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Qiang Zhang

Publications and source records attributed to Qiang Zhang.

At least 109 records · Page 6Linked to original sources
arXiv2026

ArtVIP: Articulated Digital Assets of Visual Realism, Modular Interaction, and Physical Fidelity for Robot Learning

Robot learning increasingly relies on simulation to advance complex ability such as dexterous manipulations and precise interactions, necessitating high-quality digital assets to bridge the sim-to-real gap. However, existing open-source articulated-object datasets for simulation are limited by insufficient visual realism and low physical fidelity, which hinder their utility for training models mastering robotic tasks in real world. To address these challenges, we introduce ArtVIP, a comprehensive open-source dataset comprising high-quality digital-twin articulated objects, accompanied by indoor-scene assets. Crafted by professional 3D modelers adhering to unified standards, ArtVIP ensures visual realism through precise geometric meshes and high-resolution textures, while physical fidelity is achieved via fine-tuned dynamic parameters. Meanwhile, the dataset pioneers embedded modular interaction behaviors within assets and pixel-level affordance annotations. Feature-map visualization and optical motion capture are employed to quantitatively demonstrate ArtVIP's visual and physical fidelity, with its applicability validated across imitation learning and reinforcement learning experiments. Provided in USD format with detailed production guidelines, ArtVIP is fully open-source, benefiting the research community and advancing robot learning research. Our project is at https://x-humanoid-artvip.github.io/ .

cs.RO↗
arXiv2026

MeshMimic: Geometry-Aware Humanoid Motion Learning through 3D Scene Reconstruction

Humanoid motion control has witnessed significant breakthroughs in recent years, with deep reinforcement learning (RL) emerging as a primary catalyst for achieving complex, human-like behaviors. However, the high dimensionality and intricate dynamics of humanoid robots make manual motion design impractical, leading to a heavy reliance on expensive motion capture (MoCap) data. These datasets are not only costly to acquire but also frequently lack the necessary geometric context of the surrounding physical environment. Consequently, existing motion synthesis frameworks often suffer from a decoupling of motion and scene, resulting in physical inconsistencies such as contact slippage or mesh penetration during terrain-aware tasks. In this work, we present MeshMimic, an innovative framework that bridges 3D scene reconstruction and embodied intelligence to enable humanoid robots to learn coupled "motion-terrain" interactions directly from video. By leveraging state-of-the-art 3D vision models, our framework precisely segments and reconstructs both human trajectories and the underlying 3D geometry of terrains and objects. We introduce an optimization algorithm based on kinematic consistency to extract high-quality motion data from noisy visual reconstructions, alongside a contact-invariant retargeting method that transfers human-environment interaction features to the humanoid agent. Experimental results demonstrate that MeshMimic achieves robust, highly dynamic performance across diverse and challenging terrains. Our approach proves that a low-cost pipeline utilizing only consumer-grade monocular sensors can facilitate the training of complex physical interactions, offering a scalable path toward the autonomous evolution of humanoid robots in unstructured environments.

cs.RO↗
arXiv2026

Probing Internal Dynamics of Spatiotemporal Optical Vortex Strings: Spatiotemporal Attraction and Filament Stretching

Vortex dynamics are intriguing and challenging across multiple physics fields. In optics, customized spatiotemporally structured optical fields, especially spatiotemporal optical vortices (STOV), offer the potential to tailor light via coupled space-time degrees of freedom. However, the interaction mechanisms between multiple transverse orbital angular momentum singularities within a single wave packet remain elusive. This study explores the intrinsic dynamics of a STOV with three phase singularities, observing a pronounced vortex singularity oscillation phenomena by tuning the temporal dispersion. We show that these phenomena originate from the counterintuitive spatiotemporal attractive effect between vortices, which is closely related to the singularity distance. Furthermore, the stretching into filaments and annihilation behaviors is observed by introducing antivortex in the center of the wavepacket. Experimentally, we propose a Full Interferometric Retrieval of Spatiotemporal Tomography (FIRST) method that enables the complete, single-shot capture of wave packets, with excellent agreement between theoretical predictions and experimental results. To the best of our knowledge, the dynamics of transverse spatiotemporal singularities within a single wave packet are reported here for the first time. These findings confirm the existence of interesting interactions between STOV singularities, deepen our understanding of photonics and open a new direction for investigating the complex dynamics of vortex singularities in the spatiotemporal domain.

