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Qizhi Chen

Publications and source records attributed to Qizhi Chen.

At least 19 recordsLinked to original sources

Beyond the Static Barrier for Ordinary Dynamic Approximate Membership

We prove a strict space separation between static and ordinary dynamic approximate membership at every fixed error rate. For each fixed $\varepsilon\in(0,1)$, a capacity-$n$ ordinary dynamic filter over a universe of size $u$, with zero false negatives, pointwise false-positive probability at most $\varepsilon$, arbitrary history dependence, a free public random tape, and at most $H$ bits of persistent state, satisfies \[ H\ge \bigl(\log_2(1/\varepsilon)+a_\varepsilon^{\rm c}\bigr)n-o(n), \] under only $u/n\to\infty$. The constant $a_\varepsilon^{\rm c}$ is an explicit variational threshold obtained by preserving the dependence between the parent accepted mass and the successor reservoir. The structural step is a common-continuation transport lemma. A joint posterior KL bound gives a branch-specific survivor support; the same legal delete--insert word transports that support to one successor state, forcing an accepted reservoir. We then keep the parent outside mass $1-X$ in the conditional-entropy argument instead of replacing it by $1-\varepsilon$. This yields a two-variable analytic envelope, with no selected thresholds, dyadic witnesses, or numerical assumptions.

cs.DS

When Safety Becomes a Vulnerability: Exploiting LLM Alignment Homogeneity for Transferable Blocking in RAG

Retrieval-Augmented Generation (RAG) systems are vulnerable to blocking attacks, in which poisoned documents cause large language models (LLMs) to refuse benign queries. Existing attacks rely on adversarial suffixes or explicit instructions, which are increasingly ineffective against modern LLMs, susceptible to prompt injection filtering, or require feedback from the target system. We observe overlapping risk categories and refusal criteria across safety-aligned LLMs, a phenomenon we term alignment homogeneity. This shared attack surface makes refusal-inducing context transferable across models. Accordingly, we propose TabooRAG, which optimizes one document per query for retrieval and refusal induction in a surrogate RAG environment, then transfers it to an unknown target system. Rather than injecting instructions, TabooRAG constructs query-relevant risk context to trigger alignment-driven refusal. To reduce optimization cost, it reuses validated strategies through a query-aware strategy library. Across nine LLMs and three datasets, TabooRAG achieves state-of-the-art ASR after filtering, with a 67.3% relative gain over the average per-setting best baseline. Further experiments show that TabooRAG remains effective with diverse surrogate models, against unseen target models, and under stronger RAG pipelines and existing defenses.

cs.CR

Q-GeoMem: Question-Guided Geometric Memory for Video Spatial Reasoning

Video spatial reasoning requires accumulating viewpoint-dependent evidence over time while retaining information useful to the question being asked. Existing spatial video-language models improve geometric perception and long-range context modeling, but often treat memory as a generic temporal cache, which can introduce redundant or irrelevant evidence and weaken long-horizon reasoning. We propose Q-GeoMem, a question-guided geometric memory framework for video spatial reasoning. Q-GeoMem injects camera-conditioned geometry into visual tokens and maintains two complementary memories: a Fine-Grained Context Bank for recent dense features and camera states, and a Semantic-Geometric Evidence Bank for compact long-range evidence. For each candidate frame, a calibrated Q-Former estimates question relevance, while novelty and evidence utility are recomputed with respect to the active evidence bank. The resulting relevance-novelty utility controls capacity-based replacement and serves as an attention bias during memory reading. During reasoning, both memories are read before update and adaptively fused with the current frame representation. Extensive experiments across two in-domain and five out-of-distribution benchmarks, and controlled memory analyses show that Q-GeoMem achieves state-of-the-art performance in the evaluated settings and validate the effectiveness of question-guided geometric evidence selection.

