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Rui Wang

Publications and source records attributed to Rui Wang.

At least 163 records · Page 9Linked to original sources
arXiv2026

VGGT-Occ: Geometry-Grounded and Density-Aware Gated Fusion for 3D Occupancy Prediction

3D semantic occupancy prediction requires accurate 2D-to-3D feature lifting, yet current methods restrict camera geometry to initial projections. Subsequent operations like offset learning, attention weighting, and cross-camera aggregation remain geometry-agnostic, ignoring essential physical constraints. We propose VGGT-Occ, a framework that embeds geometric tokens throughout the entire pipeline. We introduce Projection-Aware Deformable Attention (PA-DA) to inject geometry into all attention stages. PA-DA projects 3D offsets back to image planes and leverages the projection Jacobian as an additive bias to suppress unreliable observations. Features are then integrated through a view-quality semantic gate for cross-view consistency. To optimize both efficiency and performance, we employ a sequential coarse-to-fine decoder with gated fusion, where low-resolution features are refined into higher resolutions, allocating computation by information density while substantially reducing decoder cost. Extensive evaluations demonstrate the effectiveness and accuracy of our approach. On SurroundOcc-nuScenes, VGGT-Occ achieves 33.00\% IoU and 21.08\% mIoU ($T{=}1$), and 33.64\% IoU and 21.43\% mIoU with $T{=}2$ inference, outperforming existing methods, with only ${\sim}41$M trainable parameters in the occupancy head. Code will be released publicly.

cs.CV↗
arXiv2026

Privacy-preserving Chunk Scheduling in a BitTorrent Implementation of Federated Learning

Traditional federated learning (FL) relies on a central aggregator server, which can create performance bottlenecks and privacy risks. Decentralized mix-and-forward designs remove the server, but repeated local mixing can attenuate global information under heterogeneity and expose peer-to-peer neighborhoods as a privacy attack surface. To preserve FedAvg-style aggregation semantics over updates reconstructable by the round deadline while scaling dissemination, we present FLTorrent, a BitTorrent-based dissemination layer for serverless FL with a short warm-up. Warm-up hardens within-round source unlinkability, a dissemination-layer goal orthogonal to content protections such as DP or secure aggregation, via pre-round obfuscation, randomized lags, and coordination-only non-owner-first scheduling with the tracker off the data path, before switching to vanilla BitTorrent swarming. We upper-bound the per-transfer attribution posterior by the fraction of owner chunks in a sender's eligible cover set, and derive a tighter high-probability bound that improves with early non-owner mass. A simple heuristic, GreedyFastestFirst, attains about 92% of a bandwidth-optimal max-flow upper bound, while warm-up remains a stable about 12% share of a round across 100-500 peers. Under an observation-only local adversary, FLTorrent drives attribution success close to neighborhood-level random guessing for typical nodes, improves with network size, and remains robust under collusion. In LLM-scale dissemination stress tests over 7-10 Gbps access links, FLTorrent adds only about 6-10% round-time overhead relative to BitTorrent-only. Overall, FLTorrent shows that within-round unlinkability and BitTorrent-level efficiency can co-exist with predictable, low overheads at scale.

cs.DC↗
arXiv2026

GEAR: Granularity-Adaptive Advantage Reweighting for LLM Agents via Self-Distillation

Reinforcement learning has become a widely used post-training approach for LLM agents, where training commonly relies on outcome-level rewards that provide only coarse supervision. While finer-grained credit assignment is promising for effective policy updates, obtaining reliable local credit and assigning it to the right parts of the long-horizon trajectory remains an open challenge. In this paper, we propose Granularity-adaptivE Advantage Reweighting (GEAR), an adaptive-granularity credit assignment framework that reshapes the trajectory-level GRPO advantage using token- and segment-level signals derived from self-distillation. GEAR compares an on-policy student with a ground-truth-conditioned teacher to obtain a reference-guided divergence signal for identifying adaptive segment boundaries and modulating local advantage weights. This divergence often spikes at the onset of a semantic deviation, while later tokens in the same autoregressive continuation may return to low divergence. GEAR therefore treats such spikes as anchors for adaptive credit regions: where the student remains aligned with the teacher, token-level resolution is preserved; where it departs, GEAR groups the corresponding continuation into an adaptive segment and uses the divergence at the departure point to modulate the segment' s advantage. Experiments across eight mathematical reasoning and agentic tool-use benchmarks with Qwen3 4B and 8B models show that GEAR consistently outperforms standard GRPO, self-distillation-only baselines, and token- or turn-level credit-assignment methods. The gains are especially strong on benchmarks with lower GRPO baseline accuracy, reaching up to around 20\% over GRPO, suggesting that the proposed adaptive reweighting scheme is especially useful in more challenging long-horizon settings.

