing signals. AMPBench-MT shows that AMP evaluation should move beyond recognition leaderboards toward endpoint-aware evidence auditing. Our proposed benchmark is available at https://huggingface.co/datasets/ZihengZhou06/AMPBench-MT.

cs.LG↗
arXiv2026

Mutual Modality Trust with Lightweight Reconstruction Regularization for Fine-grained Tire Pattern Recognition

Visual tire recognition serves as a core supporting technique for vehicle safety monitoring, autonomous driving perception and automated automotive maintenance. Existing fine-grained tire recognition techniques suffer from three prominent limitations. They tend to depend on only one visual source, lack the capacity to jointly model spatial and frequency cues for minute tread texture extraction, and suffer severe overfitting given limited annotated tire imagery. This paper proposes a lightweight fine-grained tire pattern recognition method incorporating dual-branch independent inference and enhanced feature fusion to boost recognition performance. The framework employs two task-specialized branches dedicated to tire surface and tread indentation, respectively, to extract modality-specific discriminative features. Each branch conducts independent prediction, while cross-branch feature fusion exploits Mutual Modality Trust (M$^2$T) to realize complementary feature enhancement across two modalities. Besides, a frequency-domain hierarchical guidance module is devised, which leverages bandpass filters to decompose feature maps into high- and low-frequency components and enables fine-grained cross-layer feature modulation. Furthermore, a Lightweight Reconstruction Regularization (LR$^2$) is introduced to retain abundant intrinsic information within feature embeddings, substantially improving feature stability and recognition robustness under limited labeled training data. In addition, we establish a surface-indentation multi-source dataset namely MTire299 for fine-grained tire tread recognition, which covers 299 categories with a total of 14795 paired image samples. Extensive experiments conducted on two public tire datasets validate the superiority and efficacy of the proposed algorithm.

cs.CV↗
arXiv2026

Critic Experience Bank: Self-Evolving Step-Level Confidence Estimation for LLM Agents

LLM agents act in external environments where each action changes the state that later decisions condition on, and where a single wrong step can waste interaction budget or trigger irreversible side effects long before the final failure is observed. Reliable deployment therefore requires \emph{step-level confidence estimation}: a calibrated probability that each proposed action is productive, available \emph{before} the action is executed. Existing LLM confidence estimators are designed to score a response from the given prompt, but agent confidence also depends on execution consequences: whether similar actions in similar situations actually advanced the task after the environment responded. We introduce the \method (\methodshort), a self-evolving critic framework in which an LLM critic accumulates evidence from its own past judgments and their observed consequences. After each trajectory, a hindsight LLM that sees the full execution feedback votes on whether each step was productive. The resulting pseudo-labels populate a memory bank from which related productive and unproductive experiences are retrieved into the critic's prompt whenever a similar step recurs. \methodshort requires no training and uses no ground truth step labels. Across three agent benchmarks and three critic backbones, \methodshort attains the best calibration (ECE and Brier) and ranking (AUC) in every dataset--critic combination, reducing ECE by up to $54\%$ relative to the strongest training-free baseline.

cs.AI↗
arXiv2026

Distortion-Corrected Diffusion MRI Using Rotated-View EPI and Joint Field-Map/Image Estimation with Gaussian Primitives

Echo Planar Imaging (EPI) is the standard acquisition technique for diffusion and functional neuroimaging, enabling rapid imaging but suffering from geometric distortions caused by B0 field inhomogeneities. Existing correction methods first reconstruct distorted images using parallel imaging, then estimate the B0 field and correct the distortion in the image domain. In this sequential process, reconstruction artifacts at high acceleration factors and low SNR at high diffusion b-values degrade B0 estimation and limit the overall correction quality. We propose a physics-informed framework that jointly estimates the B0 field and distortion-free image directly from k-space data, without depending on an intermediate parallel-imaging reconstruction for the correction. The image and the B0 field are each represented as a superposition of Gaussian primitives embedded within an MRI physics forward model. The explicit, continuous parameterization captures both smooth regions and tissue boundaries and supports rotated-view EPI acquisitions without interpolation. The diffusion-weighted image is modeled as real and non-negative, with the image phase absorbed into a per-shot phase factor. Rotated views distribute distortions across multiple phase-encoding orientations, improving point spread function isotropy and providing stronger constraints for B0 estimation. On in vivo brain diffusion EPI, the proposed method attains the closest brain-boundary agreement with a distortion-free structural reference, with the largest improvement over sequential methods at high b-value and high acceleration. Extensive visual comparisons further show improved detail fidelity and noise suppression.

