Searcharxiv⌕ Search

arXiv subjects

Shuo Liu

Publications and source records attributed to Shuo Liu.

At least 19 recordsLinked to original sources
arXiv2026

BeamFocusNet: Beamforming-based Explicit Spatial Signal Focusing for Robust DoA Estimation under Low-SNR and Single-Snapshot Conditions

DoA estimation plays a crucial role in signal processing. Inspired by beamforming, recent works employ neural networks to estimate filters for filtering received signals to achieve DoA estimation. These methods typically generate filters by implicitly focusing signals and suppressing noise. However, this couples the two objectives, making training difficult to balance and resulting in poor robustness, especially under low SNR and limited snapshots. To address this issue, we propose the BeamFocusNet method, which generates filters through explicit signal focusing, introducing a new paradigm for neural network-based filter generation. Extensive experiments under various challenging conditions demonstrate the superiority and robustness of the proposed method in DoA estimation. Code is available at https://github.com/colaudiolab/BeamFocusNet.

eess.SP↗
arXiv2026

Entanglement Growth as Transport Across Schmidt Scales

Quantum entanglement growth is commonly summarized by a single entropy, obscuring where correlations reside in the exponentially large Schmidt spectrum and how they form. Here, we introduce Schmidt-scale concentration and dominant Schmidt scale, two coordinates that locate the probability maximum across logarithmic windows in ordered Schmidt-rank space. Applied to quenches of a random-field spin chain, these coordinates distinguish rapid transport of the dominant scale to higher Schmidt rank at weak disorder from strongly suppressed transport despite continued logarithmic entropy growth at strong disorder. The disorder-averaged dynamics exhibit an ordered hierarchy: entropy production peaks first, spectral roughness and exact nonlocal magic peak next, and dominant-Schmidt-scale transport becomes typical only after a substantial delay. Moreover, a solvable head--tail model and controlled numerical experiments reveal the physical origin of this hierarchy: the spectral path determines the order of events, local dynamics on active exchange bonds set their early timing, and intra-subsystem many-body dressing further delays dominant-Schmidt-scale transport. These results establish the Schmidt-scale coordinates as powerful dynamical probes for uncovering fine-grained entanglement structures distinguishing entanglement production, entanglement-spectrum reorganization, and dominant-Schmidt-scale transport beyond entropy alone.

quant-ph↗
arXiv2026

Imagine Before Retrieval: Prospective Skill Retrieval for LLM Agents

Skill retrieval has recently emerged as a promising paradigm for identifying the desirable execution guidelines from the skill gallery, thus equipping large language model (LLM) agents with the procedural knowledge to accomplish the specified task. To this end, most existing methods customize the retrieval model or reconfigure the retrieval pipeline to prioritize skills that are most semantically relevant to the task query. However, we empirically reveal that task queries and skills are naturally formulated from different perspectives, namely, objective-oriented and procedural-oriented, leading to an under-explored problem termed Query--Skill Misalignment (QSM). Clearly, it is daunting and even impossible to associate the desirable skills in the context of QSM, thus hindering the agent from correctly executing the task. As a remedy, inspired by human prospective cognition, we propose SkillDreamer, a novel framework to alleviate the negative impact of QSM problem. In brief, SkillDreamer first infers the capabilities necessary for task execution, then imagines how to realize these capabilities by generating pseudo skills, and finally leverages such prospective information to bridge the gap between objective-oriented task queries and execution-oriented skills. Extensive experiments on SkillRet and SkillUsage not only verify the effectiveness of SkillDreamer in both skill retrieval and end-to-end task execution, but also demonstrate its generalizability across diverse retrieval models and pipelines. The code will be released upon acceptance.

cs.IR↗
arXiv2026

GeoReward: Mitigating Contextual Variable Overestimation in Vision-Language Models for Cross-Market Preference Prediction

Vision-language models excel in many multimodal tasks but remain prone to a subtle yet impactful failure mode: they tend to overestimate dominant visual-textual cues while underestimating sparse but decision-critical contextual variables. This issue, which we term Contextual Variable Overestimation (CVE), becomes particularly evident in real-world applications such as predicting advertisement image preferences across diverse geographic markets. For instance, when a VLM is asked to choose between two product images tailored for different countries, it often defaults to a consistent output, ignoring ground-truth regional variations. This collapse occurs because pervasive high-volume signals, such as product attributes and dense image patches, overwhelm the few but critical tokens that encode market-specific context. To address CVE, we first collect a new multimodal dataset of real advertising creatives and their click-through performance across multiple countries. We then introduce GeoReward, a reward model designed to predict ad image preferences across diverse geographic markets. GeoReward integrates three purpose-built mechanisms: (1) Market-Aware Retrieval Augmentation, (2) Context-Guided Visual Modulation, (3) Selective Sensitivity Loss. Furthermore, we demonstrate how GeoReward can guide the fine-tuning of RL for a VLM to generate background designs for text-to-image models, producing market-aware advertising creatives. Experiments validate that our framework mitigates CVE and outperforms existing baselines. This work not only diagnoses a systematic bias in VLMs toward dominant perceptual features but also delivers a targeted solution for applications where sparse contextual variables govern decision-making.