cs.LG↗
arXiv2026

Let Robots Feel Your Touch: Visuo-Tactile Cortical Alignment for Embodied Mirror Resonance

Observing touch on another's body can elicit corresponding tactile sensations in the observer, a phenomenon termed mirror touch that supports empathy and social perception. This visuo-tactile resonance is thought to rely on structural correspondence between visual and somatosensory cortices, yet robotic systems lack computational frameworks that instantiate this principle. Here we demonstrate that cortical correspondence can be operationalized to endow robots with mirror touch. We introduce Mirror Touch Net, which imposes semantic, distributional and geometric alignment between visual and tactile representations through multi-level constraints, enabling prediction of millimetre-scale tactile signals across 1,140 taxels on a robotic hand from RGB images. Manifold analysis reveals that these constraints reshape visual representations into geometry consistent with the tactile manifold, reducing the complexity of cross-modal mapping. Extending this alignment framework to cross-domain observations of human hands enables tactile prediction and reflexive responses to observed human touch. Our results link a neural principle of visuo-tactile resonance to robotic perception, providing an explainable route towards anticipatory touch and empathic human-robot interaction. Code is available at https://github.com/fun0515/Mirror-Touch-Net.

cs.RO↗
arXiv2026

ML-Embed: Inclusive and Efficient Embeddings for a Multilingual World

The development of high-quality text embeddings is increasingly drifting toward an exclusionary future, defined by three critical barriers: prohibitive computational costs, a narrow linguistic focus that neglects most of the world's languages, and a lack of transparency from closed-source or open-weight models that stifles research. To dismantle these barriers, we introduce ML-Embed, a suite of inclusive and efficient models built upon a new framework: 3-Dimensional Matryoshka Learning (3D-ML). Our framework addresses the computational challenge with comprehensive efficiency across the entire model lifecycle. Beyond the storage benefits of Matryoshka Representation Learning (MRL) and flexible inference-time depth provided by Matryoshka Layer Learning (MLL), we introduce Matryoshka Embedding Learning (MEL) for enhanced parameter efficiency. To address the linguistic challenge, we curate a massively multilingual dataset and train a suite of models ranging from 140M to 8B parameters. In a direct commitment to transparency, we release all models, data, and code. Extensive evaluation on 430 tasks demonstrates that our models set new records on 9 of 17 evaluated MTEB benchmarks, with particularly strong results in low-resource languages, providing a reproducible blueprint for building globally equitable and computationally efficient AI systems.

cs.CL↗
arXiv2026

What to Ignore, What to React: Visually Robust RL Fine-Tuning of VLA Models

Reinforcement learning (RL) fine-tuning has shown promise for Vision-Language-Action (VLA) models in robotic manipulation, but deployment-time visual shifts pose practical challenges. A key difficulty is that standard task rewards supervise task success, but offer limited guidance on whether a visual change is task-irrelevant or changes the behavior required for manipulation. We propose PAIR-VLA (Paired Action Invariance & Sensitivity for Visually Robust VLA), an RL fine-tuning framework to address this difficulty by adding two auxiliary objectives over paired visual variants during PPO optimization: an invariance term that reduces the discrepancy between action distributions for a task-preserving pair (e.g., different distractors), and a sensitivity objective that encourages separable action distributions for a task-altering pair (e.g., target object in a different pose). Together, these objectives turn visual variants from mere observation diversity into behavior-level guidance on policy responses during RL fine-tuning. We evaluate on ManiSkill3 across two representative VLA architectures, OpenVLA and $π_{0.5}$, under diverse out-of-distribution visual shifts including unseen distractors, texture changes, target object pose variation, viewpoint shifts, and lighting changes. Our method consistently improves over standard PPO, achieving average improvements of 16.62% on $π_{0.5}$ and 9.10% on OpenVLA. Notably, ablations further show generalization across visual shifts: invariance guidance learned from distractor and texture variants transfers to target-pose and lighting shifts, while adding sensitivity guidance on target-pose variants further improves robustness to nuisance shifts, highlighting the broader transferability of behavior-level RL guidance.