cs.CV

Cosmos 3: Omnimodal World Models for Physical AI

We introduce Cosmos 3, a family of omnimodal world models designed to jointly process and generate language, image, video, audio, and action sequences within a unified mixture-of-transformers architecture. By supporting highly flexible input-output configurations, Cosmos 3 seamlessly unifies critical modalities for Physical AI -- effectively subsuming vision-language models, video generators, world simulators, and world-action models into a single framework. Our evaluation demonstrates that Cosmos 3 establishes a new state-of-the-art across a diverse suite of understanding and generation tasks, demonstrating omnimodal world models as scalable, general-purpose backbones for embodied agents. Our post-trained Cosmos 3 models were ranked as the best open-source Text-to-Image and Image-to-Video models by Artificial Analysis, and the best policy model by RoboArena at the time the technical report was written. To accelerate open research and deployment in Physical AI, we make our code, model checkpoints, curated synthetic datasets, and evaluation benchmark available under the Linux Foundation's OpenMDW-1.1 License at https://github.com/nvidia/cosmos and https://huggingface.co/collections/nvidia/cosmos3. The project website is available at https://research.nvidia.com/labs/cosmos-lab/cosmos3.

cs.CV

Stop When Further Reasoning Won't Help: Attention-State Adaptive Generation in Reasoning Models

By incorporating test-time compute scaling, large reasoning models (LRMs) can solve complex problems through explicit chain-of-thought (CoT) reasoning processes. However, they often suffer from overthinking, resulting in redundant token outputs and degraded accuracy. Current methods to mitigate this issue remain limited: training-based approaches require substantial computational resources, while training-free methods rely on well-crafted prompts or unreliable confidence signals. In this work, we investigate early stopping from the perspective of attention distributions and propose a simple method, ASAG, which infers the model's reasoning state and adaptively adjusts the generation strategy. The proposed framework is training-free and plug-and-play, enabling seamless integration into existing LRMs. Extensive experiments on nine benchmarks demonstrate consistent improvements across mainstream LRMs with varying parameter scales, including the DeepSeek-R1-Distill and Qwen3 series. Specifically, ASAG improves average accuracy by 3.2% while reducing the number of generated tokens by nearly 40% across all reasoning tasks on Qwen3-8B.

cs.CL

Toward Robust GraphRAG: Mitigating Retrieval Drift and Hallucination from Imperfect Knowledge Graphs

Graph Retrieval-Augmented Generation (GraphRAG) has become a common approach for multi-hop reasoning by using knowledge graphs (KGs) as structured retrieval indexes. However, most existing GraphRAG methods implicitly assume that LLM-constructed KGs provide structural support for evidence chaining. In this paper, we show that this assumption does not always hold in practice through an empirical analysis, and identify two recurring KG issue modes often overlooked by current retrievers: spurious noise and incomplete information. Spurious noise induces retrieval drift toward plausible but unsupported triples, whereas incomplete information leads to retrieval hallucination by forcing continuation through under-supported graph structure. To address these challenges, we propose CS-RAG, a robust GraphRAG framework that mitigates the impact of imperfect KGs during retrieval rather than relying on KG repair. CS-RAG first plans each query as an ordered sequence of executable atomic constraints and performs fine-grained anchor- and relation-aware retrieval to constrain evidence acquisition around the intended hop semantics. It then applies a sufficiency check to decide whether the retrieved evidence can safely induce variable bindings for subsequent propagation and activates textual recovery when structural support is insufficient, thereby reducing hallucinated structural continuation. Experiments on three multi-hop QA benchmarks show that CS-RAG is less sensitive to builder choice and remains stable under controlled KG issue injection. Code is available at: https://github.com/myz12138/CS-RAG/

