arXiv subjects

Qian Wang

Publications and source records attributed to Qian Wang.

At least 73 records · Page 4Linked to original sources

arXiv2026

ManipArena: Comprehensive Real-world Evaluation of Reasoning-Oriented Generalist Robot Manipulation

Vision-Language-Action (VLA) models and world-action models have emerged as central paradigms for general-purpose robotic intelligence, yet their empirical progress remains constrained by the absence of evaluation protocols that are both physically realistic and diagnostically controlled. Simulator-centric benchmarks provide scale and reproducibility, but cannot fully capture the reality gap induced by perception noise, contact dynamics, latency, calibration error, and hardware constraints. Conversely, real-robot evaluations are often fragmented across platforms, scenes, objects, and scoring rules, making fair comparison and failure attribution difficult. We introduce ManipArena, a standardized real-robot evaluation framework for studying manipulation generalization under matched physical conditions. ManipArena comprises 20 tasks, 10,812 expert trajectories, 13.5M frames, and approximately 188 robot hours across tabletop and mobile manipulation. The framework combines schema-defined task variation, stratified in-domain, visualshift, and semantic-OOD trials, subtask-level partial-credit scoring, three-level language annotations, low-level motor signals, and paired real-to-sim environments reconstructed from physical scenes. Using ManipArena, we evaluate seven tabletop configurations spanning VLA and world-action-model policies. The results show that real-robot conclusions depend not only on architecture, but also on model provenance, fine-tuning regime, data sampling, and annotation granularity. ManipArena thus provides a reproducible and interpretable foundation for diagnosing capability boundaries and failure modes in embodied generalization.

cs.RO↗

arXiv2026

EyeMVP: OCT-Informed Fundus Representation Learning via Paired CFP--OCT Pretraining

Color fundus photography (CFP) is the mainstay of large-scale retinal screening, but its diagnostic capacity is limited by the lack of depth-resolved structure, which optical coherence tomography (OCT) provides yet is less accessible at population scale. We present EyeMVP, a cross-modal retinal foundation model that uses paired CFP--OCT pretraining to learn OCT-informed CFP representations while requiring only CFP at inference. Pretrained on 674,893 same-eye same-day CFP--OCT triples from 112,642 patients across eight hospitals, EyeMVP uses cross-modal masked reconstruction to enrich CFP features with OCT-associated supervision, and combines source-constrained cross-attention with CFP-derived structural masks to accommodate the non-aligned geometry of en-face CFP and cross-sectional OCT. Across 15 dataset-level settings spanning classification and segmentation, under both full-data and few-shot regimes, EyeMVP performs on par with or better than representative retinal foundation models, with consistent gains on macular and optic-nerve tasks; it attains AUROCs of 0.923 for macular edema and 0.867 for myopic macular schisis, two conditions poorly resolved in CFP. In an exploratory reader study, EyeMVP surpasses junior and intermediate ophthalmologists but not seniors on macular edema, while exceeding all groups on myopic macular schisis. These results indicate that cross-modal reconstruction can enrich CFP representations with OCT-associated supervision, offering a practical route to stronger CFP-based screening.

cs.CV↗

arXiv2026

Near-threshold scattering of proton and Omega baryon and possible bound states

We study the near-threshold scattering and bound-state structure of the $NΩ$ system by solving the Lippmann-Schwinger (L-S) equation within the framework of the meson exchange model and the Pomeron exchange model. The numerical results indicate that after incorporating the Pomeron exchange mechanism, the observables of the ${^5}S{_2}$ channel, such as the binding energy, scattering length, and effective range, agree better with the experimental measurements. In addition, The Pomeron exchange can provide an extra attractive interaction to make the hadronic state more compact. We also predict the scattering behavior of the ${^3}S{_1}$ channel and confirm that a weak quasi-bound state exists in this channel. Future experimental measurements on the ${^3}S{_1}$ channel will provide an important criterion for verifying the dynamic role played by the Pomeron exchange mechanism within the $NΩ$ system.

