arXiv subjects

Shihao Li

Publications and source records attributed to Shihao Li.

At least 19 recordsLinked to original sources

arXiv2026

PV-WM: A Heterogeneous Micro-Macro World Model for Articulated Pedestrian-Vehicle Co-Rollout

Local pedestrian-vehicle forecasting spans heterogeneous physical scales: pedestrians combine root locomotion with articulated motion, whereas vehicles are rigid bodies described by kinematic state and oriented extent. Existing road-agent forecasters typically omit pedestrian articulation, while pose forecasters leave vehicle futures outside the learned rollout. We introduce PV-WM, a history-only world model over structured post-perception tracks. It recurrently advances pedestrian root motion, 15-joint articulation, and learned vehicle states within a synchronized heterogeneous state. The generated pedestrian and vehicle chunks supply the next recurrent boundary; vehicle boxes are reconstructed from predicted center and heading with observed extent, and P-V geometry is recomputed after every transition. Relative to a matched one-shot complete-state predictor, recurrent execution reduces Root ADE by 12.7% and MPJPE by 14.8%. Feedback interventions show that later predictions depend on the content, temporal order, and pedestrian identity of generated articulation. Across 824 aligned Waymo contexts, with 797 providing valid future vehicle support, PV-WM reduces Root ADE by 5.2%, MPJPE by 7.6%, P-V distance error by 11.9%, and oriented-box closest-approach error by 5.8% relative to a validation-selected Modular Specialist. The single-network model uses 57.1% fewer parameters, 96.5% lower average FLOPs per local scene, and 25.5% lower measured p95 latency. PV-WM unifies this heterogeneous future state while preserving type-specific pedestrian and vehicle dynamics.

cs.RO↗

arXiv2026

FedOGL: Combating Catastrophic Forgetting in Federated Open-World Multimodal Graph Learning

Federated graph learning enables collaborative training over decentralized graph data without sharing raw graph information. As such risks evolve, clients must learn emerging classes from private multimodal graph streams, retain historical categories, and reject samples outside the known class space. In this setting, clients must learn emerging classes from private multimodal graph streams while preserving historical categories and rejecting samples outside the current known class space. The core challenge is catastrophic forgetting, which in federated multimodal graphs is not merely a classifier-level failure: old knowledge can be erased through modality-semantic overwriting, topology-induced structural erosion, and federated memory fragmentation. To address this challenge, we propose \textbf{FedOGL}, a semantic-structural memory preservation framework. On the client side, FedOGL preserves historical decision behavior through replay and task-start distillation, while protecting graph-propagation memory via projection onto a globally shared structure basis. On the server side, FedOGL maintains and transfers compact category prototypes to facilitate cross-client knowledge sharing without exposing raw graph data. Extensive experiments demonstrate that, compared with the best-performing baselines, FedOGL reduces performance degradation caused by catastrophic forgetting by \textbf{42.67\%}, while maintaining or improving performance on downstream tasks.

cs.LG↗

arXiv2026

MMFGU: Multimodal Federated Graph Unlearning

Multimodal federated graph learning enables clients to collaboratively train graph models over structural, textual, and visual signals without sharing private local data. However, the presence of heterogeneous multimodal content also makes unlearning requests more frequent and fine-grained: users may delete accounts or interactions, remove a particular image or text while retaining the associated entity, or revoke the learned correspondence between retained modalities or graph attributes. Existing federated graph unlearning mainly handles entity/relation or client removal and cannot directly satisfy these multimodal requests. They introduce three challenges: removing only the requested information without damaging retained content, preventing the target from being recovered through remaining modalities or graph neighborhoods, and stopping related traces on other clients from re-entering the global model after aggregation. To address them, we propose \textsc{\textbf{MMFGU}}, a multimodal federated graph unlearning framework built around target-specific representation decoupling. \textsc{MMFGU} maps heterogeneous requests into unified target carriers, decouples requested representations while anchoring retained semantics, exposes and repairs propagated residuals with lightweight probes, and selectively purges affected clients through compact prototype and response signals. Experiments show that \textsc{MMFGU} effectively removes requested information, preserves retained graph utility, and achieves a $\boldsymbol{41.5\times}$ speedup over full retraining.

