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Ruiqi Wang

Publications and source records attributed to Ruiqi Wang.

At least 55 records · Page 3Linked to original sources

Achieving binary weight and activation for LLMs using Post-Training Quantization

Quantizing large language models (LLMs) to 1-bit precision significantly reduces computational costs, but existing quantization techniques suffer from noticeable performance degradation when using weight and activation precisions below 4 bits (W4A4). In this paper, we propose a post-training quantization framework with W(1+1)A(1*4) configuration, where weights are quantized to 1 bit with an additional 1 bit for fine-grain grouping and activations are quantized to 1 bit with a 4-fold increase in the number of channels. For weight quantization, we propose utilizing Hessian-aware fine-grained grouping along with an EM-based quantization scheme. For activation quantization, we decompose INT4-quantized activations into a 4 * INT1 format equivalently and simultaneously smooth the scaling factors based on quantization errors, which further reduces the quantization errors in activations. Our method surpasses state-of-the-art (SOTA) LLM quantization baselines on W2A4 across multiple tasks, pushing the boundaries of existing LLM quantization methods toward fully binarized models. Code is available at https://github.com/JimmyCrave/LLM-PTQ-binarization.

cs.LG↗

Ego-R1: Chain-of-Tool-Thought for Ultra-Long Egocentric Video Reasoning

We introduce Ego-R1, a novel framework for reasoning over ultra-long (i.e., in days and weeks) egocentric videos, which leverages a structured Chain-of-Tool-Thought (CoTT) process, orchestrated by an Ego-R1 Agent trained via reinforcement learning (RL). Inspired by human problem-solving strategies, CoTT decomposes complex reasoning into modular steps, with the RL agent invoking specific tools, one per step, to iteratively and collaboratively answer sub-questions tackling such tasks as temporal retrieval and multi-modal understanding. We design a two-stage training paradigm involving supervised finetuning (SFT) of a pretrained language model using CoTT data and RL to enable our agent to dynamically propose step-by-step tools for long-range reasoning. To facilitate training, we construct a dataset called Ego-R1 Data, which consists of Ego-CoTT-25K for SFT and Ego-QA-4.4K for RL. Furthermore, our Ego-R1 agent is evaluated on a newly curated week-long video QA benchmark, Ego-R1 Bench, which contains human-verified QA pairs from hybrid sources. Extensive results demonstrate that the dynamic, tool-augmented chain-of-thought reasoning by our Ego-R1 Agent can effectively tackle the unique challenges of understanding ultra-long egocentric videos, significantly extending the time coverage from few hours to a week.

cs.CV↗

AutoBio: A Simulation and Benchmark for Robotic Automation in Digital Biology Laboratory

Vision-language-action (VLA) models have shown promise as generalist robotic policies by jointly leveraging visual, linguistic, and proprioceptive modalities to generate action trajectories. While recent benchmarks have advanced VLA research in domestic tasks, professional science-oriented domains remain underexplored. We introduce AutoBio, a simulation framework and benchmark designed to evaluate robotic automation in biology laboratory environments--an application domain that combines structured protocols with demanding precision and multimodal interaction. AutoBio extends existing simulation capabilities through a pipeline for digitizing real-world laboratory instruments, specialized physics plugins for mechanisms ubiquitous in laboratory workflows, and a rendering stack that support dynamic instrument interfaces and transparent materials through physically based rendering. Our benchmark comprises biologically grounded tasks spanning three difficulty levels, enabling standardized evaluation of language-guided robotic manipulation in experimental protocols. We provide infrastructure for demonstration generation and seamless integration with VLA models. Baseline evaluations with two SOTA VLA models reveal significant gaps in precision manipulation, visual reasoning, and instruction following in scientific workflows. By releasing AutoBio, we aim to catalyze research on generalist robotic systems for complex, high-precision, and multimodal professional environments. The simulator and benchmark are publicly available to facilitate reproducible research.

cs.RO↗

Frequency Range Boosted Magnetometry Beyond the Spin Coherence Limit via Compressive Sensing