hep-ph↗

arXiv2026

DMuon: Efficient Distributed Muon Training with Near-Adam Overhead

Matrix-orthogonalization-based optimizers, exemplified by Muon, have demonstrated strong convergence behavior across a wide range of modern deep learning workloads. The matrix-aware updates offer a compelling alternative to conventional element-wise optimization, particularly as model architectures continue to grow in scale and heterogeneity. Yet contemporary distributed training infrastructure built around the assumption of element-wise optimizers is poorly matched to matrix-level optimizers such as Muon, whose updates couple entire weight matrices and require costly Newton-Schulz iterations. Vanilla Muon implementations incur more than 2x the cost of forward and backward passes. To close this gap, we present DMuon, an open-source distributed Muon implementation that integrates into existing training pipelines as a drop-in module, with no framework-level modifications. Across both embodied foundation model and large language model (LLM) training workloads, DMuon achieves a 1.48x-3.01x speedup in end-to-end step time and a 6.85x-163.00x speedup in optimizer-step time, bringing per-step latency to near-AdamW levels and enabling efficient scaling in our model training.

cs.DC↗

arXiv2026

Breaking Bottlenecks in Solid Electrolyte Discovery with Large Artificial Intelligence Models

Solid electrolytes (SEs) are central to next-generation metal batteries, yet their discovery remains constrained by fragmented data, limited transferability of simulations, and slow experimental iteration. Unlike catalysis, where surface reactivity dominates, SEs require simultaneous optimization of bulk ion transport, defect chemistry, mechanical integrity, and interfacial stability. Here, we outline a framework for autonomous SE discovery enabled by large artificial intelligence (AI) models, including machine learning interatomic potentials (MLIPs) and large language models (LLMs). We discuss the evolution from static materials databases to dynamic, self-updating knowledge systems, the role of MLIPs in bridging density functional theory (DFT) and long-timescale ion migration, and the emergence of LLMs as engines for literature mining, hypothesis generation, and scientific reasoning. We further describe a closed-loop architecture integrating AI-driven candidate design, multiscale simulation, uncertainty-aware selection, and experimental validation. Such systems shift SE research from intuition-guided exploration to data-informed, self-improving cycles. We conclude by highlighting challenges in data standardization, interfacial complexity, and reproducibility, and we propose design principles for building autonomous laboratories for solid-state battery materials.

cond-mat.mtrl-sci↗

arXiv2026

DivRL: Disentangled Self-Similarity Rewards for Diverse Subject-Driven Generation

Subject-driven image generation faces an "Identity-Diversity Paradox", where strong identity preservation often leads to rigid and low-diversity outputs. We propose a post-training framework called DivRL that jointly optimizes identity consistency and structural diversity simultaneously by leveraging disentangled visual features from a robust similarity model. Specifically, we introduce a Negative Self-Similarity Measure (nSSM) to quantify structural diversity, and Visual Semantic Matching (VSM) to evaluate identity consistency. We propose an "Explore-and-Suppress" strategy that treats VSM as a gated constraint: the model freely explores structurally diverse configurations, and only samples that violate the identity threshold are penalized via a quadratic hinge loss. This converts identity preservation from a competing objective into a feasibility constraint, allowing nSSM and VSM to improve jointly. Experiments demonstrate that our method effectively pushes the model to generate both consistent and diverse images and improves structural diversity while maintaining comparable identity consistency through a gated optimization formulation.

cs.CV↗

arXiv2026

When Safe Concepts Become Unsafe: Multi-Concept Compositional Vulnerabilities in Text-to-Image Models

