arXiv subjects

Ruilin Wang

Publications and source records attributed to Ruilin Wang.

At least 19 recordsLinked to original sources

arXiv2026

FedEHR-Agents: Federated Agentic Optimization for Automated EHR Modeling

Recent advances in large language models are enabling autonomous clinical agents to perform increasingly complex electronic health record (EHR) modeling workflows. However, agents deployed at individual hospitals remain constrained by institution-specific data and modeling environments, while direct cross-hospital collaboration is restricted by the sensitivity of patient-level EHR data. Although federated learning (FL) provides a natural foundation for privacy-preserving collaboration, existing approaches remain predominantly model-centric, limiting federation to prediction models or their updates while overlooking the richer modeling experience accumulated by autonomous agents. To address this limitation, we propose FedEHR-Agents, an experience-centric federated agentic optimization framework for automated EHR modeling. Each hospital deploys an autonomous clinical EHR agent that performs data preprocessing and model development while refining local clinical modeling experience through historical memory, task-specific evaluation, and TextGrad-based prompt refinement. The federated server performs evidence-guided experience aggregation to integrate reliable and complementary modeling experience across heterogeneous hospitals and distills the aggregated experience into global meta-prompts for subsequent local refinement. Extensive experiments on real-world multi-hospital EHR benchmarks demonstrate that FedEHR-Agents consistently outperforms local and federated baselines across diverse clinical prediction tasks and remains robust across different federation scales and LLM backbones. These results establish clinical modeling experience as a promising collaborative object beyond conventional parameter-centric FL and point toward federated autonomous clinical intelligence.

cs.LG↗

arXiv2026

Zero-WAM: In-Context World-Action Modeling from Human Videos for Open-Ended Task Generalization

Zero-shot cross-task generalization, where a policy must execute manipulation tasks never seen during training, remains a central challenge in robot learning. In large language models, a novel task can be performed simply by specifying it in the context, without any parameter update. This form of in-context learning (ICL) turns generalization into a problem of task specification. To achieve cross-task generalization, we bring this paradigm to robotic manipulation, and argue that the natural task specification for manipulation is a human video: unlike language, it provides rich visual cues about the intended task evolution. We present Zero-WAM, a causal video-action model that executes unseen tasks by following in-context human video guidance. To address the scarcity of task-rich paired human-robot data, we propose an automatic pipeline that converts task-sampled robot trajectories into semantically matched human videos, yielding HumanGen, a dataset of 74.2K human-robot ICL pairs across 8.6K tasks. For model training, we further introduce an in-context future chunk prediction (IFP) objective that suppresses shortcuts learned from seen tasks and forces the policy to draw task information from the video prompt. On seven unseen tasks in RoboTwin 2.0 simulation, Zero-WAM achieves a 47.0% average success rate, an absolute improvement of 29.5 percentage points over the strongest video-action baseline. In real-world evaluations, it follows human video guidance to generalize to unseen task configurations involving multi-object scenes, long-horizon manipulation, and fine-grained insertion.

cs.RO↗

arXiv2026

Mining beyond Earth with Space Robots: Exploration, Sampling, and Extraction

Space resource acquisition and utilization, commonly referred to as Space Mining, represent critical pathways for enabling sustained human exploration and unlocking commercial opportunities in space. These resources mainly include helium-3, water, mineral resources on the Moon and Mars, and abundant mineral deposits on asteroids. Due to the harsh conditions of space, communication delays, and high launch costs, the development of autonomous robotic systems is critical to achieving efficient, cost-effective space mining. This paper provides a comprehensive overview of space mining robotics and associated technologies. First, we review the background of space mining, including international policies, commercial entities, and recent advancements. We define a systematic six-stage architecture for space mining: Exploration is initiated by (1) remote sensing for target identification and (2) precise in situ robotic detection; Sampling progresses from (3) single-robot small-scale sampling to (4) multi-robot large-scale excavation; and Extraction integrates (5) autonomous resource extraction and (6) final integration into in situ construction or terrestrial transport. Additionally, we review and curate existing resources for space mining research, including real-world mission data, terrestrial analog datasets, and high-fidelity simulation environments. Finally, we identify critical open challenges in autonomous space mining and delineate a strategic research roadmap to bridge current technological gaps, fostering the transition toward a sustainable off-world economy. To track ongoing developments in space mining, we maintain an updated project page: https://github.com/OpenSpace-Lab/Space-Mining-with-Robotics-List.

