arXiv subjects

Shang Wu

Publications and source records attributed to Shang Wu.

At least 19 recordsLinked to original sources

arXiv2026

How AI Assistance Affects Human Skill Development: A Study of Learning with Logic Puzzles

While AI assistance can improve human task performance in the short term, it may also undermine the development of skills in the longer term. We examine this tension in a controlled logic-puzzle experiment involving on-demand AI assistance, where participants complete tasks before, during, and after AI is available. By experimentally varying AI request costs, we find that lower-cost assistance induces more frequent AI use. We also find that participants who request AI assistance during the AI-access phase perform worse at the task after assistance is removed, and their subsequent unassisted performance is overestimated when predicted from earlier AI-assisted performance. We use a Bayesian latent ability model to separate initial ability, post-AI ability, and participant-specific skill change, while estimating how independent reasoning during the AI-access phase relates to skill development. The results show that greater independent problem-solving effort is associated with larger gains in latent ability, consistent with the interpretation that skill development is weaker when AI assistance substitutes for independent reasoning.

cs.AI↗

arXiv2026

LACE: Large Language Model Aided Multi-Agent Framework for Agile RISC-V Instruction Extension

Domain-specific Instruction Set Architecture eXtensions (ISAX) are widely adopted in the RISC-V ecosystem to accelerate emerging workloads, but implementing and validating ISAXes across different cores remains slow and fragmented. Existing frameworks still require per-core interface adaptation, and differential testing often breaks once either the microarchitecture or the ISAX changes. We present LACE, an LLM-aided multi-agent workflow that translates natural-language ISAX intents into a compact two-level IR (operation-level and HDL task-level), performs retrieval-guided localized RTL edits over large repositories, and closes the loop with a compiler-agnostic riscv-formal checking flow (assuming RVFI availability or instrumentation). Across four embedded RISC-V cores, LACE raises pass@1 generation accuracy from near-zero to 72.8\% within our evaluation setup, while improving code localization and reducing integration rework. The code of LACE is available at https://github.com/UMN-ZhaoLab/LACE.

cs.AR↗

arXiv2026

APT: Atomic Physical Transitions for Causal Video-Language Understanding

Physical events are not understood by their names alone, but by the causal state changes that compose them. A clip-level label such as "bounce" can be correct while hiding the process that makes the event physically valid, from support loss and contact onset to rebound and settling. To make this hidden process explicit, we introduce Atomic Physical Transitions (APTs): minimal, temporally localized state changes that bind a visible cue to an active physical mechanism and before/after dynamical regimes. An APT chain represents a video as an ordered causal transition sequence rather than a single aggregate event label: event labels tell what happened; APT chains explain why it happened. To make APTs learnable by VLMs, we construct mixed-source APT data from human annotations and simulator ground truth, covering 14 transition types across contact, gravity, friction, and rotation/stability, with 27,303 timed instances over 1,246 trials. Using this data, we find that current VLMs miss transition-level physics, with zero-shot recall at most 14% and errors dominated by missed transitions. Direct fine-tuning on APT chains improves transition detection but causes event-level forgetting, indicating that the model learns a specialized answer format rather than a reusable physical representation. We therefore propose APT-Tune, a parameter-efficient recipe that teaches VLMs to use causal transitions without forgetting how to answer video questions. It combines image-pad-aware supervision, format-conditional co-training, and mechanism-conditioned domain-to-type decoding to make APT learning format-robust and physically grounded. With only 11 M LoRA parameters on Qwen3-VL-2B, APT-Tune substantially improves APT recall while also improving event-level video transfer. These results show that APTs are not a new answer format, but a human-aligned causal supervision signal for physical video understanding.