cs.CV↗
arXiv2026

Exact Signed-Distance Control Barrier Functions via Minkowski Operations for Safe Navigation among Polytopes

Safely navigating polytopic environments while respecting the dynamics, control, and exact geometry of the underlying system is a challenge in robotics. Control barrier functions (CBFs) synthesize safe control policies by rendering the safe set forward invariant, but many existing CBF-based methods approximate polytopes using conservative smooth shapes, such as spheres or ellipsoids, to obtain explicit differentiable distance functions. In this article, we propose an exact Signed Distance Function (SDF) formulation for a {\it polytopic} robot and {\it polytopic} obstacles and integrate it with nonsmooth CBFs. Leveraging Minkowski operations, the proposed method computes the exact SDF via companion convex programs in both the collision-free (positive-sign) and in-collision (negative-sign) cases. Furthermore, by exploiting the convenient geometric properties of 2D Minkowski operations and the optimality conditions of the two companion convex programs, we derive a unified analytical expression for the gradient of the exact SDF via sensitivity analysis. The exact rotational gradient further reveals a previously masked class of local minima induced by the coupling between geometry and nonholonomic kinematics. We demonstrate the effectiveness of the proposed framework through a pure-translation case and three scenarios with unicycle models involving recovery from an unsafe initialization and single- and multiple-obstacle avoidance. Comparisons with baseline methods highlight how the proposed framework enables non-conservative maneuvers and safety recovery.

cs.RO↗
arXiv2026

Measurement-induced phase transition in space

Measurement-induced phase transitions (MIPTs) in monitored quantum circuits are usually characterized by preparing steady states at different uniform measurement probabilities. Here we introduce a spatial realization of the MIPT by imposing a deterministic measurement gradient in a single monitored Clifford chain. The resulting steady state contains coexisting volume-law, critical, and area-law regions, with the point $p(x)=p_c$ acting as a spatial critical cut. By scanning entanglement observables across this profile, we show that the transition is organized by a spatial scaling form. Although this structure is analogous to finite-time scaling in temporally driven MIPT, the spatial protocol has no Kibble-Zurek dynamics. Instead, the physical bounds $0\le p\le 1$ impose a finite linear window, producing cutoff-controlled asymptotic regimes whose fitted exponents provide direct access to the correlation-length exponent $\nu$. Our results establish spatially inhomogeneous measurements as a controlled route to engineer and probe measurement-induced criticality within a single steady state.

cond-mat.str-el↗
arXiv2026

Revealing Entanglement-Growth Mechanisms through the Magic Barrier

Quantum entanglement and magic are complementary resources underlying quantum computational advantage, yet their dynamical relation in many-body systems remains poorly understood. In this Letter, we show that the mechanism of bipartite entanglement growth is encoded in the relative timescale between the entropy-growth-rate peak and the magic barrier, defined as the transient peak of the anti-flatness of the entanglement spectrum. When entanglement is locally built, the same microscopic process increases the entropy and reshapes the Schmidt spectrum, so the magic-barrier peak occurs in the time window of maximal entropy growth. When entanglement is mainly transported or redistributed, entropy can grow before appreciable spectral non-flatness is generated, naturally separating the two peak times. We demonstrate this distinction in the random-field XXZ chain: the two peaks remain strongly correlated in the thermal regime, while their separation grows systematically across the thermal--MBL crossover. We further validate this theoretical framework by employing Bell-pair initial states alongside a tunable SWAP--Haar random circuit. Our results reveal an intrinsic dynamical connection between entanglement and magic, establishing the magic barrier as a powerful spectral diagnostic of how quantum information is generated, transported, and reshaped.

quant-ph↗
arXiv2026

Absorption-Feature-Guided Distance-Decoupled Estimation and Band Selection for LWIR Hyperspectral Passive Ranging

