arXiv subjects

Song Wang

Publications and source records attributed to Song Wang.

At least 19 recordsLinked to original sources

arXiv2026

The Menu Is an Execution Prior: State-Path Tool Menus for Online Agents

Language models act through tools, yet practical agents face libraries containing thousands of interfaces. We introduce the tool menu as the short, ordered subset of available tools shown to an agent before execution. The agent can call only tools in this menu. Multi-step tasks require the final action and the prerequisite tools that create its inputs in a usable order. Current constructors rank tools by request relevance, which can surface the final action while omitting or delaying less obvious producers. We introduce the state path, a pre-execution route from the observable request state to the desired outcome, and propose State-Path Tool Menu to learn it. Our framework treats the menu as an execution prior over these routes. Its encoder represents which tools can run from the current state, how their outputs satisfy later inputs, and which orders recur in training paths. A retriever covers an executable entry, the missing-input producers, and the final action. A reranker then places producers before consumers. On ToolBench, our menu raises online success from 0.737 to 0.898 and outperforms retrieval, reranking, generation, and routing baselines without changing the agent. The State-Path menu also covers more complete chains with 32 tools than the official list covers with 128, and its success gain persists across executor families with different model capacities. Our code is at https://github.com/Met2348/State-Path.

cs.AI↗

arXiv2026

Bridging Language and Physics: Automated Design of Continuum Robots with Large Language Models

Large language models (LLMs) have recently emerged as a promising tool for automating robot design from high-level specifications, yet they remain ineffective for robots operating under complex physical interactions. This limitation stems from the gap between language-based reasoning and the physical consequences of embodiment, often resulting in designs with low physical validity. In this work, we propose a multi-layered framework, AID-SR, that establishes a closed loop by translating simulator-observed physical states into structured feedback for the LLM designer. Combined with semantic critique, human feedback, and iterative refinement, the framework promotes the generation of physically feasible and functionally meaningful robot designs. We evaluate our approach on tendon-driven continuum robots across a benchmark of 14 tasks spanning reaching, grasping, locomotion, and manipulation. The proposed framework achieves 96.2% rate for passing the simulation feasibility check and by applying a common reinforcement learning training, 26.7% robots can successfully fulfill the corresponding task. We then fabricate three designed robots of AID-SR that successfully complete the task in real-world. These extensive experiments across simulation and real-world environments demonstrate and break the wall of utilizing the LLMs for automated design of continuum robots. The source code and experimental resources are publicly available at https://github.com/UNITES-Lab/AID-SR.

cs.RO↗

arXiv2026

MLLMs Hallucinate when Information Distribution Drifts in Synergy Heads

Multimodal Large Language Models (MLLMs) often struggle with hallucinations, thus hindering their reliable practical applications. Existing attention-based mitigation methods mainly rely on indirect signals (e.g., attention weights) that fail to accurately reflect the actual information shift underlying hallucination generation. In this paper, we propose HEAL, Head-lEvel information disentAnglement and caLibration for identifying and mitigating hallucinations. HEAL first employs causal noise intervention on multi-head outputs to filter out causally redundant heads. Subsequently, it disentangles information distribution within the remaining heads via the counterfactual Difference-in-Differences, categorizing heads into four types. Through analysis, we observe: hallucinations happen when information distribution drifts away from a healthy equilibrium in synergy heads, not strongly correlated with the quantity or strength of modality-specific heads. Motivated by this insight, HEAL injects dynamic information calibration factors into the value vectors of synergy heads, and actively regulates visual-language dependencies, steering the output distribution towards factual evidence. Extensive experiments demonstrate that HEAL effectively reduces hallucinations across multiple MLLMs, offering a simple and interpretable pathway to enhance model trustworthiness.