cs.CV↗

arXiv2026

AnnotateAnything: Automatic Annotation of 3D Assets for Robot Manipulation

Simulation enables scalable robot data collection, but raw 3D assets provide only geometry, lacking the semantic, interactive, and physical knowledge needed to specify where and how robots should act. In this work, we present AnnotateAnything, a general automatic annotation framework that converts passive 3D assets into manipulation-ready assets with structured, diverse, and executable manipulation labels. AnnotateAnything is built around two complementary pipelines. First, a unified visual-language annotation pipeline using vision-language reasoning to infer object semantics, interaction constraints, and 3D-grounded cues, providing human-prior guidance for identifying meaningful interaction regions. Second, a fully automatic and massively parallel physics annotation pipeline grounds these priors in each asset's geometry and physical constraints through candidate generation, geometry optimization and trajectory generation. This pipeline produces diverse and executable action annotations, including grasp poses, dexterous contacts, articulation waypoints, insertion directions, hanging affordances, and navigation targets. Using the generated annotations, we further build an asynchronous parallel simulation data-collection system across diverse objects, tasks, and robot embodiments. Experiments demonstrate that AnnotateAnything achieves superior annotation efficiency, data-collection efficiency, and task success rates over existing annotation and data-generation pipelines, while also supporting downstream tasks such as affordance detection, robotic VQA, and visual instruction finetuning. We provide project materials on the project page and plan to release the full code, annotations, and benchmark to facilitate future research. Videos, code, demo assets, and annotations are provided in supplementary materials Project page: https://tourmaline-caramel-169490.netlify.app.

cs.RO↗

arXiv2026

MagicSim: A Unified Infrastructure for Executable Embodied Interaction

Robot learning and embodied agents now require simulation to serve as a shared execution substrate linking control, skills, and planning, not only as a renderer, controller testbed, or fixed task environment. Existing pipelines split these layers with "magic" actions, disconnected training environments, or forward-only renders that cannot reproduce, evaluate, and annotate the same episode. We present MagicSim, an embodied interaction infrastructure built around one deterministic batched runtime and a shared Markov decision process (MDP). From YAML-first specifications that decouple contents, placement, behavior, and agent exposure, MagicSim constructs diverse executable worlds spanning task families, interaction regimes, physics, layouts, sensors, avatars, and robot embodiments in one reset-and-step loop. A common execution interface grounds high-level commands through controllers, atomicskills, planner primitives, and asynchronous planning, realizing them as robot actions rather than simulator-side state edits. One task definition supports three capabilities: benchmark and RL evaluation, an autocollect interface that automatically turns commands into grounded trajectories, and agent/VLM-facing interaction. For automatic execution, commands flow through a Command->Skill->Planner->Robot->Record pipeline, while per-environment command, skill, planning, retry, annotation, and episode states advance independently above the shared physics tick. Successful rollouts are saved as structured multimodal trajectories aligning language supervision, action representations, visual/geometric representations, and task-level status with the executed episode. MagicSim thus unifies diverse world construction, embodied execution, task evaluation, automatic rollout generation, and interactive agent interfaces in one planner-in-the-loop runtime.

cs.RO↗

arXiv2026

From `May' to `Is': Certainty Distortion in Language Model Rewriting

Humans increasingly turn to Language Models (LMs) in ways that shape beliefs and drive decisions, including discussing, rewriting, and summarizing information from scientific articles, news, and medical reports. However, in these domains, where how confidently a claim is expressed matters, little is known about whether LMs faithfully preserve it. In this work, we investigate certainty distortion in LMs, defined as meaningful changes in expressed certainty when semantic content is preserved. We propose an LM-based evaluation metric that is consistent with population-level judgments of certainty. Using this metric, we characterize certainty distortion across different sizes and families of models in the context of scientific and medical communication tasks. Our results show that certainty distortion affects up to 75\% of LM outputs and is systematically asymmetric in rewriting tasks with most LMs being 1.5-2$\times$ more likely to increase the expressed certainty than to decrease it. These effects can compound over repeated paraphrasing: in the medical domain, claude-haiku-4-5 increases certainty of 20\% examples after a single iteration, increasing to 40\% after five iterations. Prompt-based interventions reduce overall certainty distortion but do not eliminate it. Together, these findings reveal a general bias toward inflating expressed certainty, with direct implications for users who rely on LMs in high-stakes domains.

cs.CL↗

arXiv2026

Learning to Assign Prediction Tasks to Agents with Capacity Constraints

We address the problem of learning to assign prediction tasks to one agent from a set of available human or AI agents. In particular, we focus on the sequential learning of agent expertise and assignment policies where each agent is constrained to handle a fraction of tasks. We provide a general theoretical characterization of this problem in terms of agent capacities, differences in agent expertise, and task context. We then develop a framework of sequential explore-exploit policy-learning algorithms that seek to maximize overall performance. Experimental results over a variety of tabular, image, and text prediction tasks demonstrate systematic gains from our policy-learning algorithms relative to non-contextual baselines across different types of agents, including LLMs and humans.

cs.HC↗

arXiv2026

AI evaluation may bias perceptions: The importance of context in interpreting academic writing

