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Qiang Zhang

Publications and source records attributed to Qiang Zhang.

At least 73 records · Page 4Linked to original sources
arXiv2026

Finitely generated Howson groups which are not strongly Howson

A group $G$ is called a Howson group if the intersection of any two finitely generated subgroups of $G$ is again finitely generated. It is called strongly Howson if, in addition, the rank of such an intersection is bounded only in terms of the ranks of the two subgroups. Strongly Howson groups are indeed Howson. Recently, Zhang and Zhao showed that the converse fails, by constructing the first examples of infinitely generated Howson groups which are not strongly Howson. In this note, we provide finitely generated examples with and without torsion elements, thereby answering a question posed by Zhang and Zhao.

math.GR↗
arXiv2026

iVGR: Internalizing Visually Grounded Reasoning for MLLMs with Reinforcement Learning

While visually grounded Chain-of-Thought (CoT) has emerged as a promising paradigm to enhance fine-grained perception in multimodal large language models (MLLMs), its efficacy during the inference phase remains underexplored. In this work, we empirically find that mandating explicit object boxes in visually grounded CoT during inference often degrades performance compared to standard textual CoT, which reasons without explicit visual grounding. We hypothesize that the visual localization capability can be internalized into the textual CoT and that the mandatory explicit grounding introduces unnecessary interference with the model's primary objective of answer prediction. To address this problem, we propose Internalizing Visually Grounded Reasoning (\textbf{iVGR}), a novel reinforcement learning framework that transfers localization capabilities into the textual reasoning process. We employ a dual-stream training strategy, where a textual stream is aligned with a high-quality visually grounded stream via a proposed consistency reward, enabling the model to localize accurately without explicit grounding during inference. Extensive experiments demonstrate that our method significantly outperforms existing baselines on fine-grained benchmarks, while maintaining the flexibility to support tool-assisted inference workflows.

cs.CV↗
arXiv2026

MVISTA-4D: View-Consistent 4D World Model with Test-Time Action Inference for Robotic Manipulation

World-model-based imagine-then-act becomes a promising paradigm for robotic manipulation, yet existing approaches typically support either purely image-based forecasting or reasoning over partial 3D geometry, limiting their ability to predict complete 4D scene dynamics. This work proposes a novel embodied 4D world model that enables geometrically consistent, arbitrary-view RGBD generation: given only a single-view RGBD observation as input, the model imagines the remaining viewpoints, which can then be back-projected and fused to assemble a more complete 3D structure across time. To efficiently learn the multi-view, cross-modality generation, we explicitly design cross-view and cross-modality feature fusion that jointly encourage consistency between RGB and depth and enforce geometric alignment across views. Beyond prediction, converting generated futures into actions is often handled by inverse dynamics, which is ill-posed because multiple actions can explain the same transition. We address this with a test-time action optimization strategy that backpropagates through the generative model to infer a trajectory-level latent best matching the predicted future, and a residual inverse dynamics model that turns this trajectory prior into accurate executable actions. Experiments on three datasets demonstrate strong performance on both 4D scene generation and downstream manipulation, and ablations provide practical insights into the key design choices.

cs.CV↗
arXiv2026

SL(3,Z) is not Howson

We give an explicit construction of two $2$-generated subgroups $H,K\leq \SL(3,\Z)$ whose intersection is not finitely generated. The construction takes place inside the standard parabolic subgroup $\Z^2\rtimes \SL(2,\Z)\leq \SL(3,\Z)$. The main point is to identify $H\cap K$ with the stabilizer of a point for an affine action of a free group on $\Z^2$, and then to prove, using the Schreier graph of this action, that this stabilizer is not finitely generated. Furthermore, we prove that there exists a sequence of subgroups $H_q, K_q \leq \SL(3,\mathbb{Z})$ such that $\rank(H_q)=\rank(K_q)=4$, and \[ \rank(H_q\cap K_q)\geq q+1, \] while $H_q\cap K_q$ is finitely generated.

math.GR↗
arXiv2026

MoSA: Motion-constrained Stress Adaptation for Mitigating Real-to-Sim Gap in Continuum Dynamics via Learning Residual Anisotropy