physics.optics↗
arXiv2026

Device-independent quantum key distribution over 100 km with single atoms

Device-independent quantum key distribution (DI-QKD) is a key application of the quantum internet. We report the realization of DI-QKD between two single-atom nodes linked by 100-km fibers. To improve the entangling rate, single-photon interference is leveraged for entanglement heralding, and quantum frequency conversion is used to reduce fiber loss. A tailored Rydberg-based emission scheme suppresses the photon recoil effect on the atom without introducing noise. We achieved high-fidelity atom-atom entanglement and positive asymptotic key rates for fiber lengths up to 100 km. At 11 km, 1.2 million heralded Bell pairs were prepared over 624 hours, yielding an estimated extractable finite-size secure key rate of 0.112 bits per event against general attacks. Our results close the gap between proof-of-principle quantum network experiments and real-world applications.

quant-ph↗
arXiv2026

A building block of quantum repeaters for scalable quantum networks

Quantum networks, integrating quantum communication, quantum metrology, and distributed quantum computing, could provide secure and efficient information transfer, high-resolution sensing, and an exponential speed-up in information processing. Deterministic entanglement distribution over long distances is a prerequisite for scalable quantum networks, enabling the utilization of device-independent quantum key distribution (DI-QKD) and quantum teleportation to achieve secure and efficient information transfer. However, the exponential photon loss in optical fibres prohibits efficient and deterministic entanglement distribution. Quantum repeaters, incorporating entanglement swapping and entanglement purification with quantum memories, offer the most promising means to overcome this limitation in fibre-based quantum networks. Despite numerous pioneering efforts toward realizing quantum repeaters, a critical bottleneck remains, as remote memory-memory entanglement suffers from decoherence more rapidly than it can be established and purified over long distances. We overcome this by developing long-lived trapped-ion memories, an efficient telecom interface, and a high-visibility single-photon entanglement protocol. This allows us to establish and maintain memory-memory entanglement over a 10 km fibre within the average entanglement establishment time for the same distance. As a direct application, we demonstrate metropolitan-scale DI-QKD, distilling 1,917 secret keys out of 4.05*10^5 Bell pairs over 10 km. We further report a positive key rate over 101 km in the asymptotic limit, extending the achievable distance by more than two orders of magnitude. Our work provides a critical building block for quantum repeaters and marks an important step toward scalable quantum networks.

quant-ph↗
arXiv2026

Metrology-grade mid-infrared spectroscopy for multi-dimensional perception

The mid-infrared spectral window is essential for molecular fingerprinting and atmospheric sensing, yet unlocking its full potential is currently constrained by a fundamental instrumental trade-off: existing systems cannot simultaneously deliver broad bandwidth, high photon flux, and metrological frequency fidelity. Here, we resolve this bottleneck by demonstrating a metrology-grade spectroscopic system based on difference frequency generation, driven by widely tunable, near-infrared diode lasers traceable to atomic standards. Our system achieves continuous tunability across the 3-3.7 $μ$m atmospheric window and delivers output power exceeding 45 mW with an absolute frequency accuracy of 7.2 MHz. We harness this convergence to overcome a critical barrier in integrated photonics, unambiguously identifying and eliminating hydrogen-induced absorption in silicon nitride microresonators to achieve an 88-fold reduction in optical loss. We further reveal multi-phonon absorption in the silica cladding as the fundamental limit to mid-infrared integrated photonics. Finally, we demonstrate the system's versatility through scattering-resilient LiDAR capable of penetrating optically dense fog, and dual-modality sensing that simultaneously retrieves target distance and chemical composition. By unifying the rigor of frequency metrology with the versatility of broadband sensing, this architecture establishes a new paradigm for multi-dimensional perception in complex environments.