eess.IV↗
arXiv2026

RTP-LLM: High-Performance Alibaba LLM Inference Engine

Large Language Models (LLMs) have revolutionized AI applications, but deploying them at scale presents significant challenges. We present RTP-LLM, a high-performance inference engine for industrial-scale LLM deployment, successfully deployed across Alibaba Group serving over 100 million users. RTP-LLM addresses fundamental bottlenecks through integrated design. It optimizes model loading via file-order-driven I/O and parallel I/O-communication overlapping. The Prefill-Decode Disaggregation architecture decouples compute-intensive prefill from memory-bound decode phases, combined with hierarchical multi-tiered KV cache management enabling efficient cache reuse. In addition, RTP-LLM incorporates modular speculative decoding supporting multiple algorithms, adaptive KV cache quantization, and decoupled multimodal processing, with support for multi-level parallelism. Comprehensive evaluations across diverse model architectures (8B-235B parameters) have been conducted, where both controlled benchmarks and real production workloads are used. The results demonstrate RTP-LLM's superior performance against vLLM and SGLang: 4.7x-6.3x model loading speedup, 35-37% TTFT P95 latency reduction with 215% cache reuse improvement in production traffic scheduling, 1.12x-2.48x and 1.86x-2.52x throughput improvements in speculative decoding and multimodal inference, respectively, and 35-40% batch latency reduction with 1.9x-3.0x TTFT improvement in quantized inference. RTP-LLM's production-proven architecture and open-source availability make it a comprehensive solution for industrial LLM deployment.

cs.OS↗
arXiv2026

Confidence-Orchestrated Self-Evolution against Uncertain LLM Feedback

Self-evolving large language models (LLMs) learn by generating their own training tasks and solutions, reducing reliance on human-curated supervision. However, in many reasoning domains, the model must also validate generated tasks and judge generated answers to obtain training signals. This creates a training-signal challenge: erroneous self-judgments become erroneous gradient updates. Existing approaches either rely on external verifiers, which limits generality, or treat noisy self-generated feedback as supervision. We propose COSE (Confidence-Orchestrated Self-Evolution), which uses the LLM's intrinsic confidence as a lightweight uncertainty signal to modulate learning. COSE introduces confidence-weighted PPO updates and confidence-prioritized replay. Across 19 held-out benchmarks and four Qwen/Llama backbones (0.6B--4B), COSE consistently improves over base models and achieves the best average performance in general reasoning and mathematics, while remaining competitive on code. Code and data are available at https://anonymous.4open.science/r/COSE_-B5C2.

cs.AI↗
arXiv2026

GE-Sim 2.0: A Roadmap Towards Comprehensive Closed-loop Video World Simulators for Robotic Manipulation

We introduce GE-Sim 2.0 (Genie Envisioner World Simulator 2.0), a closed-loop video world simulator for robotic manipulation. Building on the action-conditioned video generation framework of Genie Envisioner, GE-Sim 2.0 is re-trained on thousands of hours of real-world robot data spanning teleoperation, contact-rich interaction, and on-robot policy deployment, substantially improving action-following fidelity and trajectory coverage. On top of this foundation, three new modules close the loop from video simulation to policy learning: a state expert that decodes proprioceptive state from video latents to support next-chunk prediction by downstream VLA policies; a world judge that scores generated rollouts against task instructions, yielding machine-verifiable success signals and rewards in place of manual inspection; and an acceleration framework that delivers a 25-frame rollout in 2.3 seconds on a single H100, with up to 4* frame skipping at inference for long-horizon evaluation. GE-Sim 2.0 tops the public WorldArena leaderboard at only 2B parameters, outperforming both dedicated robotic world models and closed-source general video generators, and policies trained against its rollouts and rewards translate into measurable real-world gains, establishing GE-Sim 2.0 as a practical platform for scalable evaluation and closed-loop learning of manipulation policies.