cs.RO↗

arXiv2026

DoctorAgents: an agentic framework to iteratively refine AutoML pipeline for small clinical temporal data

Clinical machine learning (ML) has the potential to support high-stakes medical decision-making, but reliable deployment is often constrained by scarce, heterogeneous, and temporal complexity. Developing effective ML pipelines for such data remains time-consuming and error-prone, while existing automated machine learning (AutoML) systems only partially address this challenge because they largely rely on brute-force search over predefined spaces and lack explicit reasoning and memory. We therefore reformulate AutoML for small clinical data from exhaustive search to reasoning-driven refinement. We propose DoctorAgents, an agentic AI framework that autonomously constructs and optimizes end-to-end ML pipelines through specialized large language model (LLM) agents for generation, validation, and refinement. DoctorAgents backpropagates natural-language feedback through textual gradient descent to perform targeted updates without exhaustive search. Experiments across diverse clinical tasks show that DoctorAgents consistently outperforms established AutoML baselines while producing more interpretable task-specific representations.

cs.AI↗

arXiv2026

SkillNav: Score-Level Skill Intervention for Zero-Shot Object Goal Navigation

Vision-Language Model (VLM) agents have advanced zero-shot object-goal navigation, yet single-frame reasoning leaves them without the cross-step behavioral awareness an embodied navigator requires, producing recurring failures such as dead-end stalls, in-room loops, and circuitous approaches to detected targets. Prompt-based remedies inflate token budgets across multi-submodule episodes and still struggle to encode inherently spatial signals such as angles, map cells, and viewpoint coordinates. In this paper, we propose SkillNav, an extensible behavioral skill framework for VLM-based navigation that treats the curiosity value map already maintained by modern VLM navigators as a writable substrate on which composable skills inscribe behavioral memory at zero token cost. Skills are stratified into three tiers by their level of behavioral authority, namely soft scaling for proportional reweighting, lower-bound boost for region-level guarantees, and hard override for threshold-triggered forced actions, and cooperate across tiers under a fixed composition order that establishes a predictable, declared priority among skills. This design turns capability improvement into skill registration: new behaviors plug in without retraining the VLM or disturbing existing skills, opening a path for continual refinement. A minimal prompt channel complements the score-level skills with category-level semantic hints, yielding a dual-representation design in which spatial memory lives on the map and semantic memory in short prompts. Training-free, SkillNav establishes new state-of-the-art SPL across MP3D (25.5), HM3D v0.1 (39.3), and HM3D v0.2 (43.2), improving SPL by up to 6.0 absolute over the strongest prior method, and achieves the highest Success Rate on HM3D v0.1 (69.7) and v0.2 (75.9).

cs.RO↗

arXiv2026

TrustVLA: Mechanism-Guided Inference-Time Defense Against Vision-Language-Action Backdoors

Vision-Language-Action (VLA) models are deployed through pipelines that end users cannot audit, and a poisoned VLA can behave normally on clean observations while a small visual trigger redirects a long-horizon robot policy before any failure becomes observable. Existing vision or language defenses rarely explain what a triggered VLA representation looks like or how to recover behavior without retraining. We study this gap through two independently proposed VLA attacks from groups with distinct injection strategies, BadVLA and INFUSE; the latter persists after downstream clean adaptation. Across the evaluated poisoned models, we identify a recurring internal mechanism: a \emph{compact causal footprint}, namely a small visual support that is attention-seeded, spatially compact, and \emph{causal} in a precise sense -- masking it returns a clean-calibrated evidence-evolution score to the normal operating region. This footprint motivates TrustVLA, a mechanism-guided inference-time defense that adapts the Dirichlet evidence framework from trusted classification to monitor per-token, per-layer epistemic uncertainty in VLA policies. With only a small clean calibration set, TrustVLA (i)~detects abnormal evidence evolution, (ii)~localizes the compact support by counterfactual mechanism-score drop, and (iii)~recovers the observation by localized inpainting. Across OpenVLA/LIBERO and $\pi_{0.5}$ transfer evaluations, TrustVLA reduces attack success while preserving clean-task performance, providing a retraining-free, mechanism-guided defense for visual-triggered VLA backdoors.

