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Qingyang Liu

Publications and source records attributed to Qingyang Liu.

At least 19 recordsLinked to original sources
arXiv2026

Pixel-wise Geo-registration of Drone and Satellite Images

Pixel-level cross-view geo-registration aims to align a query image (e.g., drone) to a geo-referenced satellite map so that every query pixel can be mapped to real-world GPS coordinates. Despite strong progress in cross-view geo-localization, existing benchmarks largely provide only GPS labels, limiting evaluation to a single coordinate per image and leaving dense geodetic alignment underexplored. We introduce SkyReg, a dataset and standardized benchmark for pixel-level drone-to-satellite geo-registration, providing dense per-pixel geo-location supervision across diverse settings (orthographic and perspective), scene types (urban, landmark-centric, suburban/rural), and camera configurations. Using SkyReg, we evaluate a broad set of baselines spanning retrieval, feature matching, homography-based alignment, and feed-forward 3D reconstruction. Finally, cross-view pairs from SkyReg, we train a geometry-aware reconstruction pipeline that achieves state-of-the-art results,improving performance by a significant margin.

cs.CV↗
arXiv2026

Disturbance-aware Motion Planning for Over-actuated Underwater Vehicles Exploiting Actuation Redundancy for High-fidelity 3D Reconstruction

Underwater robots often operate near delicate targets where high-power thrusters resuspend sediments and induce turbulence, degrading image quality at the sensor input. Conventional controllers optimize vehicle-centric objectives, such as tracking and stability, without accounting for the impact of actuation on sensing. We address this actuation-to-perception coupling by exploiting redundancy in over-actuated platforms. For an eight-thruster ROV, multiple thrust allocations can yield the same motion; we search this null space to minimize predicted disturbance in a task-relevant target region while enforcing motion constraints. Our method uses a control-oriented thruster-wake proxy derived from actuator-disk theory with directional attenuation and validated by PIV ($R^2 = 0.99$ near the wake axis; $R^2 > 0.82$ in the primary wake region), together with a real-time redundancy-resolving allocator running at 10 Hz (45 ms/solve). Across 440 trials, the approach reduces target-region particle velocity by 67% ($p < 0.001$), improves 3D reconstruction RMSE by 55% versus a disturbance-unaware baseline ($1.9 \pm 0.4$ mm vs. $4.3 \pm 1.8$ mm), and achieves a 98.5% reconstruction success rate. The framework supports autonomous scanning, which is quantitatively evaluated, and operator-assisted inspection, which is demonstrated in the supplementary materials.

cs.RO↗
arXiv2026

OmniPresent: Generating Coherent Presentation Suites from Scientific Papers

Transforming static research papers into dynamic media such as posters, slides, and videos is essential for effective dissemination but remains a labor-intensive challenge. Existing automated approaches often treat these formats in isolation and consequently fail to maintain semantic consistency across the entire presentation suite. We address this fragmentation by formalizing the task of unified presentation suite generation and proposing $\textbf{OmniPresent}$ to orchestrate the creation of coherent deliverables. Our framework adopts a renderable HTML representation to enable centralized content planning and a self-correcting verify-and-repair loop that actively resolves conflicts across modalities. We further facilitate scalable research in this domain by releasing $\textbf{OmniPreBench}$, a comprehensive dataset comprising over one thousand papers with paired artifacts, and establishing a rigorous VLM-based evaluation protocol. Empirical results confirm that our method generates high-quality and faithful presentation suites that significantly surpass strong baselines in both accuracy and visual appeal.

cs.SE↗
arXiv2026

Why Struggle with Continuous Latents? Interpretable Discrete Latent Reasoning via Rendered Compression

Large language models achieve high reasoning performance via explicit chain-of-thought and reinforcement learning, but require long output sequences and extended inference time. Latent reasoning reduces this cost by shifting computation into a latent space; however, continuous latent methods are hard to train, suffering from unstable and uninterpretable reasoning trajectories. We argue these issues stem from a misalignment between continuous-space reasoning and discrete symbolic supervision, as continuous states lack explicit anchors for step-by-step alignment. To resolve this, we propose \textbf{Discrete Latent Reasoning~(DLR)}, the first method that converts continuous latent states into explicit discrete tokens. Inspired by render-based compression, we render textual chains of thought into images, extract visual features, and construct a discrete latent vocabulary via clustering-based fine-tuning. Expanding the vocabulary and output head enables standard autoregressive modeling over both natural language and latent tokens, supporting pretraining alignment, SFT, and RL. Experiments on five reasoning benchmarks and two model series~(Qwen3-VL and LLaMA-3) confirm that \textbf{DLR} outperforms prior latent reasoning baselines with up to \textbf{20$\times$ compression}. Furthermore, the learned latent trajectories retain an interpretable semantic structure. Overall, discrete latent tokens provide a controllable and interpretable basis for efficient latent reasoning.