This paper examines how estimates of AI use in scientific writing can be biased when evaluation methods ignore contextual differences across countries and fields. Using large-scale data on journal publications from Dimensions, we construct AI-likeness benchmarks based on differences between human-written and LLM-rephrased abstracts. We show that a pooled benchmark may confound pre-existing stylistic variation with AI-generated text, producing substantial distortions across country-field groups even in pre-LLM publications. In contrast, country-field-specific benchmarks attenuate such distortions and provide a more credible baseline for comparison. Applying these methods to publications in 2025 reveals that the pooled benchmark systematically overestimates AI use in certain countries and fields while underestimating it in others. These findings highlight the importance of context-aware measurement for accurate and equitable evaluation of AI use in science.

cs.CL↗

arXiv2026

The Impact of AI Usage and Informativeness on Skill Development in Logical Reasoning

Artificial intelligence (AI) is being increasingly integrated into human problem-solving, yet its effects on individual skill development remain unclear. We examine how both AI usage and informativeness can shape learning in the context of a controlled logical reasoning task with on-demand access to AI assistance. We find that greater AI usage is associated with weaker skill development: heavy AI users underperform relative to comparable peers, whereas light AI users perform similarly to matched users who do not use AI. We also find in our study that these patterns are mediated by AI informativeness. Low-information AI neither improves immediate performance nor preserves performance after AI assistance is removed, and is linked to weaker learning overall. On the other hand, high-information AI was found to improve short-run performance without reducing post-AI outcomes on average in our experiments, but with heterogeneous effects. Our findings in general suggest that AI can, depending on context, either complement human skill development by amplifying independent reasoning or can act as a substitute that undermines such reasoning, with the implication that regulating AI access and usage will be important for promoting skill development in the presence of AI assistance.

cs.AI↗

arXiv2026

Phys4D: Fine-Grained Physics-Consistent 4D Modeling from Video Diffusion

Recent video diffusion models have achieved impressive capabilities as large-scale generative world models. However, these models often struggle with fine-grained physical consistency, exhibiting physically implausible dynamics over time. In this work, we present \textbf{Phys4D}, a pipeline for learning physics-consistent 4D world representations from video diffusion models. Phys4D adopts \textbf{a three-stage training paradigm} that progressively lifts appearance-driven video diffusion models into physics-consistent 4D world representations. We first bootstrap robust geometry and motion representations through large-scale pseudo-supervised pretraining, establishing a foundation for 4D scene modeling. We then perform physics-grounded supervised fine-tuning using simulation-generated data, enforcing temporally consistent 4D dynamics. Finally, we apply simulation-grounded reinforcement learning to correct residual physical violations that are difficult to capture through explicit supervision. To evaluate fine-grained physical consistency beyond appearance-based metrics, we introduce a set of \textbf{4D world consistency evaluation} that probe geometric coherence, motion stability, and long-horizon physical plausibility. Experimental results demonstrate that Phys4D substantially improves fine-grained spatiotemporal and physical consistency compared to appearance-driven baselines, while maintaining strong generative performance. Our project page is available at https://sensational-brioche-7657e7.netlify.app/

cs.CV↗

arXiv2026

PhyPrompt: RL-based Prompt Refinement for Physically Plausible Text-to-Video Generation

State-of-the-art text-to-video (T2V) generators frequently violate physical laws despite high visual quality. We show this stems from insufficient physical constraints in prompts rather than model limitations: manually adding physics details reliably produces physically plausible videos, but requires expertise and does not scale. We present PhyPrompt, a two-stage reinforcement learning framework that automatically refines prompts for physically realistic generation. First, we fine-tune a large language model on a physics-focused Chain-of-Thought dataset to integrate principles like object motion and force interactions while preserving user intent. Second, we apply Group Relative Policy Optimization with a dynamic reward curriculum that initially prioritizes semantic fidelity, then progressively shifts toward physical commonsense. This curriculum achieves synergistic optimization: PhyPrompt-7B reaches 40.8\% joint success on VideoPhy2 (8.6pp gain), improving physical commonsense by 11pp (55.8\% to 66.8\%) while simultaneously increasing semantic adherence by 4.4pp (43.4\% to 47.8\%). Remarkably, our curriculum exceeds single-objective training on both metrics, demonstrating compositional prompt discovery beyond conventional multi-objective trade-offs. PhyPrompt outperforms GPT-4o (+3.8\% joint) and DeepSeek-V3 (+2.2\%, 100$\times$ larger) using only 7B parameters. The approach transfers zero-shot across diverse T2V architectures (Lavie, VideoCrafter2, CogVideoX-5B) with up to 16.8\% improvement, establishing that domain-specialized reinforcement learning with compositional curricula surpasses general-purpose scaling for physics-aware generation.