Long-wave infrared (LWIR) hyperspectral observations contain distance-dependent atmospheric absorption signatures, providing a physical basis for long-range passive ranging. However, in natural scenes, these signatures are nonlinearly coupled with target temperature, material emissivity, and path radiance, making distance inversion from observed radiance ill posed. Existing methods typically rely on full-band measurements and pixel-wise joint optimization, which is computationally expensive and does not explicitly exploit sharp atmospheric absorption structures. This paper proposes an Absorption-Guided Distance-Decoupled Estimation and Refinement (ADER) framework for LWIR hyperspectral passive ranging. ADER represents emissivity with B-spline control points under a smoothness prior, suppressing overfitting to atmospheric absorption structures and enabling distance-decoupled estimation. It further uses ozone-absorption cues to classify pixels into emission-dominant and reflection-dominant groups. For emission-dominant pixels, ADER compensates path radiance and transmittance and estimates distance by one-dimensional absorption-residual minimization. For reflection-dominant pixels, ADER refines the initial estimate using downwelling-radiance compensation based on the complete radiative model. To reduce spectral redundancy, ADER also introduces a greedy band selection strategy based on multi-scene effective Fisher information for the distance parameter. Experiments on real scenes show that ADER recovers LiDAR-consistent spatial distance structures under both full-band and 20-band settings, improves ranging accuracy in the evaluated regions, and achieves approximately two orders of magnitude speedup over a public full-band hyperspectral ranging method.

cs.CV↗
arXiv2026

MolmoMotion: Forecasting Point Trajectories in 3D with Language Instruction

Motion forecasting is central to visual intelligence: agents must anticipate how objects will move in order to plan actions, reason about physical interactions, and synthesize realistic futures. We argue that 3D points in world coordinates provide a general representation that is class-agnostic, view-stable, compact, and directly useful for downstream tasks. We formalize the task of goal-conditioned 3D point motion forecasting: given a short visual history, a set of 3D query points on an object of interest, and a language description of the intended goal, the model predicts the future 3D trajectory of each point. We introduce a full stack to study this task at scale: (1) MolmoMotion-1M is a large corpus of action-described, object-grounded 3D point trajectories annotated from 1.16M unconstrained videos; (2) PointMotionBench is a human-verified benchmark spanning 111 object categories and 61 motion types; and (3) MolmoMotion is a general motion forecasting model that supports both autoregressive coordinate prediction and flow-matching-based trajectory generation. MolmoMotion accurately predicts diverse motion patterns with different language instructions, and significantly outperforms existing motion prediction baselines on PointMotionBench. Finally, we show that the learned 3D motion prior transfers well to downstream applications: it improves training efficiency and generalization for robot manipulation, and its predicted trajectories provide effective motion guidance for generative models to synthesize videos with more realistic object motion.

cs.CV↗
arXiv2026

RICH-SLAM: Radar SLAM with Incremental and Continuous Hilbert Mapping

Simultaneous localization and mapping using radar sensors has gained increasing attention due to radar's inherent robustness to adverse weather and lighting conditions. However, radar measurements are characteristically sparse and noisy compared to LiDAR and visual data, posing significant challenges in achieving dense, continuous, and consistent map representations. In this paper, we present RICH-SLAM, a radar SLAM framework designed to address these challenges. Our approach features a Rao-Blackwellized particle filter-based back end that employs particle filtering for pose estimation and Kalman filtering for map updates. We propose an incremental Hilbert-space reduced-rank Gaussian process mapping strategy that enables continuous and uncertainty-aware map representations given sparse radar inputs. We further introduce a posterior-aware particle weighting scheme that leverages the full posterior distribution of map parameters for more robust likelihood evaluation. Experiments on self-collected and public ColoRadar datasets show that RICH-SLAM constructs continuous occupancy maps from sparse radar measurements and supports uncertainty-aware planning for mobile robots.

cs.RO↗
arXiv2026

Absence of poor local minima in matrix product states

Quantum circuits suffer from severe trainability issues: even shallow circuits are swamped with poor local minima. Yet matrix product states (MPS), which can be prepared by sequential circuits, are remarkably trainable in practice -- as demonstrated by decades of successful density matrix renormalization group calculations. In this work, we resolve this apparent paradox by proving that the energy landscapes of MPS are free from poor local minima, under the same setting where brickwork circuits are not. The key insight is that the gauge freedom of MPS creates an effective local overparametrization that causes local minima to concentrate near the global minimum, analogous to overparametrized classical neural networks. We rigorously prove that the local minimum distribution is invariant under moves of the orthogonality center of MPS representations. Numerical experiments further confirm that the optimization of sequential circuits converges to near-optimal solutions even for random Hamiltonians, in stark contrast to brickwork circuits. Our findings establish a theoretical understanding of the trainability of MPS, providing a valuable guide for designing variational quantum circuits and algorithms with better trainability in the future.

