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Peng Lu

Publications and source records attributed to Peng Lu.

At least 19 recordsLinked to original sources
arXiv2026

Bridging Language and Spherical Space: Object-Centric Control for Text-to-Panorama Generation

Panoramic image generation is increasingly important for immersive applications such as virtual reality, augmented reality, and 3D content creation. Unlike perspective images, panoramic images represent a viewer-centered $360^\circ$ surrounding space, where directional expressions such as left, right, front, and behind play a central role in spatial understanding. However, existing text-to-panorama methods largely rely on implicit spatial reasoning and often fail to faithfully ground object-level directional descriptions in spherical panoramic scenes. A straightforward alternative is to introduce explicit layouts, but requiring manually specified spatial conditions reduces the flexibility of language-based interaction and does not directly resolve the misalignment between egocentric directional language and panoramic image space. To address this issue, we propose PanoCtrl, an object-centric framework for controllable text-to-panorama generation. Our method explicitly bridges natural language and spherical panoramic space by converting textual descriptions into structured object-level spherical conditions and integrating them into the diffusion process. Specifically, we introduce PanoParse, a text-conditioned parser that predicts object semantics and spherical bounding field-of-view (BFoV) parameters, and \textbf{PanoControl}, which injects object-level semantic and spatial guidance into the diffusion transformer through object-aware attention and spatial residual enhancement. To support this task, we construct PanoGround, a dataset with object-level spherical annotations and diverse directional descriptions for controllable panoramic generation. Extensive experiments demonstrate that PanoCtrl achieves state-of-the-art performance in both spatial alignment and image quality.

cs.CV↗
arXiv2026

MILD: Tractable Terrain Modeling for Learning Improved Bipedal Locomotion on Deformable Surfaces

Enabling robots to walk on yielding terrain is vital for applications ranging from disaster response to planetary exploration. While bipedal robots hold immense potential, their locomotion on deformable surfaces remains limited as current simulators fail to capture the spatiotemporal heterogeneity of such yielding substrates. We present MILD, featuring a physics-grounded discrete-element contact solver that accurately simulates spatially varying foot-terrain interactions. Complementing this model, we train a terrain-aware locomotion controller via deep reinforcement learning with latent modulation and proprioceptive estimation. Quantitative comparisons against state-of-the-art methods show our approach generates more diverse and realistic contact scenarios during training, resulting in controllers that exhibit natural adaptation on real deformable surfaces. Through hardware experiments, we demonstrate the system's capability for online terrain identification and adaptation across a wide range of surface stiffness.

cs.RO↗
arXiv2026

Learning Highly Dynamic Skills Transition for Quadruped Jumping Through Constrained Space

Although legged animals are capable of performing explosive motions while traversing confined spaces, replicating this behavior in quadrupedal robots has been a longstanding challenge. Here, we propose a hierarchical reinforcement learning pipeline that empowers the robots to perform aggressive locomotion through constrained obstacles--a narrow gate. The imitation learning technique is used to train the low-level policy, which mimics the behaviors of real animals and forms a set of diverse skills. The high-level controller, having an awareness of the capability of low-level skills and acquiring the gate information via vision-based detection, determines the suitable maneuvers with collision-free trajectories to traverse it dynamically. Notably, we also verify that this framework can be extended to other highly dynamic tasks. This is one of the first works that perform autonomous and agile aerial gate traversal tasks on ground-walking robots, extending the lifelike agility of legged robots to match that of their biological counterparts.

cs.RO↗
arXiv2026

A black-box-model-enhanced interaction method for water-wave scattering by large group of arbitrary-shaped ice floes in Arctic route planning

This study develops an enhanced interaction (EI) method for efficient prediction of the water-wave field among a large group of ice floes in Arctic route planning. A novel black-box model, termed the wave component detection (WCD) method, is proposed for constructing the diffraction transfer matrix (DTM) within the framework of interaction theory. The DTM, which is conventionally mathematically intractable for three-dimensional ice floes with arbitrarily complex geometry, can now be determined using this readily implementable and universally applicable approach. Without loss of generality, four ice-floe shapes are taken as example models to demonstrate the capability of the EI method. Operation rules are recommended for the practical implementation of the EI method. The error range of the EI method is identified in scenarios with multiple ice floes of different sizes and distances.The super-high efficiency of the EI method is demonstrated in cases involving an ultra-large group of ice floes. It takes less than 1.5 hours to calculate wave amplitudes at 160,000 locations in the wave field of 1,800 ice floes (based on 1,440,000 boundary elements) on an ordinary personal computer with a 2017-released CPU. Based on the wave field predicted by the EI method, users can take advantage of the wave-sheltering effect of the ice floes to optimize routes. For demonstration, the dynamic programming strategy is used to recommend optimized navigation routes among 1561 ice floes of mixed shapes. The average wave amplitude the ship encounters can be reduced to about half of the incident wave amplitude.