cs.CV↗

arXiv2026

Towards Sparse Video Understanding and Reasoning

We present \revise (\underline{Re}asoning with \underline{Vi}deo \underline{S}parsity), a multi-round agent for video question answering (VQA). Instead of uniformly sampling frames, \revise selects a small set of informative frames, maintains a summary-as-state across rounds, and stops early when confident. It supports proprietary vision-language models (VLMs) in a ``plug-and-play'' setting and enables reinforcement fine-tuning for open-source models. For fine-tuning, we introduce EAGER (Evidence-Adjusted Gain for Efficient Reasoning), an annotation-free reward with three terms: (1) Confidence gain: after new frames are added, we reward the increase in the log-odds gap between the correct option and the strongest alternative; (2) Summary sufficiency: at answer time we re-ask using only the last committed summary and reward success; (3) Correct-and-early stop: answering correctly within a small turn budget is rewarded. Across multiple VQA benchmarks, \revise improves accuracy while reducing frames, rounds, and prompt tokens, demonstrating practical sparse video reasoning.

cs.CV↗

arXiv2025

Learning to Feel the Future: DreamTacVLA for Contact-Rich Manipulation

Vision-Language-Action (VLA) models have shown remarkable generalization by mapping web-scale knowledge to robotic control, yet they remain blind to physical contact. Consequently, they struggle with contact-rich manipulation tasks that require reasoning about force, texture, and slip. While some approaches incorporate low-dimensional tactile signals, they fail to capture the high-resolution dynamics essential for such interactions. To address this limitation, we introduce DreamTacVLA, a framework that grounds VLA models in contact physics by learning to feel the future. Our model adopts a hierarchical perception scheme in which high-resolution tactile images serve as micro-vision inputs coupled with wrist-camera local vision and third-person macro vision. To reconcile these multi-scale sensory streams, we first train a unified policy with a Hierarchical Spatial Alignment (HSA) loss that aligns tactile tokens with their spatial counterparts in the wrist and third-person views. To further deepen the model's understanding of fine-grained contact dynamics, we finetune the system with a tactile world model that predicts future tactile signals. To mitigate tactile data scarcity and the wear-prone nature of tactile sensors, we construct a hybrid large-scale dataset sourced from both high-fidelity digital twin and real-world experiments. By anticipating upcoming tactile states, DreamTacVLA acquires a rich model of contact physics and conditions its actions on both real observations and imagined consequences. Across contact-rich manipulation tasks, it outperforms state-of-the-art VLA baselines, achieving up to 95% success, highlighting the importance of understanding physical contact for robust, touch-aware robotic agents.

cs.RO↗

arXiv2025

Bayesian Evaluation of Large Language Model Behavior

It is increasingly important to evaluate how text generation systems based on large language models (LLMs) behave, such as their tendency to produce harmful output or their sensitivity to adversarial inputs. Such evaluations often rely on a curated benchmark set of input prompts provided to the LLM, where the output for each prompt may be assessed in a binary fashion (e.g., harmful/non-harmful or does not leak/leaks sensitive information), and the aggregation of binary scores is used to evaluate the LLM. However, existing approaches to evaluation often neglect statistical uncertainty quantification. With an applied statistics audience in mind, we provide background on LLM text generation and evaluation, and then describe a Bayesian approach for quantifying uncertainty in binary evaluation metrics. We focus in particular on uncertainty that is induced by the probabilistic text generation strategies typically deployed in LLM-based systems. We present two case studies applying this approach: 1) evaluating refusal rates on a benchmark of adversarial inputs designed to elicit harmful responses, and 2) evaluating pairwise preferences of one LLM over another on a benchmark of open-ended interactive dialogue examples. We demonstrate how the Bayesian approach can provide useful uncertainty quantification about the behavior of LLM-based systems.