cs.RO↗
arXiv2026

Large-Small Model Collaboration for Farmland Semantic Change Detection

Farmland Semantic Change Detection (SCD) is essential for cultivated land protection, yet existing benchmarks and models remain insufficient for fine-grained farmland conversion monitoring. Current datasets often lack dedicated "from-to" annotations, while visual change detection models are easily disturbed by phenology-induced pseudo-changes caused by crop rotation, seasonal variation, and illumination differences. To address these challenges, we construct HZNU-FCD, a large-scale fine-grained farmland SCD benchmark with a unified five-class farmland-to-non-farmland annotation protocol. It contains 4,588 bitemporal image pairs with pixel-level labels for practical farmland protection. Based on this benchmark, we propose a large-small collaborative SCD framework that integrates a task-driven small visual model with a frozen large vision-language model. The small model, Fine-grained Difference-aware Mamba (FD-Mamba), learns dense change representations for boundary preservation and small-region localization. The large-model pathway, Cross-modal Logical Arbitration (CMLA), introduces CLIP-based textual priors for prompt-guided semantic arbitration and pseudo-change suppression. To enable effective collaboration, we design a hard-region co-training strategy that supervises the CMLA semantic score map only on low-confidence pixels. Experiments show that our method achieves 97.63% F1, 96.32% IoU, and 96.35% SCD_IoU_mean on HZNU-FCD with only 6.65M trainable parameters. Compared with the multimodal ChangeCLIP-ViT, which leverages vision-language information for change detection, our method improves F1 by 10.19 percentage points on HZNU-FCD. It also achieves 91.43% F1 and 84.21% IoU on LEVIR-CD, and 93.85% F1 and 88.41% IoU on WHU-CD, demonstrating strong robustness and generalization. The code is available at https://github.com/Lovelymili/FD-Mamba.

cs.CV↗
arXiv2026

FERA: Uncertainty-Aware Federated Reasoning for Large Language Models

Large language models (LLMs) exhibit strong reasoning capabilities when guided by high-quality demonstrations, yet such data is often distributed across organizations that cannot centralize it due to regulatory, proprietary, or institutional constraints. We study federated reasoning, where a server improves multi-step reasoning by coordinating with heterogeneous clients holding private demonstrations, without centralized training or raw data sharing. The key challenge is that client reliability is query-dependent, while the server cannot inspect client data to determine which contributions are trustworthy. To address this, we propose Uncertainty-Aware Federated Reasoning (FERA), a training-free framework based on iterative server-client co-refinement. Across communication rounds, clients generate reasoning traces with lightweight uncertainty estimates, and the server synthesizes them into improved reasoning that is redistributed as context for the next round, progressively improving both server outputs and client-side reasoning. Within each round, Uncertainty-Aware Self-Critique Aggregation (UA-SCA) resolves conflicts among heterogeneous client traces through query-dependent trust weighting and structured cross-client verification. Rather than simply discarding low-quality traces, UA-SCA revises flawed reasoning steps to recover useful information. We provide theoretical guarantees showing that the proposed iterative protocol converges and that uncertainty-aware weighting accelerates convergence. Experiments on multiple reasoning benchmarks show that FERA consistently outperforms both federated training and training-free baselines, achieving progressively higher accuracy across rounds while maintaining communication and computational efficiency.

cs.CL↗
arXiv2026

BabelDOC: Better Layout-Preserving PDF Translation via Intermediate Representation

