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Nuo Chen

Publications and source records attributed to Nuo Chen.

At least 19 recordsLinked to original sources
arXiv2026

ThinkLocoManip: A Whole-Body Control Agentic Harness for Legged Loco-Manipulation

In this paper, we propose ThinkLocoManip, an agentic harness for legged loco-manipulation designed to tackle complex, long-horizon tasks in large-scale environments. Existing approaches typically follow either direct action generation or a plan-then-act paradigm, both of which can struggle with the generalization and error-recovery capabilities required for extended task execution. In contrast, ThinkLocoManip adopts an interleaved reasoning-and-acting paradigm, allowing the agent to continuously reason about its current state, execute actions, observe their outcomes, and adapt its strategy accordingly. Building on this paradigm, our agentic harness orchestrates a suite of specialized tools for perception, navigation, manipulation, and locomotion, enabling flexible composition of heterogeneous capabilities. Unlike existing robotic agentic harnesses, ThinkLocoManip explicitly incorporates locomotion as a tool domain for agent reasoning and execution. We further design a set of skills that explicitly account for both tool usage within each functional domain and coordination across domains, supporting effective execution of complex behaviors over long horizons. To tackle task failure during long-horizon interactions, we develop keyframe thinking mechanism to preserve critical execution context and support efficient error recovery. Extensive real-world experiments demonstrate that ThinkLocoManip substantially outperforms representative methods based on both direct action generation and plan-then-act paradigms across challenging long-horizon legged loco-manipulation tasks. Notably, ThinkLocoManip achieves a success rate of 77%, more than twice that of the strongest plan-then-act baseline (37.1%). Our experiments further validate the effectiveness of interleaved reasoning and acting, tool orchestration, and coordinated skill execution.

cs.RO↗
arXiv2026

Async-RBench: Benchmarking Asynchronous Task Execution in LLM Agents

Large language model (LLM) agents increasingly execute tasks asynchronously: a main agent continues working while its subagents run, and the task state may change before their results arrive. The main agent must decide which work to update or preserve and which checks to repeat, while avoiding prohibited changes. Final task success alone does not reveal whether these results were handled correctly, and natural asynchronous arrivals are hard to reproduce. We introduce Async-RBench, a benchmark for asynchronous task execution in LLM agents, with 200 executable tasks covering eight scenarios. A scenario controller regulates result delivery using predefined task-state conditions, while an Event Response Contract (ERC) specifies what each response must change, preserve, avoid, and re-verify. The Dynamic Replanning Score (DRS) weights the response process and outcome equally and is reported separately from task success. We evaluate nine agents and find DRS scores of 19.2 to 45.1, with the lowest scores on duplicate reports and subagent failures. Under our execution protocol, all nine agents obtain lower task success with asynchronous than with batched delivery (26.0% vs. 29.7% on average). For three agents, prompting the main agent to rebuild its plan after every result improves DRS by only 2.6 to 3.5 points. Together, these findings highlight the challenges of reliable asynchronous task execution and the need to evaluate how agents handle incoming results alongside end-to-end task success.

cs.AI↗
arXiv2026

POSEIDON: Scaling Training Environments for Scientific Agents from Code Repositories

Training environments remain a major bottleneck for agents in data-driven scientific discovery. Existing collections of executable and verifiable training environments are small, and their construction remains difficult to scale. To address this limitation, we introduce Poseidon, an automated pipeline for generating diverse, verifiable training environments from scientific code repositories at scale. From the same repository budget, Poseidon extracts nearly 10 times as many training environments as a prior approach by decomposing scientific workflows into four complementary task types: Reproduction, Subflow, Completion, and Correction, where each type targets a distinct capability for scientific research. A recursive improvement loop further refines failed candidates and recovers otherwise discarded environments. Using Poseidon, we construct Pearl, a collection of 97,659 executable and verifiable environments from 7,110 public repositories spanning 10 scientific disciplines. To the best of our knowledge, Pearl is the largest and most broadly multidisciplinary collection of scientific-agent training environments to date. Qwen3.5 models (9B, 27B, and 35B-A3B) trained on Pearl achieve consistent gains across six challenging scientific-agent benchmarks. Overall, the scale and diversity of Pearl offer opportunities for training scientific discovery agents.