cs.RO↗

arXiv2026

Native Video-Action Pretraining for Generalizable Robot Control

The advent of video-action models offers a promising path for robot control. Nevertheless, we argue that repurposing video generative models designed for digital content creation is inherently inadequate for physical environments. To bridge this gap, we present LingBot-VA 2.0, a video-action foundation model built from the ground up for embodiment. Four core design principles showcase its evolution from LingBot-VA. (1) Departing from traditional reconstruction-focused VAEs, we introduce a semantic visual-action tokenizer, which aligns visual representations with both semantics and actions, improving instruction following and action precision in subsequent policy learning. (2) Given the strictly causal nature of temporal dynamics, we adopt a causal pretraining paradigm, training from scratch to circumvent the catastrophic forgetting that frequently occurs when adapting bidirectional architectures. (3) To meet the demands of high-frequency inference, our model employs a sparse MoE backbone, expanding model capacity without compromising efficiency. (4) Real-time closed-loop control is realized through an enhanced asynchronous inference scheme, which predicts future latents in parallel with action execution while re-grounding each rollout on the latest observation via learned forward dynamics. Real-world deployment validates LingBot-VA 2.0 as a robust foundation model, as evidenced by its few-shot generalization across complex manipulation tasks.

cs.RO↗

arXiv2026

Humanoid-OmniOcc: Stereo-Based Full-View Occupancy Dataset for Embodied AI

Occupancy prediction at voxel-level granularity is essential for safe robotic navigation and interaction in complex environments. Existing occupancy datasets, however, are predominantly designed for autonomous driving with vehicle-centric biases -- forward-facing cameras, far-field geometry, and static road priors -- limiting their applicability to embodied humanoid perception. We present Humanoid-OmniOcc, a large-scale panoramic stereo-based occupancy dataset tailored for humanoid robots. The dataset encompasses 15 diverse simulated indoor scenes and 5 real-world environments, yielding over 155K samples with broad scene and style diversity. Importantly, the dataset is designed around a Real2Sim2Real closed-loop paradigm: real sensor specifications drive physically accurate simulation, simulation produces large-scale annotated training data, and models trained in simulation are directly evaluated on real-world captures -- enabling iterative refinement of the sim-to-real pipeline. We further propose \textbf{H}umanoid \textbf{S}urround \textbf{S}tereo-guided \textbf{Occ}upancy model (Humanoid-OmniOcc) that exploits robust depth priors for accurate 2D-to-3D lifting. Extensive experiments show that Humanoid-OmniOcc consistently outperforms monocular baselines and generalizes well to both unseen simulated test scenes and real-world environments, validating the effectiveness of the Real2Sim2Real design. Code and data will be available upon acceptance at https://d-robotics-ai-lab.github.io/humanoid-omniocc.

cs.RO↗

arXiv2026

StereoFactory: A Unified Merging Framework for Robust Stereo Matching

Stereo matching has advanced through foundation models trained on large-scale datasets, yet this paradigm suffers from a scalability bottleneck: incorporating new data requires costly joint retraining. Model merging offers a scalable post-hoc alternative by integrating knowledge from specialized models after source checkpoints are available. However, existing merging methods typically retain all available models or rely on greedy inclusion, which can preserve harmful task-vector interference. We propose StereoFactory, a coarse-to-fine evolutionary framework for adaptive model merging. Stage~1 employs a genetic algorithm to search the combinatorial space of model subsets, determining which models should participate. Stage~2 addresses module-level knowledge specialization (different functional modules exhibit distinct preferences for knowledge sources) through CMA-ES optimization of architecture-adaptive routing over the selected task vectors, with optional module-level scaling. Experiments across two architectures and four benchmarks demonstrate that StereoFactory consistently achieves the best four-benchmark average under the same checkpoint pool, reducing the average error from 3.80 to 3.30 on NMRF and from 2.88 to 2.19 on FoundationStereo relative to the strongest controlled baseline. The post-hoc search requires only 2.7--3.7\% of the corresponding joint-retraining wall-clock time. Analysis reveals that knowledge contributions are inherently module-specific, and selected subsets can transfer across architectures with minimal degradation. Code will be publicly released upon acceptance at: https://github.com/XiandaGuo/StereoFactory.