cs.RO↗
arXiv2026

MetaAgent-X : Breaking the Ceiling of Automatic Multi-Agent Systems via End-to-End Reinforcement Learning

Automatic multi-agent systems aim to instantiate agent workflows without relying on manually designed or fixed orchestration. However, existing automatic MAS approaches remain only partially adaptive: they either perform training-free test-time search or optimize the meta-level designer while keeping downstream execution agents frozen, which creating a frozen-executor ceiling and leaving the end-to-end training of self-designing and self-executing agentic models unexplored. To address this, we introduce MetaAgent-X, an end-to-end reinforcement learning framework that jointly optimizes automatic MAS design and execution. MetaAgent-X enables script-based MAS generation, execution rollout collection, and credit assignment for both designer and executor trajectories. To support stable and scalable optimization, we propose Executor Designer Hierarchical Rollout and Stagewise Co-evolution to improve training stability and expose the dynamics of designer-executor co-evolution. MetaAgent-X consistently outperforms existing automatic MAS baselines, achieving up to 21.7% gains. Comprehensive ablations show that both designer and executor improve throughout training, and that effective automatic MAS learning follows a stagewise co-evolution process. These results establish end-to-end trainable automatic MAS as a practical paradigm for building self-designing and self-executing agentic models.

cs.AI↗
arXiv2026

ShellfishNet: A Domain-Specific Benchmark for Visual Recognition of Marine Molluscs

The decline of global shellfish biodiversity poses a severe threat to coastal ecosystems. Although artificial intelligence (AI) technologies show potential for automated ecological monitoring, existing marine benthic datasets often lack adaptation to the complexities of real underwater environments (e.g., variable lighting conditions and diverse species postures), posing challenges for the robust generalization of vision models in practical ecological monitoring. To address this problem, we construct ShellfishNet, a comprehensive image benchmark dataset designed specifically for real-world ecological monitoring constraints. Comprising 8,691 images across 32 taxa, this dataset includes a curated subset annotated with descriptive captions. It is constructed through field photography and web scraping, encompassing samples from complex real-world environments. Based on this benchmark, we systematically evaluate 80 representative neural network models, including Convolutional Neural Networks (CNNs), Vision Transformers (ViTs), State Space Models (SSMs), and Self-Supervised Learning (SSL) methods. Furthermore, we evaluate the performance of fine-grained visual categorization (FGVC) models and investigate the image captioning capabilities of several mainstream multimodal large language models (MLLMs). Meanwhile, we introduce image corruption benchmark tests to simulate common underwater degradation scenarios (turbidity, severe weather) and assess the robustness of vision models, enabling trustworthy decisions on ecological protection in the wild. ShellfishNet is dedicated to providing a data foundation and a model-evaluation benchmark for the intelligent monitoring of benthic organisms.

cs.CV↗
arXiv2026

Write-Read Decoupling in Modern Large-Scale Search Engines: Architectures, Techniques, and Emerging Approaches

Large-scale search engines face a fundamental tension: the index must be updated frequently to maintain freshness, yet updates create resource contention that inflates query latency. In the dominant Lucene-based architecture, segment merges triggered by writes compete with concurrent queries for CPU cycles, disk I/O bandwidth, and operating-system page cache -- a problem we term \emph{write-read contention}. This survey systematically examines the architectural solutions that industry and academia have developed to decouple write pressure from read latency. We identify five principal patterns: (i)~node-level read-write separation; (ii)~compute-storage separation; (iii)~full in-memory indexing; (iv)~log-structured write paths; and (v)~in-place partial updates. We survey representative systems including Elasticsearch, LinkedIn Galene, Uber Sia, Quickwit, Alibaba Havenask, Algolia, Milvus, and Vespa, and discuss an emerging synthesis -- the ScaleSearch architecture -- that combines compute-storage separation with full in-memory indexing and dedicated write nodes. A key contribution of ScaleSearch is \emph{per-field update routing}: each field is assigned its own Kafka topic and update path, allowing scalar fields (price, stock, tags) to be updated in-place in $O(1)$ RAM with immediate visibility while full-text fields follow the segment-based compute-storage path. We conclude with open challenges in hybrid vector-and-full-text retrieval, serverless deployments, and AI-integrated search.