Learning real-world dynamics from visual observations is crucial for various domains. A common strategy is to calibrate simulators by estimating physical parameters, yet accuracy is ultimately bounded by the underlying physical models, which often assume materials are homogeneous and isotropic. Even if reasonable, real-world objects typically exhibit mild anisotropy and heterogeneity. After the near-isotropic backbone is well calibrated, these residual effects become the key bottleneck for further closing the real-to-sim gap. Although neural networks can fit dynamics end-to-end, such black-box modeling discards strong physical priors, leading to poor data efficiency and overfitting. Therefore, we propose MoSA, a motion-constrained stress adaptation framework that targets these residual effects to further improve real-to-sim dynamics learning. MoSA uses an isotropic model as a physics prior and learns residual stress operators to capture mild anisotropy and heterogeneity. It progressively adapts stresses via microplane-constrained redistribution in a physics-informed cascaded network. We further impose motion constraints by supervising temporal and spatial derivatives of the deformation field. Experimentally, our learned dynamics achieves superior accuracy, generalization, and robustness, while learning physically meaningful residual anisotropy. Finally, we validate MoSA in a robot manipulation setting, showing that better real-to-sim dynamics modeling translates into more reliable sim-to-real transfer. Project Page is available at https://mercerai.github.io/MoSA/.

cs.LG↗
arXiv2026

Learning Structural Latent Points for Efficient Visual Representations in Robotic Manipulation

Current 3D-aware pretraining methods for embodied perception and manipulation are largely built on differentiable rendering frameworks, producing either fully implicit neural fields or fully explicit geometric primitives. Implicit representations, while expressive, lack explicit structural cues, whereas explicit ones preserve geometry but suffer from resolution limits and weak generalization. To address these limitations, we propose a novel pretraining framework that learns a hybrid representation-structural latent points. Specifically, we insert a point-wise latent variational autoencoder into the latent space of a point-cloud autoencoder, jointly regularizing point-wise features and coordinates toward a Gaussian prior. The resulting compact latent preserves coarse structural tendencies, which do not encode precise geometry but capture richer rough shape and semantic information, effectively combining the expressiveness of implicit representations with the structural priors of explicit ones. In addition, informed by shared design choices in prior work, we develop a streamlined, efficient 3DGS-based rendering pipeline that is deliberately kept lightweight, improving efficiency while leaving greater representational capacity to the front-end latent module. Extensive evaluations on RLBench, ManiSkill2, and a real-robot platform demonstrate consistent gains in task success, sample efficiency, and robustness to viewpoint and scene variations over strong baselines. Ablation studies further confirm that each component of our framework is critical to overall performance.

cs.RO↗
arXiv2026

Defect Control via Cu Enrichment Enhances Multifunctional Properties in the Polar Semiconductor Cu1+xMn1-ySiTe3

Polar materials have recently attracted significant interest due to their rich multifunctional properties. The chalcogenide polar semiconductor Cu1-xMn1+ySiTe3 (Cu-deficient) is an emerging multiferroic system in which electric polarization is coupled to magnetization. However, its macroscopic ferroelectric polarization is strongly suppressed due to the presence of a high density of stacking faults. In this work, we demonstrate that these crystal defects, likely originating from non-stoichiometry, can be substantially reduced by increasing the Cu content. Cu-enriched samples, Cu1+xMn1-ySiTe3, crystallize in a noncentrosymmetric monoclinic structure (space group Pm) as the Cu-deficient counterpart but show a nearly stacking-fault-free phase, which is attributed to the emergence of an interstitial site. Consequently, the Cu-enriched samples show a pronounced enhancement of the second-harmonic generation (SHG) response compared to Cu-deficient compositions. Magnetically, the Cu-enriched crystals retain long-range antiferromagnetic order with a Neel temperature of TN ~ 33 K without a glassy state but manifest a distinct spin-flop transition along the polar b-axis that is absent in the Cu-deficient compositions. Furthermore, the electronic ground state evolves from insulating to doped semiconducting behavior upon Cu enrichment. Together, these results establish this material system as a unique and versatile platform for elucidating the interplay among composition, crystal defects, and multifunctional properties, offering a route to design magnetic polar systems with tunable quantum functionalities.

cond-mat.mtrl-sci↗
arXiv2026

MapNav: A Novel Memory Representation via Annotated Semantic Maps for Vision-and-Language Navigation