Text-to-image (T2I) models are increasingly optimized for following user instructions faithfully. However, we find that this capability introduces a safety vulnerability we call Multi-Concept Compositional Unsafety (MCCU). MCCU occurs when multiple individually safe concepts, if combined in a single generation request, lead to harmful or sensitive visual outputs. Unlike prior jailbreak settings, MCCU does not rely on adversarial prompts, model access, or explicitly disallowed content. Instead, the risk emerges from how the model composes multiple safe visual concepts into a single scene. To systematically measure this threat, we build TwoHamsters, a large-scale evaluation framework consisting of 20k prompts, 51 curated concept pairs, and six risk categories. We evaluate 13 T2I models under a black-box setting. Our results show a clear conflict between instruction-following and safety: models that follow prompts more faithfully tend to produce more MCCU failures. For example, FLUX.1 achieves a 99.35% Unsafe Alignment Rate while only reaching a 1.57% MCCU Defense Rate. We further evaluate three representative defenses, including safety filtering, MCCU-specific detector fine-tuning, and concept erasure, all of which fail against unseen concept combinations. Our findings suggest that compositional reasoning in T2I models creates an attack surface that is not captured by existing safety mechanisms. We anticipate the release of TwoHamsters will catalyze community development of advanced generative defense mechanisms.

cs.CR↗

arXiv2026

Robust probabilistic measurement of structural-functional module consistency in infant brain development

Brain network is commonly divided into modules for analyzing their functionally segregated roles for group-level analysis in neuroimaging studies. Here, we introduce stochastic modules within brain networks for a robust probabilistic measurement of structural-functional module consistency (SFMC) in a group of subjects. Specifically, a stochastic module can be regarded as the chance of a brain region across subjects potentially being assigned to a group-level sub-network, characterized as an assignment probability for this brain region. This novel method has two advantages for evaluating inhomogeneous modules in brain networks. The first is that it can robustly evaluate the consistency between brain structural and functional modules whose population sizes are not necessary the same, and the second is that it is able to take into account the inter-individual variability of the modules for the groups. Moreover, compared with the conventional structural-functional coupling approach, our stochastic module-based method reveals a more pronounced decline in the coupling between structure and function, indicating stronger developmental reorganization. Our results using the dataset from Baby Connectome Project (BCP) show that the SFMC decreases from 0 to 5 years old, and is greater in primary brain regions, such as visual areas, while lower in more advanced cognitive regions, including those related to attention, control, and default mode network.

q-bio.NC↗

arXiv2026

Spiking Pyramid Wavelet Transformation for High-efficient and Low-energy Image Restoration

Spiking neural networks (SNNs) have garnered significant interest in computer vision due to their potential for efficiency and biological inspiration. While spiking CNN-based methods have shown promise for image restoration (IR) tasks, their performance is constrained by the inherent receptive field limitations of CNN operations. In the paper, we explore the benefits of discrete wavelet transformation and propose a spiking pyramid wavelet-based model (SPWM) for high-efficient and low-energy target. Specifically, we develop a spiking dual pyramid wavelet (SDPW) block to model long-range dependency and exploit the properties of the degradation in the wavelet domain. Experimental results on several benchmarks demonstrate that SPWM significantly lowers computational costs and energy consumption while maintaining image quality. Our method showcases the potential of SNNs in the field of IR, offering new insights for future applications of resource-limited devices.

cs.CV↗

arXiv2026

Resolving the CP Asymmetry Puzzle in $B$ Decays with Unitarized Final-State Interactions