Free induction decay (FID) of spin precession serves as an essential tool for quantum sensing across diverse platforms. While extending spin coherence time remains critical for sensitivity enhancement, the requisite long single-shot acquisitions narrow the resolvable frequency range, establishing a fundamental ``spin coherence limit (SCL)'', according to the Nyquist Sampling Theorem. Besides, conventional spectral analysis for FID measurement suffers from frequency alias, causing signal attenuation and positional errors that compromise the measurement validity. Here, we demonstrate a general frequency-range-extended technique that overcomes SCL by leveraging compressive sensing. By applying this method to the FID magnetometer, we expand the resolvable frequency range significantly from the Nyquist-limited range of 251\,Hz to 3000\,Hz, effectively avoiding frequency alias. Our work paves the way for implementing long-coherence-time spin systems in high-sensitivity, broad-bandwidth, and alias-free magnetic field sensing.

physics.atom-ph↗

Design and Channel Modeling of Electromagnetically Reconfigurable Antennas

In this work, a novel design of electromagnetically reconfigurable antennas (ERAs) based on a fluid antenna system (FAS) is proposed, and the corresponding wireless channel model is established. Different from conventional antenna arrays with static elements, the electromagnetic characteristics of each array element in the proposed ERA can be flexibly reconfigured into various states, introducing electromagnetic degrees of freedom to enhance wireless system performance. Based on the proposed ERA design, the corresponding channel model is developed. Finally, full-wave simulations are conducted to validate the overall design concept. The results reveal that a gain enhancement of 2.5 dB is achieved at a beamforming direction.

eess.SY↗

RESAnything: Attribute Prompting for Arbitrary Referring Segmentation

We present an open-vocabulary and zero-shot method for arbitrary referring expression segmentation (RES), targeting input expressions that are more general than what prior works were designed to handle. Specifically, our inputs encompass both object- and part-level labels as well as implicit references pointing to properties or qualities of object/part function, design, style, material, etc. Our model, coined RESAnything, leverages Chain-of-Thoughts (CoT) reasoning, where the key idea is attribute prompting. We generate detailed descriptions of object/part attributes including shape, color, and location for potential segment proposals through systematic prompting of a large language model (LLM), where the proposals are produced by a foundational image segmentation model. Our approach encourages deep reasoning about object or part attributes related to function, style, design, etc., enabling the system to handle implicit queries without any part annotations for training or fine-tuning. As the first zero-shot and LLM-based RES method, RESAnything achieves clearly superior performance among zero-shot methods on traditional RES benchmarks and significantly outperforms existing methods on challenging scenarios involving implicit queries and complex part-level relations. Finally, we contribute a new benchmark dataset to offer ~3K carefully curated RES instances to assess part-level, arbitrary RES solutions.

cs.CV↗

D-LoRa: a Distributed Parameter Adaptation Scheme for LoRa Network

The deployment of LoRa networks necessitates joint performance optimization, including packet delivery rate, energy efficiency, and throughput. Additionally, multiple LoRa parameters for packet transmission must be dynamically configured to tailor the performance metrics prioritization across varying channel environments. Because of the coupling relationship between LoRa parameters and metrics, existing works have opted to focus on certain parameters or specific metrics to circumvent the intricate coupling relationship, leading to limited adaptability. Therefore, we propose D-LoRa, a distributed parameter adaptation scheme, based on reinforcement learning towards network performance. We decompose the joint performance optimization problem into multiple independent Multi-Armed Bandit (MAB) problems with different reward functions. We have also built a comprehensive analytical model for the LoRa network that considers path loss, quasi-orthogonality of spreading factor, and packet collision. Experimental results show that our scheme can increase packet delivery rate by up to 28.8% and demonstrates superior adaptability across different performance metrics.

cs.NI↗

Can LLMs Replace Human Evaluators? An Empirical Study of LLM-as-a-Judge in Software Engineering