Vision-and-language navigation (VLN) is a key task in Embodied AI, requiring agents to navigate diverse and unseen environments while following natural language instructions. Traditional approaches rely heavily on historical observations as spatio-temporal contexts for decision making, leading to significant storage and computational overhead. In this paper, we introduce MapNav, a novel end-to-end VLN model that leverages Annotated Semantic Map (ASM) to replace historical frames. Specifically, our approach constructs a top-down semantic map at the start of each episode and update it at each timestep, allowing for precise object mapping and structured navigation information. Then, we enhance this map with explicit textual labels for key regions, transforming abstract semantics into clear navigation cues and generate our ASM. MapNav agent using the constructed ASM as input, and use the powerful end-to-end capabilities of VLM to empower VLN. Extensive experiments demonstrate that MapNav achieves state-of-the-art (SOTA) performance in both simulated and real-world environments, validating the effectiveness of our method. Moreover, we will release our ASM generation source code and dataset to ensure reproducibility, contributing valuable resources to the field. We believe that our proposed MapNav can be used as a new memory representation method in VLN, paving the way for future research in this field.

cs.RO↗
arXiv2026

HAIC: Humanoid Agile Object Interaction Control via Dynamics-Aware World Model

Humanoid robots show promise for complex whole-body tasks in unstructured environments. Although Human-Object Interaction (HOI) has advanced, most methods focus on fully actuated objects rigidly coupled to the robot, ignoring underactuated objects with independent dynamics and non-holonomic constraints. These introduce control challenges from coupling forces and occlusions. We present HAIC, a unified framework for robust interaction across diverse object dynamics without external state estimation. Our key contribution is a dynamics predictor that estimates high-order object states (velocity, acceleration) solely from proprioceptive history. These predictions are projected onto static geometric priors to form a spatially grounded dynamic occupancy map, enabling the policy to infer collision boundaries and contact affordances in blind spots. We use asymmetric fine-tuning, where a world model continuously adapts to the student policy's exploration, ensuring robust state estimation under distribution shifts. Experiments on a humanoid robot show HAIC achieves high success rates in agile tasks (skateboarding, cart pushing/pulling under various loads) by proactively compensating for inertial perturbations, and also masters multi-object long-horizon tasks like carrying a box across varied terrain by predicting the dynamics of multiple objects.

cs.RO↗
arXiv2026

Resolving the bias-precision paradox with stochastic causal representation learning for personalized medicine

Estimating individualized treatment effects from longitudinal observational data is central to data-driven medicine, yet existing methods face a fundamental limitation: reducing confounding bias often suppresses clinically informative heterogeneity, degrading patient-specific predictions. Here, we identify this tension as a bias-precision paradox in causal representation learning and introduce sampling-based maximum mean discrepancy (sMMD), a stochastic alignment strategy that replaces global adversarial balancing with subset-level matching. We instantiate this approach in a framework for counterfactual outcome prediction with attribution-grounded interpretability. Across two large-scale ICU cohorts (n = 27,783), our framework improves accuracy under distribution shift, reducing error by up to 11.5% and substantially increasing recall in high-risk tasks. Mechanistic analyses show that sMMD selectively preserves clinically decisive variables. In human-AI evaluation, our method outperforms clinicians-in-training and large language models, and improves clinician accuracy by 14.7% while reducing decision time, enabling interpretable, real-time clinical decision support.

cs.AI↗
arXiv2026

Fusion in Your Way: Aligning Image Fusion with Heterogeneous Demands via Direct Preference Optimization

As a key technique in multi-modal processing, infrared and visible image fusion (IVIF) plays a crucial role in integrating complementary spectral information for visual enhancement and downstream vision tasks. Despite remarkable progress, existing methods struggle to flexibly accommodate heterogeneous demands. Achieving adaptive fusion that aligns with various preferences from both human and machine vision remains an open and challenging problem. To address this challenge, we propose DPOFusion, a direct preference optimization (DPO) framework integrating the property-aligned latent diffusion model (PALDM) and the preference-controllable latent diffusion model (PCLDM), enabling task-guided, preference-adaptive IVIF for both human and machine vision. The PALDM leverages a latent fusion prior and a joint conditional loss to generate diverse candidate fusion results with various properties. PCLDM is subsequently fine-tuned via instance direct preference optimization (IDPO), enabling direct control of the final fusion results with heterogeneous preference signals. Experimental results demonstrate that our framework not only attains precise preference alignment among humans, vision-language models, and task-driven networks, but also sets a new benchmark for adaptive fusion quality and task-oriented transferability.

