arXiv subjects

Ruixuan Liu

Publications and source records attributed to Ruixuan Liu.

At least 19 recordsLinked to original sources

arXiv2026

PriDyG: Privacy-preserving Dynamic Graph Inference with LLM-GNN Collaboration

Graph inference over relational data can expose sensitive edge information, and this risk becomes more severe in dynamic graphs, where repeated model updates cause privacy loss to accumulate. We formulate Edge-level Differentially Private Dynamic Graph Inference (EDG) and propose PriDyG, a private inference framework that combines GNN-based structural learning with LLM-based semantic reasoning. PriDyG introduces incremental private multi-hop aggregation, which buffers newly arrived edges and processes each edge exactly once. By parallel composition, the total privacy cost equals that of a single static release, independent of the number or schedule of model updates. Compared with geometrically decaying budget allocation, incremental aggregation avoids exponentially increasing noise while preserving exact one-hop signals and at least half of two-hop information transfers. PriDyG further complements privatized GNN outputs with LLM predictions derived solely from node text, incurring no additional edge-level privacy cost. Experiments on four benchmarks for node classification and link prediction show that PriDyG consistently outperforms geometrically decaying baselines under the same privacy budget and matches the utility of naive per-update retraining while reducing cumulative privacy cost by up to three orders of magnitude.

cs.CR↗

arXiv2026

TIDE-MC: Two-Sided Interpolative Decomposition for Billion-Scale GPU Matrix Completion

Matrix completion supports large-scale recommendation and scientific computing, yet existing GPU solvers commonly assume that the observed matrix or its dense factors fit in device memory. On real workloads, this assumption leads to out-of-memory failures or severe PCIe overhead under naive paging. We present TIDE-MC, a bounded-memory GPU framework built on Two-Sided Interpolative Decomposition (TSID). TSID uses a sampled template submatrix as an anchor for reconstructing the full low-rank matrix, allowing computation and storage to scale with the template and active data chunks rather than the complete matrix. TIDE-MC realizes this formulation through two execution stages. First, a conflict-free synchronization engine recovers the template using parallel factorization and hierarchical gradient aggregation. Second, a chunked reconstruction pipeline extends the recovered template to the remaining matrix while overlapping PCIe transfers with GPU computation. An asymmetric gradient-clipping scheme stabilizes mixed-precision Tensor Core execution. Across 15 benchmarks, TIDE-MC completes workloads that cause existing GPU solvers to run out of memory. Compared with the evaluated state-of-the-art baselines, it achieves up to 11,647x speedup, reduces peak memory usage by up to 8.5x, and lowers reconstruction error by up to 99.7%. These results show that template-anchored decomposition and stage-specific GPU execution can scale matrix completion beyond device-memory capacity.

cs.DC↗

arXiv2026

BrickCraft: Visuomotor Skill Composition with Situated Manual Guidance for Long-Horizon Interlocking Brick Assembly

Autonomous robotic assembly of interlocking bricks demands seamless integration of long-horizon task reasoning, spatial grounding, and fine-grained manipulation. This paper presents BrickCraft, a compositional framework designed for long-horizon and generalizable interlocking brick assembly. BrickCraft models the assembly process using a relative formulation, where each step is anchored to a reference brick within the partial structure, thereby decomposing complex tasks into a finite set of reusable primitive skills. BrickCraft bridges the gap between high-level assembly plans and physical execution through situated manuals, which provide explicit spatial guidance for learned visuomotor skills by projecting the assembly intent onto real-time robot observations. Finally, BrickCraft employs a compositional execution pipeline that chains these spatially grounded skills to accomplish long-horizon assembly tasks. Extensive experimental validations demonstrate that BrickCraft acquires proficient assembly skills from a limited set of demonstrations and exhibits strong compositional generalization to unseen structures. The project website is available at https://intelligent-control-lab.github.io/BrickCraft.