Recently, large language models (LLMs) have been deployed to tackle various software engineering (SE) tasks like code generation, significantly advancing the automation of SE tasks. However, assessing the quality of these LLM-generated code and text remains challenging. The commonly used Pass@k metric necessitates extensive unit tests and configured environments, demands a high labor cost, and is not suitable for evaluating LLM-generated text. Conventional metrics like BLEU, which measure only lexical rather than semantic similarity, have also come under scrutiny. In response, a new trend has emerged to employ LLMs for automated evaluation, known as LLM-as-a-judge. These LLM-as-a-judge methods are claimed to better mimic human assessment than conventional metrics without relying on high-quality reference answers. Nevertheless, their exact human alignment in SE tasks remains unexplored. In this paper, we empirically explore LLM-as-a-judge methods for evaluating SE tasks, focusing on their alignment with human judgments. We select seven LLM-as-a-judge methods that utilize general-purpose LLMs, alongside two LLMs specifically fine-tuned for evaluation. After generating and manually scoring LLM responses on three recent SE datasets of code translation, code generation, and code summarization, we then prompt these methods to evaluate each response. Finally, we compare the scores generated by these methods with human evaluation. The results indicate that output-based methods reach the highest Pearson correlation of 81.32 and 68.51 with human scores in code translation and generation, achieving near-human evaluation, noticeably outperforming ChrF++, one of the best conventional metrics, at 34.23 and 64.92. Such output-based methods prompt LLMs to output judgments directly, and exhibit more balanced score distributions that resemble human score patterns. Finally, we provide...

cs.SE↗

Association of 220 PeV Neutrino KM3-230213A with Gamma-Ray Bursts

Recently, the KM3NeT Collaboration announced the detection of a 220 PeV neutrino from the celestial coordinates RA=94.3\degree~ and Dec=-7.8\degree~ on 13 February 2023 at 01:16:47 UTC \cite{KM3NeT:2025npi}. The source for this extra-ordinary cosmic neutrino, designated KM3-230213A, is not identified yet but there has been speculation that it might be associated with a gamma-ray burst GRB~090401B \cite{Amelino-Camelia:2025lqn}. The purpose of this report is to search the association of this 220 PeV neutrino with potential GRB sources from a more general consideration of Lorentz invariance violation (LV) without predefined LV scale. We try to associate this extra-ordinary neutrino with potential GRBs within angular separation of 1\degree, 3\degree~ and 5\degree~ respectively and the results are listed in Table 1. We find the constraints $E_{\rm{LV}}\leq 5.3\times 10^{18}$~GeV for subluminal LV violation and $E_{\rm{LV}}\leq 5.6\times 10^{19}$~GeV for superluminal LV violation if KM3-230213A is a GRB neutrino.

astro-ph.HE↗

REBEL: Rule-based and Experience-enhanced Learning with LLMs for Initial Task Allocation in Multi-Human Multi-Robot Teaming

Multi-human multi-robot teams are increasingly recognized for their efficiency in executing large-scale, complex tasks by integrating heterogeneous yet potentially synergistic humans and robots. However, this inherent heterogeneity presents significant challenges in teaming, necessitating efficient initial task allocation (ITA) strategies that optimally form complementary human-robot pairs or collaborative chains and establish well-matched task distributions. While current learning-based methods demonstrate promising performance, they often incur high computational costs and lack the flexibility to incorporate user preferences in multi-objective optimization (MOO) or adapt to last-minute changes in dynamic real-world environments. To address these limitations, we propose REBEL, an LLM-based ITA framework that integrates rule-based and experience-enhanced learning to enhance LLM reasoning capabilities and improve in-context adaptability to MOO and situational changes. Extensive experiments validate the effectiveness of REBEL in both single-objective and multi-objective scenarios, demonstrating superior alignment with user preferences and enhanced situational awareness to handle unexpected team composition changes. Additionally, we show that REBEL can complement pre-trained ITA policies, further boosting situational adaptability and overall team performance. Website at https://sites.google.com/view/ita-rebel .

cs.RO↗

PrefMMT: Modeling Human Preferences in Preference-based Reinforcement Learning with Multimodal Transformers

Preference-based reinforcement learning (PbRL) shows promise in aligning robot behaviors with human preferences, but its success depends heavily on the accurate modeling of human preferences through reward models. Most methods adopt Markovian assumptions for preference modeling (PM), which overlook the temporal dependencies within robot behavior trajectories that impact human evaluations. While recent works have utilized sequence modeling to mitigate this by learning sequential non-Markovian rewards, they ignore the multimodal nature of robot trajectories, which consist of elements from two distinctive modalities: state and action. As a result, they often struggle to capture the complex interplay between these modalities that significantly shapes human preferences. In this paper, we propose a multimodal sequence modeling approach for PM by disentangling state and action modalities. We introduce a multimodal transformer network, named PrefMMT, which hierarchically leverages intra-modal temporal dependencies and inter-modal state-action interactions to capture complex preference patterns. We demonstrate that PrefMMT consistently outperforms state-of-the-art PM baselines on locomotion tasks from the D4RL benchmark and manipulation tasks from the Meta-World benchmark.