cs.AI↗
arXiv2026

Human-Robot Interaction via Meta-Learning Based Mode Recognition and Adaptive Control

In human-robot interaction (HRI) tasks, humans may interact with the robot in either an active guiding or passive following state, resulting in distinct control objectives for each interaction mode. Most existing approaches rely on predefined switching thresholds to distinguish interaction modes, but their performance can be sensitive to measurement noise. To address this limitation, we propose a novel framework with the following key contributions. First, a neural network (NN) trained via meta-learning is developed to recognize human intention without manually defined thresholds. By successfully incorporating force-dependent parameters from the controller, the recognition rates are improved from 90.1\% to 99.1\% for the passive mode and from 79.8\% to 97.1\% for the active mode. Second, an adaptive meta-learning controller is introduced to compensate for human disturbances and enable online adaptation to varying interaction forces. Third, a multiple-trajectory meta-learning algorithm is designed to jointly learn an environment-basis representation and force-dependent parameters, allowing the controller to deal with unmodeled dynamics efficiently. Experimental results demonstrate that the proposed framework achieves robust and accurate control performance, while providing reliable mode recognition for safe and adaptive physical HRI.

cs.RO↗
arXiv2026

Learning-Enhanced Observer for Sensorless Task-Null-Space Compliant Control

This paper presents a novel framework integrating a robust wrench observer with a hybrid pose and force controller for physical Human-Robot Interaction (pHRI). In pHRI tasks, robots are expected to perform task-space motions robustly while remaining compliance with human disturbance, which proposes distinct control objectives. Most existing approaches focus mainly on either robustness or compliance and rely on force sensors for real-time tracking. To address these limitations, we propose a novel framework with the following key contributions. Firstly, a neural network (NN) is trained to improve the observer performance by compensating for system friction and unmodeled dynamics. Secondly, a task-null-space decomposition is applied to separate the joint velocity and reduce the effect of the human disturbance on the observer. Finally, a hybrid pose and force controller is introduced to achieve the end-effector pose and force tracking. Experimental results demonstrate that the proposed framework provides robust and accurate wrench estimation while maintaining reliable pose and force tracking performance. The proposed approach offers an effective solution and framework for pHRI without the need of force/torque sensor measurements which can be applied to many robotic manipulator platforms which do not have force/torque sensors.

cs.RO↗
arXiv2026

Herculean: An Agentic Benchmark for Financial Intelligence

As AI agents advance, the central question is no longer whether they can solve isolated financial tasks, but whether their capabilities generalize across complete professional workflows. Existing benchmarks cannot answer this question because they evaluate either static competencies or agents within a single interaction structure. We introduce Herculean, a benchmark of end-to-end agentic financial intelligence that crosses agent architecture, backbone model, and four structurally distinct workflows: Trading, Hedging, Market Insights, and Auditing. Each workflow is implemented as an MCP skill that preserves its native state, actions, constraints, and outcome criteria, allowing intact agent systems to be evaluated under matched external conditions. Across 30 architecture--backbone configurations, we find that agent capability is not globally ordered. Workflow rankings are weakly aligned, changing the architecture frequently reverses performance under the same backbone, and each architecture concentrates failure in different forms of workflow control. These results establish that agent performance is an interaction between architecture and workflow demand, rather than an intrinsic property of the underlying model. Consequently, success on a single financial workflow provides little evidence of dependable, general financial intelligence.