cs.RO↗

arXiv2026

Beyond Indistinguishability: Measuring Extraction Risk in LLM APIs

Indistinguishability properties such as differential privacy bounds or low empirically measured membership inference are widely treated as proxies to show a model is sufficiently protected against broader memorization risks. However, we show that indistinguishability properties are neither sufficient nor necessary for preventing data extraction in LLM APIs. We formalize a privacy-game separation between extraction and indistinguishability-based privacy, showing that indistinguishability and inextractability are incomparable: upper-bounding distinguishability does not upper-bound extractability. To address this gap, we introduce $(l, b)$-inextractability as a definition that requires at least $2^b$ expected queries for any black-box adversary to induce the LLM API to emit a protected $l$-gram substring. We instantiate this via a worst-case extraction game and derive a rank-based extraction risk upper bound for targeted exact extraction, as well as extensions to cover untargeted and approximate extraction. The resulting estimator captures the extraction risk over multiple attack trials and prefix adaptations. We show that it can provide a tight and efficient estimation for standard greedy extraction and an upper bound on the probabilistic extraction risk given any decoding configuration. We empirically evaluate extractability across different models, clarifying its connection to distinguishability, demonstrating its advantage over existing extraction risk estimators, and providing actionable mitigation guidelines across model training, API access, and decoding configurations in LLM API deployment. Our code is publicly available at: https://github.com/Emory-AIMS/Inextractability.

cs.CR↗

arXiv2026

BrickSim: A Physics-Based Simulator for Manipulating Interlocking Brick Assemblies

Interlocking brick assemblies provide a standardized yet challenging testbed for contact-rich and long-horizon robotic manipulation, but existing rigid-body simulators do not faithfully capture snap-fit mechanics. We present BrickSim, the first real-time physics-based simulator for interlocking brick assemblies. BrickSim introduces a compact force-based mechanics model for snap-fit connections and solves the resulting internal force distribution using a structured convex quadratic program. Combined with a hybrid architecture that delegates rigid-body dynamics to the underlying physics engine while handling snap-fit mechanics separately, BrickSim enables real-time, high-fidelity simulation of assembly, disassembly, and structural collapse. On 150 real-world assemblies, BrickSim achieves 100% accuracy in static stability prediction with an average solve time of 5 ms. In dynamic drop tests, it also faithfully reproduces real-world structural collapse, precisely mirroring both the occurrence of breakage and the specific breakage locations. Built on Isaac Sim, BrickSim further supports seamless integration with a wide variety of robots and existing pipelines. We demonstrate robotic construction of brick assemblies using BrickSim, highlighting its potential as a foundation for research in dexterous, long-horizon robotic manipulation. BrickSim is open-source, and the code is available at https://github.com/intelligent-control-lab/BrickSim.

cs.RO↗

arXiv2026

RoCo Challenge at AAAI 2026: Benchmarking Robotic Collaborative Manipulation for Assembly Towards Industrial Automation

Embodied Artificial Intelligence (EAI) is rapidly developing, gradually subverting previous autonomous systems' paradigms from isolated perception to integrated, continuous action. This transition is highly significant for industrial robotic manipulation, promising to free human workers from repetitive, dangerous daily labor. To benchmark and advance this capability, we introduce the Robotic Collaborative Assembly Assistance (RoCo) Challenge with a dataset towards simulation and real-world assembly manipulation. Set against the backdrop of human-centered manufacturing, this challenge focuses on a high-precision planetary gearbox assembly task, a demanding yet highly representative operation in modern industry. Built upon a self-developed data collection, training, and evaluation system in Isaac Sim, and utilizing a dual-arm robot for real-world deployment, the challenge operates in two phases. The Simulation Round defines fine-grained task phases for step-wise scoring to handle the long-horizon nature of the assembly. The Real-World Round mirrors this evaluation with physical gearbox components and high-quality teleoperated datasets. The core tasks require assembling an epicyclic gearbox from scratch, including mounting three planet gears, a sun gear, and a ring gear. Attracting over 60 teams and 170+ participants from more than 10 countries, the challenge yielded highly effective solutions, most notably ARC-VLA and RoboCola. Results demonstrate that a dual-model framework for long-horizon multi-task learning is highly effective, and the strategic utilization of recovery-from-failure curriculum data is a critical insight for successful deployment. This report outlines the competition setup, evaluation approach, key findings, and future directions for industrial EAI. Our dataset, CAD files, code, and evaluation results can be found at: https://rocochallenge.github.io/RoCo2026/.

cs.RO↗

arXiv2026

DuetHOI: Language-Guided Bimanual Hand--Object Motion Generation with Articulation Planning and Contact Refinement