cs.RO↗

Personalization in Human-Robot Interaction through Preference-based Action Representation Learning

Preference-based reinforcement learning (PbRL) has shown significant promise for personalization in human-robot interaction (HRI) by explicitly integrating human preferences into the robot learning process. However, existing practices often require training a personalized robot policy from scratch, resulting in inefficient use of human feedback. In this paper, we propose preference-based action representation learning (PbARL), an efficient fine-tuning method that decouples common task structure from preference by leveraging pre-trained robot policies. Instead of directly fine-tuning the pre-trained policy with human preference, PbARL uses it as a reference for an action representation learning task that maximizes the mutual information between the pre-trained source domain and the target user preference-aligned domain. This approach allows the robot to personalize its behaviors while preserving original task performance and eliminates the need for extensive prior information from the source domain, thereby enhancing efficiency and practicality in real-world HRI scenarios. Empirical results on the Assistive Gym benchmark and a real-world user study (N=8) demonstrate the benefits of our method compared to state-of-the-art approaches.

cs.RO↗

Adaptive Task Allocation in Multi-Human Multi-Robot Teams under Team Heterogeneity and Dynamic Information Uncertainty

Task allocation in multi-human multi-robot (MH-MR) teams presents significant challenges due to the inherent heterogeneity of team members, the dynamics of task execution, and the information uncertainty of operational states. Existing approaches often fail to address these challenges simultaneously, resulting in suboptimal performance. To tackle this, we propose ATA-HRL, an adaptive task allocation framework using hierarchical reinforcement learning (HRL), which incorporates initial task allocation (ITA) that leverages team heterogeneity and conditional task reallocation in response to dynamic operational states. Additionally, we introduce an auxiliary state representation learning task to manage information uncertainty and enhance task execution. Through an extensive case study in large-scale environmental monitoring tasks, we demonstrate the benefits of our approach.

cs.RO↗

Modeling and Evaluating Trust Dynamics in Multi-Human Multi-Robot Task Allocation

Trust is essential in human-robot collaboration, particularly in multi-human, multi-robot (MH-MR) teams, where it plays a crucial role in maintaining team cohesion in complex operational environments. Despite its importance, trust is rarely incorporated into task allocation and reallocation algorithms for MH-MR collaboration. While prior research in single-human, single-robot interactions has shown that integrating trust significantly enhances both performance outcomes and user experience, its role in MH-MR task allocation remains underexplored. In this paper, we introduce the Expectation Confirmation Trust (ECT) Model, a novel framework for modeling trust dynamics in MH-MR teams. We evaluate the ECT model against five existing trust models and a no-trust baseline to assess its impact on task allocation outcomes across different team configurations (2H-2R, 5H-5R, and 10H-10R). Our results show that the ECT model improves task success rate, reduces mean completion time, and lowers task error rates. These findings highlight the complexities of trust-based task allocation in MH-MR teams. We discuss the implications of incorporating trust into task allocation algorithms and propose future research directions for adaptive trust mechanisms that balance efficiency and performance in dynamic, multi-agent environments.

cs.RO↗

SafePlan: Leveraging Formal Logic and Chain-of-Thought Reasoning for Enhanced Safety in LLM-based Robotic Task Planning

Robotics researchers increasingly leverage large language models (LLM) in robotics systems, using them as interfaces to receive task commands, generate task plans, form team coalitions, and allocate tasks among multi-robot and human agents. However, despite their benefits, the growing adoption of LLM in robotics has raised several safety concerns, particularly regarding executing malicious or unsafe natural language prompts. In addition, ensuring that task plans, team formation, and task allocation outputs from LLMs are adequately examined, refined, or rejected is crucial for maintaining system integrity. In this paper, we introduce SafePlan, a multi-component framework that combines formal logic and chain-of-thought reasoners for enhancing the safety of LLM-based robotics systems. Using the components of SafePlan, including Prompt Sanity COT Reasoner and Invariant, Precondition, and Postcondition COT reasoners, we examined the safety of natural language task prompts, task plans, and task allocation outputs generated by LLM-based robotic systems as means of investigating and enhancing system safety profile. Our results show that SafePlan outperforms baseline models by leading to 90.5% reduction in harmful task prompt acceptance while still maintaining reasonable acceptance of safe tasks.