As global cross-lingual communication intensifies, language barriers in visually rich documents such as PDFs remain a practical bottleneck. Existing document translation pipelines face a tension between linguistic processing and layout preservation: text-oriented Computer-Assisted Translation (CAT) systems often discard structural metadata, while document parsers focus on extraction and do not support faithful re-rendering after translation. We introduce BabelDOC, an Intermediate Representation (IR)-based framework for layout-preserving PDF translation. BabelDOC decouples visual layout metadata from semantic content, enabling document-level translation operations such as terminology extraction, cross-page context handling, glossary-constrained generation, and formula placeholdering. The translated content is then re-anchored to the original layout through an adaptive typesetting engine. Experiments on a curated 200-page benchmark, together with human evaluation and multimodal LLM-as-a-judge evaluation, show that BabelDOC improves layout fidelity, visual aesthetics, and terminology consistency over representative baselines, while maintaining competitive translation precision. The open-source toolkit and its interactive downstream applications are publicly available and have attracted over 8.4K GitHub stars and 17 contributors at the time of writing. A demonstration video is also available.

cs.CV↗
arXiv2026

TIDE-Bench: Task-Aware and Diagnostic Evaluation of Tool-Integrated Reasoning

Tool-integrated reasoning has emerged as a promising paradigm for enhancing large language models with external computation, retrieval, and execution capabilities. However, the field still lacks a high-quality and unified evaluation benchmark, and existing TIR evaluations remain limited in dataset quality, task diversity, diagnostic comprehensiveness, and evaluation efficiency. In this work, we introduce TIDE-Bench, a holistic and efficient benchmark for evaluating TIR methods, featuring three key advantages. First, it provides diverse task settings, combining widely used mathematical reasoning and knowledge-intensive QA tasks with two newly designed tasks, namely the tool-grounded experimental design task and the dynamic interactive task, to probe models' abilities in complex tool invocation and multi-tool coordination. Second, TIDE-Bench adopts a comprehensive yet task-aware evaluation protocol, jointly measuring final answer quality, process reliability, tool-use efficiency, and inference cost across heterogeneous task settings. Third, TIDE-Bench constructs high-quality and discriminative evaluation sets by filtering low-discrimination instances from existing datasets, substantially reducing evaluation cost while focusing on more challenging samples. Extensive experiments on multiple foundation models and TIR methods reveal persistent bottlenecks in tool grounding, offering insights for future TIR research.

cs.AI↗
arXiv2026

On the Overscaling Curse of Parallel Thinking: System Efficacy Contradicts Sample Efficiency

Parallel thinking improves LLM reasoning through multi-path sampling and aggregation. In standard evaluations, due to a lack of sample-specific priors, all samples share a global budget chosen to maximize dataset accuracy. However, many samples reach their best accuracy with much smaller budgets, causing low budget utilization. This contradiction between system efficacy and sample efficiency constitutes the Overscaling Curse. In this paper, we first provide a formal analysis of the overscaling curse and quantify its prevalence and severity in real-world systems. To break it, we propose Latent Budget Predictor (LanBo), which probes model latent representations to predict sample-specific optimal budgets. LanBo significantly improves budget utilization while maintaining dataset accuracy. We further integrate LanBo into the full decoding pipeline, inspiring Pre-decoding Budget Adaptation (PreAda), a paradigm that allocates budgets before decoding to preserve decoding-time parallelization. LanBo substantially improves hardware-aware efficiency in latency and memory, demonstrating both its practical value and the promise of LanBo for efficient parallel decoding.

cs.LG↗
arXiv2026

PrepBench: How Far Are We from Natural-Language-Driven Data Preparation?

Data preparation is a central and time-consuming stage in data analysis workflows. Traditionally, commercial tools have relied on graphical user interfaces (GUIs) to simplify data preparation, allowing users to define transformations through visual operators and workflows. Recent advances in large language models (LLMs) raise the possibility of a paradigm shift toward natural language (NL)-driven data preparation, in which users can specify preparation intents in NL directly. However, it remains unclear how far current LLM-based agents are from this paradigm shift in practice. Existing code generation benchmarks do not capture key characteristics of data preparation, including ambiguous user intents, imperfect real-world data, and the need to translate code into interpretable workflows for validation. To bridge this gap, we present PrepBench, a benchmark designed to evaluate NL-driven data preparation along three core capabilities: interactive disambiguation, prep-code generation, and code-to-workflow translation. We crawl data from the Preppin' Data Challenges, and then extend it into a systematically designed benchmark. The benchmark covers diverse domains, and each task involves 3 to 18 data preparation steps. Nearly half of the tasks require over 100 lines of Python code, and the longest solutions approach 300 lines. Our evaluation shows that, despite recent progress, realizing this paradigm shift remains challenging for state-of-the-art LLMs. PrepBench provides a principled benchmark for measuring this gap and helps identify key challenges toward realizing NL-driven data preparation.

