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Qi Wang

Publications and source records attributed to Qi Wang.

At least 19 recordsLinked to original sources
arXiv2026

HaWMPO: Hallucination-Aware World Model-based Policy Optimization for Generalist Robot Policy

Generalist robot policies have demonstrated strong generalization across robotic manipulation tasks, yet their success rates remain limited in com- plex long-horizon scenarios. Recent methods improve Visual-Language-Action (VLA) policies through online reinforcement learning on real robots, but such training relies on costly physical interactions, suffers from low sample efficiency, and may introduce hardware and safety risks. World models offer a promising alternative by enabling policy optimization with imagined rollouts. However, long-horizon rollouts generated by world models often suffer from prediction hal- lucinations, producing biased state transitions that can mislead policy learning. To address this issue, we propose Hallucination-aware World Model-based Pol- icy Optimization (HaWMPO), a closed-loop reinforcement learning pipeline for VLA policy post-training with world models. Specifically, HaWMPO introduces an action-conditioned hallucination-aware model to estimate the reliability of gen- erated image sequences, and incorporates hallucination scores into group relative policy optimization through a Reward-Soft mechanism, suppressing unreliable ac- tion chunks during training. On the LIBERO benchmark, HaWMPO achieves the best average success rate, with gains of 15.0% over the base model and 2.8% over the strongest baseline; real-world experiments on a G1 robot further validate its effectiveness, raising the average success rate on two manipulation tasks from 67.5% to 80.0%.

cs.RO↗
arXiv2026

Decoupled Self-Forcing Distillation for Streaming Talking Head Generation

Streaming talking-head generation produces each frame as its driving audio arrives, yet fidelity and efficiency have so far pulled in opposite directions: end-to-end methods condition a video diffusion model on audio directly and achieve high quality but only at large scale, while cheaper two-stage methods generate an intermediate motion representation and trail in fidelity. We argue the cost of the former lies in the target of fusion: the video latent is dominated by identity, appearance and background, none of which audio bears on, so coupling audio to every pixel blurs detail and wastes capacity. We instead fuse conditions in a low-dimensional identity-disentangled motion space, routing audio and motion captions by their temporal granularity, and generate motion latents with a small causal autoregressive transformer that a pretrained diffusion renderer turns into video. Conditions thus control video transitively, and high fidelity no longer requires a large backbone. Streaming this decomposition needs both models to be causal, and the exposure-bias problem could be solved by self-forcing given a bidirectional teacher. But there is no such teacher in motion space. Our decoupled self-forcing distillation resolves both models under one frozen teacher: conditioned on motion, it distills the renderer into a block-causal student; unconditionally, it scores rendered rollouts against real videos, supervising motion by the video it produces. This lifts the fidelity ceiling from the motion generator onto the stronger renderer. The two models run as parallel causal streams, reaching 15.4 FPS at 1.3 s latency with no quality degradation.

cs.CV↗
arXiv2026

SRD-GUARD: A Defense Framework of LLMs via Semantic Rewriting and Joint Multi-Model Scoring for Latent Intent Exposure

Large language models (LLMs) are increasingly deployed in safety-critical applications, yet jailbreak attacks can conceal harmful intent through role-playing, fictional scenarios, or seemingly benign motivations. Existing inference-time defenses may miss disguised attacks or excessively refuse legitimate requests. We propose SRD-GUARD, a parameter-free, black-box defense framework that exposes concealed intent through semantic rewriting and consensus-based risk assessment. Given an input prompt, SRD-GUARD generates five semantically related rewrites that preserve the underlying objective while removing unnecessary contextual packaging. The original prompt and rewrites are jointly evaluated by multiple independent LLM-based safety scorers on a continuous risk scale. A decision module combines absolute risk thresholds with relative risk changes between the original and rewritten prompts to adaptively intercept, preserve, or warn on requests. We evaluate SRD-GUARD against UNIATTACK, CIPHER, and DeepInception on Llama-3-8B-Uncensored and DeepSeek-V4-Flash using AdvBench and OR-Bench-Hard. SRD-GUARD achieves average DSRs of 91.44% and 100%, with ORRs of 8.00% and 12.00%, respectively. Compared with evaluated baselines, it provides a more favorable DSR--ORR trade-off. Ablation studies show that rewriting exposes concealed harmful intent, joint scoring improves robustness to individual evaluator behavior, and risk-adaptive decision making enables selective handling of ambiguous inputs. These results demonstrate that semantic intent exposure, consensus-based risk assessment, and relative-risk-aware routing provide an effective and selective approach to black-box jailbreak defense. The artifact is available at https://anonymous.4open.science/status/CICD-Guard-D648.