cs.LG↗

arXiv2026

Spatio-Temporal Conditional Denoising Transformer for Modality-Missing RGBT Tracking

Missing modalities in RGBT tracking often lead to incomplete and unstable multimodal feature representations that greatly degrade the performance. Existing methods typically attempt to recover missing modalities from available ones, but the quality of data generated in challenging scenarios might be unsatisfactory. In addition, current approaches exhibit limited flexibility in processing both missing and complete data. To overcome these limitations, we propose a Spatio-temporal Conditional Denoising Transformer (SCDT), which integrates the spatial cues and the temporal context to adaptively perform information reconstruction of missing modalities and feature enhancement of weak modalities in a unified framework, for robust modality-missing RGBT tracking. In particular, SCDT leverages the short-term temporal cues from recent historical frames to capture the fine-grained temporal correlations and the long-term temporal cues encoding modality evolution to capture the global context. By jointly exploiting long short-term temporal contexts as the conditions, SCDT progressively guides noisy features of available modalities to learn reliable and temporally consistent multimodal representations. Furthermore, SCDT introduces a noisemodulated adaptation mechanism that dynamically adjusts its behavior according to the modal availability, enabling a single framework to unify feature learning under both modality-missing and complete scenarios without changing the architecture or parameters. Extensive experiments on three public benchmark datasets demonstrate that our method consistently outperforms state-of-the-art methods. The code is available here.

cs.CV↗

arXiv2026

ReBind: Multi-Reference Video Editing via Structured Instructions with Explicit Reference Relationships

Recent diffusion-based video generation models have made significant progress in multi-reference image-conditioned video editing. However, existing methods still struggle to coordinate information from multiple visual sources accurately. We identify a critical deficiency in existing approaches. Existing editing instructions lack explicit reference relationships, and most multimodal large language models (MLLMs) cannot generate them reliably. To address this problem, we propose ReBind, a systematic framework that introduces semantic instructions with embedded reference tokens as the intermediate representation for multi-reference image-conditioned video editing. Our key insight is embedding reference tokens at semantic positions to eliminate ambiguity and establish precise bindings between visual attributes and their sources. We develop ReBind-Instruct, a specialized MLLM that learns to establish explicit bindings between visual attributes and their reference sources through a two-stage progressive scheme for precise reference relationships. We further develop ReBind-Edit, which enables lightweight adaptation of text-to-video models to coordinate multiple references by binding visual attributes to their designated sources. Extensive experiments demonstrate that ReBind substantially outperforms general-purpose MLLMs in instruction quality and achieves state-of-the-art performance among open-source methods on reference image conditioned video editing. Our project webpage: https://rebind-mrv2v.github.io/.

cs.CV↗

arXiv2026

ActiveVital: Geometry-Aware Embodied Vital Signs Monitoring for Home Healthcare Robots

Home robots require reliable vital signs monitoring to support long-term companionship and safety in daily environments, yet obtaining respiration and heart rate without physical contact remains challenging in unconstrained home settings. Millimeter-wave (mmWave) radar offers a promising solution due to its phase sensitivity to sub-millimeter motions. However, mmWave measurements are fundamentally constrained by observation geometry, since only the radial component of motion is observable. Consequently, arbitrary robot-human orientations often introduce angular misalignment that destabilizes vital signs estimation. To address this limitation, we reformulate vital signs monitoring from passive signal recovery to active geometric regulation. We propose ActiveVital, a vision-guided sensing framework that treats sensing geometry as an explicit control variable for robots. It localizes the chest anchor via visual keypoints and converts alignment errors into control commands. This steers the robot-mounted radar toward near-normal incidence to the thoracic surface, maximizing radial observability within a perception-action loop. A differential phase enhancement module further stabilizes signal extraction under motion. Experiments show that ActiveVital reduces respiration interval error from 0.87 s to 0.14 s and heart rate error from 13.59 bpm to 2.22 bpm, achieving accuracy comparable to controlled static sensing while remaining robust under unconstrained robot-human configurations.