cs.DB↗
arXiv2026

Towards Backdoor-Based Ownership Verification for Vision-Language-Action Models

Vision-Language-Action models (VLAs) support generalist robotic control by enabling end-to-end decision policies directly from multi-modal inputs. As trained VLAs are increasingly shared and adapted, protecting model ownership becomes essential for secure deployment and responsible open-source usage. In this paper, we present GuardVLA, the first backdoor-based ownership verification framework specifically designed for VLAs. GuardVLA embeds a stealthy and harmless backdoor watermark into the protected model during training by injecting secret messages into embodied visual data. For post-release verification, we propose a swap-and-detect mechanism, in which the trigger projector and an external classifier head are used to activate and detect the embedded backdoor based on prediction probabilities. Extensive experiments across multiple datasets, model architectures, and adaptation settings demonstrate that GuardVLA enables reliable ownership verification while preserving benign task performance. Further results show that the embedded watermark remains detectable under post-release model adaptation.

cs.RO↗
arXiv2026

CachePrune: Teaching LLMs What Not to Follow via KV-Cache Editing

Large Language Models (LLMs) are susceptible to indirect prompt injection attacks, where the model inadvertently responds to instructions injected into the prompt context. This vulnerability stems from LLMs' inability to distinguish between data and instructions within a prompt. We propose CachePrune, which defends against this attack by identifying and pruning neurons associated with instruction-following during KV cache encoding of the prompt context. The pruning steers the LLM toward interpreting the context purely as data rather than as instructions to follow. To identify these neurons, we introduce a neural attribution mechanism guided by a preferential attribution loss, and theoretically connect this loss to an upper bound of the Direct Preference Optimization (DPO) objective. Further, we improve the fidelity of neural attribution by leveraging an observed triggering effect in instruction-following. Our approach does not interfere with prompt formatting or incur test-time overhead during response generation. Experiments show that CachePrune significantly reduces the attack success rate while preserving the LLM's ability to follow user instructions.

cs.CR↗
arXiv2026

Hybrid-order topology in two-dimensional nonsymmorphic antiferromagnets

We theoretically demonstrate hybrid-order topology in a two-dimensional nonsymmorphic antiferromagnet. Utilizing a generic antiferromagnetic Dirac model with a symmetry-allowed, momentum-dependent spin-density-wave (SDW) mass, we show that a single bulk insulating phase exhibits distinct topological boundary manifestations governed solely by the termination geometry. For screw-compatible edges, nonsymmorphic screw symmetry protects gapless first-order edge states. In contrast, for a $45^\circ$ diamond-shaped termination, the screw symmetry is broken at the boundary, resulting in gapped edges. However, the finite geometry still preserves magnetic mirror symmetries $\mathcal{M}_x\mathcal{T}$ and $\mathcal{M}_y\mathcal{T}$, which enforce an alternating pattern of edge masses, thereby binding zero-dimensional corner states. This second-order phase is characterized by a quantized quadrupole moment, with corner states pinned to zero energy by the chiral symmetry. We further demonstrate that explicit lattice perturbations can selectively gap the first-order edge modes while robustly preserving the corner states. Our work establishes a symmetry-based route to a termination-controlled duality between first- and second-order topology in magnetic nonsymmorphic systems.

