arXiv subjects

Song Wang

Publications and source records attributed to Song Wang.

At least 37 records · Page 2Linked to original sources

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

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

Generalist Graph Anomaly Detection via Prototype-Based Distillation

Driven by the pressing demand for graph anomaly detection (GAD) in high-stakes domains, the generalist GAD paradigm, which trains a single detector transferable across new graphs, has recently gained growing attention. However, existing methods often rely on scarce and costly annotations for training and sometimes even require few-shot support at inference, which limits their robustness to diverse and unseen anomaly patterns. To address this limitation, we introduce ProMoS, the first unsupervised generalist GAD framework, which detects anomalies by modeling the abundant normality in unlabeled data. ProMoS adopts a knowledge-distillation paradigm to distill normality priors from a frozen self-supervised graph neural network (GNN) teacher to a mixture-of-students model with shared global and lightweight personalized branches, enabling efficient and expressive normality modeling without learning from scratch. We further propose prototype-guided soft-label distillation to align teacher and student in a shared prototype space, enhancing cross-graph generalizability. During inference, ProMoS performs zero-shot anomaly detection on unseen graphs via distillation bias and prototype geometric deviation. Extensive experiments show the effectiveness and efficiency of ProMoS, charting a practical path toward label-free, zero-shot generalist GAD.

cs.LG↗

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

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 $Ω$-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

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

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

SAF3R: Dynamic Sparse Attention for Feed-Forward 3D Reconstruction Transformers

Feed-forward 3D reconstruction (F3R) transformers have recently achieved remarkable success. However, scaling them to long image sequences remains challenging, as the quadratic complexity of cross-view global attention quickly becomes the dominant computational bottleneck. While recent efforts attempt to improve efficiency through compressed or sparse attention, they fail to fully exploit the inherent sparsity and dynamic behavior of global attention. In this work, we present a comprehensive analysis of global attention across multiple F3R transformers and reveal that attention patterns are highly heterogeneous, dynamic, and extremely sparse across layers and attention heads. Motivated by these findings, we propose SAF3R, a training-free dynamic sparse attention framework tailored to F3R transformers. SAF3R integrates tailored sparse attention mechanisms with offline head profiling and an efficient online adaptation strategy to match input-dependent attention behaviors. Extensive experiments demonstrate that SAF3R achieves high sparsity ratios while preserving camera pose estimation and 3D reconstruction quality, translating into substantial end-to-end speedup on F3R transformers compared to existing methods. Code is available at https://github.com/jndeng/SAF3R

cs.CV↗

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

Uncertainty in a Single Pass: A Closed-Form Identity for One-Step Flow Matching

Flow matching provides a highly effective framework for generative modeling, yet estimating the uncertainty of its generated samples remains a fundamental challenge. Existing methods rely on auxiliary variance heads, model ensembles, or iterative covariance propagation, which invariably introduce accumulated errors and structural interference along the noise-to-image trajectory. We resolve these limitations by adapting Tweedie's formula to the linear flow matching interpolant, yielding an exact, closed-form identity for the posterior covariance. Because this identity relies exclusively on the divergence of the learned velocity field, it can be evaluated post hoc on pretrained models without any architectural modifications. This analytical formulation proves exceptionally powerful for single-step generative frameworks. By computing the end-to-end posterior covariance in one forward pass, our approach completely bypasses the compounding errors inherent to sequential integration. This mechanism fundamentally enhances robustness, providing highly accurate and stable uncertainty estimates while preventing the numerical degradation typical of multi-step approximations. We validate our framework across benchmark datasets, including CIFAR-10 and real brain MRI scans. The resulting divergence-based uncertainty maps are highly interpretable and tightly correlated with empirical reconstruction errors. Crucially, in medical imaging, this precise localization of structural ambiguity provides essential decision support for high-stakes clinical tasks such as tumor boundary delineation and neurosurgical planning.

cs.LG↗

arXiv2026

LogicIF: Towards Complex Logic Instruction Following

Instruction following has catalyzed the recent era of Large Language Models (LLMs) and is the foundational skill underpinning more advanced capabilities such as reasoning and agentic behaviors. As tasks grow more challenging, the logic structures embedded in natural language instructions becomes increasingly intricate. However, how well LLMs perform on such logic-intensive instructions remains under-explored. We propose Logic Instruction Following (LogicIF), a task requiring models to precisely follow and simulate every logic step within complex instructions. To generate these instructions, we construct LogicIFGen, a scalable, automated framework for generating verifiable instructions from code functions, which can naturally express rich logic such as conditions, loops, nesting, and function calls. Using this framework, we curate a collection of complex code functions to construct LogicIFEval, a benchmark comprising 426 verifiable, human-examined, logic-rich instructions. Our experiments demonstrate that current state-of-the-art LLMs still struggle to correctly follow the instructions in LogicIFEval. Most LLMs can only follow fewer than 60% of the instructions, revealing significant deficiencies in their capacity to handle instructions that involve complex logic structures. To further demonstrate the efficacy of our framework, we collect an extensive set of code functions across a wide range of logic difficulties to generate LogicIFTrain, a fully synthesized training set featuring 27,324 verifiable instructions. Our results show that a model trained on LogicIFTrain using reinforcement learning significantly outperforms the base model on both in-domain and out-of-domain benchmarks. All the data, codes and models are released at https://github.com/mianzhang/LogicIF.

cs.CL↗

arXiv2026

BloomAPR: A Bloom's Taxonomy-based Framework for Assessing the Capabilities of LLM-Powered APR Solutions