cs.AI↗
arXiv2026

Low-mass and High-sSFR H$α$ Emitters at $z \sim 2$ in the ZFOURGE-COSMOS Field

We present a near-infrared spectroscopic follow-up study of seven H$α$ emitter candidates at $z\sim2$ in the ZFOURGE-COSMOS field, selected via the $K_{\rm s}$-band flux excess method. Spectra obtained with Subaru/SWIMS confirm strong H$α$ emission line at $z=2.06-2.49$ for all the targets. Three galaxies are low-mass systems ($\log(M_\star/M_\odot) < 9$) with high specific SFRs, while four are high-mass systems ($\log(M_\star/M_\odot) > 10$) on the star-forming main sequence. The low-mass galaxies show consistent H$α$ flux measurements between the $K_{\rm s}$-band flux excess method and the spectroscopy, whereas the high-mass galaxies show higher H$α$ flux inferred from the $K_{\rm s}$-band flux excess than the spectroscopic measurement which may be attributed to their extended star formation distributions. The low-mass galaxies exhibit extreme [O III] $\lambda5007$ emission with high rest-frame equivalent widths ($\mathrm{EW}_{\mathrm{rest}}$) ranging from 480 to 1064 $\mathring{\mathrm{A}}$. They are characterized by high [O III]/H$β$ ratios ($>4$) and weak [O II] and [N II] emission lines, indicating high ionization parameters and low metallicity. The line ratios are comparable to those of star-forming galaxies at $z \gtrsim 6$ and their local analogs. JWST/NIRCam imaging reveals a clear mass-dependent color gradient: the low-mass galaxies present positive F115W-F277W radial gradients with blue cores, while the high-mass galaxies exhibit negative gradients with red cores. These results suggest distinct assembly pathways for low- and high-mass galaxies during the cosmic noon epoch.

astro-ph.GA↗
arXiv2026

Ego2Contact: Predicting Touch from Egocentric Human Video for Contact-Rich Robot Manipulation

Contact locations and interaction forces are critical for contact-rich robot manipulation but are often ambiguous from vision alone. Measuring them on robots requires specialized tactile hardware and platform-specific data collection, which keeps robot tactile data scarce. Human egocentric video is far easier to scale but lacks touch. Recent predictors trained on egocentric recordings paired with tactile-glove measurements can predict this missing signal from video alone. These predictors, however, remain confined to human hands, which differ from robot hands in appearance and tactile layout. We present Ego2Contact, which learns a visual-tactile prior from human interactions and transfers it to robot hands. Its predictor fuses temporal scene context with hand-local visual features to infer bimanual tactile fields from the RGB video. Anatomical region correspondences align varying robot tactile layouts with the predictor's canonical grid, turning robot measurements into fine-tuning targets and predictions into policy inputs. Ego2Contact outperforms prior tactile predictors on human data, including unseen objects, and on robot data after adaptation. The adapted predictor provides tactile inputs for both simulated reinforcement learning and real-robot policy post-training. In simulation, policies using predicted touch outperform non-tactile baselines and recover part of the benefit of ground-truth tactile sensing. These results show that human-learned tactile priors can supply touch when direct tactile sensing is limited.

cs.RO↗
arXiv2026

OR-License: Evaluating LLM Agents as Real-World Operations Research Practitioners

Can large language model (LLM) agents deliver expert-level operations research (OR) solutions directly from original client materials, without prior expert reformulation? Existing OR benchmarks typically begin with self-contained descriptions or predefined optimization tasks, underrepresenting the translation of original business materials into professionally validated solutions. We introduce OR-License, an end-to-end benchmark of 31 instances across 10 industrial scenarios from paid OR engagements totaling USD 3.68 million. It preserves original requirements, input data, deliverable formats, and information boundaries after de-identification. To study information acquisition, we introduce ORSim, a controlled client simulator that discloses business facts without supplying OR expertise. Hidden evaluation checks feasibility and compares objective quality against original expert solutions accepted by clients before benchmark construction. Deployment-Adjusted Quality (DAQ) averages expert-relative quality across instances, assigning zero to infeasible deliveries. Across 11 frontier LLMs using coding-agent harnesses, several exceed the expert reference in conditional objective quality, but none matches its DAQ; the strongest primary Claude Code configuration achieves 88.39% strict feasibility and a DAQ of 0.87 against the expert reference of 1. Client information acquisition extends beyond clarification into solution development and validation, with some later stages showing higher confirmed issue-resolution proportions. Trajectory analysis identifies formulation and implementation failures, while task-equalized research-chain completion rates range from 24% to 45% across models on evaluable tasks. These findings motivate sustained information-gap resolution, faithful problem formulation, and evidence-linked self-improvement for reliable long-horizon agents.