Bimanual articulated-object interaction generation requires a model to capture the evolution of object articulation, coordination between the two hands, and fine-grained hand--object contact. Existing methods typically encode object and hand motion as a unified high-dimensional sequence, making it difficult to explicitly accommodate the different scales of manipulation progress, relative bimanual motion, and local hand pose. We propose \textbf{DuetHOI}, a structured framework for bimanual articulated-object interaction generation. DuetHOI first uses ContactVAE to predict contact intent on the object surface from language and object geometry. Conditioned on this spatial intent, ArtPlanner provides a trajectory-level articulation reference, and DualFormer generates the global interaction using object states, object-centered hand positions, and compact hand-pose tokens learned by ManiVAE. After global generation, ProxiRefine fixes the object trajectory and residually corrects the two hands using current hand--object proximity, improving local surface alignment. Experiments across articulated and rigid objects and single- and bimanual settings show that DuetHOI outperforms three adapted baselines on most contact and hand--object consistency metrics, with particularly strong results in bimanual articulated interaction generation.

cs.RO↗

arXiv2025

Debiased Bayesian Inference for High-dimensional Regression Models

There has been significant progress in Bayesian inference based on sparsity-inducing (e.g., spike-and-slab and horseshoe-type) priors for high-dimensional regression models. The resulting posteriors, however, in general do not possess desirable frequentist properties, and the credible sets thus cannot serve as valid confidence sets even asymptotically. We introduce a novel debiasing approach that corrects the bias for the entire Bayesian posterior distribution. We establish a new Bernstein-von Mises theorem that guarantees the frequentist validity of the debiased posterior. We demonstrate the practical performance of our proposal through Monte Carlo simulations and two empirical applications in economics.

econ.EM↗

arXiv2025

Magnetic properties of molecular beam epitaxy-grown ultrathin Cr2Ge2Te6 films down to monolayer limit on Si substrates

Cr2Ge2Te6, a prototypical van der Waals ferromagnetic semiconductor, have attracted significant interest for its potential applications in high-performance spintronics. However, the magnetic ground state of monolayer Cr2Ge2Te6 remains elusive due to fragile and irregular-shaped thin flake samples with weak magnetic signals. Here, we successfully grow uniform ferromagnetic Cr2Ge2Te6 films down to monolayer by molecular beam epitaxy. By exploiting a self-limiting growth mode, we achieve synthesis of uniform monolayer Cr2Ge2Te6 films across entire millimeter-scale Si substrates. Through a combination of superconducting quantum interference device magnetometry and anomalous Hall effect measurements, we establish that monolayer Cr2Ge2Te6 exhibits intrinsic ferromagnetism with perpendicular magnetic anisotropy below ~10 K, albeit with strong magnetic fluctuations characteristic of its two-dimensional nature. Furthermore, a systematic thickness-dependent study reveals a crossover from this fluctuation-dominated two-dimensional magnetism turns into conventional long-range ferromagnetic order as the film thickness increases. Our work not only definitively establishes the intrinsic ferromagnetic ground state of monolayer Cr2Ge2Te6, but also provides a scalable, silicon-compatible route for preparing the two-dimensional magnet for future spintronic or quantum devices.

cond-mat.mtrl-sci↗

arXiv2025

FedSGT: Exact Federated Unlearning via Sequential Group-based Training

Federated Learning (FL) enables collaborative, privacy-preserving model training, but supporting the "Right to be Forgotten" is especially challenging because data influences the model through distributed and interleaved client updates. Existing exact unlearning methods typically require frequent retraining from scratch, resulting in high communication cost and long service downtime. To address this, we propose Federated Sequential Group-based Training (FedSGT), an exact unlearning framework for FL. FedSGT partitions the data into uniform groups, and each client may participate in multiple groups. To control communication overhead, each client can limit the number of groups it contributes to. FedSGT then trains multiple sequences of Parameter-Efficient Fine-Tuning (PEFT) modules, each corresponding to a different group permutation. Since the PEFT modules are lightweight and maintained server-side, FedSGT isolates the influence of different data groups into independent modules without incurring significant storage overhead and communication cost. Exact unlearning is thus achieved instantly by deactivating the modules corresponding to the group containing the unlearned data. Furthermore, using multiple training sequences helps maintain high model utility as deletion requests accumulate. We provide a rigorous theoretical analysis of both the deletion rate -- expected number of deletions before retraining is needed -- and the expected model performance. Experiments on various tasks demonstrate that FedSGT achieves a significantly longer service maintenance under multiple unlearning requests while maintaining comparable learning performance and training efficiency to other exact unlearning baselines. Extensive ablation studies validate the robustness of our method across a wide range of parameter settings.

cs.CR↗

arXiv2025

SnapAudit: Active Auditing of Differentially Private In-Context Learning via Snapshot-Based Simulation