cs.CV↗

arXiv2026

NS-Copilot: An LLM-Driven Agent System for Autonomous Neuroscience Analysis

AI is rapidly advancing neuroscience, yet many laboratories fail to fully unleash its potential due to significant interdisciplinary barriers. While pre-trained neural models for physiological data are progressing quickly, their heterogeneous architectures and modality-specific constraints hinder systematic integration, selection, and evaluation. Despite recent advances in large language model (LLM)-based agent systems for intelligent scientific applications, existing approaches often still lack the domain expertise required to effectively select and coordinate diverse neuroscience pre-trained models and handle unique data types in this domain. We present NS-Copilot, an LLM-driven multi-agent system for neuroscience analysis that autonomously supports end-to-end workflows for diverse professional tasks. It unifies domain-specific pre-trained models and supports key neuroscience modalities, including EEG and extracellular spike data, through a natural-language interface. Given raw data and a task description, NS-Copilot orchestrates agents with specialized roles for planning, adaptive control, code generation, and result synthesis, enabling analysis without dataset-specific heuristics. We evaluate NS-Copilot on neuroscience benchmarks spanning Alzheimer's disease, Parkinson's disease, and working memory spike decoding. Across 8 trials per task, the system consistently outperforms strong baselines on the primary metric, demonstrating the ability of NS-Copilot for effective and scalable neuroscience analysis.

cs.CL↗

arXiv2026

Entire monotone solutions of the anisotropic Allen-Cahn equation in dimension 5

In this paper, we consider the anisotropic Allen-Cahn equation $-\operatorname{div} a(Du)+W'(u)=0$ in $\mathbb{R}^N$, where $a(p):=DH(p)$ with $H(p)=\frac{1}{2}F(p)^2$ and $F$ a uniformly elliptic integrand, and $W(u)=\frac{1}{4}(1-u^2)^2$. Based on the Mooney-Yang anisotropic minimal graph, we prove that the anisotropic Allen-Cahn equation admits a stable solution for $N\geq4$ in the weak sense, whose level sets are not hyperplanes. As a byproduct, we also construct a smooth solution of the above anisotropic Allen-Cahn equation for $N\geq5$ that is monotone in one direction but is not one-dimensional.

math.AP↗

arXiv2026

Evolution of Stellar Activity and Habitable Zone (EATEN): III. X-ray Activity of Dwarfs in Open Clusters and Field Stars

Stellar X-ray emission serves as a direct diagnostic of coronal activity, which is fundamentally linked to coronal heating processes. It also strongly influences the atmospheres and long-term habitability of orbiting exoplanets. Investigating how this high-energy emission evolves is therefore essential for understanding the evolution of stellar magnetic dynamos and planetary atmospheres and habitability. In this work, we investigate the evolution of X-ray activity and XUV irradiation for a sample of F-M dwarf stars based on Chandra and XMM-Newton observations. We find that F- and G-type stars broadly follow the traditional evolutionary picture of an early saturated (or weakly declining) phase followed by a modest decline, whereas K- and M-type stars exhibit a clear three-phase evolution of a saturated phase, an intermediate phase of rapid decay, and a final modest decline phase. By combining X-ray, ultraviolet, and Ca II H&K bands, we show that coronal emission becomes increasingly dominant toward lower-mass stars. Based on the cumulative XUV emission calculated from our fitted relation, planets around F- and G-type stars experience relatively moderate XUV environments, while those around K- and M-type stars may exceed the empirical cosmic shoreline shortly after reaching the main sequence, though this conclusion depends on the adopted shoreline value.

