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Nan Wu

Publications and source records attributed to Nan Wu.

3 recordsLinked to original sources

arXiv2026

AcrossWAM1.0:A Modular Latent World-Action Stack for Compact Robot Policies

Latent world-action models avoid rendering future pixels by predicting an action-relevant visual subgoal in feature space. LaWAM established this formulation, but its original presentation left the world model, multimodal backbone, and deployment checkpoint tightly coupled. We introduce AcrossWAM1.0, a modularization and scaling study of this latent world-action stack. Rather than presenting latent subgoals as a new algorithm, we make the module boundary explicit: a policy adapter produces latent-action and action-generation contexts; a retained latent world decoder grounds the predicted transition in the current scene;and a flow-matching expert generates continuous action chunks. We further separate training-only teachers from the inference graph and provide a verifiable deployment export. On 2,000 paired LIBERO episodes, replacing a Qwen3-VL-2B backbone with Qwen3.5-0.8B yields 97.45% success versus 98.00% for the 2B model (a-0.55percentage-point difference; exact McNemarp=0.266). This does not prove equivalence, but it meets a prespecified two-point retention criterion. The compact, inference-reachable checkpoint contains 1,472.6M unique parameters, 42.4% fewer than the original 2B policy, while all retained tensors are bitwise identical to the source checkpoint. Cross-family execution is additionally checked with a MiniCPM-V adapter smoke test; closed-loop cross-family transfer remains an open evaluation. AcrossWAM1.0 therefore contributes an auditable software and evaluation boundary for compact latent world-action policies, distinct from LaWAM's original latent-subgoal contribution.

cs.AI↗

arXiv2026

DisCTI: Who Needs to Know Timely? Automated Sector-Aware Cyber Threat Intelligence Dissemination

The timely dissemination of cyber threat intelligence (CTI) is critical for organizations to mount swift and effective incident response. When valid CTI is delivered to the right sector at the right time, identical attacks can often be contained or mitigated. However, today's rapidly expanding CTI landscape overwhelms analysts, who must sift through massive and heterogeneous feeds. Existing platforms such as the Malware Information Sharing Platform (MISP) provide sector tagging features (e.g., energy, finance, government), but in practice, these remain largely unmapped (98% of events are left uncategorized). This lack of automated and timely sector mapping severely limits the operational value of shared intelligence, leaving organizations that belong especially to the critical information infrastructure sector exposed. To address this gap, we formulate sector-targeted CTI dissemination as a multilabel classification problem. Leveraging deep field knowledge of CTI structures and sector-specific threat patterns, we construct a novel data set of 872 sector-labelled CTI events from a threat intelligence platform (TIP). We then apply BERT, a transformer-based model, to automate the mapping of CTI events to sectors. Using the structured threat information expression (STIX) format for cross-platform interoperability, our approach achieves a macro-averaged F1-score of 0.89 at a Hamming loss of 0.055 on the custom dataset, i.e. 94.5% of individual sector-label assignments are correct. These results not only demonstrate the feasibility of sector-aware, automated CTI dissemination but also highlight how embedding expert field knowledge into machine learning design fills a crucial gap in the threat intelligence pipeline, enabling faster and context-relevant defensive action.

cs.CR↗

arXiv2026

AcrossVAM1.0: Particle World Modeling for Text-Assisted Robot Video Prediction

Predicting robot videos requires both precise motion reasoning and preservation of high-frequency appearance, yet monolithic pixel models entangle these objectives and often conceal their progress behind a strong last-frame baseline. We present AcrossVAM1.0, a lightweight, text-assisted video action model that factorizes future prediction into object-centric motion and dense appearance. A frozen SAM3-DLP codec decomposes four context frames into semantic particles for the robot, arm, and gripper, together with a background latent. A 0.28M-parameter spatio-temporal Transformer aligns particle identities, rolls their states forward, and is modulated by a frozen OpenCLIP instruction embedding through FiLM. A causal dual-stream decoder combines particle-rendered motion with appearance encoded exclusively from the last observed frame; a residual refiner and learned delivery mask produce five future frames without access to future appearance. On our VRS benchmark constructed from diverse real-robot trajectories, particle dynamics reduce trajectory error by 21.0\% over persistence. Across three delivery-mask seeds, AcrossVAM1.0 improves future-frame PSNR/SSIM from 19.97/0.796 to 20.573/0.8004, while raw particle generation improves motion-region PSNR from 11.89 to 13.23. The delivered model does not yet beat persistence in LPIPS, and correct-versus- shuffled language changes trajectory error by only 2.8--3.1%. We report these limitations alongside oracle, negative-control, multi-seed, and per-robot analyses. The results show that explicit particle dynamics are a promising low-dimensional interface for robot video prediction, while robust language grounding and appearance delivery remain the principal open challenges.

cs.AI↗