cs.RO↗

arXiv2026

CapRiCorn-1K: A Comprehensive Benchmark for Video Captioning and Subject Referential Consistency Across Temporal Scales

Accurate and comprehensive video captions with consistent subject references are critical for downstream understanding and generation tasks. However, few existing benchmarks can objectively and comprehensively evaluate these properties across diverse durations and scenarios, thereby hindering the advancement of video captioning models. To bridge this gap, we propose CapRiCorn-1K, a comprehensive benchmark designed to evaluate both video captioning quality and subject referential consistency across long temporal horizons and diverse video domains. To accommodate varied evaluation needs, our benchmark supports both audiovisual and visual-only settings. Extensive experiments on CapRiCorn-1K reveal that current models generally struggle to generate accurate and comprehensive captions while maintaining consistent subject references. Moreover, as video duration increases, both the overall caption quality and subject referential consistency decline. Notably, our evaluation metrics exhibit strong correlations with the performance of downstream understanding and generation tasks conditioned on the generated captions, further validating their effectiveness. The project is available at https://github.com/xlchen0205/CapRiCorn-1K .

cs.CV↗

arXiv2026

CoVEBench: Can Video Editing Models Handle Complex Instructions?

While recent text-guided video editing models excel at elementary tasks (e.g., style transfer, object insertion), real-world user requests are highly compositional. A single prompt often demands multiple coupled edits, such as modifying subjects, actions, and camera views, while strictly preserving unrelated spatiotemporal content. Existing benchmarks, heavily constrained by isolated edits and coarse global metrics, fail to diagnose how models handle such complex workflows. To address this gap, we introduce CoVEBench, a compositional video editing benchmark comprising 416 curated source videos, 626 multi-point editing instructions, and 9,990 fine-grained checklist items. Covering diverse editing dimensions, CoVEBench evaluates models via MLLM-judged instruction compliance and video fidelity, alongside automated metrics for video quality. Extensive experiments reveal that compositional editing remains a profound challenge: current models frequently omit edits, violate preservation constraints, or introduce artifacts when handling multiple operations simultaneously. CoVEBench provides a challenging, diagnostic testbed to advance video editing toward realistic user workflows.

cs.CV↗

arXiv2026

OmniCap-IF: Benchmarking and Improving Instruction Following Abilities for Omni-Video Captioning

While Omni-modal Large Language Models (OLLMs) have demonstrated impressive capabilities in jointly processing audio and visual streams, their ability to strictly adhere to complex, multi-faceted user instructions remains largely unexplored. Existing benchmarks primarily focus on holistic video understanding or text-only instruction following, failing to capture the intricate interplay between modalities and user constraints. To bridge this gap, we introduce OmniCap-IF, the first comprehensive benchmark specifically designed to evaluate instruction-following capabilities in omni-modal captioning. OmniCap-IF incorporates a systematic framework that assesses captions on two dimensions: format correctness and content correctness. Our benchmark encompasses 50 distinct constraint types across pure visual, pure audio, and audio-visual modalities, while integrating Temporal Grounding to assess spatio-temporal precision. Extensive evaluations of prominent models on 1,920 high-quality samples reveal significant performance disparities. Furthermore, our analysis uncovers a critical "format-content tradeoff", demonstrating that increasing formatting complexity directly degrades models' omni-modal reasoning abilities. Finally, to advance the field, we curate a 54K instruction-tuning dataset, OmniCap-IF-54K and present OmniCaptioner-IF, which achieves notable improvements in both complex instruction adherence and general omni-modal captioning performance.

cs.CV↗

arXiv2026

Mind Your Steps: A General Learning Framework for Accurate Humanoid Foothold Tracking