cs.DB↗
arXiv2026

SpecVQA: A Benchmark for Spectral Understanding and Visual Question Answering in Scientific Images

Spectra are a prevalent yet highly information-dense form of scientific imagery, presenting substantial challenges to multimodal large language models (MLLMs) due to their unstructured and domain-specific characteristics. Here we introduce SpecVQA, a professional scientific-image benchmark for evaluating multimodal models on scientific spectral understanding, covering 7 representative spectrum types with expert-annotated question-answer pairs. The aim comprises two aspects: spectra scientific QA evaluation and corresponding underlying task evaluation. SpecVQA contains 620 figures and 3100 QA pairs curated from peer-reviewed literature, targeting both direct information extraction and domain-specific reasoning. To effectively reduce token length while preserving essential curve characteristics, we propose a spectral data sampling and interpolation reconstruction approach. Ablation studies further confirm that the approach achieves substantial performance improvements on the proposed benchmark. We test the capability of prominent MLLMs in scientific spectral understanding on our benchmark and present a leaderboard. This work represents an essential step toward enhancing spectral understanding in multimodal large models and suggests promising directions for extending visual-language models to broader scientific research and data analysis.

cs.AI↗
arXiv2026

Semi-Supervised Flow Matching for Mosaiced and Panchromatic Fusion Imaging

Fusing a low resolution (LR) mosaiced hyperspectral image (HSI) with a high resolution (HR) panchromatic (PAN) image offers a promising avenue for video-rate HR-HSI imaging via single-shot acquisition, yet its severely ill-posed nature remains a significant challenge. In this work, we propose a novel semi-supervised flow matching framework for mosaiced and PAN image fusion. Unlike previous diffusion-based approaches constrained by specific protocols or handcrafted assumptions, our method seamlessly integrates an unsupervised scheme with flow matching, resulting in a generalizable and efficient generative framework. Specifically, our method follows a two-stage training pipeline. First, we pretrain an unsupervised prior network to produce an initial pseudo HR-HSI. Building on this, we then train a conditional flow matching model to generate the target HR-HSI, introducing a random voting mechanism that iteratively refines the initial HR-HSI estimate, enabling robust and effective fusion. During inference, we employ a conflict-free gradient guidance strategy that ensures spectrally and spatially consistent HR-HSI reconstruction. Experiments on multiple benchmark datasets demonstrate that our method achieves superior quantitative and qualitative performance by a significant margin compared to representative baselines. Beyond mosaiced and PAN fusion, our approach provides a flexible generative framework that can be readily extended to other image fusion tasks and integrated with unsupervised or blind image restoration algorithms.

cs.CV↗
arXiv2026

INSPATIO-WORLD: A Real-Time 4D World Simulator via Spatiotemporal Autoregressive Modeling

Building world models with spatial consistency and real-time interactivity remains a fundamental challenge in computer vision. Current video generation paradigms often struggle with a lack of spatial persistence and insufficient visual realism, making it difficult to support seamless navigation in complex environments. To address these challenges, we propose INSPATIO-WORLD, a novel real-time framework capable of recovering and generating high-fidelity, dynamic interactive scenes from a single reference video. At the core of our approach is a Spatiotemporal Autoregressive (STAR) architecture, which enables consistent and controllable scene evolution through two tightly coupled components: Implicit Spatiotemporal Cache aggregates reference and historical observations into a latent world representation, ensuring global consistency during long-horizon navigation; Explicit Spatial Constraint Module enforces geometric structure and translates user interactions into precise and physically plausible camera trajectories. Furthermore, we introduce Joint Distribution Matching Distillation (JDMD). By using real-world data distributions as a regularizing guide, JDMD effectively overcomes the fidelity degradation typically caused by over-reliance on synthetic data. Extensive experiments demonstrate that INSPATIO-WORLD significantly outperforms existing state-of-the-art (SOTA) models in spatial consistency and interaction precision, ranking first among real-time interactive methods on the WorldScore-Dynamic benchmark, and establishing a practical pipeline for navigating 4D environments reconstructed from monocular videos.

cs.CV↗