astro-ph.SR↗

arXiv2026

Flare waiting time as a novel proxy of stellar magnetic activity

Stellar flares have long served as stellar magnetic activity tracers. The flare waiting time, defined as the interval between two consecutive flares, provides a valuable diagnostic for probing underlying mechanisms of energy storage and release in stellar atmospheres. In this work, utilizing flaring M dwarfs observed by the Kepler satellite, we establish a simple yet effective activity proxy, i.e., median flare waiting time ($t_{\rm{w, med}}$). Our results show that the $t_{\rm{w, med}}$ can trace long-term activity levels similar to the flare rate. However, $t_{\rm{w, med}}$ corresponding to different waiting time percentiles may encode richer physical insights than flare rate. In addition, for the first time we construct a clear relation between $t_{\rm{w, med}}$ and stellar rotation period, which is quite similar to the canonical activity--rotation relation. More intriguingly, this relation exhibits a more notable supersaturation effect (i.e., below a critical rotation period, $t_{\rm{w, med}}$ begins to increase instead of keeping constant) compared to other activity proxies. The filling factor--rotation period relation favors poleward migration of active regions as the explanation for supersaturation, rather than coronal stripping. With the dramatic increase in stellar flares detected by missions like TESS and the upcoming Earth 2.0 satellite, $t_{\rm{w, med}}$ will become a powerful diagnostic for probing stellar magnetic activity and underlying physics.

astro-ph.SR↗

arXiv2026

SeMoCo: A Semantic-First Motion Codec for Motion Language Modeling

Discrete motion representations have substantially advanced autoregressive text-to-motion generation. However, most motion tokenizers are optimized for reconstruction and do not explicitly allocate capacity according to semantic role. Action-level meaning and fine-grained kinematic detail must therefore be encoded through the same reconstruction-driven hierarchy. We introduce SeMoCo, a semantic-first motion codec, together with a dual-axis motion generator for language-conditioned motion generation. Each motion token contains one semantic token and a residual sequence of kinematic tokens. The generator models semantic progression across time and autoregressively refines the residual entries. We also construct $\Omega$-MotionVerse, a large-scale, multi-source human-motion dataset unified under the SOMA representation. Across the reported comparisons, SeMoCo achieves the best reconstruction accuracy among the compared codecs, while strong text-to-motion results demonstrate the effectiveness of its motion tokens for downstream generation.

cs.CV↗

arXiv2026

Dual-Cache Latent Space Communication between Heterogeneous Language Models

Multi-agent LLM systems split work across models, so answering often requires knowledge that sits in another agent's context: a Sharer has encoded information that a Receiver needs to complete its task. They usually communicate by exchanging text, which puts autoregressive decoding on the critical path and reduces the exchange to a discrete message written without sight of the receiver's state. Recent latent protocols instead translate the sharer's key-value (KV) cache into the receiver's: C2C supports heterogeneous models but requires both to read the same input, while LCF-X removes this shared-context requirement through position-free sharer-cache pooling. Three restrictions remain: LCF-X compresses the sharer alone, supplies the same layer-local summary to every receiver position with no joint cross-layer memory to retrieve from, and assumes matched layer count and KV geometry. We introduce XKV, which lifts all three: learned-query attention pools both caches; self-attention over receiver-aligned layer tokens, with a learned layer map reconciling different depths, mixes the pooled summaries into a compact joint memory; and a shared position decoder lets every raw receiver cache position retrieve its own per-head-gated residual in the receiver's native KV geometry. Both models stay frozen and may differ in family, depth, KV-head count, head dimension, and tokenizer; only the translator is trained. Across 45 dataset-model-pair settings (six heterogeneous and three same-model ordered pairings, five datasets), XKV attains the highest macro score and best average rank, improving on LCF-X on every dataset (by 4.6 exact-match and 4.2 F1 points on ROPES) and surpassing text communication on four of the five, while training 76% fewer parameters and translating a cache pair 10.3x faster (5.8 vs. 59.9 ms); end to end, XKV is 26% faster than LCF-X and 6.8x faster than text communication.