Enabling humanoid robots to operate in complex, dynamic environments remains a critical challenge, fundamentally limited by the ability to navigate robustly, safely, and accurately. While reinforcement learning with velocity-commanded policies has achieved remarkable robustness in humanoid locomotion, this approach lacks explicit control of the foothold placement, leading to unsafe behavior, such as stepping onto human feet, or imprecise navigation, hindering the following manipulation task. Conversely, explicit foothold-tracking policies offer a promising alternative by directly being commanded with target foot poses. However, existing approaches are often limited by unrealistic state assumptions, compromising real-world deployment, or they are part of staged pipelines, making them tied to specific downstream tasks. In this work, we introduce a novel, lightweight framework for training general-purpose 3D foothold-tracking policies. By dynamically providing footstep support through a goal sampler, this method enables the learned policy to be agnostic to specific terrains. Our new target representation effectively mitigates challenges arising in the real world, such as noisy and inaccurate pose estimation and foot contact estimation. Designed for direct real-world transfer, our policy acts as a standalone low-level controller that can be seamlessly paired with various high-level foothold generators. We demonstrate the effectiveness of our framework through extensive experiments in simulation and in the real world. By coupling our policy with different upstream planners, we achieve natural and accurate locomotion in challenging settings, paving the way for loco-manipulation tasks in complex environments.

cs.RO↗

arXiv2026

OmniHalluc-L: Counterfactual Benchmarking and Modality-Perturbation Reliability Calibration for Long-Form Omni Hallucination

Long-video Omni assistants often fail not by inventing content, but by misbinding real evidence: they hear the right utterance and see the right event, yet attach it to the wrong speaker, moment, or modality. These \emph{almost-true} errors evade standard video QA because local evidence remains valid, so item-level scoring can reward both a supported claim and its near-counterfactual. We introduce a counterfactual event-binding protocol that constructs paired supported/counterfactual claims from the same audio-visual event evidence and evaluates them by strict-pair accuracy. We instantiate it as \bench, a benchmark for long-video Omni hallucination, with 3{,}600 single-claim QA items from 638 long-form videos averaging 24.16 minutes and covering 256.87 hours. Under this protocol, open-weight Omni models remain weak at pair-level binding: Qwen2.5-Omni-7B reaches 32.06\% and Qwen3-Omni-Instruct reaches 41.55\%, versus 76.54\% for a closed-source reference. To narrow this gap without updating the backbone, we propose \method, Modality-Perturbation Reliability Calibration, a frozen-backbone framework that selects audio-negative probes within video-level folds and fuses their response shifts with native audio-visual confidence into per-claim support estimates. \method lifts Qwen2.5-Omni-7B to 36.22\% and Qwen3 to 51.09\% on \bench, and improves target-adapted MCQ accuracy on OmniVideoBench ($+$2.20) and WorldSense ($+$1.51) with Qwen3.

cs.MM↗

arXiv2026

MMG2Skill: Can Agents Distill In-the-Wild Guides into Self-Evolving Skills?

Abundant procedural knowledge on the Web holds great potential for helping agents solve long-horizon tasks. However, such knowledge is often multimodal, heterogeneous, noisy, and implicitly assumes human executors, making it difficult to use directly as the skills required by agents. To bridge the gap between human-oriented guides and agent-executable skills, we formalize this problem as guide-to-skill learning: converting in-the-wild guides into executable skills and continuously improving them from trajectories observable to the agent. To evaluate the capability of existing agents on this task, we introduce MMG2Skill-Bench, the first benchmark designed for this problem. We further propose MMG2Skill, a closed-loop framework that compiles guides into editable skills, conditions a fixed vision-language model (VLM) agent on these skills during execution, and revises the skills from trajectory-level root-cause feedback without using benchmark scores. Across GUI control, open-ended gameplay, and strategic card play with six VLM backbones, MMG2Skill consistently outperforms vanilla baseline agents in every model-domain setting, achieving macro-average gains of +12.8 to +25.3 percentage points across backbones. Ablation studies show that directly prompting agents with raw guides can degrade performance, while both structured skill construction and trajectory-driven revision are necessary for the observed improvements. On success-inferable tasks, analyzer-based early stopping further prevents late-stage performance regressions and saves 25%-53% of attempts when the success signal is properly calibrated.

cs.CL↗

arXiv2026

SmoCap: Movement Reconstruction under Morphology-Pose Ambiguity through Unified Scale-Pose Canonicalization