A reliable description of direct CP asymmetries in hadronic $B$ decays, among the most sensitive probes of the CKM mechanism and of physics beyond the Standard Model, remains unresolved. Conventional factorization approaches adopt distinct treatments for the strong phases originating from long-distance QCD interactions, leading to predictions that differ by factors of several for identical decay channels. Existing final-state interaction (FSI) models are limited to one-loop approximations that break unitarity and rely on channel-specific phenomenological cutoffs, severely restricting the predictive capability. We introduce a unitarized FSI framework based on the Lippmann-Schwinger equation solved to all orders, restoring unitarity that is manifestly broken in one-loop treatments. Using the coupled $D\bar{D}$ system, we show that the interaction kernel can be derived from chiral effective field theory constrained by heavy-quark spin symmetry, and low-energy constants are fixed by the $γγ\to D\bar{D}$ cross-section data from BaBar, leaving no adjustable parameter in the FSI sector when applied to $B$ decays. The resulting predictions for CP asymmetries and branching fractions show excellent agreement with the available experimental data. A defining consequence is that CP asymmetries in the pure-annihilation channels $\bar{B}^0\to D^0\bar{D}^0$ and $\bar{B}^0\to D_s^+D_s^-$, identically zero in any short-distance treatment, are dramatically enhanced by FSI, and a measured nonzero asymmetry in these modes is therefore a direct experimental signature of long-distance dynamics. We present definite predictions for the partial widths and CP asymmetries of all yet-unmeasured channels, establishing final-state interactions as a predictive, data-driven ingredient of the Standard Model with direct implications for CKM parameter extraction and BSM searches.

hep-ph↗

arXiv2026

SoK: Security and Privacy of Foundation-Model-Powered Robots

Foundation models are reshaping robotics by enabling robots to interpret open-ended instructions, reason over multimodal contexts, and operate in complex, open-world environments. However, their integration also introduces security and privacy (S&P) risks that extend beyond the FMs themselves to embodied execution pipelines, supporting ecosystems, and broader governance impacts. Existing literature reviews provide valuable insights but often focus on specific FM types, risk categories, mitigation strategies, or trust boundaries. Consequently, the field lacks a unified structure for analyzing where risks originate, how they propagate across robotic systems, and where mitigations should intervene. To address this gap, we propose a progressive F-E-S-G structural boundary framework for analyzing the S&P of FM-powered robots. The framework comprises four layers: the Foundation model layer (F), Embodied system layer (E), Supporting ecosystem layer (S), and Governance impact layer (G). Building on this structure, we develop a multi-level taxonomy that organizes prior studies along three levels: F-E-S-G trust boundary, security-privacy concerns, and risk-mitigation perspectives. We further annotate each study using fine-grained coding attributes, including target, lifecycle stage, mechanism, system access, and effect. Guided by this framework and taxonomy, we systematize 96 papers. Our analysis uncovers multiple threat patterns, defense mismatches, and evaluation gaps that are difficult to identify from a single-boundary perspective. Based on these findings, we identify open challenges and future directions to provide a research agenda for developing secure, privacy-preserving, and responsibly governed FM-powered robotic systems.

cs.RO↗

arXiv2026

The Art of Mixology: Mixup-based Obfuscation for Privacy-Preserving Split Learning in Large Language Models

Split learning provides a practical paradigm for resource-constrained users to train Large Language Models (LLMs) by offloading computation-intensive layers to a server while keeping raw data local. However, existing privacy-preserving split learning methods still face a difficult trade-off among utility, privacy, efficiency, and stability. Specifically, these methods often suffer from substantial utility degradation, remain vulnerable to advanced data reconstruction attacks, incur prohibitive computational and communication overhead, or exhibit unstable performance across different tasks. In this paper, we propose MIXGUARD, a novel mixup-based privacy-preserving split learning framework for LLMs. MIXGUARD introduces token-level obfuscation, representation-level obfuscation, and adaptive gradient perturbation mechanisms, which operate jointly to preserve useful learning signals while preventing privacy leakage to the server. Technically, MIXGUARD first constructs a lightweight calibration model on a public dataset to refine the approximated target representation, and then applies this model during privacy-preserving fine-tuning on private data. We conduct extensive experiments on four classification tasks and four text generation tasks across multiple LLM families, model sizes, architectures, and fine-tuning strategies. The results show that MIXGUARD preserves model utility comparable to non-split training baselines, consistently achieves stronger privacy protection than existing split learning defense methods against state-of-the-art data reconstruction attacks, and remains robust under adaptive attack settings.