quant-ph↗
arXiv2026

FADRW: A Feature-Aware Modulated and Dynamically Reweighted Loss for Few-Shot Linguistic Steganalysis

The ubiquity of social media platforms facilitates malicious linguistic steganography, posing significant security risks. However, detection is severely hampered by two fundamental issues during model training. Firstly, extreme class imbalance (less than 1% steganographic samples) induces a strong decision bias. Secondly, the invisibility of generative steganography means its features are nearly indistinguishable from benign text; this similarity, compounded by their extreme rarity, leads to severe feature marginalization, where faint steganographic signals are completely overwhelmed. To directly address these optimization-level challenges, we propose FADRW (Feature-Aware Modulated and Dynamically Reweighted Loss), a novel loss function framework engineered for few-shot steganalysis. FADRW employs Dynamic Reweighting to progressively counteract decision bias, and a Feature-Aware Modulation module to structurally reshape the feature space, preventing feature marginalization by enhancing the separability of these subtle features. Extensive experiments on datasets from three real-world social platforms demonstrate that FADRW significantly outperforms state-of-the-art methods, particularly in the challenging few-shot steganographic sample scenario.

eess.SP↗
arXiv2026

Embedding Semantic Risk into Distance Fields and CBFs for Online Monocular Safe Control

We propose an online monocular perception-to-control framework that embeds semantic risk into the distance field used by Control Barrier Function (CBF)-based safe navigation and teleoperation. Many perception-based safety filters assign the same distance-based safety margin to all mapped obstacles or use semantics only as a downstream controller adjustment, rather than encoding semantic risk in the spatial representation. Our framework instead reasons online about obstacle geometry and class-dependent risk by embedding semantic information directly into the Euclidean Signed Distance Field (ESDF). This design encodes semantic risk before control optimization, so high-risk objects exert a larger spatial influence in the safety field while retaining efficient ESDF queries at runtime. Specifically, a foundation-model-based SLAM front end reconstructs dense 3-D geometry from monocular RGB video, while per-frame semantic segmentation provides pixel-level class labels that are fused into the reconstructed geometry. The resulting geometric-semantic representation is then converted into an ESDF, where semantic labels identify safety-relevant regions and impose class-dependent inflation before field computation. The semantic-aware ESDF provides the local distance values and spatial derivatives required by the CBF controller, while class-dependent gains further regulate the controller response. Extensive simulation and hardware experiments demonstrate online operation at 10--20 Hz and semantic-aware safe behavior in both teleoperation and autonomous navigation.

cs.RO↗
arXiv2026

Detection of CO, H$_2$O, and OH in WASP-18b with JWST/NIRISS using Direct-Extracted Spectra and Cross-Correlation

The James Webb Space Telescope (JWST) has revolutionized the characterization of exoplanetary atmospheres, offering unprecedented sensitivity to probe their chemical and physical properties. Recently, a growing trend has emerged to obtain atmospheric information directly from pixel-level planetary spectra. In this work, we re-analyzed the WASP-18b NIRISS/SOSS dataset by employing a direct extraction method. This new method preserves the spectral information at the native instrumental resolution, thereby enabling the application of cross-correlation techniques and providing atmospheric retrievals with enhanced precision and richer information content. With this methodology, we report detections of CO at $4.4\sigma$ significance, H$_2$O at $3.4\sigma$, and OH at $7.8\sigma$, where CO and OH were previously unseen. Building on these unambiguous detections, our subsequent retrieval analysis significantly improves the constraints on atmospheric abundances. Our results demonstrate that the cross-correlation technique effectively extracts molecular signals from medium-resolution JWST data, enhancing detection sensitivity. By revisiting JWST archival data with cross-correlation and retrieval analysis, we can achieve a more comprehensive survey of planetary atmospheric chemistry, thereby placing precise constraints on key parameters such as planetary metallicity and C/O ratio.