Movement reconstruction pipelines need estimates that support interpretable joint motion and subject morphology, not only low marker fitting error. The same marker fitting error can be explained by different mixtures of morphology and posture, while weakly observed degrees of freedom are not uniquely identifiable, yielding anatomically inconsistent yet numerically acceptable solutions. We present SmoCap, a unified scale-pose framework that resolves morphology-posture ambiguity while preserving coordinated motion under weak observability. SmoCap solves a constrained trust-region QP with analytical proxy-mapped pose and scale Jacobians. Under matched observations, SmoCap is compared with an established OpenSim baseline using fluoroscopy-derived knee motion and anthropometric ground truth as external references. Extreme yoga sequences further probe coordinated spine motion under weak observability. In the controlled comparison, the OpenSim baseline achieved lower marker RMSE (8.81 vs 19.14 mm), whereas SmoCap achieved lower knee-orientation RMSE against fluoroscopy (5.82 deg vs 7.50 deg) in 24 of 28 trials and all six subjects. Mean absolute anthropometric endpoint errors were 8.44 vs 9.51 mm on CAMS-Knee and 6.87 vs 8.77 mm on Riglet for SmoCap and OpenSim, respectively. Proxy coupling preserved expressive and coordinated spine motion with marginal fitting error increase (+0.14 mm, +0.6%) in the yoga ablation. Median runtime was 0.204-0.332 ms/frame, with consistently 2-3 iterations. Marker RMSE alone did not reliably indicate better motion or morphology recovery. SmoCap instead combines unified scale-pose estimation with proxy coordination. It achieved lower motion and morphology errors in the external evaluations while supporting weak-observability-aware, cohort-scale movement reconstruction for downstream pipelines that depend on interpretable subject motion and morphology.

cs.RO↗

arXiv2026

Solvita: Enhancing Large Language Models for Competitive Programming via Agentic Evolution

Large language models (LLMs) still struggle with the rigorous reasoning demands of hard competitive programming. While recent multi-agent frameworks attempt to bridge this reliability gap, they remain fundamentally stateless: they rely on static retrieval and discard the valuable problem-solving and debugging experience gained from previous tasks. To address this, we present Solvita, an agentic evolution framework that enables continuous learning without requiring weight updates to the underlying LLM. Solvita reorganizes problem-solving into a closed-loop system of strategy selection, program synthesis, certified supervision, and targeted hacking, executed by four specialized agents: Planner, Solver, Oracle, and Hacker. Crucially, each agent is paired with a trainable, graph-structured knowledge network. As the system operates, outcome signals, such as pass/fail verdicts, test certification quality, and adversarial vulnerabilities discovered by the Hacker, are recast as reinforcement learning updates to these network weights. This allows the agents to dynamically route future queries based on past successes and failures, effectively accumulating transferable reasoning experience over time. Evaluated across CodeContests, APPS, AetherCode, and live Codeforces rounds, Solvita establishes a new state-of-the-art among code-generation agents, outperforming existing multi-agent pipelines and nearly doubling the accuracy of single-pass baselines.

cs.AI↗

arXiv2026

DR$^{3}$-Eval: Towards Realistic and Reproducible Deep Research Evaluation

Deep Research Agents (DRAs) aim to solve complex, long-horizon research tasks involving planning, retrieval, multimodal understanding, and report generation, yet their evaluation remains challenging due to dynamic web environments and ambiguous task definitions. We propose DR$^{3}$-Eval, a realistic and reproducible benchmark for evaluating deep research agents on multimodal, multi-file report generation. DR$^{3}$-Eval is constructed from authentic user-provided materials and paired with a per-task static research sandbox corpus that simulates open-web complexity while remaining fully verifiable, containing supportive documents, distractors, and noise. Moreover, we introduce a multi-dimensional evaluation framework measuring Information Recall, Factual Accuracy, Citation Coverage, Instruction Following, and Depth Quality, and validate its alignment with human judgments. Experiments with our developed multi-agent system DR$^{3}$-Agent based on multiple state-of-the-art language models demonstrate that DR$^{3}$-Eval is highly challenging and reveals critical failure modes in retrieval robustness and hallucination control. Our code and data are publicly available.

cs.AI↗

arXiv2026

A Wearable ECG Device for Differentiating Hypertrophic Cardiomyopathy from Acquired Left Ventricular Hypertrophy