cs.CL↗
arXiv2026

Unlocking the Black Box of Latent Reasoning: An Interpretability-Guided Approach to Intervention

Latent reasoning enables Large Language Models (LLMs) to perform multi-step inference within continuous hidden states, offering efficiency gains over explicit Chain-of-Thought (CoT). However, the opacity of these continuous thought vectors hinders their reliability and controllability. This paper bridges the gap between mechanistic interpretability and actionable control. We first present a systematic analysis using structural, causal, and geometric probes, revealing that latent vectors encode compressed, faithful representations of reasoning steps, with early vectors acting as critical causal hubs. Building on this, we operationalize these interpretability insights into a suite of training-free, decode-time interventions that refine the latent reasoning process by imposing the identified geometric and semantic priors. Extensive experiments across multiple model scales and diverse task domains demonstrate that our approaches consistently improve reasoning accuracy. Our interpretability-guided interventions consistently unlock latent capabilities and improve reasoning accuracy without any parameter updates.

cs.CL↗
arXiv2026

The Missing Piece in Pre-trained Model Evaluation: Reward-Guided Decoding Unlocks Task-Oriented Behavior Without Parameter Updates

With the rapid progress of large language models (LLMs), reliably evaluating the capabilities of pre-trained LLMs has become increasingly important. The challenge is that base pre-trained models are optimized for next-token prediction and often fail to follow instructions or produce well-formed answers under standard prompting and direct decoding. As a result, benchmark performance can conflate model capability with decoding-induced failures to produce task-oriented outputs, while exposing such behavior often relies on costly post-training. Recent decodingonly approaches attempt to reshape output distributions, but such methods can be inefficient and brittle across open-ended tasks. To address these limitations, we propose Energy-Based Decoding (EBD), a training-free, reward-guided framework for activating task-oriented behaviors from frozen pre-trained LLMs across both open-ended and objective tasks. EBD augments decoding with an external lightweight reward model, steering generations toward high-utility responses while anchoring them to the pre-trained model prior through a reward-tilted target distribution. We show that EBD shifts base-model outputs toward more instructionfollowing behavior, increasing behavioral similarity to post-trained counterparts and enabling a fairer inference-time evaluation of accessible pre-trained-model behavior. Empirically, EBD outperforms baselines across five models and six benchmarks, improving Qwen3-8B-Base on AlpacaEval2.0 from 8.8 to 44.5, reducing Mistral-7B Math500 latency by 18.9x relative to prior decoding work, and remaining robust to reward-model size.

cs.CL↗
arXiv2026

TacSE3: Equivariant SE(3) Motion Estimation from Low-Texture Visuotactile Images for In-Gripper Tracking and Compensation

Robotic in-hand manipulation requires reliable object-motion tracking under frequent visual occlusion, yet low-texture visuotactile images provide few stable correspondences for conventional image- or geometry-matching methods. This paper presents TacSE3, a tactile motion-estimation pipeline that converts low-texture visuotactile observations into a decoupled three-dimensional force field and estimates incremental rigid-body motion on SE(3). The method derives planar translation from contact-centroid motion and estimates rotation primarily from shear-related tactile responses, yielding a physically interpretable signal for in-gripper tracking and compensation. Experiments with paired DM-Tac fingertip sensors show that dual-sensor sensing reduces translation-rotation ambiguity, supports rotation tracking across axes and object geometries, and provides a lightweight compensation signal that improves disturbance tolerance in downstream manipulation tasks without retraining the base policy.

cs.RO↗
arXiv2026

Breaking Dual Bottlenecks: Evolving Unified Multimodal Models into Self-Adaptive Interleaved Visual Reasoners