cs.CR↗
arXiv2026

Physical-Field Reconstruction from Sparse Observations: When Are Diffusion Models Preferable to Deterministic Regression?

Reconstructing physical fields from sparse observations is central to system identification, forecasting, and control, yet sparse measurements generally underdetermine the full field. This makes reconstruction an ill-posed inverse problem rather than simple interpolation. Although many deterministic and generative methods have been developed, there is still no clear consensus on when a single point estimate is sufficient and when a distribution of plausible reconstructions is more useful. We conduct a fair comparison of a deterministic U-Net, conditional diffusion, and prior-guided diffusion under matched experimental settings, including 2D Poisson equation, 2D Navier-Stokes flow, and 1D Kuramoto-Sivashinsky dynamics. Through this comparison, we make three observations. First, accuracy is field- and regime-dependent, with no systematic advantage for diffusion under higher complexity or sparser observations. Second, ensemble means improve phase-aligned accuracy, whereas individual samples better preserve variability and can retain high-wavenumber power in selected regimes. Third, conditional diffusion provides more reliable uncertainty estimates at lower cost, while prior-guided diffusion is more robust to mask-distribution shifts but requires substantially higher inference cost and guidance tuning. These results clarify when generative reconstruction is useful and provide guidance for improving uncertainty estimation, fine-scale sample fidelity, robustness, and computational efficiency in sparse field reconstruction.

physics.comp-ph↗
arXiv2026

From localized dryout to convective elongated vapor structures: Reynolds number effects on boiling transition in a rectangular mini-channel

Three-dimensional conjugate simulations were conducted to investigate saturated flow boiling in a rectangular mini-channel, with particular emphasis on the role of inlet Reynolds number on boiling mode selection and transition. A C++ based open-source numerical framework was employed, incorporating a physically informed multi-site nucleation model by coupling a nucleation site density correlation with a Halton-sequence based spatial allocation strategy. Two distinct Re-dependent transition pathways were identified. At low Re, boiling transition is mainly associated with localized dryout development associated with upstream active boiling and progressive downstream liquid starvation. At high Re, the transition is characterized by convective stretching and reorganization of vapor structures, through which elongated vapor slugs evolve into localized vapor films and eventually approach full surface vapor coverage. The global heat transfer characteristics and peak heat transfer capacity are further interpreted in conjunction with boiling mode transition, clarifying the respective roles of wall dryout and volumetric vapor fraction in heat transfer deterioration. Among all cases, Re=2000 provides the most favorable overall thermal response. Overall, within the rectangular mini-channel configuration and operating range considered in this study, Re is closely associated with vapor organization, boiling transition, wall dryout, and global heat transfer performance.

physics.flu-dyn↗
arXiv2026

E2S-Pruner: Progressive Two-Stage Evidence Fusion for Visual Token Pruning in Vision-Language Models

Vision-language models typically encode an image into hundreds of visual tokens, incurring substantial inference latency and GPU memory overhead. Existing pruning methods largely rely on attention scores and directly aggregate outputs across attention heads and network layers, making it difficult to characterize evidential uncertainty and conflict. We propose E2S-Pruner, a progressive two-stage evidence-fusion framework for visual token pruning that requires no auxiliary model, trainable parameters, or fine-tuning. In the first stage, E2S-Pruner treats each attention head as an independent evidence source, estimates its reliability from evidence clarity and inter-head consistency, and represents each visual token using three states: important, unimportant, and uncertain. In the second stage, Dempster--Shafer evidence theory is used to quantify inter-layer conflict and fuse complementary evidence from multiple network layers. We further introduce a spatial novelty constraint that promotes coverage of distinct image regions and prevents the retained tokens from concentrating in a few locally salient areas. On LLaVA-1.5-7B, E2S-Pruner retains 98.0%, 96.8%, and 90.6% of the aggregate performance when the average numbers of retained visual tokens are 192, 128, and 64, respectively, while improving throughput by 1.96x and 2.09x under the 128-token and 64-token settings. Experiments on Qwen2-VL-7B further demonstrate cross-model generalization. Code is available at https://github.com/taoyu-qian/E2S-Pruner.git.