cs.AI↗

arXiv2026

HarnessRisk: A Lifecycle-Oriented Benchmark for Agent Harness Safety

Large language models are increasingly deployed through agent harnesses that manage tools, extensions, persistent state, permissions, and external actions. Existing safety benchmarks mainly target individual attack mechanisms or a limited subset of operational settings, making it difficult to compare how safety failures emerge across different harness responsibilities. We present HarnessRisk, a lifecycle oriented benchmark that organizes agent harness safety into six operational phases including Harness Configuration, Capability Extension, Runtime Operation, State Persistence, Action Control, and Incident Recovery. HarnessRisk contains 128 sandboxed cases, each pairing a benign user objective with an adversarial instruction embedded in an untrusted workflow artifact. We evaluate each trajectory using Utility, Attack Success Rate, Persistence, and Detection. Across three harnesses, six language models, and 14 model and harness configurations, attack success ranges from 12.6% to 80.9%, while Utility remains between 75.0% and 97.6%. Harness Configuration is the most vulnerable phase across all three harnesses, showing that attacks can succeed by altering security sensitive parameters within otherwise authorized workflows. We also find that explicit risk recognition does not reliably lead to safe action, as some configurations detect risks in more than 90% of runs while retaining substantial attack success. These results highlight the need to evaluate agent safety across multiple harness responsibilities and at the level of the deployed model and harness configuration.

cs.CR↗

arXiv2026

UniMod: Enhancing Multi-Modal Medical Diagnosis through Cross-Modality and Within-Modality Alignment

Multi-modal learning combining medical images and clinical text is promising for disease diagnosis. However, standard multi-modal training leads to shortcut learning: models exploit the easier modality (e.g., diagnostic cues in text) while neglecting harder-to-learn features (e.g., subtle visual patterns). We propose UniMod, a framework that mitigates shortcut learning by requiring each modality to predict the diagnosis on its own. It supervises image-only, text-only, and multi-modal classification simultaneously, so each modality must extract diagnostic features. We add cross-modality alignment for knowledge transfer and within-modality supervised contrastive alignment over same-diagnosis patients. On Harvard-Glaucoma, UniMod reaches 0.850 AUC, outperforming OGM-GE and Gradient Blending by 1.6-1.8%; on CheXpert Plus, it reaches 0.966 AUC, surpassing them by over 5%. UniMod also extends to 5-class multi-label diagnosis without architectural change, improving mean AUC by 0.097 over CGGM.

cs.CV↗

arXiv2026

Impossible to hide secret ...: Uncovering Security and Privacy Issues in LLM-native IDEs

LLM-native IDEs (Integrated Development Environments), aka LIDEs, are designed from the ground up to work with Large Language Models (LLMs). LIDEs have found remarkable success in Software Engineering (SE) tasks such as coding, debugging, and program comprehension. LIDEs are software systems, and, like any system, they can exhibit vulnerabilities. In this paper, we study the security and privacy issues that developers reported while using popular LIDEs in their development tasks. We collected 1.1M posts from 29 popular subreddits related to LIDEs. We identified 446 posts and analyzed over 6K comments to the posts that discussed security and privacy issues in almost all popular LIDEs, such as Cursor, Copilot, Codex, etc. Using a mix of qualitative and quantitative methods, we constructed a taxonomy of the reported security and privacy issues. Our results show that most issues in LIDEs stem from system-level design choices, rather than the underlying LLMs, such as user data access, unchecked autonomous actions, etc. To overcome these issues, developers frequently relied on external safeguards like code sandboxing and manual reviewing, highlighting prevalent mistrust among developers about LIDEs. We share lessons from our study to support future design of secure and privacy-aware LIDEs.

cs.SE↗

arXiv2026

MATS: A novel multi-modality multi-task learning framework for 3D perception in autonomous driving