cs.IR

VGGT-Edit: Feed-forward Native 3D Scene Editing with Residual Field Prediction

High-quality 3D scene reconstruction has recently advanced toward generalizable feed-forward architectures, enabling the generation of complex environments in a single forward pass. However, despite their strong performance in static scene perception, these models remain limited in responding to dynamic human instructions, which restricts their use in interactive applications. Existing editing methods typically rely on a 2D-lifting strategy, where individual views are edited independently and then lifted back into 3D space. This indirect pipeline often leads to blurry textures and inconsistent geometry, as 2D editors lack the spatial awareness required to preserve structure across viewpoints. To address these limitations, we propose VGGT-Edit, a feed-forward framework for text-conditioned native 3D scene editing. VGGT-Edit introduces depth-synchronized text injection to align semantic guidance with the backbone's spatial poses, ensuring stable instruction grounding. This semantic signal is then processed by a residual transformation head, which directly predicts 3D geometric displacements to deform the scene while preserving background stability. To ensure high-fidelity results, we supervise the framework with a multi-term objective function that enforces geometric accuracy and cross-view consistency. We also construct the DeltaScene Dataset, a large-scale dataset generated through an automated pipeline with 3D agreement filtering to ensure ground-truth quality. Experiments show that VGGT-Edit substantially outperforms 2D-lifting baselines, producing sharper object details, stronger multi-view consistency, and near-instant inference speed. The project page is https://chriszkxxx.github.io/VGGT-Edit/.

cs.CV

FreeGaussian: Annotation-free Control of Articulated Objects via 3D Gaussian Splats with Flow Derivatives

Reconstructing controllable Gaussian splats for articulated objects from monocular video is especially challenging due to its inherently insufficient constraints. Existing methods address this by relying on dense masks and manually defined control signals, limiting their real-world applications. In this paper, we propose an annotation-free method, FreeGaussian, which mathematically disentangles camera egomotion and articulated movements via flow derivatives. By establishing a connection between 2D flows and 3D Gaussian dynamic flow, our method enables optimization and continuity of dynamic Gaussian motions from flow priors without any control signals. Furthermore, we introduce a 3D spherical vector controlling scheme, which represents the state as a 3D Gaussian trajectory, thereby eliminating the need for complex 1D control signal calculations and simplifying controllable Gaussian modeling. Extensive experiments on articulated objects demonstrate the state-of-the-art visual performance and precise, part-aware controllability of our method. Code is available at: https://github.com/Tavish9/freegaussian.

cs.CV

KEPo: Knowledge Evolution Poison on Graph-based Retrieval-Augmented Generation

Graph-based Retrieval-Augmented Generation (GraphRAG) constructs the Knowledge Graph (KG) from external databases to enhance the timeliness and accuracy of Large Language Model (LLM) generations. However, this reliance on external data introduces new attack surfaces. Attackers can inject poisoned texts into databases to manipulate LLMs into producing harmful target responses for attacker-chosen queries. Existing research primarily focuses on attacking conventional RAG systems. However, such methods are ineffective against GraphRAG. This robustness derives from the KG abstraction of GraphRAG, which reorganizes injected text into a graph before retrieval, thereby enabling the LLM to reason based on the restructured context instead of raw poisoned passages. To expose latent security vulnerabilities in GraphRAG, we propose Knowledge Evolution Poison (KEPo), a novel poisoning attack method specifically designed for GraphRAG. For each target query, KEPo first generates a toxic event containing poisoned knowledge based on the target answer. By fabricating event backgrounds and forging knowledge evolution paths from original facts to the toxic event, it then poisons the KG and misleads the LLM into treating the poisoned knowledge as the final result. In multi-target attack scenarios, KEPo further connects multiple attack corpora, enabling their poisoned knowledge to mutually reinforce while expanding the scale of poisoned communities, thereby amplifying attack effectiveness. Experimental results across multiple datasets demonstrate that KEPo achieves state-of-the-art attack success rates for both single-target and multi-target attacks, significantly outperforming previous methods.