astro-ph.EP↗
arXiv2026

Orbital Altermagnetic Photonic Crystal

Altermagnetism features momentum-dependent spin splitting without net magnetization, extending spintronics beyond conventional ferromagnetism and antiferromagnetism. However, the photonic realization of altermagnetism has remained a formidable challenge due to the fundamental differences between fermionic electrons and bosonic photons. Here, we report the first experimental realization of an orbital altermagnetic photonic crystal, based on an antiunitary $C_{4z}\mathcal{T}$ symmetry enforced correspondence between a local $p$-orbital $\sigma/\pi$ doublet and crystal momentum. We experimentally demonstrate that the resulting system exhibits momentum-dependent spin splitting with alternating pseudospin polarization and a $d_{xy}$-wave form factor, as confirmed by measured band structures and iso-frequency contours. Moreover, we show that the orbital altermagnetic photonic crystal supports unique pseudospin-selective transport of electromagnetic waves, including photonic pseudospin splitting and pseudospin filtering. Our results extend the field of alternagnetism to photonic systems, opening a new avenue for designing spinphotonic devices.

physics.optics↗
arXiv2026

Confidence Geometry Reveals Trace-Level Correctness in Large Language Model Reasoning

Large language models (LLMs) generate not only reasoning text, but also token-level confidence trajectories that record how uncertainty evolves during inference. Whether these trajectories are relevant to reasoning correctness remains unclear. Here we show that confidence trajectories encode a content-agnostic confidence geometry associated with trace-level final-answer correctness. Using only token-level confidence values, without access to the input question, reasoning text, hidden states, or external verifiers, we find that low-dimensional representations of confidence trajectories separate correct from incorrect reasoning traces. Across GSM8K, MATH, and MMLU, this geometric separation is quantitatively linked to downstream predictability: stronger clustering of correct and incorrect traces, measured by the Davies--Bouldin index, consistently corresponds to higher correctness-discrimination AUC. We further show that correctness-related information is enriched in the tail of reasoning, suggesting that late-stage confidence dynamics carry key correctness signals. We propose NeuralConf, a lightweight estimator that learns from confidence trajectories for correctness evaluation. Under a fixed trace budget, NeuralConf-derived scores improve confidence-weighted answer aggregation over majority voting, tail confidence, and other static baselines. These results reveal that LLMs expose trace-intrinsic statistical signals of correctness through their own confidence dynamics, offering a route to improve inference using information already present within generation.

cs.LG↗
arXiv2026

Cross-Modal Navigation with Multi-Agent Reinforcement Learning

Robust embodied navigation relies on complementary sensory cues. However, high-quality and well-aligned multi-modal data is often difficult to obtain in practice. Training a monolithic model is also challenging as rich multi-modal inputs induce complex representations and substantially enlarge the policy space. Cross-modal collaboration among lightweight modality-specialized agents offers a scalable paradigm. It enables flexible deployment and parallel execution, while preserving the strength of each modality. In this paper, we propose \textbf{CRONA}, a Multi-Agent Reinforcement Learning (MARL) framework for \textbf{Cro}ss-Modal \textbf{Na}vigation. CRONA improves collaboration by leveraging control-relevant auxiliary beliefs and a centralized multi-modal critic with global state. Experiments on visual-acoustic navigation tasks show that multi-agent methods significantly improve performance and efficiency over single-agent baselines. We find that homogeneous collaboration with limited modalities is sufficient for short-range navigation under salient cues; heterogeneous collaboration among agents with complementary modalities is generally efficient and effective; and navigation in large, complex environments requires both richer multi-modal perception and increased model capacity.

cs.RO↗
arXiv2026

Information Coordination as a Bridge: A Neuro-Symbolic Architecture for Reliable Autonomous Driving Scene Understanding

Reliable autonomous driving requires scene understanding that is semantically consistent across heterogeneous sensors and verifiable at the reasoning stage. However, many recent LLM-driven driving systems attach the language model as a post-processor and force it to reason over redundant or conflicting perception outputs, which can amplify hallucinated entities and unsafe conclusions. This paper proposes InfoCoordiBridge, a BEV-centric neuro-symbolic architecture that inserts an explicit coordination bridge between perception and language reasoning. InfoCoordiBridge comprises (i) a unified multi-agent perception layer that outputs typed structured facts together with modality-focused synopses, (ii) an ICA module that aligns and fuses multi-source outputs into a single SceneSummary, and (iii) an SSRE module that performs SceneSummary-grounded reasoning with verification. Experiments on nuScenes and Waymo show that ICA preserves competitive 3D detection accuracy while substantially improving fusion consistency, reducing redundancy to below 1% and achieving about 98% attribute agreement. On NuScenes-QA and a template-aligned Waymo-QA benchmark, SSRE improves factual grounding and reduces hallucinated entity mentions compared with representative VLM and agentic baselines. Overall, by coordinating multi-sensor outputs into a single conflict-aware SceneSummary before prompting, InfoCoordiBridge prevents redundant and cross-modally inconsistent perception evidence from propagating into high-level reasoning.

cs.CV↗