cs.CL↗

arXiv2026

CrossAlpha: An Annual-Report Benchmark for Cross-Market Factor Research (with LLM Agents)

Cross-market factor research studies whether firm-level signals from one or more markets can predict returns in a target market, but existing public benchmarks do not support cross-market disclosure-to-return evaluation. Building such a benchmark is challenging because filings differ across languages and regulatory systems, disclosure-derived similarity can be biased by common reporting components, and cross-market signals must be evaluated under feasible trading-time alignment. We introduce \textbf{CrossAlpha}, a public annual-report benchmark for cross-market factor research. CrossAlpha addresses these challenges through three corresponding components: \emph{Disclosure Distillation}, which standardises heterogeneous filings into ten-category English business descriptions; \emph{Residual Schema Graph Construction}, which builds PCA-whitened cross-market firm-pair scores from schema-level disclosures; and \emph{Timing-Aligned Evaluation}, which pairs the graph with 11 years of daily OHLCV data to construct forward-return labels under feasible cross-market execution protocols. CrossAlpha covers about 3,600 firms and 10,700 firm-year reports from the United States, Japan, Taiwan, South Korea, and Hong Kong, and releases about 19M directed firm-pair scores. In experiments, disclosure-derived cross-market peers outperform domestic text, industry-code, and return-correlation peers in the US-to-Japan setting (ICIR 0.39 versus 0.07--0.18), and cross-market sources beat the domestic text baseline in most target markets. CrossAlpha offers an open-sourced, reusable, return-grounded benchmark for cross-market financial NLP.

cs.IR↗

arXiv2026

Multi-Token Residual Prediction

Diffusion Language Models (DLMs) generate text by iteratively denoising masked token sequences, offering a tradeoff between parallelism and quality compared to autoregressive models. In current practice, the number of tokens decoded per step is controlled by a confidence threshold, and quality degrades monotonically as more tokens are denoised per step. We introduce Multi-token Residual Prediction (MRP), a lightweight module that enables dependency-aware multi-token denoising within a single backbone forward pass. MRP exploits a key property of the denoising process: the logit distributions at adjacent denoising steps are remarkably similar. Rather than running the backbone a second time to obtain the next-step logits, MRP predicts the residual between steps from the backbone's hidden states, effectively denoising more tokens per backbone forward at a fraction of the cost. We apply MRP across the two operating regimes of DLM decoding. In the high-quality-low-throughput static denoising regime, MRP serves as a drafter for speculative decoding: its proposals are verified against the backbone, yielding lossless acceleration of up to 1.4x in SGLang. In the low-quality-high-throughput dynamic denoising regime, MRP instead drives a remasking scheme that revokes over-eager reveals, recovering most of the accuracy lost to aggressive low-threshold decoding and improving accuracy by up to 22.6 points on code generation task HumanEval and 17.7 points on reasoning task GSM8K.

cs.LG↗

arXiv2026

VOID: Defeating Unauthorized Mimicry in Latent Diffusion Models

While Latent Diffusion Models (LDMs) have revolutionized visual synthesis, they are increasingly exploited for unauthorized mimicry of individuals. Existing defenses inject deceptive perturbations to steer the generated images toward irrelevant targets. However, this approach hinges on an ungrounded assumption: subtle perturbations can maintain their deceptive efficacy throughout an LDM's extensive generation process. In reality, the model's innate restoration mechanism will remove such perturbations and cause individual identities to re-emerge in the images generated. We propose VOID, a defense framework that overcomes this conundrum by manipulating an LDM's intrinsic stochasticity. VOID perturbs the diffusion pipeline in two novel ways: 1) amplifying the latent encoding errors to shatter an image's semantic structure, and 2) counteracting the target guidance signals to suppress the model's restoration capabilities. This results in a semantic corruption that thwarts any unauthorized mimicry. Notably, the security gain does not come at the price of visual utility, as VOID simultaneously manages to confine perturbations to human-imperceptible regions of protected images. Our comprehensive evaluation of 24 state-of-the-art defenses against 10 mimicry attacks on 5 datasets demonstrates VOID's unprecedented protection power: it increases the average Frechet Inception Distance (FID) from 113 to 365, a 223% improvement over the strongest defense to date.