physics.optics↗
arXiv2026

Physics-informed Diffusion Mamba Transformer for Real-world Driving

Autonomous driving systems demand trajectory planners that not only model the inherent uncertainty of future motions but also respect complex temporal dependencies and underlying physical laws. While diffusion-based generative models excel at capturing multi-modal distributions, they often fail to incorporate long-term sequential contexts and domain-specific physical priors. In this work, we bridge these gaps with two key innovations. First, we introduce a Diffusion Mamba Transformer architecture that embeds mamba and attention into the diffusion process, enabling more effective aggregation of sequential input contexts from sensor streams and past motion histories. Second, we design a Port-Hamiltonian Neural Network module that seamlessly integrates energy-based physical constraints into the diffusion model, thereby enhancing trajectory predictions with both consistency and interpretability. Extensive evaluations on standard autonomous driving benchmarks demonstrate that our unified framework significantly outperforms state-of-the-art baselines in predictive accuracy, physical plausibility, and robustness, thereby advancing safe and reliable motion planning.

cs.RO↗
arXiv2026

Counting rankings of tree-child networks

Rooted phylogenetic networks allow biologists to represent evolutionary relationships between present-day species by revealing ancestral speciation and hybridization events. A convenient and well-studied class of such networks are `tree-child networks' and a `ranking' of such a network is a temporal ordering of the ancestral speciation and hybridization events. In this short note, we investigate the question of counting such rankings on any given binary (or semi-binary) tree-child network. We also consider a class of binary tree-child networks that have exactly one ranking, and investigate further the relationship between ranked-tree child networks and the class of `normal' networks. Finally, we provide an explicit asymptotic expression for the expected number of rankings of a tree-child network chosen uniformly at random.

q-bio.PE↗
arXiv2026

RoboStriker: Hierarchical Decision-Making for Autonomous Humanoid Boxing

Achieving human-level competitive intelligence and physical agility in humanoid robots remains a major challenge, particularly in contact-rich and highly dynamic tasks such as boxing. While Multi-Agent Reinforcement Learning (MARL) offers a principled framework for strategic interaction, its direct application to humanoid control is hindered by high-dimensional contact dynamics and the absence of strong physical motion priors. We propose RoboStriker, a hierarchical three-stage framework that enables fully autonomous humanoid boxing by decoupling high-level strategic reasoning from low-level physical execution. The framework first learns a comprehensive repertoire of boxing skills by training a single-agent motion tracker on human motion capture data. These skills are subsequently distilled into a structured latent manifold, regularized by projecting the Gaussian-parameterized distribution onto a unit hypersphere. This topological constraint effectively confines exploration to the subspace of physically plausible motions. In the final stage, we introduce Latent-Space Neural Fictitious Self-Play (LS-NFSP), where competing agents learn competitive tactics by interacting within the latent action space rather than the raw motor space, significantly stabilizing multi-agent training. Experimental results demonstrate that RoboStriker achieves superior competitive performance in simulation and exhibits sim-to-real transfer. Our website is available at RoboStriker.

cs.RO↗
arXiv2026

Don't Waste It: Guiding Generative Recommenders with Structured Human Priors via Multi-Head Decoding

Optimizing recommender systems for objectives beyond accuracy, such as diversity, novelty, and personalization, is crucial for long-term user satisfaction. To this end, industrial practitioners have accumulated vast amounts of structured domain knowledge, which we term human priors (e.g., item taxonomies, temporal patterns). This knowledge is typically applied through post-hoc adjustments during ranking or post-ranking. However, this approach remains decoupled from the core model learning, which is particularly undesirable as the industry shifts to end-to-end generative recommendation foundation models. On the other hand, many methods targeting these beyond-accuracy objectives often require architecture-specific modifications and discard these valuable human priors by learning user intent in a fully unsupervised manner. Instead of discarding the human priors accumulated over years of practice, we introduce a backbone-agnostic framework that seamlessly integrates these human priors directly into the end-to-end training of generative recommenders. With lightweight, prior-conditioned adapter heads inspired by efficient LLM decoding strategies, our approach guides the model to disentangle user intent along human-understandable axes (e.g., interaction types, long- vs. short-term interests). We also introduce a hierarchical composition strategy for modeling complex interactions across different prior types. Extensive experiments on three large-scale datasets demonstrate that our method significantly enhances both accuracy and beyond-accuracy objectives. We also show that human priors allow the backbone model to more effectively leverage longer context lengths and larger model sizes.