cs.CV↗
arXiv2026

Graph Engineering in the Era of LLM Agents: From Individual Intelligence to System Intelligence

LLMs have evolved from language generators to autonomous agents capable of complex, long-horizon tasks. This evolution has produced paradigms including Prompt Engineering to elicit model capabilities, Context Engineering to manage information access, Harness Engineering to organize external tools and resources, and Loop Engineering to support continual reflection and self-improvement. Yet as tasks grow more complex, individual intelligence faces a fundamental limit: many tasks require heterogeneous expertise, interdependent subtasks, parallel execution, independent verification, and persistent state, exceeding any single agent's organizational capacity. Augmenting one agent's capabilities or context cannot resolve this architectural mismatch; intelligence must instead be distributed across specialized agents and organized at the system level. We call this System Intelligence: an agent system's ability to organize and coordinate multiple intelligent components into a coherent, adaptive whole pursuing a shared objective. Achieving it requires more than adding agents; it demands explicit structures to organize work, coordinate heterogeneous agents, and maintain evolving execution states. We introduce Graph Engineering, an emerging paradigm for next-generation agent systems. Unlike prior paradigms that mainly optimize individual interactions or agent-level behavior, Graph Engineering constructs explicit, dynamic, evolving graph structures representing tasks, agents, and system states. These abstractions provide a unified foundation for organizing complex objectives, orchestrating heterogeneous agents, modeling system dynamics, and enabling scalable agent evolution. We systematically review the principles, methodologies, and applications of Graph Engineering for LLM agents. Related papers, open-source data, and projects are collected at https://github.com/DEEP-JLU/Awesome-Graph-Engineering.

cs.IR↗
arXiv2026

MITE-Net: SWaP-Optimized 4K Video Tiny Target Perception for Embodied Edge SAR

Real-time tiny target perception in high-resolution imagery is critical for embodied Search-and-Rescue (SAR) missions. However, strict Size, Weight, and Power (SWaP) constraints on edge devices like UAVs create a bottleneck: traditional image downsampling causes severe feature loss, while slice-based processing incurs prohibitive latency. To address this gap, this paper introduces a comprehensive framework encompassing a novel architecture, specialized datasets, and hardware-level benchmarks. First, we propose MITE-Net, a SWaP-optimized cascaded architecture, which couples a bio-inspired, learning-free Tiny Target Motion-Based Region Proposal Network (TTM-RPN) with a sub-0.14M-parameter R-CNN-like head. Second, to standardize 4K tiny target evaluation, we construct the SAR-Tiny Datasets by relabeling two challenging UAV datasets: SeaDroneSee-Tiny (dynamic maritime scenes, tiny targets predominantly of 64-256 pixels ) and UAVID-Tiny (cluttered urban scenes, extremely tiny targets, less than 64 pixels). Third, we benchmark against state-of-the-art YOLO models on an edge device, NVIDIA Jetson AGX Xavier, where MITE-Net directly processes 4K maritime imagery, achieving a 100\% search success rate at 30.33 FPS. Consuming merely 3.19 W (9.51 FPS/W), MITE-Net vastly outperforms YOLO baselines in target recall and energy efficiency. Conversely, UAVID-Tiny evaluations expose a compound structural limitation: the learning-free bionic front-end struggles against urban backgrounds, while the ultra-lightweight head lacks representational capacity for complex features. Ultimately, this work delivers an efficient onboard perception paradigm and a rigorous baseline guiding future end-to-end SAR architectures.

cs.CV↗
arXiv2026

RAPAC-DP: Response-Aligned Pending-Action Compensation for Diffusion Policies under Delayed Execution