cs.CL↗
arXiv2026

LoopRPT: Reinforcement Pre-Training for Looped Language Models

Looped language models (LoopLMs) perform iterative latent computation to refine internal representations, offering an alternative to explicit chain-of-thought (CoT) reasoning. However, existing reinforcement learning (RL) paradigms primarily target output tokens, creating a structural mismatch with looped architectures whose reasoning unfolds implicitly. In this work, we propose LoopRPT, a reinforcement pre-training framework tailored for LoopLMs. By reframing next-token prediction as a next-token reasoning task, LoopRPT assigns reinforcement signals directly to latent steps using an EMA teacher reference and noisy latent rollouts. This formulation enables RL to directly shape intermediate representations, compressing effective reasoning into fewer iterations. We instantiate LoopRPT on Ouro across multiple model scales. Results show that LoopRPT improves per-step representation quality and achieves Pareto dominance in accuracy-computation trade-offs. Large gains on hard tokens indicate that LoopRPT enhances early-stage reasoning rather than merely encouraging premature exits. Our findings highlight reinforcement pre-training as a principled paradigm for learning efficient latent reasoning in LoopLMs.

cs.CL↗
arXiv2026

DarkVGGT: Seeing Through Darkness Using Thermal Geometry

Recent feed-forward 3D reconstruction methods have demonstrated strong performance and flexibility in efficient end-to-end scene geometry estimation from image streams. However, their reliance on visible-light appearance makes them vulnerable in dark and low-visibility environments, where RGB cues are severely degraded and geometric evidence becomes ambiguous. To address this challenge, we propose DarkVGGT, a structured RGB-T adaptation of pretrained VGGT for robust 3D estimation in low-light scenes. DarkVGGT introduces two complementary modules. First, complementary thermal feature factorization processes thermal tokens through content-preserving and high-frequency residual pathways controlled by learned complementary allocation weights. Second, geometry-shared thermal routing aligns RGB and thermal representations in a shared latent space and selectively injects a gated feature correction into the RGB stream. Together, these components enable accurate thermal-informed geometry estimation under degraded RGB conditions while largely preserving performance in well-lit environments. Experiments on low-visibility RGB-T benchmarks demonstrate consistent improvements in both depth and camera pose estimation over existing feed-forward geometry baselines.

cs.CV↗
arXiv2026

AnaDiffusion: Anatomically Compositional Latent Diffusion for Controllable 3D Brain MRI Generation

3D brain MRI generation has made significant advances in medical imaging, simulation, and controllable anatomical analysis. However, existing generative models typically synthesize 3D volumes monolithically, often overlooking regional anatomical structures and limiting local controllability. To address these limitations, we introduce AnaDiffusion, an anatomically compositional latent diffusion framework that factorizes the generation process into distinct, anatomically meaningful regions, followed by part-to-whole assembly and global refinement. Our approach first trains part diffusion models to capture local structural priors. We then inject an assembled anatomical composite of the parts into the whole-brain latent representation and continue denoising. This mechanism enables the model to resolve global context while preserving the injected anatomy. As a result, AnaDiffusion produces both explicit part assets and a globally coherent volume, thereby enabling controllable part editing without requiring subject-specific dense segmentation maps at inference time while maintaining consistent part-to-whole brain structure. On the subject-disjoint ADNI test split, AnaDiffusion achieves the lowest FID across the whole brain, left and right hemispheres, cerebellar-brainstem complex, and seam regions. It also achieves the best cerebellar and second-best ventricular and brainstem absolute Cohen's d values among the evaluated methods. In localized editing experiments, paired MS-SSIM demonstrates high target transfer and off-target preservation, supporting controllable part replacement with minimal unintended anatomical alterations.