Multi-modality data from different sensors provides rich complementary information for 3D perception, becoming an essential component in reliable autonomous driving systems. Current research typically designs intricate and complex fusion strategies to integrate information from multimodal data on a unified bird's-eye-view (BEV) feature map for the joint learning of multiple perception tasks. However, such a single feature map hardly carries sufficient information to simultaneously meet the requirements of various perception tasks, leading to a very limited perception performance. To mitigate this limitation, this paper proposes MATS, a novel multi-modality multi-task learning approach with modality-adaptive BEV fusion and task-specific Mixture-of-Experts (MoE) for 3D perception. Specifically, a simple modality-adaptive BEV fusion module is designed to adaptively recalibrate the BEV features by modeling the global cross-modality dependencies, generating diverse BEV feature maps for various perception tasks. For joint multi-task learning, this paper proposes a task-specific MoE module to decouple the tasks and enable the network to automatically choose the appropriate BEV feature candidates for each specific task. To validate the effectiveness of the proposed approach, we conduct extensive experiments on the large-scale benchmark nuScenes. With the camera- and LiDAR-modality input data, the proposed approach outperforms the state-of-the-art (SOTA) by a significant margin. Furthermore, the experimental results on the single tasks show that the proposed approach significantly outperforms the baselines. The code and trained models will be available upon publication.

cs.CV↗

arXiv2026

Token-Wise Latent Streaming from Slow Reasoners to Fast Planners for Dynamic Vision Language Navigation

Vision-Language Navigation in dynamic, human-centric environments exposes a fundamental tension: linguistic reasoning is slow and deliberative, whereas safe, socially compliant planning should be instant and reactive. The resulting observation staleness is safety-critical: a maneuver chosen during inference can already be unsafe by the time it executes. We observe that, long before a VLM finishes its inference, its intermediate hidden states already encode action-relevant intent. We propose SPARK-VLN, a dual-system framework for dynamic social VLN that streams the slow VLM reasoner's knowledge to a fast flow-matching expert planner throughout token generation, providing fresh and evolving guidance during inference. This design is realized by three modules: a Token-Wise Hidden Streamer that extracts intermediate hidden states along the token generation process, a Sequence-to-Slot Latent Bridge that projects them into fixed-size latent slots, and an Evolving Latent Conditioner that infuses them into the expert planner. We also introduce a human-centric benchmark suite for dynamic social vision-language navigation that keeps pedestrians and the robot active throughout inference and reports navigation success, social compliance, human collisions, and explicit staleness statistics. Across these settings, SPARK-VLN mproves navigation success and social compliance while sustaining inference efficiency. Webpage: https://hutslib.github.io/SPARK-VLN/.

cs.RO↗

arXiv2026

Are All Tokens Necessary for Visual Place Recognition? An Empirical Study of Token Reduction for Efficient Inference

Recent visual place recognition (VPR) methods based on vision transformers, particularly foundation models, have achieved remarkable recognition performance. However, these models process all visual tokens throughout the entire network, resulting in substantial computational overhead, which hinders their deployment in real-time and resource-constrained scenarios. A natural question thus arises: are all visual tokens necessary for VPR? To answer this question, we present the first systematic benchmark of token reduction for efficient visual place recognition. Our benchmark comprehensively evaluates representative token pruning, token merging, and hybrid pruning-merging methods across multiple state-of-the-art VPR models and diverse benchmark datasets covering urban, suburban, and natural environments. We further investigate token reduction from multiple perspectives, including recognition performance under different reduction configurations, computational complexity, inference speed, qualitative visualization, and deployment efficiency on edge devices. Through extensive experiments and in-depth analysis, our benchmark reveals multiple important characteristics of token reduction in VPR and provides several practical insights into the trade-offs between accuracy and inference efficiency. For example, token reduction can reduce computational cost by up to 29\% and improve throughput by up to 44\%, while incurring less than 1\% degradation in recognition accuracy. Overall, this work establishes a comprehensive foundation for future research on token-efficient VPR and efficient visual retrieval systems. Our codes and models will be available at https://github.com/Tong-Jin01/TokenReduction4VPR