cs.LG

Openfly: A comprehensive platform for aerial vision-language navigation

Vision-Language Navigation (VLN) aims to guide agents by leveraging language instructions and visual cues, playing a pivotal role in embodied AI. Indoor VLN has been extensively studied, whereas outdoor aerial VLN remains underexplored. The potential reason is that outdoor aerial view encompasses vast areas, making data collection more challenging, which results in a lack of benchmarks. To address this problem, we propose OpenFly, a platform comprising various rendering engines, a versatile toolchain, and a large-scale benchmark for aerial VLN. Firstly, we integrate diverse rendering engines and advanced techniques for environment simulation, including Unreal Engine, GTA V, Google Earth, and 3D Gaussian Splatting (3D GS). Particularly, 3D GS supports real-to-sim rendering, further enhancing the realism of our environments. Secondly, we develop a highly automated toolchain for aerial VLN data collection, streamlining point cloud acquisition, scene semantic segmentation, flight trajectory creation, and instruction generation. Thirdly, based on the toolchain, we construct a large-scale aerial VLN dataset with 100k trajectories, covering diverse heights and lengths across 18 scenes. Moreover, we propose OpenFly-Agent, a keyframe-aware VLN model emphasizing key observations during flight. For benchmarking, extensive experiments and analyses are conducted, evaluating several recent VLN methods and showcasing the superiority of our OpenFly platform and agent. The toolchain, dataset, and codes will be open-sourced.

cs.CV

EO-1: An Open Unified Embodied Foundation Model for General Robot Control

The human ability to seamlessly perform multimodal reasoning and physical interaction in the open world is a core goal for general purpose embodied intelligent systems. Recent vision-language-action (VLA) models, which are co-trained on large-scale robot and visual-text data, have demonstrated notable progress in general robot control. However, they still fail to achieve human-level flexibility in interleaved reasoning and interaction. In this work, we introduce EO-Robotics, consists of EO-1 model and EO-Data1.5M dataset. EO-1 is a unified embodied foundation model that achieves superior performance in multimodal embodied reasoning and robot control through interleaved vision-text-action pre-training. The development of EO-1 is based on two key pillars: (i) a unified architecture that processes multimodal inputs indiscriminately (image, text, video, and action), and (ii) a massive, high-quality multimodal embodied reasoning dataset, EO-Data1.5M, which contains over 1.5 million samples with emphasis on interleaved vision-text-action comprehension. EO-1 is trained through synergies between auto-regressive decoding and flow matching denoising on EO-Data1.5M, enabling seamless robot action generation and multimodal embodied reasoning. Extensive experiments demonstrate the effectiveness of interleaved vision-text-action learning for open-world understanding and generalization, validated through a variety of long-horizon, dexterous manipulation tasks across multiple embodiments. This paper details the architecture of EO-1, the data construction strategy of EO-Data1.5M, and the training methodology, offering valuable insights for developing advanced embodied foundation models. Project Page: https://eo-robotics.ai/eo-1.

cs.RO

NL2Repo-Bench: Towards Long-Horizon Repository Generation Evaluation of Coding Agents

Recent advances in coding agents suggest rapid progress toward autonomous software development, yet existing benchmarks fail to rigorously evaluate the long-horizon capabilities required to build complete software systems. Most prior evaluations focus on localized code generation, scaffolded completion, or short-term repair tasks, leaving open the question of whether agents can sustain coherent reasoning, planning, and execution over the extended horizons demanded by real-world repository construction. To address this gap, we present NL2Repo Bench, a benchmark explicitly designed to evaluate the long-horizon repository generation ability of coding agents. Given only a single natural-language requirements document and an empty workspace, agents must autonomously design the architecture, manage dependencies, implement multi-module logic, and produce a fully installable Python library. Our experiments across state-of-the-art open- and closed-source models reveal that long-horizon repository generation remains largely unsolved: even the strongest agents achieve below 40% average test pass rates and rarely complete an entire repository correctly. Detailed analysis uncovers fundamental long-horizon failure modes, including premature termination, loss of global coherence, fragile cross-file dependencies, and inadequate planning over hundreds of interaction steps. NL2Repo Bench establishes a rigorous, verifiable testbed for measuring sustained agentic competence and highlights long-horizon reasoning as a central bottleneck for the next generation of autonomous coding agents.