Recent unified models integrate multimodal understanding and generation within a single framework. However, an "understanding-generation gap" persists, where models can capture user intent but often fail to translate this semantic knowledge into precise pixel-level manipulation. This gap results in two bottlenecks in anything-to-image task (X2I): the attention entanglement bottleneck, where blind planning struggles with complex prompts, and the visual refinement bottleneck, where unstructured feedback fails to correct imperfections efficiently. In this paper, we propose a novel framework that empowers unified models to autonomously switch between generation strategies based on instruction complexity and model capability. To achieve this, we construct a hierarchical data pipeline that constructs execution paths across three adaptive modes: direct generation for simple cases, self-reflection for quality refinement, and multi-step planning for decomposing complex scenarios. Building on this pipeline, we contribute a high-quality dataset with over 50,000 samples and implement a two-stage training strategy comprising SFT and RL. Specifically, we design step-wise reasoning rewards to ensure logical consistency and intra-group complexity penalty to prevent redundant computational overhead. Extensive experiments demonstrate that our method outperforms existing baselines on X2I, achieving superior generation fidelity among simple-to-complex instructions. The code is released at https://github.com/WeChatCV/Interleaved_Visual_Reasoner.

cs.CV↗
arXiv2026

M\"obius disjointness conjecture for Furstenberg's flow on $\mathbb{T}^\omega$ in short intervals

Furstenberg's flow on the infinite-dimensional torus $\mathbb{T}^\omega$ is defined by \[ T (x_1, x_2, \ldots, x_\nu, \ldots) = (x_1 + \alpha, x_2 + h(x_1), \ldots, x_\nu + h(x_1 + (\nu-2)\beta), \ldots) \] with $\alpha\in \mathbb{R}$ satisfying certain diophantine conditions, $\beta\in \mathbb{R}\backslash\mathbb{Q},$ and $h: \mathbb{R}\to \mathbb{R}$ being $1$-periodic and analytic. This flow is irregular in the sense that its Birkhoff average does not exist for some $x\in \mathbb{T}^\omega$, and it is a generalization of Furstenberg's irregular flow on $\mathbb{T}^2$. The main result of this paper is that the M\"{o}bius Disjointness Conjecture of Sarnak holds for the above flow $(\mathbb{T}^\omega, T)$ in short intervals $(N-M, N]$ with $N^{5/8+\varepsilon} \leqslant M\leqslant N$.

math.NT↗
arXiv2026

Reflection Generation for Composite Image Using Diffusion Model

Image composition involves inserting a foreground object into the background while synthesizing environment-consistent effects such as shadows and reflections. Although shadow generation has been extensively studied, reflection generation remains largely underexplored. In this work, we focus on reflection generation. We inject the prior information of reflection placement and reflection appearance into foundation diffusion model. We also divide reflections into two types and adopt type-aware model design. To support training, we construct the first large-scale object reflection dataset DEROBA. Experiments demonstrate that our method generates reflections that are physically coherent and visually realistic, establishing a new benchmark for reflection generation.

cs.CV↗
arXiv2026

The M \"obius Disjointness Conjecture on infinite-dimensional torus

Let $\mathbb{T}^\omega$ be the infinite-dimensional torus, and $T: \mathbb{T}^\omega\to \mathbb{T}^\omega$ be defined by \[ T: (x_1, x_2, \dots, x_k, \ldots) \mapsto (x_1 + \alpha, x_2 + h(x_1), \dots, x_k + h(x_1 + (k-2)\beta), \dots) \] with $\alpha\in \mathbb{R}, \beta\in \mathbb{R}\backslash\mathbb{Q},$ and $h: \mathbb{R}\to \mathbb{R}$ being $1$-period and $C^{1+\varepsilon}$-smooth. This flow $(\mathbb{T}^\omega, T)$ is distal, and is also irregular in the sense that its Birkhoff average does not exist for all $x\in \mathbb{T}^\omega$. The main result of this paper is that the M \"obius Disjointness Conjecture of Sarnak holds for $(\mathbb{T}^\omega, T)$.

math.NT↗
arXiv2025

Detecting Model Misspecification in Bayesian Inverse Problems via Variational Gradient Descent

Bayesian inference is optimal when the statistical model is well-specified, while outside this setting Bayesian inference can catastrophically fail; accordingly a wealth of post-Bayesian methodologies have been proposed. Predictively oriented (PrO) approaches lift the statistical model $P_\theta$ to an (infinite) mixture model $\int P_\theta \; \mathrm{d}Q(\theta)$ and fit this predictive distribution via minimising an entropy-regularised objective functional. In the well-specified setting one expects the mixing distribution $Q$ to concentrate around the true data-generating parameter in the large data limit, while such singular concentration will typically not be observed if the model is misspecified. Our contribution is to demonstrate that one can empirically detect model misspecification by comparing the standard Bayesian posterior to the PrO `posterior' $Q$, providing a novel and widely-applicable diagnostic tool for the standard Bayesian workflow. To operationalise this, we present an efficient numerical algorithm based on variational gradient descent. A simulation study, and a more detailed case study involving a Bayesian inverse problem in seismology, confirm that model misspecification can be automatically detected using this framework.