cs.CV↗
arXiv2026

Surface-volume self-supervised representation learning of brain MRI for genetic discovery

Existing genome-wide association studies (GWAS) of brain imaging provide predefined or deep-learning-derived imaging phenotypes, yet these phenotypes come from either volumetric scans or cortical surface meshes, so each captures only part of the heritable variation in brain anatomy. Here we introduce MEVA (Mesh-Enhanced Volumetric Autoencoder), a self-supervised framework that encodes voxel-level image intensity together with cortical mesh geometry, including curvature and cortical thickness at each surface vertex, into one shared set of imaging features. Combining the mesh and volumetric inputs in MEVA yields modest performance gains in age and sex prediction over models that use either input alone. When these features serve as phenotypes for GWAS in the UK Biobank, they reveal more genome-wide significant loci than features learned from volumes alone or from meshes alone. These results suggest that adding cortical surface geometry to volumetric self-supervised learning captures additional heritable variation and so increases the number of loci detected.

cs.CV↗
arXiv2026

OpenMobile-2: Building Versatile Mobile Agents with Scalable Environments and App-Native Tools

We introduce OpenMobile-2, a near-frontier mobile agent with fully open training environments and recipes. We make three key advances: (1) Diverse environments with simulated commercial apps: We build MobileGym++, featuring 35 realistic, functionally rich commercial-style apps with cross-app workflows, while preserving full controllability for reset and verification. Together with newly configured apps in Android emulators, this yields a diverse playground spanning over 110 apps. (2) Open training data at scale: Building on this foundation, we curate nearly 12K mobile interaction trajectories for supervised fine-tuning and the largest open collection of verifiable RL training data for mobile agents, comprising over 2K executable tasks with automatic rewards. (3) Hybrid GUI and app-native tool use: We explore an experimental mobile-use setting where apps expose selected functionalities as app-native tools alongside their GUIs, allowing agents to interleave GUI actions and tool calls within a task. We implement this setting in MobileGym++ with over 300 carefully scoped tools across 50+ apps. Additionally, we introduce MobileGym++ Bench for complex, long-horizon commercial mobile scenarios, supporting both GUI-only and hybrid GUI-tool evaluation on a shared task suite. OpenMobile-2 performs competitively across established benchmarks, including AndroidWorld (79.9) and MobileWorld (50.4), while showing promising transfer to real-device mobile use, nearly doubling SPA-Bench performance from 31.9 to 59.6. All resources are available at https://os-copilot.github.io/OpenMobile2-Home/.

cs.SE↗
arXiv2026

TrajLong: Co-Designing Agentic and Long-Context Supervision for Mid-Training

LLM agents for coding, search, and workplace tasks increasingly rely on long-context capabilities to effectively aggregate and reason over extended interaction histories. Recent work has incorporated agent trajectories into mid-training stage, drawing on their naturally long and interaction-rich structure. Yet how to organize the information within these trajectories into effective mid-training supervision remains underexplored. In this work, we investigate the relationship between long-context and agent atomic capabilities and introduce TrajLong, a novel framework that compiles trajectories into long-context training tasks with dense supervision, targeting three representative atomic capabilities: evidence grounding, cross-evidence aggregation, and temporal state maintenance. We mid-train Qwen3-14B-Base and Qwen3-30B-A3B-Base with data compiled by TrajLong, followed by supervised fine-tuning. Experiments on 6 long-context and 12 agent benchmarks demonstrate broad performance gains, with controlled ablations showing improvements over raw and masked trajectory baselines. Capability-level analyses further reveal task-dependent associations between long-context and agent atomic capabilities. These findings suggest that the shared capability demands of long-context reasoning and agent execution provide a principled basis for designing mid-training data to develop downstream agent capabilities.

cs.CL↗
arXiv2026

Beyond Rephrasing: Book-Level Organization Improves Synthetic Textbook Data for Mid-Training