cs.CL

Openpi Comet: Competition Solution For 2025 BEHAVIOR Challenge

The 2025 BEHAVIOR Challenge is designed to rigorously track progress toward solving long-horizon tasks by physical agents in simulated environments. BEHAVIOR-1K focuses on everyday household tasks that people most want robots to assist with and these tasks introduce long-horizon mobile manipulation challenges in realistic settings, bridging the gap between current research and real-world, human-centric applications. This report presents our solution to the 2025 BEHAVIOR Challenge in a very close 2nd place and substantially outperforms the rest of the submissions. Building on $π_{0.5}$, we focus on systematically building our solution by studying the effects of training techniques and data. Through careful ablation studies, we reveal the scaling benefits in both the pre-training and post-training phases, leading to a validation Q-score of 0.345, significantly surpassing previous state-of-the-art performance. We summarize our practical lessons and design recommendations that we hope will provide actionable insights for the broader embodied AI community when adapting powerful foundation models to complex embodied scenarios. Project page: https://github.com/mli0603/openpi-comet

cs.RO

Are We Ready for RL in Text-to-3D Generation? A Progressive Investigation

Reinforcement learning (RL), earlier proven to be effective in large language and multi-modal models, has been successfully extended to enhance 2D image generation recently. However, applying RL to 3D generation remains largely unexplored due to the higher spatial complexity of 3D objects, which require globally consistent geometry and fine-grained local textures. This makes 3D generation significantly sensitive to reward designs and RL algorithms. To address these challenges, we conduct the first systematic study of RL for text-to-3D autoregressive generation across several dimensions. (1) Reward designs: We evaluate reward dimensions and model choices, showing that alignment with human preference is crucial, and that general multi-modal models provide robust signal for 3D attributes. (2) RL algorithms: We study GRPO variants, highlighting the effectiveness of token-level optimization, and further investigate the scaling of training data and iterations. (3) Text-to-3D Benchmarks: Since existing benchmarks fail to measure implicit reasoning abilities in 3D generation models, we introduce MME-3DR. (4) Advanced RL paradigms: Motivated by the natural hierarchy of 3D generation, we propose Hi-GRPO, which optimizes the global-to-local hierarchical 3D generation through dedicated reward ensembles. Based on these insights, we develop AR3D-R1, the first RL-enhanced text-to-3D model, expert from coarse shape to texture refinement. We hope this study provides insights into RL-driven reasoning for 3D generation. Code is released at https://github.com/Ivan-Tang-3D/3DGen-R1.

cs.CV

Exploring the Potential of Encoder-free Architectures in 3D LMMs

Encoder-free architectures have been preliminarily explored in the 2D Large Multimodal Models (LMMs), yet it remains an open question whether they can be effectively applied to 3D understanding scenarios. In this paper, we present the first comprehensive investigation into the potential of encoder-free architectures to alleviate the challenges of encoder-based 3D LMMs. These long-standing challenges include the failure to adapt to varying point cloud resolutions during inference and the point features from the encoder not meeting the semantic needs of Large Language Models (LLMs). We identify key aspects for 3D LMMs to remove the pre-trained encoder and enable the LLM to assume the role of the 3D encoder: 1) We propose the LLM-embedded Semantic Encoding strategy in the pre-training stage, exploring the effects of various point cloud self-supervised losses. And we present the Hybrid Semantic Loss to extract high-level semantics. 2) We introduce the Hierarchical Geometry Aggregation strategy in the instruction tuning stage. This incorporates inductive bias into the LLM layers to focus on the local details of the point clouds. To the end, we present the first Encoder-free 3D LMM, ENEL. Our 7B model rivals the state-of-the-art model, PointLLM-PiSA-13B, achieving 57.91%, 61.0%, and 55.20% on the classification, captioning, and VQA tasks, respectively. Our results show that the encoder-free architecture is highly promising for replacing encoder-based architectures in the field of 3D understanding. The code is released at https://github.com/Ivan-Tang-3D/ENEL

cs.CV

NeuroPath: Neurobiology-Inspired Path Tracking and Reflection for Semantically Coherent Retrieval