In-context learning (ICL) allows LLMs to adapt to new tasks via a few demonstrations, but those demonstrations may contain sensitive data. Differentially private (DP) ICL mechanisms mitigate this risk by injecting noise into the aggregation step, but verifying that an implementation actually meets its claimed privacy bound currently requires repeated end-to-end membership-inference attacks (MIAs) against the pipeline as a black box, incurring prohibitive LLM cost and yielding unstable empirical privacy estimates. We propose SnapAudit, an active auditing framework that decomposes a DP-ICL pipeline into a deterministic clean-inference stage and a stochastic DP-noise stage, and audits the full pipeline by combining a small snapshot of the former with bootstrap simulation of the latter. Because clean LLM outputs are near-deterministic at temperature zero, a few thousand clean LLM calls suffice to approximate the snapshot distribution; SnapAudit then bootstraps $10^5$ noisy trials from this snapshot at negligible additional cost, with finite-sample uncertainty controlled via an empirical Bernstein correction. For embedding-based mechanisms, we further introduce a multi-sweep search procedure that constructs maximally separable audit signals. SnapAudit achieves $80$--$200\times$ speedup over prior passive auditing while producing tighter and more stable empirical privacy estimates that closely match theoretical guarantees. Beyond efficiency, SnapAudit uncovers two concrete flaws in existing DP-ICL designs: (i) classical Gaussian noise calibrations underestimate leakage at large privacy budgets, allowing empirical leakage to exceed the theoretical bound; (ii) the sensitivity analysis of an embedding-aggregation mechanism is incorrect when the number of partitions equals one, leading to undersized noise and an outright privacy violation.

cs.CR↗

arXiv2025

FusionDP: Foundation Model-Assisted Differentially Private Learning for Partially Sensitive Features

Ensuring the privacy of sensitive training data is crucial in privacy-preserving machine learning. However, in practical scenarios, privacy protection may be required for only a subset of features. For instance, in ICU data, demographic attributes like age and gender pose higher privacy risks due to their re-identification potential, whereas raw lab results are generally less sensitive. Traditional DP-SGD enforces privacy protection on all features in one sample, leading to excessive noise injection and significant utility degradation. We propose FusionDP, a two-step framework that enhances model utility under feature-level differential privacy. First, FusionDP leverages large foundation models to impute sensitive features given non-sensitive features, treating them as external priors that provide high-quality estimates of sensitive attributes without accessing the true values during model training. Second, we introduce a modified DP-SGD algorithm that trains models on both original and imputed features while formally preserving the privacy of the original sensitive features. We evaluate FusionDP on two modalities: a sepsis prediction task on tabular data from PhysioNet and a clinical note classification task from MIMIC-III. By comparing against privacy-preserving baselines, our results show that FusionDP significantly improves model performance while maintaining rigorous feature-level privacy, demonstrating the potential of foundation model-driven imputation to enhance the privacy-utility trade-off for various modalities.

cs.LG↗

arXiv2025

Direct Token Optimization: A Self-contained Approach to Large Language Model Unlearning

Machine unlearning is an emerging technique that removes the influence of a subset of training data (forget set) from a model without full retraining, with applications including privacy protection, content moderation, and model correction. The key challenge lies in ensuring that the model completely forgets the knowledge of the forget set without compromising its overall utility. Existing unlearning methods for large language models (LLMs) often utilize auxiliary language models, retain datasets, or even commercial AI services for effective unlearning and maintaining the model utility. However, dependence on these external resources is often impractical and could potentially introduce additional privacy risks. In this work, we propose direct token optimization (DTO), a novel self-contained unlearning approach for LLMs that directly optimizes the token level objectives and eliminates the need for external resources. Given a sequence to unlearn, we identify two categories of tokens: target tokens, which capture critical knowledge for unlearning, and the remaining non-target tokens, which are crucial for maintaining the model utility. The former are used to optimize the unlearning objective, while the latter serve to preserve the model's performance. The experimental results show that the proposed DTO achieves up to 16.8$\times$ improvement in forget quality on several benchmark datasets than the latest baselines while maintaining a comparable level of model utility.

cs.CL↗

arXiv2025

Robust Semiparametric Inference for Bayesian Additive Regression Trees

We develop a corrected posterior distribution for semiparametric inference on the population mean under missing-at-random (MAR). The procedure combines Bayesian Additive Regression Trees (BART) with Bayesian-bootstrap reweighting. We derive a new Bernstein-von Mises (BvM) theorem and show that even the one-step posterior contains a bias term in the non-Donsker regime. To remove this term, we introduce RoBART, a posterior correction based on pilot estimators of the outcome regression and propensity score. We establish a BvM theorem for the corrected posterior and develop a cross-fitted version based on fold-specific BART posteriors. The average of fold-specific posterior means of RoBART coincides exactly with the corresponding cross-fitted augmented inverse-probability-weighted estimator, equivalently the double machine learning estimator. RoBART therefore provides a corrected posterior distribution for uncertainty quantification around the same point estimator. In simulations and an empirical illustration, RoBART demonstrates competitive finite-sample performance relative to existing methods.