cs.CV↗
arXiv2026

DOLLAR: Few-Step Video Generation via Distillation and Latent Reward Optimization

Diffusion probabilistic models have shown significant progress in video generation; however, their computational efficiency is limited by the large number of sampling steps required. Reducing sampling steps often compromises video quality or generation diversity. In this work, we introduce a distillation method that combines variational score distillation and consistency distillation to achieve few-step video generation, maintaining both high quality and diversity. We also propose a latent reward model fine-tuning approach to further enhance video generation performance according to any specified reward metric. This approach reduces memory usage and does not require the reward to be differentiable. Our method demonstrates state-of-the-art performance in few-step generation for 10-second videos (128 frames at 12 FPS). The distilled student model achieves a score of 82.57 on VBench, surpassing the teacher model as well as baseline models Gen-3, T2V-Turbo, and Kling. One-step distillation accelerates the teacher model's diffusion sampling by up to 278.6 times, enabling near real-time generation. Human evaluations further validate the superior performance of our 4-step student models compared to teacher model using 50-step DDIM sampling.

cs.CV↗
arXiv2026

Fine-Grained Class-Conditional Distribution Balancing for Debiased Learning

Achieving group-robust generalization in the presence of spurious correlations remains a significant challenge, particularly when bias annotations are unavailable. Recent studies on Class-Conditional Distribution Balancing (CCDB) reveal that spurious correlations often stem from mismatches between the class-conditional and marginal distributions of bias attributes. They achieve promising results by addressing this issue through simple distribution matching in a bias-agnostic manner. However, CCDB approximates each distribution using a single Gaussian, which is overly simplistic and rarely holds in real-world applications. To address this limitation, we propose a novel Multi-stage data-Selective reTraining strategy (MST), which describes each distribution in greater detail using the hard confusion matrix. Building on these finer descriptions, we propose a fine-grained variant of CCDB, termed FG-CCDB, which enhances distribution matching through more precise confusion-cell-wise reweighting. FG-CCDB learns sample weights from a global perspective, effectively mitigating spurious correlations without incurring substantial storage or computational overhead. Extensive experiments demonstrate that MST serves as a reliable proxy for ground-truth bias annotations and can be seamlessly integrated with bias-supervised methods. Moreover, when combined with FG-CCDB, our method performs on par with bias-supervised approaches on binary classification tasks and significantly outperforms them in highly biased multi-class and multi-shortcut scenarios.

cs.CV↗
arXiv2026

Millikelvin digital-to-analog converter for superconducting quantum processors

Scaling superconducting quantum processors is increasingly constrained by the wiring, heat load, and calibration overhead associated with delivering high-resolution analog signals from room temperature to qubits at millikelvin temperature. Here we demonstrate a superconducting digital-to-analog converter (DAC) integrated with high-coherence fluxonium qubits in a multi-chip module architecture. The DACs generate persistent analog flux signals for tuning qubit parameters and are programmed deterministically using single-flux-quantum (SFQ) pulses, providing a digital interface compatible with established SFQ routing and demultiplexing technologies. Operating at millikelvin temperature, the DACs enable in-situ tuning of fluxonium qubits without measurable degradation of qubit coherence. The presented device provides a static control primitive for flux-tunable qubits, enabling parameter homogenization and eliminating the need for individual room-temperature DC bias lines. These results establish SFQ-programmable millikelvin DACs as a building block for digitally controlled superconducting quantum processors.

quant-ph↗
arXiv2026

RobotPan: A 360$^\circ$ Surround-View Robotic Vision System for Embodied Perception