cs.RO↗

A 2-bit Wideband 5G mm-Wave RIS with Low Side Lobe Levels and no Quantization Lobe

Reconfigurable intelligent surface (RIS) with 1-bit phase resolution suffers from high side lobe levels (SLLs) in the near field and pronounced quantization lobe levels (QLLs) in the far field, which is detrimental for the quality of wireless communication. RIS design is further challenging in the mm-wave bands, where typically large bandwidths are required. To address these limitations, this work proposes a novel wideband 5G mm-Wave RIS with 2-bit phase quantization, capable of covering the entire 5G n258 band. The proposed unit cell design is a combination of a grounded main slot, a parasitic slot, and a coupling patch, utilizing only two PIN diodes. This design achieves a 2-bit bandwidth (BW) of 24.1--27.7 GHz (13.9\%) and an effective 1-bit BW of 20.0--28.9 GHz (36.4\%). The unit cell features a compact size of 0.39$λ$ $\times$ 0.39$λ$, providing decent angular stability of $\pm30^\circ$ as well as eliminating the grating lobes. Based on this unit cell design, a 20 $\times$ 20 RIS array has been designed, fabricated, and experimentally characterized. The measured results demonstrate that, within the 5G n258 band, the proposed 2-bit 5G mm-Wave RIS achieves an SLL of -15.4 dB in the near field, representing a 7.6 dB improvement compared to its 1-bit counterpart. Furthermore, it has almost negligible QLL (-14.6 dB) in the far field, providing a suppression of 13.3 dB relative to the 1-bit design. Thus, the proposed 2-bit mm-Wave RIS offers wideband performance, low SLL, negligible QLL, decent angular stability, and a broad beam scanning range of 50$^\circ$, making it a promising solution for high-resolution and low-interference mm-Wave wireless communication systems.

eess.SP↗

RTBAS: Defending LLM Agents Against Prompt Injection and Privacy Leakage

Tool-Based Agent Systems (TBAS) allow Language Models (LMs) to use external tools for tasks beyond their standalone capabilities, such as searching websites, booking flights, or making financial transactions. However, these tools greatly increase the risks of prompt injection attacks, where malicious content hijacks the LM agent to leak confidential data or trigger harmful actions. Existing defenses (OpenAI GPTs) require user confirmation before every tool call, placing onerous burdens on users. We introduce Robust TBAS (RTBAS), which automatically detects and executes tool calls that preserve integrity and confidentiality, requiring user confirmation only when these safeguards cannot be ensured. RTBAS adapts Information Flow Control to the unique challenges presented by TBAS. We present two novel dependency screeners, using LM-as-a-judge and attention-based saliency, to overcome these challenges. Experimental results on the AgentDojo Prompt Injection benchmark show RTBAS prevents all targeted attacks with only a 2% loss of task utility when under attack, and further tests confirm its ability to obtain near-oracle performance on detecting both subtle and direct privacy leaks.

cs.CR↗

PrefCLM: Enhancing Preference-based Reinforcement Learning with Crowdsourced Large Language Models

Preference-based reinforcement learning (PbRL) is emerging as a promising approach to teaching robots through human comparative feedback, sidestepping the need for complex reward engineering. However, the substantial volume of feedback required in existing PbRL methods often lead to reliance on synthetic feedback generated by scripted teachers. This approach necessitates intricate reward engineering again and struggles to adapt to the nuanced preferences particular to human-robot interaction (HRI) scenarios, where users may have unique expectations toward the same task. To address these challenges, we introduce PrefCLM, a novel framework that utilizes crowdsourced large language models (LLMs) as simulated teachers in PbRL. We utilize Dempster-Shafer Theory to fuse individual preferences from multiple LLM agents at the score level, efficiently leveraging their diversity and collective intelligence. We also introduce a human-in-the-loop pipeline that facilitates collective refinements based on user interactive feedback. Experimental results across various general RL tasks show that PrefCLM achieves competitive performance compared to traditional scripted teachers and excels in facilitating more more natural and efficient behaviors. A real-world user study (N=10) further demonstrates its capability to tailor robot behaviors to individual user preferences, significantly enhancing user satisfaction in HRI scenarios.

cs.RO↗