stat.ME↗
arXiv2025

UnicEdit-10M: A Dataset and Benchmark Breaking the Scale-Quality Barrier via Unified Verification for Reasoning-Enriched Edits

With the rapid advances of powerful multimodal models such as GPT-4o, Nano Banana, and Seedream 4.0 in Image Editing, the performance gap between closed-source and open-source models is widening, primarily due to the scarcity of large-scale, high-quality training data and comprehensive benchmarks capable of diagnosing model weaknesses across diverse editing behaviors. Existing data construction methods face a scale-quality trade-off: human annotations are high-quality but not scalable, while automated pipelines suffer from error propagation and noise. To address this, we introduce a lightweight data pipeline that replaces multi-toolchains with an end-to-end model and a unified post-verification stage. For scalable quality control, we train a 7B dual-task expert model, \textbf{Qwen-Verify}, for efficient failure detection and instruction recaptioning. This pipeline yields \textbf{UnicEdit-10M}, a 10M-scale dataset spanning diverse basic and complex editing tasks. We also propose \textbf{UnicBench}, a general benchmark that extends beyond basic edits to explicitly assess spatial and knowledge-driven reasoning. To enable fine-grained diagnosis, we introduce novel metrics, including \textit{Non-edit Consistency} and \textit{Reasoning Accuracy}. Our analysis of mainstream models on UnicBench reveals their limitations and provides clear directions for future research.

cs.CV↗
arXiv2025

TiViBench: Benchmarking Think-in-Video Reasoning for Video Generative Models

The rapid evolution of video generative models has shifted their focus from producing visually plausible outputs to tackling tasks requiring physical plausibility and logical consistency. However, despite recent breakthroughs such as Veo 3's chain-of-frames reasoning, it remains unclear whether these models can exhibit reasoning capabilities similar to large language models (LLMs). Existing benchmarks predominantly evaluate visual fidelity and temporal coherence, failing to capture higher-order reasoning abilities. To bridge this gap, we propose TiViBench, a hierarchical benchmark specifically designed to evaluate the reasoning capabilities of image-to-video (I2V) generation models. TiViBench systematically assesses reasoning across four dimensions: i) Structural Reasoning & Search, ii) Spatial & Visual Pattern Reasoning, iii) Symbolic & Logical Reasoning, and iv) Action Planning & Task Execution, spanning 24 diverse task scenarios across 3 difficulty levels. Through extensive evaluations, we show that commercial models (e.g., Sora 2, Veo 3.1) demonstrate stronger reasoning potential, while open-source models reveal untapped potential that remains hindered by limited training scale and data diversity. To further unlock this potential, we introduce VideoTPO, a simple yet effective test-time strategy inspired by preference optimization. By performing LLM self-analysis on generated candidates to identify strengths and weaknesses, VideoTPO significantly enhances reasoning performance without requiring additional training, data, or reward models. Together, TiViBench and VideoTPO pave the way for evaluating and advancing reasoning in video generation models, setting a foundation for future research in this emerging field.

cs.CV↗
arXiv2025

D$^{3}$ToM: Decider-Guided Dynamic Token Merging for Accelerating Diffusion MLLMs

Diffusion-based multimodal large language models (Diffusion MLLMs) have recently demonstrated impressive non-autoregressive generative capabilities across vision-and-language tasks. However, Diffusion MLLMs exhibit substantially slower inference than autoregressive models: Each denoising step employs full bidirectional self-attention over the entire sequence, resulting in cubic decoding complexity that becomes computationally impractical with thousands of visual tokens. To address this challenge, we propose D$^{3}$ToM, a Decider-guided dynamic token merging method that dynamically merges redundant visual tokens at different denoising steps to accelerate inference in Diffusion MLLMs. At each denoising step, D$^{3}$ToM uses decider tokens-the tokens generated in the previous denoising step-to build an importance map over all visual tokens. Then it maintains a proportion of the most salient tokens and merges the remainder through similarity-based aggregation. This plug-and-play module integrates into a single transformer layer, physically shortening the visual token sequence for all subsequent layers without altering model parameters. Moreover, D$^{3}$ToM employs a merge ratio that dynamically varies with each denoising step, aligns with the native decoding process of Diffusion MLLMs, achieving superior performance under equivalent computational budgets. Extensive experiments show that D$^{3}$ToM accelerates inference while preserving competitive performance. The code is released at https://github.com/bcmi/D3ToM-Diffusion-MLLM.