cs.IR↗
arXiv2026

Explaining Synergistic Effects in Social Recommendations

In social recommenders, the inherent nonlinearity and opacity of synergistic effects across multiple social networks hinders users from understanding how diverse information is leveraged for recommendations, consequently diminishing explainability. However, existing explainers can only identify the topological information in social networks that significantly influences recommendations, failing to further explain the synergistic effects among this information. Inspired by existing findings that synergistic effects enhance mutual information between inputs and predictions to generate information gain, we extend this discovery to graph data. We quantify graph information gain to identify subgraphs embodying synergistic effects. Based on the theoretical insights, we propose SemExplainer, which explains synergistic effects by identifying subgraphs that embody them. SemExplainer first extracts explanatory subgraphs from multi-view social networks to generate preliminary importance explanations for recommendations. A conditional entropy optimization strategy to maximize information gain is developed, thereby further identifying subgraphs that embody synergistic effects from explanatory subgraphs. Finally, SemExplainer searches for paths from users to recommended items within the synergistic subgraphs to generate explanations for the recommendations. Extensive experiments on three datasets demonstrate the superiority of SemExplainer over baseline methods, providing superior explanations of synergistic effects.

cs.SI↗
arXiv2026

VoiceSculptor: Your Voice, Designed By You

Despite rapid progress in text-to-speech (TTS), open-source systems still lack truly instruction-following, fine-grained control over core speech attributes (e.g., pitch, speaking rate, age, emotion, and style). We present VoiceSculptor, an open-source unified system that bridges this gap by integrating instruction-based voice design and high-fidelity voice cloning in a single framework. It generates controllable speaker timbre directly from natural-language descriptions, supports iterative refinement via Retrieval-Augmented Generation (RAG), and provides attribute-level edits across multiple dimensions. The designed voice is then rendered into a prompt waveform and fed into a cloning model to enable high-fidelity timbre transfer for downstream speech synthesis. VoiceSculptor achieves open-source state-of-the-art (SOTA) on InstructTTSEval-Zh, and is fully open-sourced, including code and pretrained models, to advance reproducible instruction-controlled TTS research.

eess.AS↗
arXiv2026

Codimension-Two Spiral Spin-Liquid in the Effective Honeycomb-Lattice Compound Cs$_3$Fe$_2$Cl$_9$

A codimension-two spiral spin-liquid is a correlated paramagnetic state with one-dimensional ground state degeneracy hosted within a three-dimensional lattice. Here, via neutron scattering experiments and numerical simulations, we establish the existence of a codimension-two spiral spin-liquid in the effective honeycomb-lattice compound Cs$_3$Fe$_2$Cl$_9$, which demonstrates a novel path to spiral spin-liquids by overcoming the long-standing impediment of weak further-neighbor interactions. In the long-range ordered regime, competing spiral and spin density wave orders emerge as a function of applied magnetic field, among which a possible order-by-disorder transition is identified.

cond-mat.str-el↗
arXiv2026

Efficient Sequential Recommendation for Long Term User Interest Via Personalization

Recent years have witnessed success of sequential modeling, generative recommender, and large language model for recommendation. Though the scaling law has been validated for sequential models, it showed inefficiency in computational capacity when considering real-world applications like recommendation, due to the non-linear(quadratic) increasing nature of the transformer model. To improve the efficiency of the sequential model, we introduced a novel approach to sequential recommendation that leverages personalization techniques to enhance efficiency and performance. Our method compresses long user interaction histories into learnable tokens, which are then combined with recent interactions to generate recommendations. This approach significantly reduces computational costs while maintaining high recommendation accuracy. Our method could be applied to existing transformer based recommendation models, e.g., HSTU and HLLM. Extensive experiments on multiple sequential models demonstrate its versatility and effectiveness. Source code is available at \href{https://github.com/facebookresearch/PerSRec}{https://github.com/facebookresearch/PerSRec}.