Retrieval-augmented generation (RAG) greatly enhances large language models (LLMs) performance in knowledge-intensive tasks. However, naive RAG methods struggle with multi-hop question answering due to their limited capacity to capture complex dependencies across documents. Recent studies employ graph-based RAG to capture document connections. However, these approaches often result in a loss of semantic coherence and introduce irrelevant noise during node matching and subgraph construction. To address these limitations, we propose NeuroPath, an LLM-driven semantic path tracking RAG framework inspired by the path navigational planning of place cells in neurobiology. It consists of two steps: Dynamic Path Tracking and Post-retrieval Completion. Dynamic Path Tracking performs goal-directed semantic path tracking and pruning over the constructed knowledge graph (KG), improving noise reduction and semantic coherence. Post-retrieval Completion further reinforces these benefits by conducting second-stage retrieval using intermediate reasoning and the original query to refine the query goal and complete missing information in the reasoning path. NeuroPath surpasses current state-of-the-art baselines on three multi-hop QA datasets, achieving average improvements of 16.3% on recall@2 and 13.5% on recall@5 over advanced graph-based RAG methods. Moreover, compared to existing iter-based RAG methods, NeuroPath achieves higher accuracy and reduces token consumption by 22.8%. Finally, we demonstrate the robustness of NeuroPath across four smaller LLMs (Llama3.1, GLM4, Mistral0.3, and Gemma3), and further validate its scalability across tasks of varying complexity. Code is available at https://github.com/KennyCaty/NeuroPath.

cs.IR

AerialVG: A Challenging Benchmark for Aerial Visual Grounding by Exploring Positional Relations

Visual grounding (VG) aims to localize target objects in an image based on natural language descriptions. In this paper, we propose AerialVG, a new task focusing on visual grounding from aerial views. Compared to traditional VG, AerialVG poses new challenges, \emph{e.g.}, appearance-based grounding is insufficient to distinguish among multiple visually similar objects, and positional relations should be emphasized. Besides, existing VG models struggle when applied to aerial imagery, where high-resolution images cause significant difficulties. To address these challenges, we introduce the first AerialVG dataset, consisting of 5K real-world aerial images, 50K manually annotated descriptions, and 103K objects. Particularly, each annotation in AerialVG dataset contains multiple target objects annotated with relative spatial relations, requiring models to perform comprehensive spatial reasoning. Furthermore, we propose an innovative model especially for the AerialVG task, where a Hierarchical Cross-Attention is devised to focus on target regions, and a Relation-Aware Grounding module is designed to infer positional relations. Experimental results validate the effectiveness of our dataset and method, highlighting the importance of spatial reasoning in aerial visual grounding. The code and dataset will be released.

cs.CV

GraphCogent: Mitigating LLMs' Working Memory Constraints via Multi-Agent Collaboration in Complex Graph Understanding

Large language models (LLMs) show promising performance on small-scale graph reasoning tasks but fail when handling real-world graphs with complex queries. This phenomenon arises from LLMs' working memory constraints, which result in their inability to retain long-range graph topology over extended contexts while sustaining coherent multi-step reasoning. However, real-world graphs are often structurally complex, such as Web, Transportation, Social, and Citation networks. To address these limitations, we propose GraphCogent, a collaborative agent framework inspired by human Working Memory Model that decomposes graph reasoning into specialized cognitive processes: sense, buffer, and execute. The framework consists of three modules: Sensory Module standardizes diverse graph text representations via subgraph sampling, Buffer Module integrates and indexes graph data across multiple formats, and Execution Module combines tool calling and tool creation for efficient reasoning. We also introduce Graph4real, a comprehensive benchmark that contains four domains of real-world graphs (Web, Transportation, Social, and Citation) to evaluate LLMs' graph reasoning capabilities. Our Graph4real covers 21 different graph reasoning tasks, categorized into three types (Structural Querying, Algorithmic Reasoning, and Predictive Modeling tasks), with graph scales up to 10 times larger than existing benchmarks. Experiments show that Llama3.1-8B based GraphCogent achieves a 50% improvement over massive-scale LLMs like DeepSeek-R1 (671B). Compared to state-of-the-art agent-based baseline, our framework outperforms by 20% in accuracy while reducing token usage by 80% for in-toolset tasks and 30% for out-toolset tasks. Code will be available after review.

cs.AI