Hypertrophic Cardiomyopathy (HCM) is a genetic heart disease affecting approximately 1 in 500 people and is the leading cause of sudden cardiac death in young athletes. Current diagnostic methods -- cardiovascular magnetic resonance (CMR), echocardiography, and genetic testing -- are limited by high costs, operator dependency, or insufficient accuracy, while standard electrocardiogram (ECG) analysis cannot reliably distinguish HCM from acquired left ventricular hypertrophy (LVH). This paper presents a wearable ECG device paired with a classification algorithm that differentiates HCM from acquired LVH using ECG signals alone. The portable device integrates a 3-lead electrode system, an AD8232 signal conditioning module, an Arduino Nano 33 BLE microcontroller, and a lithium polymer battery. The algorithm extracts two quantitative indices -- HCM Index~1 and HCM Index~2 -- from each heartbeat and classifies patients via dual statistical thresholds. Validation on 483 LVH patients (PhysioNet) and 29 HCM patients (digitized clinical records) yields 75.86\% sensitivity, 99.17\% specificity, and an F1-score of 80.00\%. Leave-one-out cross-validation confirms generalizability, with cross-validated sensitivity of 72.41\%, specificity of 98.96\%, and F1-score of 76.36\% (95\% confidence intervals reported). A digitization confound analysis demonstrates that the classification is driven by physiological cardiac features rather than data source artifacts. A simulated device acquisition chain analysis confirms that the wearable hardware's signal characteristics are compatible with the classification algorithm. The system offers a promising tool for affordable HCM screening in resource-limited settings.

eess.IV↗

arXiv2026

LungCURE: Benchmarking Multimodal Real-World Clinical Reasoning for Precision Lung Cancer Diagnosis and Treatment

Lung cancer clinical decision support demands precise reasoning across complex, multi-stage oncological workflows. Existing multimodal large language models (MLLMs) fail to handle guideline-constrained staging and treatment reasoning. We formalize three oncological precision treatment (OPT) tasks for lung cancer, spanning TNM staging, treatment recommendation, and end-to-end clinical decision support. We introduce LungCURE, the first standardized multimodal benchmark built from 1,000 real-world, clinician-labeled cases across more than 10 hospitals. We further propose LCAgent, a multi-agent framework that ensures guideline-compliant lung cancer clinical decision-making by suppressing cascading reasoning errors across the clinical pathway. Experiments reveal large differences across various large language models (LLMs) in their capabilities for complex medical reasoning, when given precise treatment requirements. We further verify that LCAgent, as a simple yet effective plugin, enhances the reasoning performance of LLMs in real-world medical scenarios.

cs.MM↗

arXiv2026

Data-Attributed Adaptive Control Barrier Functions: Safety-Certified Training Data Curation via Influence Analysis

Learning-based adaptation of Control Barrier Function (CBF) parameters offers a promising path toward safe autonomous navigation that balances conservatism with performance. Yet the accuracy of the underlying safety predictor is ultimately constrained by training data quality, and no prior work has formally characterized how prediction errors propagate through the adaptive pipeline to degrade closed-loop safety guarantees. We introduce Data-Attributed Adaptive CBF (DA-CBF), a framework that integrates TracIn-based data attribution into adaptive CBF learning. Our theoretical contributions are fourfold: (i) corrected two-sided bounds relating the safety-loss surrogate to the CBF constraint margin; (ii) a safety margin preservation theorem showing that prediction error induces quantifiable margin degradation and, via a smooth parameter selector, yields a genuine closed-loop forward invariance guarantee not conditioned on a fixed trajectory; (iii) a CBF-QP constraint perturbation bound that links prediction accuracy directly to recursive feasibility; and (iv) a principled leave-one-out justification for influence-based data curation under explicit smoothness assumptions. On a DynamicUnicycle2D benchmark, DA-CBF reduces prediction RMSE by 35.6\%, expands the certified safe operating set by 39\%, and achieves collision-free navigation in a 16-obstacle environment where the uncurated baseline incurs 3 collisions.

eess.SY↗