Cloud-side inference gives imitation-learning policies access to greater computational resources, but communication and computation delays can degrade control performance. To compensate for these delays, we propose RAPAC-DP, a response-aligned pending-action compensation framework designed for both diffusion- and flow-based action generators. RAPAC-DP encodes the actions already scheduled for execution before the cloud response arrives into a pending-action sequence that serves as the conditioning input to a parameter-efficient compensation pathway. When delay effects are negligible, bypassing this pathway exactly recovers the frozen base policy. For training, RAPAC-DP constructs delay-conditioned samples from delay-free demonstrations, requiring neither explicit system dynamics nor additional delayed demonstrations. At the largest fixed delay tested on Kinetix, RAPAC-DP retained 81.4% of its overall delay-free performance. At the largest fixed delay tested on each RoboMimic task, it achieved a mean success rate of 0.633 across the three tasks. These results demonstrate the effectiveness of pending-action compensation for cloud-deployed imitation-learning policies.

cs.RO↗
arXiv2026

VGGT-Align: Bridging Local Reconstruction and Global Consistency for Long-Sequence 3D Reconstruction

Maintaining global geometric consistency is a central challenge in long-sequence 3D reconstruction, with scale drift being the most critical failure mode. In chunk-based inference pipelines, the scale degree of freedom in sequential Sim(3) alignment is left unconstrained, causing estimation errors to compound multiplicatively and distort global trajectories and point cloud geometry. We present a scale-consistency enhancement framework built on a key insight: in structured environments such as driving scenes, geometric quantities arising from environmental regularity remain inherently invariant across temporal segments, and discrepancies in their per-chunk measurements directly expose inter-chunk scale drift. We propose Scene Geometric Invariant Anchoring (SGIA), which extracts dominant geometric invariants from each chunk's predicted point cloud via coarse-to-fine robust estimation and exploits their cross-chunk consistency to establish scale constraints independent of point cloud registration, explicitly degenerating 7-DoF Sim(3) alignment into 6-DoF rigid-body transformation and severing chain-wise scale error propagation at its source. We further introduce a lightweight test-time adaptation strategy that fine-tunes only normalization-layer parameters via multi-objective self-supervision, progressively improving intra-chunk predictions along the sequence. Both modules are plug-and-play and require no offline retraining. Experiments on multiple long-sequence benchmarks demonstrate state-of-the-art performance, reducing absolute trajectory error by up to 32% with significant gains in trajectory stability and reconstruction quality. Code: https://github.com/WZ-CS/VGGT-Align

cs.CV↗
arXiv2026

HiCo-GS: Hierarchical Context Aggregation and Geometric Consistency for Octree Gaussian Splatting

Octree-based anchor Gaussian Splatting has emerged as a scalable representation for city-scale novel view synthesis, where multi-level anchors adaptively capture scene content from coarse building structures to fine architectural details. However, we identify a fundamental limitation in existing methods: cross-level feature isolation, where each level's anchor features are optimized independently with no inter-level communication, causing color drift on building facades and over-smoothing in textured regions. We present HiCo-GS, a high-fidelity reconstruction framework with two complementary modules. Cross-Level Context Aggregation (CLCA) enables bidirectional hierarchical prior injection by leveraging the octree's spatial containment structure to aggregate per-level context vectors into parent-self-child triplets, fused via a lightweight MLP with residual connection. Coarse-level structural priors flow down to inform fine-level anchors, while fine-level detail statistics feed back to prevent over-smoothing, at negligible computational overhead. Depth-Normal Geometric Consistency (DNGC) regularization enforces agreement between rendered normals and depth-derived normals through an alpha-weighted consistency loss, complemented by edge-aware smoothness losses with progressive warmup that exploit the strong planar priors ubiquitous in urban geometry to suppress floating artifacts. We further introduce the China-Pagoda dataset comprising 8 ancient Chinese pagodas with over 1,200 images each, featuring dense ornamental carvings, curved multi-layer eaves, and repetitive fine-grained textures. Extensive experiments on Mill19, UrbanScene3D, MatrixCity, and China-Pagoda demonstrate that HiCo-GS achieves state-of-the-art rendering quality and substantially cleaner geometry across real-world and synthetic urban benchmarks.Code: https://github.com/WZ-CS/HiCo-GS.