cs.CV↗

arXiv2026

ChatHealthAI: Aligning Electronic Health Record Representations with Large Language Models for Grounded Clinical Reasoning

Large language models (LLMs) exhibit strong natural-language reasoning abilities for clinical decision support, but struggle to effectively model structured longitudinal electronic health records (EHRs). In contrast, EHR foundation models can learn predictive patient representations, yet lack interpretable language-based reasoning. To bridge this gap, we propose ChatHealthAI, a multimodal reasoning framework that aligns structured EHR representations from a pretrained EHR foundation model with the semantic space of a frozen LLM through a task-aware resampler. By integrating longitudinal patient representations with refined clinical event descriptions, ChatHealthAI enables clinically grounded natural-language reasoning while maintaining accurate patient prediction. We evaluated ChatHealthAI on three clinical predictive tasks from the EHRSHOT benchmark. Results show that ChatHealthAI improves reasoning quality and interpretability while preserving competitive predictive performance. These findings highlight the potential of integrating EHR foundation models with pretrained LLMs for interpretable clinical prediction.

cs.AI↗

arXiv2026

Synergizing Efficiency and Reliability for Continuous Mobile Manipulation

Humans seamlessly fuse anticipatory planning with immediate feedback to perform successive mobile manipulation tasks without stopping, achieving both high efficiency and reliability. Replicating this fluid and reliable behavior in robots remains fundamentally challenging, not only due to conflicts between long-horizon planning and real-time reactivity, but also because excessively pursuing efficiency undermines reliability in uncertain environments: it impairs stable perception and the potential for compensation, while also increasing the risk of unintended contact. In this work, we present a unified framework that synergizes efficiency and reliability for continuous mobile manipulation. It features a reliability-aware trajectory planner that embeds essential elements for reliable execution into spatiotemporal optimization, generating efficient and reliability-promising global trajectories. It is coupled with a phase-dependent switching controller that seamlessly transitions between global trajectory tracking for efficiency and task-error compensation for reliability. We also investigate a hierarchical initialization that facilitates online replanning despite the complexity of long-horizon planning problems. Real-world evaluations demonstrate that our approach enables efficient and reliable completion of successive tasks under uncertainty (e.g., dynamic disturbances, perception and control errors). Moreover, the framework generalizes to tasks with diverse end-effector constraints. Compared with state-of-the-art baselines, our method consistently achieves the highest efficiency while improving the task success rate by 26.67\%--81.67\%. Comprehensive ablation studies further validate the contribution of each component. The source code will be released.

cs.RO↗

arXiv2026

Causal World Modeling for Robot Control

This work highlights that video world modeling, alongside vision-language pre-training, establishes a fresh and independent foundation for robot learning. Intuitively, video world models provide the ability to imagine the near future by understanding the causality between actions and visual dynamics. Inspired by this, we introduce LingBot-VA, an autoregressive diffusion framework that learns frame prediction and policy execution simultaneously. Our model features three carefully crafted designs: (1) a shared latent space, integrating vision and action tokens, driven by a Mixture-of-Transformers (MoT) architecture, (2) a closed-loop rollout mechanism, allowing for ongoing acquisition of environmental feedback with ground-truth observations, (3) an asynchronous inference pipeline, parallelizing action prediction and motor execution to support efficient control. We evaluate our model on both simulation benchmarks and real-world scenarios, where it shows significant promise in long-horizon manipulation, data efficiency in post-training, and strong generalizability to novel configurations. The code and model are made publicly available to facilitate the community.

cs.CV↗

arXiv2025

AndesVL Technical Report: An Efficient Mobile-side Multimodal Large Language Model