stat.ME↗

arXiv2025

Prompt-to-Product: Generative Assembly via Bimanual Manipulation

Creating assembly products demands significant manual effort and expert knowledge in 1) designing the assembly and 2) constructing the product. This paper introduces Prompt-to-Product, an automated pipeline that generates real-world assembly products from natural language prompts. Specifically, we leverage LEGO bricks as the assembly platform and automate the process of creating brick assembly structures. Given the user design requirements, Prompt-to-Product generates physically buildable brick designs, and then leverages a bimanual robotic system to construct the real assembly products, bringing user imaginations into the real world. We conduct a comprehensive user study, and the results demonstrate that Prompt-to-Product significantly lowers the barrier and reduces manual effort in creating assembly products from imaginative ideas.

cs.RO↗

arXiv2025

UniAud: A Unified Auditing Framework for High Auditing Power and Utility with One Training Run

Differentially private (DP) optimization has been widely adopted as a standard approach to provide rigorous privacy guarantees for training datasets. DP auditing verifies whether a model trained with DP optimization satisfies its claimed privacy level by estimating empirical privacy lower bounds through hypothesis testing. Recent O(1) frameworks improve auditing efficiency by checking the membership status of multiple audit samples in a single run, rather than checking individual samples across multiple runs. However, we reveal that there is no free lunch for this improved efficiency: data dependency and an implicit conflict between auditing and utility impair the tightness of the auditing results. Addressing these challenges, our key insights include reducing data dependency through uncorrelated data and resolving the auditing-utility conflict by decoupling the criteria for effective auditing and separating objectives for utility and auditing. We first propose a unified framework, UniAud, for data-independent auditing that maximizes auditing power through a novel uncorrelated canary construction and a self-comparison framework. We then extend this framework as UniAud++ for data-dependent auditing, optimizing the auditing and utility trade-off through multi-task learning with separate objectives for auditing and training. Experimental results validate that our black-box O(1) framework matches the state-of-the-art auditing results of O(T) auditing with thousands of runs, demonstrating the best efficiency-auditing trade-off across vision and language tasks. Additionally, our framework provides meaningful auditing with only slight utility degradation compared to standard DP training, showing the optimal utility-auditing trade-off and the benefit of requiring no extra training for auditing.

cs.CR↗

arXiv2025

NeSyPack: A Neuro-Symbolic Framework for Bimanual Logistics Packing

This paper presents NeSyPack, a neuro-symbolic framework for bimanual logistics packing. NeSyPack combines data-driven models and symbolic reasoning to build an explainable hierarchical system that is generalizable, data-efficient, and reliable. It decomposes a task into subtasks via hierarchical reasoning, and further into atomic skills managed by a symbolic skill graph. The graph selects skill parameters, robot configurations, and task-specific control strategies for execution. This modular design enables robustness, adaptability, and efficient reuse - outperforming end-to-end models that require large-scale retraining. Using NeSyPack, our team won the First Prize in the What Bimanuals Can Do (WBCD) competition at the 2025 IEEE International Conference on Robotics and Automation.

cs.RO↗

arXiv2025

Generating Physically Stable and Buildable Brick Structures from Text

We introduce BrickGPT, the first approach for generating physically stable interconnecting brick assembly models from text prompts. To achieve this, we construct a large-scale, physically stable dataset of brick structures, along with their associated captions, and train an autoregressive large language model to predict the next brick to add via next-token prediction. To improve the stability of the resulting designs, we employ an efficient validity check and physics-aware rollback during autoregressive inference, which prunes infeasible token predictions using physics laws and assembly constraints. Our experiments show that BrickGPT produces stable, diverse, and aesthetically pleasing brick structures that align closely with the input text prompts. We also develop a text-based brick texturing method to generate colored and textured designs. We show that our designs can be assembled manually by humans and automatically by robotic arms. We release our new dataset, StableText2Brick, containing over 47,000 brick structures of over 28,000 unique 3D objects accompanied by detailed captions, along with our code and models at the project website: https://avalovelace1.github.io/BrickGPT/.

cs.CV↗