cond-mat.mes-hall↗
arXiv2026

AccelSync: Verifying Synchronization Coverage in Accelerator Pipeline Programs

AI accelerator operators are compiled into multi-stage pipeline programs where DMA, vector, matrix, and scalar units execute concurrently on shared on-chip buffers. A missing or misplaced synchronization primitive introduces hardware-visible data races that escape both simulation and golden testing, because neither models the accelerator's cross-unit visibility semantics. We formalize accelerator pipeline programs as a restricted concurrent language, define a parameterized hardware event semantics with three ordering relations -- program order, synchronization order, and barrier order -- and reduce the correctness question to barrier sufficiency: whether every cross-unit write-read pair on the same buffer is ordered by happens-before. Here "barrier" denotes an abstract ordering primitive in the model, covering vendor pipe barriers, hard-event synchronization, and equivalent frontend-normalized synchronization points. We prove that barrier sufficiency is decidable in $O(|E|^2)$ time and that our checker is both sound and complete under the modeled semantics. We implement AccelSync, a static verification tool instantiated for Ascend 910B2 and Cambricon MLU370 by changing only the hardware model. On 6,292 production kernels from the CANN operator library, AccelSync identifies 3 previously unknown synchronization hazards -- one matching a hazard class for which we observed nondeterministic outputs on Ascend 910B2 under a specific toolkit/driver configuration (CANN 8.0.RC3), though this observation was not reproducible after a subsequent driver upgrade -- and on 120 LLM-generated kernels it flags a 19.2% defect rate (95% CI: [13.0%, 27.4%]). A mutation study on 688 non-equivalent mutants yields 100% detection, and a head-to-head comparison shows AccelSync detects hazards that Huawei's runtime sanitizer msSanitizer misses, at 400x lower cost per kernel.

cs.AR↗
arXiv2026

Engineering Helical Superconductors with Multiple Majorana Kramers Pairs via Higher-Order Rashba Spin-Orbit Coupling

The momentum dependence of Rashba spin-orbit coupling (RSOC) is a key ingredient for engineering topological superconductors (TSCs), yet research has overwhelmingly focused on its linear-in-momentum form. This focus has restricted time-reversal invariant TSCs to helical $p$-wave states, which are characterized by a $\mathbb{Z}_2$ topological invariant that permits at most a single Majorana Kramers pair at a given boundary. Their existence has also been tied to the stringent criterion of an odd number of Fermi surfaces (FSs). In this work, we establish higher-order RSOC as a powerful design principle to go beyond the $\mathbb{Z}_2$ classification and the odd-FS criterion. We demonstrate that a bilayer system with a pure cubic RSOC and an intrinsic odd-parity pairing on a single FS yields a rare 2D helical $f$-wave TSC. This state is characterized by a large mirror Chern number (MCN) of ${\cal N}_{\text{M}}=3$ and hosts three Kramers pairs of Majorana edge modes. Remarkably, the interplay of linear and cubic RSOCs in this bilayer can generate a helical hybrid $p+f$-wave TSC with an even larger MCN of ${\cal N}_{\text{M}}=4$ from a normal state with two FSs, thereby circumventing the conventional odd-FS criterion. Our work establishes higher-order RSOC as a "topology multiplier" for realizing TSCs with multiple Majorana Kramers channels, fundamentally reshapes the criteria for helical TSCs, and holds immediate relevance for tunable platforms like oxide heterostructures.

cond-mat.supr-con↗
arXiv2026

Floquet second-order topological insulator in strained graphene

Graphene provides a canonical setting for Floquet band engineering, where circularly polarized light can dynamically open topological gaps at Dirac points and generate nonequilibrium Hall responses. Here we show that uniaxial strain and off-resonant circularly polarized light with tunable incidence angle enable a controllable route to Floquet higher-order topology in graphene. Using a strained honeycomb tight-binding model with Peierls coupling and a high-frequency expansion for the effective Floquet Hamiltonian, we find that strain drives the Dirac cones toward the Dirac-merging (semi-Dirac) critical regime, where the light-induced mass becomes strongly anisotropic. For oblique incidence, the projected drive is effectively elliptically polarized and, in combination with strain, stabilizes a phase with gapped edges but robust in-gap corner modes in finite geometries, realizing a Floquet second-order topological insulator. We characterize the phase diagram via the Chern number and a crystalline-symmetry-quantized polarization invariant. Finally, first-principles-informed tight-binding calculations corroborate the predicted topological evolution in strained graphene nanostructures. Our results identify driven strained graphene as a realistic and tunable platform for realizing and diagnosing Floquet higher-order topological phases.

cond-mat.mes-hall↗