In recent years, while cloud-based MLLMs such as QwenVL, InternVL, GPT-4o, Gemini, and Claude Sonnet have demonstrated outstanding performance with enormous model sizes reaching hundreds of billions of parameters, they significantly surpass the limitations in memory, power consumption, and computing capacity of edge devices such as mobile phones. This paper introduces AndesVL, a suite of mobile-side MLLMs with 0.6B to 4B parameters based on Qwen3's LLM and various visual encoders. We comprehensively outline the model architectures, training pipeline, and training data of AndesVL, which achieves first-tier performance across a wide range of open-source benchmarks, including fields such as text-rich image understanding, reasoning and math, multi-image comprehension, general VQA, hallucination mitigation, multilingual understanding, and GUI-related tasks when compared with state-of-the-art models of a similar scale. Furthermore, we introduce a 1+N LoRA architecture alongside a Quantization-Aware LoRA Fine-Tuning (QALFT) framework to facilitate efficient task adaptation and model compression during mobile-side deployment of AndesVL. Moreover, utilizing our cache eviction algorithm -- OKV -- along with customized speculative decoding and compression strategies, we achieve a 6.7x peak decoding speedup ratio, up to 30.9% memory reduction, and 1.8 bits-per-weight when deploying AndesVL-4B on MediaTek Dimensity 9500 chips. We release all models on https://huggingface.co/OPPOer.

cs.CV↗

arXiv2025

Polybasic Speculative Decoding Through a Theoretical Perspective

Inference latency stands as a critical bottleneck in the large-scale deployment of Large Language Models (LLMs). Speculative decoding methods have recently shown promise in accelerating inference without compromising the output distribution. However, existing work typically relies on a dualistic draft-verify framework and lacks rigorous theoretical grounding. In this paper, we introduce a novel \emph{polybasic} speculative decoding framework, underpinned by a comprehensive theoretical analysis. Specifically, we prove a fundamental theorem that characterizes the optimal inference time for multi-model speculative decoding systems, shedding light on how to extend beyond the dualistic approach to a more general polybasic paradigm. Through our theoretical investigation of multi-model token generation, we expose and optimize the interplay between model capabilities, acceptance lengths, and overall computational cost. Our framework supports both standalone implementation and integration with existing speculative techniques, leading to accelerated performance in practice. Experimental results across multiple model families demonstrate that our approach yields speedup ratios ranging from $3.31\times$ to $4.01\times$ for LLaMA2-Chat 7B, up to $3.87 \times$ for LLaMA3-8B, up to $4.43 \times$ for Vicuna-7B and up to $3.85 \times$ for Qwen2-7B -- all while preserving the original output distribution. We release our theoretical proofs and implementation code to facilitate further investigation into polybasic speculative decoding.

cs.LG↗

arXiv2025

Stereo Anything: Unifying Zero-shot Stereo Matching with Large-Scale Mixed Data

Stereo matching serves as a cornerstone in 3D vision, aiming to establish pixel-wise correspondences between stereo image pairs for depth recovery. Despite remarkable progress driven by deep neural architectures, current models often exhibit severe performance degradation when deployed in unseen domains, primarily due to the limited diversity of training data. In this work, we introduce StereoAnything, a data-centric framework that substantially enhances the zero-shot generalization capability of existing stereo models. Rather than devising yet another specialized architecture, we scale stereo training to an unprecedented level by systematically unifying heterogeneous stereo sources: (1) curated labeled datasets covering diverse environments, and (2) large-scale synthetic stereo pairs generated from unlabeled monocular images. Our mixed-data strategy delivers consistent and robust learning signals across domains, effectively mitigating dataset bias. Extensive zero-shot evaluations on four public benchmarks demonstrate that Stereo Anything achieves state-of-the-art generalization. This work paves the way towards truly universal stereo matching, offering a scalable data paradigm applicable to any stereo image pair. We extensively evaluate the zero-shot capabilities of our model on four public datasets, showcasing its impressive ability to generalize to any stereo image pair. Code is available at https://github.com/XiandaGuo/OpenStereo.