cs.CV↗
arXiv2026

Conformal Dimension of Measures and Quasisymmetric Dimension Reduction

We prove that the conformal dimension of every locally finite Borel measure is either zero or infinite. The main ingredient is a quasisymmetric dimension-reduction theorem: every full-support probability measure of finite Hausdorff dimension on a separable metric space admits quasisymmetrically equivalent metrics in which its Hausdorff dimension is arbitrarily small. In particular, every locally finite Borel measure on a doubling metric space has conformal dimension zero. We also prove that for every $n\geq 1$ and $p>0$ there are a metric space $X$, a quasisymmetric homeomorphism $f:[0,1]^n\to X$, and a Borel set $E\subset[0,1]^n$ such that $\dim_H f(E)\leq p$ and $\dim_H([0,1]^n\setminus E)\leq n-1+p$. The second bound is sharp up to $p$: if $\dim_H f(E)<1$, then $\dim_H([0,1]^n\setminus E)\geq n-1$.

math.CA↗
arXiv2026

Nonprobability Samples for Small Area Estimation: A Review and Comparative Simulation Study

Nonprobability samples (NPS) are attractive because they are less costly to collect, can provide substantially larger sample sizes, and may reach populations that traditional probability surveys do not. As response rates for traditional surveys fall, interest in NPS has grown rapidly within the field of survey statistics. These methods are especially relevant for small area estimation (SAE), where there is ever-present demand for estimates at fine geographic scales and detailed demographic domains. Despite rapid methodological development, there remains limited understanding of which approaches perform best under different conditions. In this paper, we review recent developments in NPS methodology, including the concept of data defect correlation (DDC) as a measure of data quality and as a tool for categorizing the various NPS methods. We then present a comprehensive simulation study that evaluates a range of NPS approaches under varying levels of DDC and extend several existing methods to the SAE setting.

stat.ME↗
arXiv2026

Visual Token Codec: Unleashing Spatial Redundancy for ViT Feature Coding

Distributed deployment of large vision foundation models often partitions a ViT backbone and exchanges intermediate token features between computing nodes, making efficient feature compression critical under bandwidth and computation constraints. Existing ViT feature codecs typically flatten heterogeneous global and patch tokens into an L x C pseudo image, causing entropy models to mainly capture sequence-axis dependencies while overlooking the native two-dimensional patch-grid structure. In this paper, we show that ViT patch tokens retain strong local spatial correlations on the original grid. To exploit this structural prior, we propose the Visual Token Codec (VTC), a dual-path learned codec that separates global and patch tokens into dedicated coding paths. Global tokens are compressed with a lightweight factorized prior, whereas patch tokens are encoded on the patch-token grid using a spatial-channel context entropy model. To support intermediate-layer compression and practical rate adaptation, VTC further incorporates feature-matching supervision after subsequent ViT blocks and variable-rate modules within a single codec. Experiments on DINOv2 and SAM3 show that VTC consistently outperforms representative ViT feature coding baselines on classification, segmentation, and detection tasks. At 90% of uncompressed-feature performance, VTC reduces bitrate by 15.7x-37.4x across these tasks. We further provide intermediate-layer rate-utility analyses for practical transmission- and storage-oriented deployment scenarios.

cs.CV↗
arXiv2026

Beyond Flat Policies: Hierarchical Post-Training for Embodied Agents in Robotic Manipulation

Vision-language-action (VLA) models have demonstrated remarkable capabilities in robotic manipulation by leveraging pretrained vision-language models. However, existing post-training methods predominantly optimize VLA models as flat policies, making it difficult to explicitly model task progression and perform robust long-horizon manipulation. Although hierarchical approaches introduce task decomposition, they mainly rely on supervised learning from offline demonstrations and cannot effectively improve execution through online interaction. To address this limitation, we propose Hierarchical Robotic Control (HiRoC), a hierarchical post-training framework that decouples high-level task planning from low-level action execution. The planner decomposes complex tasks into executable subgoals to provide explicit semantic guidance, while the executor continuously improves subgoal-conditioned action generation through reinforcement learning. To enable effective collaboration between the two modules, we further align the executor with planner-generated subgoals before reinforcement learning, mitigating the distribution misalignment between planning and execution. Extensive experiments across diverse robotic manipulation benchmarks demonstrate that HiRoC consistently outperforms strong baselines. Comprehensive analyses further validate the effectiveness of hierarchical post-training and the contribution of each key component.