physics.ao-ph↗
arXiv2026

FinSAgent: Corpus-Aligned Multi-Agent RAG Framework for Evidence-Grounded SEC Filing Question Answering

Financial question answering over U.S. Securities and Exchange Commission (SEC) filings requires retrieving and synthesizing heterogeneous evidence dispersed across long, standardized, and highly redundant disclosures. Existing retrieval-augmented and multi-agent systems typically derive retrieval queries directly from the user's question and rank candidates by semantic similarity. Together, these choices create prior-corpus misalignment: a mismatch between model priors and the target filings' structure, terminology, and evidence standards. As a result, query generation misses corpus-specific evidence, while semantic reranking favors topically similar but evidentially invalid false-positive chunks. We propose FinSAgent, an evidence-grounded multi-agent framework that reframes SEC filing QA as corpus-aligned retrieval planning and corrects both ends with a single principle: inject corpus-side conditioning wherever model priors would otherwise dominate. FinSAgent combines (1) role-specialized agents anchored to the mandated 10-K item structure, (2) database-aware query decomposition that conditions each agent's sub-queries on a lightweight, summary-level view of the local corpus, and (3) multi-path retrieval with a learned feature-gated reranker that separates evidential validity from semantic similarity. Across five offline financial QA benchmarks, FinSAgent improves retrieval coverage and answer correctness over strong single-agent and multi-agent baselines; in a three-arm randomized online experiment with 1,000 anonymous user ratings, it also receives higher scores than baselines.

cs.IR↗
arXiv2026

MATCH: Modulating Attention via In-Context Retrieval for Long-Context Transformers

The quadratic computational cost of traditional attention mechanisms poses a major bottleneck to the scalability and practical deployment of large language models (LLMs), particularly in long-context scenarios. To improve efficiency, existing approaches often enforce rigid structural constraints such as local attention windows. However, these strategies typically lead to substantial performance degradation on tasks requiring precise long-range recall. In this work, we propose MATCH, a scalable and efficient framework that augments sparsified attention mechanisms with dynamically integrated in-context information through an efficient retrieval system. Empirical results show that MATCH significantly improves the performance of sparse-attention models on both synthetic and real-world natural-language tasks. These findings highlight the versatility of MATCH as a general approach for enhancing in-context retrieval capabilities while maintaining the efficiency benefits of sparse attention architectures.

cs.CL↗
arXiv2026

EventOD: Event-Aware OD Flow Generation via LLM-Guided Semantic Modulation

Estimating origin-destination (OD) flows under disruptive events is important for disaster response and urban resilience. Existing deep OD models trained on routine mobility often degrade when extreme events abruptly alter regional functions and population activities, while retraining a new generator for each event is impractical under limited event-time supervision. We propose EventOD, an event-adaptive OD generation framework that steers a pretrained OD generator using structured event semantics. EventOD first uses a large language model to infer region-level functional and demographic control vectors from coarse event observations. It then learns two lightweight adaptation modules, AlphaNet and BetaNet, to calibrate the magnitude of these semantic shifts, and further introduces a retrieval-augmented fallback pathway for scenarios with sparse supervision. The resulting event-conditioned features are injected into a pretrained graph diffusion OD model through input-level modulation, enabling event-aware adaptation without updating generator parameters. Experiments on hurricane- and pandemic-induced mobility across U.S. counties show that EventOD consistently improves both reconstruction accuracy and distributional fidelity over strong baselines. Source code is available at https://anonymous.4open.science/r/EventOD-5C11/.

cs.AI↗
arXiv2026

RoboNaldo: Accurate, Stable and Powerful Humanoid Soccer Shooting via Motion-Guided Curriculum Reinforcement Learning