cs.CL↗

arXiv2025

A Theoretical Analysis of Discrete Flow Matching Generative Models

We provide a theoretical analysis for end-to-end training Discrete Flow Matching (DFM) generative models. DFM is a promising discrete generative modeling framework that learns the underlying generative dynamics by training a neural network to approximate the transformative velocity field. Our analysis establishes a clear chain of guarantees by decomposing the final distribution estimation error. We first prove that the total variation distance between the generated and target distributions is controlled by the risk of the learned velocity field. We then bound this risk by analyzing its two primary sources: (i) Approximation Error, where we quantify the capacity of the Transformer architecture to represent the true velocity, and (ii) Estimation Error, where we derive statistical convergence rates that bound the error from training on a finite dataset. By composing these results, we provide the first formal proof that the distribution generated by a trained DFM model provably converges to the true data distribution as the training set size increases.

cs.LG↗

arXiv2025

HDLxGraph: Bridging Large Language Models and HDL Repositories via HDL Graph Databases

Retrieval Augmented Generation (RAG) is an essential agent for Large Language Model (LLM) aided Description Language (HDL) tasks, addressing the challenges of limited training data and prohibitively long prompts. However, its performance in handling ambiguous queries and real-world, repository-level HDL projects containing thousands or even tens of thousands of code lines remains limited. Our analysis demonstrates two fundamental mismatches, structural and vocabulary, between conventional semantic similarity-based RAGs and HDL codes. To this end, we propose HDLxGraph, the first framework that integrates the inherent graph characteristics of HDLs with RAGs for LLM-assisted tasks. Specifically, HDLxGraph incorporates Abstract Syntax Trees (ASTs) to capture HDLs' hierarchical structures and Data Flow Graphs (DFGs) to address the vocabulary mismatch. In addition, to overcome the lack of comprehensive HDL search benchmarks, we introduce HDLSearch, an LLM generated dataset derived from real-world, repository-level HDL projects. Evaluations show that HDLxGraph improves search, debugging, and completion accuracy by 12.04%/12.22%/5.04% and by 11.59%/8.18%/4.07% over state-of-the-art similarity-based RAG and software-code Graph RAG baselines, respectively. The code of HDLxGraph and HDLSearch benchmark are available at https://github.com/UMN-ZhaoLab/HDLxGraph.

cs.AR↗

arXiv2025

GenoArmory: A Unified Evaluation Framework for Adversarial Attacks on Genomic Foundation Models

We propose the first unified adversarial attack benchmark for Genomic Foundation Models (GFMs), named GenoArmory. Unlike existing GFM benchmarks, GenoArmory offers the first comprehensive evaluation framework to systematically assess the vulnerability of GFMs to adversarial attacks. Methodologically, we evaluate the adversarial robustness of five state-of-the-art GFMs using four widely adopted attack algorithms and three defense strategies. Importantly, our benchmark provides an accessible and comprehensive framework to analyze GFM vulnerabilities with respect to model architecture, quantization schemes, and training datasets. Additionally, we introduce GenoAdv, a new adversarial sample dataset designed to improve GFM safety. Empirically, classification models exhibit greater robustness to adversarial perturbations compared to generative models, highlighting the impact of task type on model vulnerability. Moreover, adversarial attacks frequently target biologically significant genomic regions, suggesting that these models effectively capture meaningful sequence features.

cs.LG↗

arXiv2025

OmniSQL: Synthesizing High-quality Text-to-SQL Data at Scale

Text-to-SQL, the task of translating natural language questions into SQL queries, plays a crucial role in enabling non-experts to interact with databases. While recent advancements in large language models (LLMs) have significantly enhanced text-to-SQL performance, existing approaches face notable limitations in real-world text-to-SQL applications. Prompting-based methods often depend on closed-source LLMs, which are expensive, raise privacy concerns, and lack customization. Fine-tuning-based methods, on the other hand, suffer from poor generalizability due to the limited coverage of publicly available training data. To overcome these challenges, we propose a novel and scalable text-to-SQL data synthesis framework for automatically synthesizing large-scale, high-quality, and diverse datasets without extensive human intervention. Using this framework, we introduce SynSQL-2.5M, the first million-scale text-to-SQL dataset, containing 2.5 million samples spanning over 16,000 synthetic databases. Each sample includes a database, SQL query, natural language question, and chain-of-thought (CoT) solution. Leveraging SynSQL-2.5M, we develop OmniSQL, a powerful open-source text-to-SQL model available in three sizes: 7B, 14B, and 32B. Extensive evaluations across nine datasets demonstrate that OmniSQL achieves state-of-the-art performance, matching or surpassing leading closed-source and open-source LLMs, including GPT-4o and DeepSeek-V3, despite its smaller size. We release all code, datasets, and models to support further research.

cs.CL↗