cs.RO↗
arXiv2026

BendTwin: Robust Dense-to-Sparse Physical Reconstruction with Bending-Aware Differentiable Spring-Mass Models

Reconstructing objects with mechanical properties from video observations enables physically consistent dynamic prediction, benefiting robotics planning and interaction. Existing spring--mass based physical driven reconstruction approaches offer efficient and differentiable physical reconstruction, but they typically rely on axial springs alone. Such formulations oversimplify the underlying structural mechanics and can become mechanically under-constrained when the physical graph is coarsened, limiting their ability to preserve stable local deformation. We present BendTwin, a bending-aware differentiable spring--mass framework for video-based reconstruction and future prediction of deformable objects. BendTwin introduces bending stiffness and damping over local surface triplets, penalizing deviations from rest angles and regularizing higher-order deformation. These bending constraints improve mechanical stability while preserving the simplicity of spring--mass system. Experiments show that BendTwin consistently outperforms the axial-only PhysTwin baseline. Ablation studies further demonstrate that the bending constraints maintain system stability across different downsampling ratios and consistently improve upon the original PhysTwin formulation. Overall, BendTwin provides an effective approach for constructing mechanically faithful digital twins from sparse-view RGB-D videos.

cs.CV↗
arXiv2026

Characteristic Sensitivity Ensembles for Inference of Hidden Dynamics from Marginal Observations

A framework is developed for the inference of dynamics described by a generalized system of ordinary differential equations. A stochastic gradient method is coined that infers dynamics from observed marginal probability density functions using the joint probability density function of the observable and latent variables. Diffusion and other irreversible processes observed in a low-dimensional state can be recast as deterministic, reversible flows in a sufficiently augmented state space, where the joint density satisfies the hyperbolic Liouville equation. The marginal distribution observed is the projection of these hyperbolic dynamics onto the observed coordinates, with the latent components carrying the randomness and memory. This reframing allows inference for irreversible or stochastic dynamics into the recovery of a deterministic Ordinary Differential Equation (ODE) from marginal observations. Instead of solving the high-dimensional Liouville equation for the joint density, the algorithm exploits its characteristic representation. Particles sampled from the initial distribution are transported along characteristic lines. The Eulerian sensitivity with respect to parameters is obtained by sensitivity propagation along the characteristic lines, with a crossed U-statistic producing an unbiased gradient estimator, which enables stochastic gradient descent. Four experiments validate the method: recovery of a three-mode linear system observed through the marginal of a single mode; a nonlinear Gompertz growth model with a hidden mode; a bistable system whose hidden mode turns a unimodal marginal bimodal; and Stokes--Oseen drag law recovery for particles in a cellular flow. Convergence behavior is analyzed across these settings.

math.OC↗
arXiv2026

Pressure-induced Superconductivity in Thermoelectric Semiconductor Mg3Sb2

The intrinsic electronic structures of narrow bandgap thermoelectric (TE) materials serve as a platform for the investigation of coupling effects of quasi-particles under high pressure, enabling the exploration of emerging electronic and phonon transport, superconductivity, and topological transition. Here, we report the discovery of pressure-induced superconductivity in the TE semiconductor Mg3Sb2. Upon the increased pressure, the metallization occurs at 8.7 GPa, followed by a superconducting transition concomitant with a carrier-type crossover from p- to n-type. This phenomenon arises from a pressure-induced structural phase transition from the semiconducting P-3m1 to the metallic C2/m-I phase. The superconducting critical temperature (Tc) exhibits a dome-shaped pressure dependence, peaking at 3.3 K at 12.6 GPa. Combined theoretical calculations, high-pressure Raman spectroscopy, and X-ray diffraction (XRD) measurements reveal an additional structural transition above 20 GPa, yielding a distinct C2/m-II phase. Our findings establish the high-pressure phase diagram of Mg3Sb2, elucidate its pressure-dependent electronic properties, and provide valuable insights for future investigations of TE materials under high pressure.

cond-mat.supr-con↗