Elite humanoid soccer shooting requires whole-body stability, high-impulse whole-body interactions, and accuracy to targets. Motion tracking-driven reinforcement learning (RL) provides stability in whole-body movement coordination, but a fixed reference makes it hard to adapt to varied ball positions and strike timings; in contrast, task reward-driven RL struggles to explore and discover valid kicks from scratch. We therefore introduce RoboNaldo, a three-stage motion-guided curriculum RL framework for high-impulse humanoid interaction. A single human-kick reference is used as a scaffold and progressively shifts optimization towards shooting performance. The curriculum first learns a stable whole-body kicking prior, then adapts the kick to free-kick settings where the ball is stationary at random positions, and finally extends it to moving-ball shooting through a locomotion-command and kick-trigger interface. A high-level heuristic planner controls this interface during training, while alternative high-level controllers can drive the same low-level policy at inference. In simulation, RoboNaldo demonstrates free-kick shot error 48.6% lower and shoot velocity 2.96x than prior work baselines. In real world on a Unitree G1 with onboard perception, RoboNaldo attains 0.73 m and 0.86 m average target shooting error from 3 m away in free-kick and moving-ball cases, accordingly. And the post-contact ball velocity reaches 13.10 m/s, which is 59-71% of reported professional open-play shot speed. Project page: https://opendrivelab.com/RoboNaldo.

cs.RO↗
arXiv2026

HoloQ-VLA: Uniform W4A4 Quantization of Vision-Language-Action Models

Vision-Language-Action (VLA) models unify perception, reasoning, and control in a single policy, but their multi-billion-parameter backbones and diffusion-based action heads make on-device deployment prohibitively expensive. Low-bit post-training quantization (PTQ) is the natural remedy, yet the diffusion action head that emits continuous control signals is highly sensitive to it: a few weight and activation outliers are enough to destabilize the head, so prior work leaves it at full precision or falls back to mixed-precision schemes, and uniformly quantizing the whole model to low bit-width remains an open challenge. We present HoloQ-VLA, the first training-free PTQ framework that compresses both the language backbone and the entire diffusion action head to uniform W4A4 precision without mixed-precision allocation. Instead of trading weight quality against activation quality, HoloQ-VLA targets the two outlier sources with complementary transforms: a weight-adapted rotation composed with an activation-dispersing Hadamard transform, together with per-step scaling that absorbs the dynamic-range drift exhibited by the action head across denoising steps. On LIBERO, HoloQ-VLA compresses Pi-0.5 and GR00T-N1.5 to W4A4 with 98.0% and 87.8% task success rates, matching or exceeding their FP16 references of 97.1% and 87.0%, while reducing the static memory footprint by 74.2%. Real-world manipulation experiments further demonstrate that HoloQ-VLA maintains smooth and accurate control across diverse real-world scenarios.

cs.CV↗
arXiv2026

Unified Walking, Running, and Recovery for Humanoids via State-Dependent Adversarial Motion Priors

We propose a unified reinforcement learning framework that enables a single policy to perform walking, running, and fall recovery on the Unitree G1 humanoid robot, validated on physical hardware without any explicit mode-switching command at deployment. The framework extends Adversarial Motion Priors (AMP) by replacing the conventional global reference distribution with a state-dependent gate that routes each training transition to one of two discriminators: a dedicated recovery discriminator and a velocity-conditioned locomotion discriminator that jointly covers walking and running. The gate is defined by a single fixed threshold on projected gravity: the recovery discriminator is activated when body tilt exceeds approximately $37^\circ$ from vertical ($|g_z+1|>0.6$); otherwise the locomotion discriminator is used, with the normalized commanded velocity serving as a condition that selects the appropriate reference trajectory between walk and run clips. Only three LAFAN1 reference clips are required to regularize the complete behavior set. At deployment, a single frozen ONNX policy executes at 50\,Hz with no runtime mode logic; hardware experiments demonstrate successful recovery from both prone and supine falls and smooth walk-to-run transitions under the same controller.

cs.RO↗
arXiv2026

Herculean: An Agentic Benchmark for Financial Intelligence

As AI agents improve, the central question is no longer whether they can solve isolated well-defined financial tasks, but whether they can reliably carry out financial professional work. Existing financial benchmarks offer only a partial view of this ability, as they primarily evaluate static competencies such as question answering, retrieval, summarization, and classification. We introduce Herculean, the first skilled benchmark for agentic financial intelligence spanning four representative workflows, including Trading, Hedging, Market Insights, and Auditing. Each workflow is instantiated as a standardized MCP-based skill environment with its own tools, interaction dynamics, constraints, and success criteria, enabling consistent end-to-end assessment of heterogeneous agent systems. Across frontier agents, we find agents perform relatively well on Trading and Market Insights, but struggle substantially on Hedging and Auditing, where long-horizon coordination, state consistency, and structured verification are critical. Overall, our results point to a key gap in current agents in turning financial reasoning into dependable workflow execution in high-stakes financial workflows.