cs.CV↗
arXiv2025

Structure-Aware Optimal Intervention for Rumor Dynamics on Networks: Node-Level, Time-Varying, and Resource-Constrained

Rumor propagation in social networks undermines social stability and public trust, calling for interventions that are both effective and resource-efficient. We develop a node-level, time-varying optimal intervention framework that allocates limited resources according to the evolving diffusion state. Unlike static, centrality-based heuristics, our approach derives control weights by solving a resource-constrained optimal control problem tightly coupled to the network structure. Across synthetic and real-world networks, the method consistently lowers both the infection peak and the cumulative infection area relative to uniform and centrality-based static allocations. Moreover, it reveals a stage-aware law: early resources prioritize influential hubs to curb rapid spread, whereas later resources shift to peripheral nodes to eliminate residual transmission. By integrating global efficiency with fine-grained adaptability, the framework offers a scalable and interpretable paradigm for misinformation management and crisis response.

cs.SI↗
arXiv2025

Asynchronous Distributed ECME Algorithm for Matrix Variate Non-Gaussian Responses

We propose a regression model with matrix-variate skew-t response (REGMVST) for analyzing irregular longitudinal data with skewness, symmetry, or heavy tails. REGMVST models matrix-variate responses and predictors, with rows indexing longitudinal measurements per subject. It uses the matrix-variate skew-t (MVST) distribution to handle skewness and heavy tails, a damped exponential correlation (DEC) structure for row-wise dependencies across irregular time profiles, and leaves the column covariance unstructured. For estimation, we initially develop an ECME algorithm for parameter estimation and further mitigate its computational bottleneck via an asynchronous and distributed ECME (ADECME) extension. ADECME accelerates the E-step through parallelization, and retains the simplicity of the conditional M-step, enabling scalable inference. Simulations using synthetic data and a case study exploring matrix-variate periodontal disease endpoints derived from electronic health records demonstrate ADECME's superiority in efficiency and convergence, over the alternatives. We also provide theoretical support for our empirical observations and identify regularity assumptions for ADECME's optimal performance. An accompanying R package is available at https://github.com/rh8liuqy/STMATREG.

stat.ME↗
arXiv2025

RAPO++: Cross-Stage Prompt Optimization for Text-to-Video Generation via Data Alignment and Test-Time Scaling

Prompt design plays a crucial role in text-to-video (T2V) generation, yet user-provided prompts are often short, unstructured, and misaligned with training data, limiting the generative potential of diffusion-based T2V models. We present \textbf{RAPO++}, a cross-stage prompt optimization framework that unifies training-data--aligned refinement, test-time iterative scaling, and large language model (LLM) fine-tuning to substantially improve T2V generation without modifying the underlying generative backbone. In \textbf{Stage 1}, Retrieval-Augmented Prompt Optimization (RAPO) enriches user prompts with semantically relevant modifiers retrieved from a relation graph and refactors them to match training distributions, enhancing compositionality and multi-object fidelity. \textbf{Stage 2} introduces Sample-Specific Prompt Optimization (SSPO), a closed-loop mechanism that iteratively refines prompts using multi-source feedback -- including semantic alignment, spatial fidelity, temporal coherence, and task-specific signals such as optical flow -- yielding progressively improved video generation quality. \textbf{Stage 3} leverages optimized prompt pairs from SSPO to fine-tune the rewriter LLM, internalizing task-specific optimization patterns and enabling efficient, high-quality prompt generation even before inference. Extensive experiments across five state-of-the-art T2V models and five benchmarks demonstrate that RAPO++ achieves significant gains in semantic alignment, compositional reasoning, temporal stability, and physical plausibility, outperforming existing methods by large margins. Our results highlight RAPO++ as a model-agnostic, cost-efficient, and scalable solution that sets a new standard for prompt optimization in T2V generation. The code is available at https://github.com/Vchitect/RAPO.

cs.CV↗