cs.CV↗

arXiv2025

StereoCarla: A High-Fidelity Driving Dataset for Generalizable Stereo

Stereo matching plays a crucial role in enabling depth perception for autonomous driving and robotics. While recent years have witnessed remarkable progress in stereo matching algorithms, largely driven by learning-based methods and synthetic datasets, the generalization performance of these models remains constrained by the limited diversity of existing training data. To address these challenges, we present StereoCarla, a high-fidelity synthetic stereo dataset specifically designed for autonomous driving scenarios. Built on the CARLA simulator, StereoCarla incorporates a wide range of camera configurations, including diverse baselines, viewpoints, and sensor placements as well as varied environmental conditions such as lighting changes, weather effects, and road geometries. We conduct comprehensive cross-domain experiments across four standard evaluation datasets (KITTI2012, KITTI2015, Middlebury, ETH3D) and demonstrate that models trained on StereoCarla outperform those trained on 11 existing stereo datasets in terms of generalization accuracy across multiple benchmarks. Furthermore, when integrated into multi-dataset training, StereoCarla contributes substantial improvements to generalization accuracy, highlighting its compatibility and scalability. This dataset provides a valuable benchmark for developing and evaluating stereo algorithms under realistic, diverse, and controllable settings, facilitating more robust depth perception systems for autonomous vehicles. Code can be available at https://github.com/XiandaGuo/OpenStereo, and data can be available at https://xiandaguo.net/StereoCarla.

cs.CV↗

arXiv2025

ROVR-Open-Dataset: A Large-Scale Depth Dataset for Autonomous Driving

Depth estimation is a fundamental component of spatial perception for autonomous driving and other unmanned systems operating in open urban environments. Existing depth datasets such as KITTI, nuScenes, and DDAD have advanced the field but are limited in diversity and scalability, and benchmark performance on them is approaching saturation. A less discussed constraint is \emph{sensor economics}: the bespoke multi-LiDAR rigs behind these datasets are expensive, power-hungry, and difficult to replicate at fleet scale, which caps the geographic and temporal diversity that any single benchmark can cover. We present ROVR, a large-scale, diverse, and cost-efficient depth dataset designed to capture the complexity of real-world driving. ROVR comprises 200K high-resolution frames across highway, rural, and urban scenarios, spanning day/night cycles and adverse weather conditions, collected across North America, Europe, and Asia. We additionally release the calibration, synchronization, preprocessing, and privacy pipeline so that the platform can be reproduced by third parties. The lightweight acquisition pipeline enables scalable collection, while sparse but statistically sufficient ground truth -- validated by a density ablation -- supports robust model training. Extensive ablation studies further characterize performance across scene types, illumination, weather conditions, and ground-truth sparsity levels, and identify three qualitatively distinct failure modes -- photometric collapse, geometric confusion, and range saturation -- that current architectures share. The dataset, data loaders, calibration and privacy pipelines, and evaluation code are publicly available at https://xiandaguo.net/ROVR-Open-Dataset.

cs.CV↗

arXiv2025

ScIRGen: Synthesize Realistic and Large-Scale RAG Dataset for Scientific Research

Scientific researchers need intensive information about datasets to effectively evaluate and develop theories and methodologies. The information needs regarding datasets are implicitly embedded in particular research tasks, rather than explicitly expressed in search queries. However, existing scientific retrieval and question-answering (QA) datasets typically address straightforward questions, which do not align with the distribution of real-world research inquiries. To bridge this gap, we developed ScIRGen, a dataset generation framework for scientific QA \& retrieval that more accurately reflects the information needs of professional science researchers, and uses it to create a large-scale scientific retrieval-augmented generation (RAG) dataset with realistic queries, datasets and papers. Technically, we designed a dataset-oriented information extraction method that leverages academic papers to augment the dataset representation. We then proposed a question generation framework by employing cognitive taxonomy to ensure the quality of synthesized questions. We also design a method to automatically filter synthetic answers based on the perplexity shift of LLMs, which is highly aligned with human judgment of answers' validity. Collectively, these methodologies culminated in the creation of the 61k QA dataset, ScIRGen-Geo. We benchmarked representative methods on the ScIRGen-Geo dataset for their question-answering and retrieval capabilities, finding out that current methods still suffer from reasoning from complex questions. This work advances the development of more sophisticated tools to support the intricate information needs of the scientific community.

cs.CL↗