cs.AI↗
arXiv2026

NL2SQLBench: A Modular Benchmarking Framework for LLM-Enabled NL2SQL Solutions

Natural Language to SQL (NL2SQL) technology empowers non-expert users to query relational databases without requiring SQL expertise. While large language models (LLMs) have greatly improved NL2SQL algorithms, their rapid development outpaces systematic evaluation, leaving a critical gap in understanding their effectiveness, efficiency, and limitations. To this end, we present NL2SQLBench, the first modular evaluation and benchmarking framework for LLM-enabled NL2SQL approaches. Specifically, we dissect NL2SQL systems into three core modules: Schema Selection, Candidate Generation, and Query Revision. For each module, we comprehensively review existing strategies and propose novel fine-grained metrics that systematically quantify module-level effectiveness and efficiency. We further implement these metrics in a flexible multi-agent framework, allowing configurable benchmarking across diverse NL2SQL approaches. Leveraging NL2SQLBench, we rigorously evaluate ten representative open-source methods on two datasets, the BIRD development set and the ScienceBenchmark development set, using two LLMs, DeepSeek-V3 and GPT-4o mini. We systematically assess each approach across the three core modules and evaluate multiple critical performance dimensions. Our evaluation reveals significant gaps in existing NL2SQL methods, highlighting not only substantial room for accuracy improvements but also the significant computational inefficiency, which severely hampers real-world adoption. Furthermore, our analysis identifies critical shortcomings in current benchmark datasets and evaluation rules, emphasizing issues such as inaccurate gold SQL annotations and limitations in existing evaluation rules. By synthesizing these insights into a unified benchmarking, our study establishes a clear reference point for fair comparison and serves as essential guidance for future targeted innovation in NL2SQL technology.

cs.DB↗
arXiv2026

TABQAWORLD: Optimizing Multimodal Reasoning for Multi-Turn Table Question Answering

Multimodal reasoning has emerged as a powerful framework for enhancing reasoning capabilities of reasoning models. While multi-turn table reasoning methods have improved reasoning accuracy through tool use and reward modeling, they rely on fixed text serialization for table state readouts. This introduces representation errors in table encoding that significantly accumulate over multiple turns. Such accumulation is alleviated by tabular grounding methods in the expense of inference compute and cost, rendering real world deployment impractical. To address this, we introduce TABQAWORLD, a table reasoning framework that jointly optimizes tabular action through representation and estimation. For representation, TABQAWORLD employs an action-conditioned multimodal selection policy, which dynamically switches between visual and textual representations to maximize table state readout reliability. For estimation, TABQAWORLD optimizes stepwise reasoning trajectory through table metadata including dimension, data types and key values, safely planning trajectory and compressing low-complexity actions to reduce conversation turns and latency. Designed as a training-free framework, empirical evaluations show that TABQAWORLD achieves state-of-the-art performance with 4.87% accuracy improvements over baselines, with 5.42% accuracy gain and 33.35% inference latency reduction over static settings, establishing a new standard for reliable and efficient table reasoning.

cs.AI↗
arXiv2026

SMASH: Mastering Scalable Whole-Body Skills for Humanoid Ping-Pong with Egocentric Vision

Existing humanoid table tennis systems remain limited by their reliance on external sensing and their inability to achieve agile whole-body coordination for precise task execution. These limitations stem from two core challenges: achieving low-latency and robust onboard egocentric perception under fast robot motion, and obtaining sufficiently diverse task-aligned strike motions for learning precise yet natural whole-body behaviors. In this work, we present \methodname, a modular system for agile humanoid table tennis that unifies scalable whole-body skill learning with onboard egocentric perception, eliminating the need for external cameras during deployment. Our work advances prior humanoid table-tennis systems in three key aspects. First, we achieve agile and precise ball interaction with tightly coordinated whole-body control, rather than relying on decoupled upper- and lower-body behaviors. This enables the system to exhibit diverse strike motions, including explosive whole-body smashes and low crouching shots. Second, by augmenting and diversifying strike motions with a generative model, our framework benefits from scalable motion priors and produces natural, robust striking behaviors across a wide workspace. Third, to the best of our knowledge, we demonstrate the first humanoid table-tennis system capable of consecutive strikes using onboard sensing alone, despite the challenges of low-latency perception, ego-motion-induced instability, and limited field of view. Extensive real-world experiments demonstrate stable and precise ball exchanges under high-speed conditions, validating scalable, perception-driven whole-body skill learning for dynamic humanoid interaction tasks.

cs.RO↗
arXiv2026

CASR: A Robust Cyclic Framework for Arbitrary Large-Scale Super-Resolution with Distribution Alignment and Self-Similarity Awareness