cs.IR↗
arXiv2026

REFA: Real-time Egocentric Facial Animations for Virtual Reality

We present a novel system for real-time tracking of facial expressions using egocentric views captured from a set of infrared cameras embedded in a virtual reality (VR) headset. Our technology facilitates any user to accurately drive the facial expressions of virtual characters in a non-intrusive manner and without the need of a lengthy calibration step. At the core of our system is a distillation based approach to train a machine learning model on heterogeneous data and labels coming form multiple sources, \eg synthetic and real images. As part of our dataset, we collected 18k diverse subjects using a lightweight capture setup consisting of a mobile phone and a custom VR headset with extra cameras. To process this data, we developed a robust differentiable rendering pipeline enabling us to automatically extract facial expression labels. Our system opens up new avenues for communication and expression in virtual environments, with applications in video conferencing, gaming, entertainment, and remote collaboration.

cs.CV↗
arXiv2026

Learning an Efficient Multi-Turn Dialogue Evaluator from Multiple LLM Judges

Evaluating the conversational abilities of large language models (LLMs) remains a challenging task. Current mainstream approaches primarily rely on the "LLM-as-a-judge" paradigm, where an LLM is prompted to serve as an evaluator to assess dialogue quality. However, such methods often suffer from various biases, which undermine the reliability and consistency of the evaluation results. To mitigate these biases, recent methods employ multiple LLMs as judges and aggregate their judgments to select the optimal assessment. Although effective, this multi-judge approach incurs significant computational overhead during inference. In this paper, we propose an efficient dialogue evaluator that captures the collective wisdom of multiple LLM judges by aggregating their preference knowledge into a single model. Our approach preserves the advantages of diverse multi-judge feedback while drastically reducing the evaluation cost, enabling fast, flexible, and fine-grained dialogue quality assessment. Extensive experiments on seven single rating and pairwise comparison dialogue evaluation benchmarks demonstrate that our method outperforms existing baselines across diverse scenarios, showcasing its efficiency and robustness.

cs.CL↗
arXiv2026

Evo-TFS: Evolutionary Time-Frequency Domain-Based Synthetic Minority Oversampling Approach to Imbalanced Time Series Classification

Time series classification is a fundamental machine learning task with broad real-world applications. Although many deep learning methods have proven effective in learning time-series data for classification, they were originally developed under the assumption of balanced data distributions. Once data distribution is uneven, these methods tend to ignore the minority class that is typically of higher practical significance. Oversampling methods have been designed to address this by generating minority-class samples, but their reliance on linear interpolation often hampers the preservation of temporal dynamics and the generation of diverse samples. Therefore, in this paper, we propose Evo-TFS, a novel evolutionary oversampling method that integrates both time- and frequency-domain characteristics. In Evo-TFS, strongly typed genetic programming is employed to evolve diverse, high-quality time series, guided by a fitness function that incorporates both time-domain and frequency-domain characteristics. Experiments conducted on imbalanced time series datasets demonstrate that Evo-TFS outperforms existing oversampling methods, significantly enhancing the performance of time-domain and frequency-domain classifiers.

cs.LG↗
arXiv2025

ClinDEF: A Dynamic Evaluation Framework for Large Language Models in Clinical Reasoning

Clinical diagnosis begins with doctor-patient interaction, during which physicians iteratively gather information, determine examination and refine differential diagnosis through patients' response. This dynamic clinical-reasoning process is poorly represented by existing LLM benchmarks that focus on static question-answering. To mitigate these gaps, recent methods explore dynamic medical frameworks involving interactive clinical dialogues. Although effective, they often rely on limited, contamination-prone datasets and lack granular, multi-level evaluation. In this work, we propose ClinDEF, a dynamic framework for assessing clinical reasoning in LLMs through simulated diagnostic dialogues. Grounded in a disease knowledge graph, our method dynamically generates patient cases and facilitates multi-turn interactions between an LLM-based doctor and an automated patient agent. Our evaluation protocol goes beyond diagnostic accuracy by incorporating fine-grained efficiency analysis and rubric-based assessment of diagnostic quality. Experiments show that ClinDEF effectively exposes critical clinical reasoning gaps in state-of-the-art LLMs, offering a more nuanced and clinically meaningful evaluation paradigm.

cs.CL↗