Synthetic textbook data has improved language model pre-training, but prior work largely treats the benefit as a property of generated content or local rewriting style. We study a different factor: whether related content is organized into coherent book-level documents. We contribute both a scalable synthesis pipeline and controlled evidence that this organization matters. The pipeline retrieves source material from a pre-training corpus, clusters it into topical units, plans hierarchical tables of contents, and assembles source-grounded sections into complete books (our Full setting), yielding 686K textbooks (32B tokens) across 15,000+ disciplines. Replacing natural books in a mid-training mix with this corpus improves downstream performance by +1.09 on average. Controlled comparisons then disentangle the relevant design factors. A content-matched Split condition holds generated text and tokens fixed but treats each section as an independent document; Full's +1.02 mean gain isolates document packaging. A length-matched RandomConcat control that joins sections from different books remains below Full, ruling out document length alone. A retrieval-pool-matched Rephrase condition independently rewrites individual retrieved documents under the same audience-by-style scheme, without clustering, TOC planning, or book assembly; Full's +1.17 gain demonstrates the value of structured synthesis. On Llama3-8B, Full likewise outperforms both RandomConcat and Natural Books, supporting book-level organization as a useful axis for synthetic pre-training data design.

cs.AI↗
arXiv2026

PhyMo: A Physical-Field Modality for Multimodal AI4Physics

Multimodal learning is emerging as a powerful paradigm for AI for Physics (AI4Physics), where predicting physical systems requires the joint interpretation of heterogeneous observations, measurements, and domain knowledge. However, existing approaches typically represent physical quantities and governing equations as generic numerical or textual tokens, overlooking the physical constraints that determine their spatiotemporal interactions. To address this limitation, we introduce the \textbf{physical-field modality} and propose \textbf{PhyMo}, a physics-grounded multimodal framework that organizes heterogeneous measurements through PDE-associated operators. PhyMo follows a three-stage learning procedure: the physical-field encoder is first pretrained through field reconstruction under PDE residual supervision, its representations are subsequently aligned with visual embeddings in a shared latent space, and the fused multimodal representations are finally processed by corresponding downstream prediction heads. Experiments on five datasets spanning diverse physical environments show that PhyMo achieves state-of-the-art performance, compared to the strongest baseline on each dataset, demonstrating the superiority of PhyMo on multimodal representation learning in AI4Physics.

cs.LG↗
arXiv2026

DCRL: Decoupling and Coupling Reinforcement Learning via Policy-Reward Manifold Alignment

Reinforcement learning (RL) has emerged as a key paradigm for improving the reasoning capabilities of large language models (LLMs). However, existing reward systems, such as rule-based and reward-model-based, often exhibit issues such as unstable optimization and reward hacking. In this work, we revisit the general reasoning of LLMs from a geometric perspective, conceptualizing it as a coupled manifold composed of three interdependent sub-manifolds: logical deduction, evaluation, and representation. Based on this perspective, response generation in RL can be interpreted as a decoupling process from the evaluation manifold, while reward estimation corresponds to a decoupling process from the logical deduction manifold. The limitations of rule-based and reward-model RL systems can be geometrically interpreted as the mismatch of policy-reward manifolds during RL process. To address the aforementioned misalignment, we propose Decoupling and Coupling Reinforcement Learning (DCRL) framework, which incorporates two key components: (1) a syllogistic logic-based prompt evolution mechanism that dynamically refines reward rubrics to enhance the expressiveness of the reward manifold; and (2) a policy-reward re-coupling mechanism that jointly updates the reward and policy models, ensuring consistent evaluation and mitigating manifold mismatch during training. Theoretical analysis and extensive experiments across multiple reasoning domains demonstrate that DCRL consistently outperforms both rule-based and reward-model baselines. Notably, a Qwen3-4B model trained under DCRL surpasses a Qwen3-32B baseline and approaches the performance of a Qwen3-235B model, highlighting superior effectiveness and generalization in RL.

cs.LG↗