cs.CV↗

arXiv2026

JoyNexus: Service-Oriented Multi-Tenant Post-Training for VLA Models

The post-training of Vision-Language-Action (VLA) models is essential due to the diversity of simulators, robot embodiments, and task objectives. Existing compute services, whether offered as direct accelerator rental or batch-workload submission, typically allocate an exclusive set of GPU and CPU resources to a single tenant. While this paradigm maximizes client flexibility, it burdens users with infrastructure adaptation, and the fixed card-hour accounting model renders short or bursty workloads both expensive for tenants and inefficient for the service provider. To address these challenges, we present JoyNexus, a unified service for multi-tenant VLA supervised fine-tuning, reinforcement learning, and evaluation. JoyNexus decouples the Training Model Service, Inference Model Service, and Environment Service, each accessed through APIs and backed by resident shared base models with tenant-specific slots. Tenants can directly invoke high-level semantic APIs for training, rollout, and evaluation, or compose custom algorithms using lower-level APIs and their assigned endpoints. Multiple tenants submit workloads concurrently; their action modules, optimizers, rollout records, and policy versions remain isolated, and the service is scheduled by the global Training Queue and Inference Queue. To further improve multi-tenant training efficiency, JoyNexus introduces group batching for heterogeneous VLA data schemas that share a compatible model-facing prefix, enabling a single shared backbone forward pass over grouped samples. Finally, we evaluate JoyNexus through workload simulation and a group-batching pipeline in a realistic embodied scenario. Results show that, compared with isolated single-tenant execution, JoyNexus reduces aggregate GPU time and improves service utilization via cross-tenant scheduling on shared resources.

cs.DC↗

arXiv2026

Selectivity Drives Efficiency: Dataset Pruning for Visual Place Recognition

Recent visual place recognition (VPR) studies have increasingly relied on large-scale datasets to train more robust and discriminative models. Although this trend significantly improves recognition performance, it also introduces substantial storage and training costs, especially when new architectures or training strategies need to be repeatedly developed and evaluated. Dataset pruning (DP) provides a promising way to improve data efficiency by retaining only informative training data. However, conventional DP methods mainly follow the sample-wise classification paradigm, which overlooks the relation-dependent training nature of VPR, where supervision is typically formed by image pairs rather than independent images. To address this issue, we propose a place-wise dataset pruning framework tailored for VPR. Instead of pruning individual images, our method treats each place as the basic pruning unit and introduces two complementary novel metrics, i.e., intra-place diversity (IPD) and inter-place similarity (IPS), to evaluate the training value of each place. By jointly considering these two metrics, our method ranks all places and constructs a compact yet informative coreset, thereby allowing the pruned dataset to still support the training of robust and discriminative VPR models. Extensive experiments demonstrate that our method consistently outperforms state-of-the-art DP baselines under different pruning ratios while reducing selection and training costs. Moreover, by pruning a merged dataset roughly 3.5$\times$ the size of GSV-Cities to a comparable scale, our coreset maintains highly competitive performance, achieving 94.5\% R@1 on MSLS-val and 97.0\% R@1 on Nordland with only NetVLAD. Codes will be made publicly available.

cs.CV↗

arXiv2026

Unveiling the nature of G6096: a likely hierarchical triple system

G6096 (Gaia DR3 609651611028044544) was recently reported as a wide ($P\sim 450$ days) and eccentric ($e\sim0.18$) binary possibly hosting a massive white dwarf or neutron star. In this work, through analyses of the projected rotational velocity between the blue and red bands, spectral disentangling, joint radial velocity and astrometric fitting, and X-ray emission, we suggest that the system contains additional visible component(s) rather than a compact object. We develop a new approach to reveal the nature of G6096 by jointly modeling the spectral energy distribution, rotational velocity, and astrometric measurements. Finally, we speculate that G6096 is a hierarchical triple main-sequence star system, comprising a primary with a mass of $\sim 0.75\,M_\odot$ orbited by an inner binary consisting of two dwarfs with masses of $\sim 0.62\,M_\odot$ and $\sim 0.40\,M_\odot$, respectively. This method may help reveal a population of triple systems when applied to {\it Gaia} astrometric data, particularly the upcoming DR4.

astro-ph.SR↗