Arbitrary-Scale SR (ASISR) remains fundamentally limited by cross-scale distribution shift: once the inference scale leaves the training range, noise, blur, and artifacts accumulate sharply. We revisit this challenge from a cross-scale distribution transition perspective and propose CASR, a simple yet highly efficient cyclic SR framework that reformulates ultra-magnification as a sequence of in-distribution scale transitions. This design ensures stable inference at arbitrary scales while requiring only a single model. CASR tackles two major bottlenecks: distribution drift across iterations and patch-wise diffusion inconsistencies. The proposed SSAM module aligns structural distributions via superpixel aggregation, preventing error accumulation, while SARM module restores high-frequency textures by enforcing correlation-guided consistency and preserving self-similarity structure through correlation alignment. Despite using only a single model, our approach significantly reduces distribution drift, preserves long-range texture consistency, and achieves superior generalization even at extreme magnification.

cs.CV↗
arXiv2026

SurgAtt-Tracker: Online Surgical Attention Tracking via Temporal Proposal Reranking and Motion-Aware Refinement

Accurate and stable field-of-view (FoV) guidance is critical for safe and efficient minimally invasive surgery, yet existing approaches often conflate visual attention estimation with downstream camera control or rely on direct object-centric assumptions. In this work, we formulate surgical attention tracking as a spatio-temporal learning problem and model surgeon focus as a dense attention heatmap, enabling continuous and interpretable frame-wise FoV guidance. We propose SurgAtt-Tracker, a holistic framework that robustly tracks surgical attention by exploiting temporal coherence through proposal-level reranking and motion-aware refinement, rather than direct regression. To support systematic training and evaluation, we introduce SurgAtt-1.16M, a large-scale benchmark with a clinically grounded annotation protocol that enables comprehensive heatmap-based attention analysis across procedures and institutions. Extensive experiments on multiple surgical datasets demonstrate that SurgAtt-Tracker consistently achieves state-of-the-art performance and strong robustness under occlusion, multi-instrument interference, and cross-domain settings. Beyond attention tracking, our approach provides a frame-wise FoV guidance signal that can directly support downstream robotic FoV planning and automatic camera control.

cs.CV↗
arXiv2026

Co-jump: Cooperative Jumping with Quadrupedal Robots via Multi-Agent Reinforcement Learning

While single-agent legged locomotion has witnessed remarkable progress, individual robots remain fundamentally constrained by physical actuation limits. To transcend these boundaries, we introduce Co-jump, a cooperative task where two quadrupedal robots synchronize to execute jumps far beyond their solo capabilities. We tackle the high-impulse contact dynamics of this task under a decentralized setting, achieving synchronization without explicit communication or pre-specified motion primitives. Our framework leverages Multi-Agent Proximal Policy Optimization (MAPPO) enhanced by a progressive curriculum strategy, which effectively overcomes the sparse-reward exploration challenges inherent in mechanically coupled systems. We demonstrate robust performance in simulation and successful transfer to physical hardware, executing multi-directional jumps onto platforms up to 1.5 m in height. Specifically, one of the robots achieves a foot-end elevation of 1.1 m, which represents a 144% improvement over the 0.45 m jump height of a standalone quadrupedal robot, demonstrating superior vertical performance. Notably, this precise coordination is achieved solely through proprioceptive feedback, establishing a foundation for communication-free collaborative locomotion in constrained environments.

cs.RO↗
arXiv2026

Learning Human-Like Badminton Skills for Humanoid Robots

Realizing versatile and human-like performance in high-demand sports like badminton remains a formidable challenge for humanoid robotics. Unlike standard locomotion or static manipulation, this task demands a seamless integration of explosive whole-body coordination and precise, timing-critical interception. While recent advances have achieved lifelike motion mimicry, bridging the gap between kinematic imitation and functional, physics-aware striking without compromising stylistic naturalness is non-trivial. To address this, we propose Imitation-to-Interaction, a progressive reinforcement learning framework designed to evolve a robot from a "mimic" to a capable "striker." Our approach establishes a robust motor prior from human data, distills it into a compact, model-based state representation, and stabilizes dynamics via adversarial priors. Crucially, to overcome the sparsity of expert demonstrations, we introduce a manifold expansion strategy that generalizes discrete strike points into a dense interaction volume. We validate our framework through the mastery of diverse skills, including lifts and drop shots, in simulation. Furthermore, we demonstrate the first zero-shot sim-to-real transfer of anthropomorphic badminton skills to a humanoid robot, successfully replicating the kinetic elegance and functional precision of human athletes in the physical world.

cs.RO↗