cs.CV↗

arXiv2026

Wall-OSS-0.5 Technical Report

Large-scale Vision-Language-Action (VLA) pretraining is increasingly adopted as the foundation for robot policies, yet the evidence for pretrained VLAs is almost invariably reported after task-specific fine-tuning. This leaves a foundational question unanswered: does VLA pretraining itself yield executable robot behavior, or does it merely furnish a better initialization for downstream policy learning? We present Wall-OSS-0.5, an open-source 4B VLA built upon a 3B VLM backbone augmented with action-generation components, designed so that pretrained robotic capability is directly measurable on physical hardware. The model is pretrained across more than 20 embodiments, processing over one million robot trajectories per epoch alongside a grounded multimodal corpus. We adopt a gradient-bridged co-training recipe in which three objectives play distinct and complementary roles: discrete action prediction routes strong VLM-native gradients into the backbone, multimodal prediction preserves grounded vision-language understanding, and continuous flow matching serves as the deployment-time action interface. Before task-specific fine-tuning, the pretrained checkpoint achieves non-trivial zero-shot real-robot behavior, completing several tasks, including a held-out deformable manipulation task, at high task progress on a 17-task suite. After fine-tuning, the same checkpoint serves as a stronger adaptation prior, reaching 60.5% average task progress on 15 real-robot tasks and outperforming π_0.5 by 17.5%. Multimodal evaluations further confirm that action training does not erode grounded vision-language competence: the model preserves broad vision-language ability while strengthening embodied grounding. Together, these results reposition VLA pretraining from an initialization strategy to a directly testable, already useful source of robot capability.

cs.RO↗

arXiv2026

Non-destructive cavity readout of molecules for precision measurements

We propose a non-destructive method to measure the population of molecules in a selected rotational-hyperfine state by coupling them to a high-finesse optical cavity. In contrast to traditional techniques, our approach enables fast (less than 1 ms) repeated measurements with reduced heating and losses, and with precision below the standard quantum limit. The method is particularly advantageous for radioactive molecules, systems of high interest for symmetry violation searches, for which production and sample size are limited, and repeated interrogation is essential for improved sensitivity.

physics.atom-ph↗

arXiv2026

Divide and Conquer: Reliable Multi-View Evidential Learning for Deepfake Detection

With the evolution of generative models, deepfakes have achieved near-perfect semantic realism, leaving forensic traces only in subtle structural anomalies. However, existing single-view paradigms often fail to generalize, as dominant semantic features overwhelm subtle artifact cues within entangled representations. This imbalance leads to overconfident yet brittle predictions -- a phenomenon we term the Semantic Masking Effect. To address this challenge, we propose a reliable framework called Divide-and-Conquer Multi-View Evidential Learning (DiCoME) for Deepfake Detection. In the "Divide" phase, we employ Geometric View Purification to decompose the entangled representation space through principled geometric projection. This process suppresses semantic interference within artifact-sensitive representations, forming the foundation for decorrelated yet complementary semantic and artifact views. In the "Conquer" phase, we leverage Uncertainty-Aware Evidential Learning to synthesize these distinct views. By explicitly modeling the "epistemic conflict" between semantic and artifact cues, this mechanism provides calibrated uncertainty estimates instead of forcing rigid deterministic decisions. Extensive experiments across multiple benchmarks demonstrate that our method consistently outperforms existing approaches in generalization performance, while providing reliable uncertainty estimation for trustworthy deepfake detection. Code is available at https://github.com/kxl0825/DiCoME.git.

cs.CV↗