Surround-view perception is increasingly important for robotic navigation and loco-manipulation, especially in human-in-the-loop settings such as teleoperation, data collection, and emergency takeover. However, current robotic visual interfaces are often limited to narrow forward-facing views, or, when multiple on-board cameras are available, require cumbersome manual switching that interrupts the operator's workflow. Both configurations suffer from motion-induced jitter that causes simulator sickness in head-mounted displays. We introduce a surround-view robotic vision system that combines six cameras with LiDAR to provide full 360$^\circ$ visual coverage, while meeting the geometric and real-time constraints of embodied deployment. We further present \textsc{RobotPan}, a feed-forward framework that predicts \emph{metric-scaled} and \emph{compact} 3D Gaussians from calibrated sparse-view inputs for real-time rendering, reconstruction, and streaming. \textsc{RobotPan} lifts multi-view features into a unified spherical coordinate representation and decodes Gaussians using hierarchical spherical voxel priors, allocating fine resolution near the robot and coarser resolution at larger radii to reduce computational redundancy without sacrificing fidelity. To support long sequences, our online fusion updates dynamic content while preventing unbounded growth in static regions by selectively updating appearance. Finally, we release a multi-sensor dataset tailored to 360$^\circ$ novel view synthesis and metric 3D reconstruction for robotics, covering navigation, manipulation, and locomotion on real platforms. Experiments show that \textsc{RobotPan} achieves competitive quality against prior feed-forward reconstruction and view-synthesis methods while producing substantially fewer Gaussians, enabling practical real-time embodied deployment.

cs.RO↗
arXiv2026

VimRAG: Navigating Massive Visual Context in Retrieval-Augmented Generation via Multimodal Memory Graph

Effectively retrieving, reasoning, and understanding multimodal information remains a critical challenge for agentic systems. Traditional Retrieval-augmented Generation (RAG) methods rely on linear interaction histories, which struggle to handle long-context tasks, especially those involving information-sparse yet token-heavy visual data in iterative reasoning scenarios. To bridge this gap, we introduce VimRAG, a framework tailored for multimodal Retrieval-augmented Reasoning across text, images, and videos. Inspired by our systematic study, we model the reasoning process as a dynamic directed acyclic graph that structures the agent states and retrieved multimodal evidence. Building upon this structured memory, we introduce a Graph-Modulated Visual Memory Encoding mechanism, with which the significance of memory nodes is evaluated via their topological position, allowing the model to dynamically allocate high-resolution tokens to pivotal evidence while compressing or discarding trivial clues. To implement this paradigm, we propose a Graph-Guided Policy Optimization strategy. This strategy disentangles step-wise validity from trajectory-level rewards by pruning memory nodes associated with redundant actions, thereby facilitating fine-grained credit assignment. Extensive experiments demonstrate that VimRAG consistently achieves state-of-the-art performance on diverse multimodal RAG benchmarks. The code is available at https://github.com/Alibaba-NLP/VRAG.

cs.CV↗
arXiv2026

Alternating and Symmetric Separability of Free Products

Let $F \ast G$ be a free product of a free group $F$ and a LERF group $G$. In this note, we provide sufficient conditions for a subgroup $H$ of $F \ast G$ to be $\mathcal{A} \cup \mathcal{S}$-separable, that is, for any finite set $\{γ_1, \ldots, γ_n\} \subset (F \ast G) \setminus H$, there is a surjection $f$ from $F \ast G$ to an alternating or symmetric group such that $f(γ_i) \notin f(H)$ for all $i$. As a corollary, any finitely generated infinite-index subgroup of a free group is $\mathcal{A} \cup \mathcal{S}$-separable in the free product of the free group and an arbitrary LERF group, generalizing a result of Wilton.

math.GR↗
arXiv2026

Enhancing Discrete Particle Swarm Optimization for Hypergraph-Modeled Influence Maximization

Influence maximization (IM) is a fundamental problem in complex network analysis, with a wide range of real-world applications. To date, existing approaches to influential node identification in IM have predominantly relied on standard graphs, failing to capture higher-order intrinsic interactions embedded in many real-world systems. Hypergraphs can be employed to better capture higher-order interactions. However, using hypergraphs may lead to an excessively large search space and increased complexity in modeling cascading dynamics, making it challenging to accurately identify influential nodes. Therefore, in this study, we propose a new hypergraph-modeled IM method, based on the Discrete Particle Swarm Optimization algorithm and the threshold model. In the proposed method, a particle (i.e., a candidate solution) represents the selection information of seed nodes, and the fitness function is designed to accurately and efficiently evaluate the influence of seed nodes via a two-layer local influence approximation. We also propose a degree-based initialization strategy to improve the quality of initial solutions and develop rules for updating particles' velocity and position, incorporated with a local search to drive particles toward better solutions. Experimental results demonstrate that the proposed method outperforms baseline methods on both synthetic and real-world hypergraphs. In addition, ablation studies validate the effectiveness of both the local search and the initialization strategies.

cs.SI↗