Recent advances in large language models (LLMs) have accelerated the development of AI-driven automated program repair (APR) solutions. However, these solutions are typically evaluated using static benchmarks such as Defects4J and SWE-bench, which suffer from two key limitations: (1) the risk of data contamination, potentially inflating evaluation results due to overlap with LLM training data, and (2) limited ability to assess the APR capabilities in dynamic and diverse contexts. In this paper, we introduced BloomAPR, a novel dynamic evaluation framework grounded in Bloom's Taxonomy. Our framework offers a structured approach to assess the cognitive capabilities of LLM-powered APR solutions across progressively complex reasoning levels. Using Defects4J as a case study, we evaluated two state-of-the-art LLM-powered APR solutions, ChatRepair and CigaR, under three different LLMs: GPT-3.5-Turbo, Llama-3.1, and StarCoder-2. Our findings show that while these solutions exhibit basic reasoning skills and effectively memorize bug-fixing patterns (fixing up to 81.57% of bugs at the Remember layer), their performance increases with synthetically generated bugs (up to 60.66% increase at the Understand layer). However, they perform worse on minor syntactic changes (fixing up to 43.32% at the Apply layer), and they struggle to repair similar bugs when injected into real-world projects (solving only 13.46% to 41.34% bugs at the Analyze layer). These results underscore the urgent need for evolving benchmarks and provide a foundation for more trustworthy evaluation of LLM-powered software engineering solutions.

cs.SE↗

arXiv2026

A Survey of Agent Memory in the Second Half: Towards Self-Evolving and Long-Horizon Agents

Research in artificial intelligence is shifting from model innovations and benchmark scores towards problem definition and rigorous real-world evaluation. As the field enters the "second half," the central challenge becomes real utility in long-horizon, dynamic, and user-dependent settings such as agentic coding, deep research, and computer use, where LLM-based agents face context explosion beyond fixed context windows and must continuously accumulate, manage, and selectively reuse information across extended interactions. Memory, with hundreds of papers released in 2025, therefore emerges as the critical solution to fill this utility gap. Beyond passive storage, memory is increasingly the substrate through which agents self-evolve: short-term memory gates which experiences are perceived and abstracted during execution, while long-term memory consolidates them into reusable knowledge and skills, forming the loop through which agents improve from their own experience. In this survey, we provide a unified view of foundation agent memory along three dimensions: memory substrate (internal parametric state and external retrieval-augmented stores), cognitive mechanism (sensory, working, episodic, semantic, and procedural), and memory subject (user-centric personalization and agent-centric experience). We then analyze how memory is operated under single- and multi-agent topologies and highlight learning policies over memory operations, showing how memory management itself is becoming a trainable capability spanning reinforcement-learned context curation, experience consolidation at decision time, and the emerging ecosystem of portable, shareable agent skills. Finally, we review evaluation benchmarks and metrics for memory utility, and outline open challenges and future directions.

cs.CL↗

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

3D and 4D World Modeling: A Survey

World modeling has become a cornerstone in AI research, enabling agents to understand, represent, and predict the dynamic environments they inhabit. While prior work largely emphasizes generative methods for 2D image and video data, they overlook the rapidly growing body of work that leverages native 3D and 4D representations such as RGB-D imagery, occupancy grids, and LiDAR point clouds for large-scale scene modeling. At the same time, the absence of a standardized definition and taxonomy for "world models" has led to fragmented and sometimes inconsistent claims in the literature. This survey addresses these gaps by presenting the first comprehensive review explicitly dedicated to 3D and 4D world modeling and generation. We establish precise definitions, introduce a structured taxonomy spanning video-based (VideoGen), occupancy-based (OccGen), and LiDAR-based (LiDARGen) approaches, and systematically summarize datasets and evaluation metrics tailored to 3D/4D settings. We further discuss practical applications, identify open challenges, and highlight promising research directions, aiming to provide a coherent and foundational reference for advancing the field. A systematic summary of existing literature is available at https://github.com/worldbench/awesome-3d-4d-world-models

cs.CV↗

arXiv2026

AI for Auto-Research: Roadmap & User Guide

AI-assisted research is crossing a threshold: fully automated systems can now generate research papers for as little as $15, while long-horizon agents can execute experiments, draft manuscripts, and simulate critique with minimal human input. Yet this productivity frontier exposes a deeper integrity problem: under scientific pressure, even frontier LLMs still fabricate results, miss hidden errors, and fail to judge novelty reliably. Studying developments through April 2026, we present an end-to-end analysis of AI across the complete research lifecycle, organized into four epistemological phases: Creation (idea generation, literature review, coding & experiments, tables & figures), Writing (paper writing), Validation (peer review, rebuttal & revision), and Dissemination (posters, slides, videos, social media, project pages, and interactive agents). We identify a sharp, stage-dependent boundary between reliable assistance and unreliable autonomy: AI excels at structured, retrieval-grounded, and tool-mediated tasks, but remains fragile for genuinely novel ideas, research-level experiments, and scientific judgment. Generated ideas often degrade after implementation, research code lags far behind pattern-matching benchmarks, and end-to-end autonomous systems have not yet consistently reached major-venue acceptance standards. We further show that greater automation can obscure rather than eliminate failure modes, making human-governed collaboration the most credible deployment paradigm. Finally, we provide a structured taxonomy, benchmark suite, and tool inventory, cross-stage design principles, and a practitioner-oriented playbook, with resources maintained at our project page.

cs.AI↗