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Wei Ren

Publications and source records attributed to Wei Ren.

At least 37 records · Page 2Linked to original sources
arXiv2026

Reactive Planning based Control for Mobile Robots in Obstacle-Cluttered Environments

This paper addresses the motion control problem for mobile robots in obstacle-cluttered environments. The mobile robot has partial environment information only, and aims to move from an initial position to a target position without collisions. For this purpose, a reactive planning based control strategy (RPCS) is proposed. First, the initial and target positions are connected as a reference trajectory. Then, a reactive planning strategy (RPS) is developed to ensure the collision avoidance by modifying the reference trajectory locally based on the partial environment information. Next, an adaptive tracking control strategy (ATCS) is proposed to track the reference trajectory with potentially local modifications via the discretization techniques. Finally, the RPS and ATCS are combined to establish the RPCS, whose efficacy and advantages are illustrated by numerical examples.

cs.RO↗
arXiv2026

Federated Foundation Models Fine-Tuning with Heterogeneous Compressed Clients

Federated learning of foundation models faces a fundamental resource-asymmetry challenge: the institutions holding the most valuable domain-specific data cannot host billion-parameter models. Existing heterogeneous federated approaches attempt to bridge this gap through parameter-efficient tuning, model pruning, or knowledge distillation, yet each trades away a critical property, whether full-model memory reduction, architectural self-containedness, or representational fidelity, leaving the core tension unresolved. We propose FedSLM, a parameter-centric framework for federated fine-tuning with heterogeneous compressed clients. FedSLM uses SVD-based decomposition to produce self-contained client models, whose low-rank subspaces form nested manifolds that are structurally compatible for aggregation. It then applies a two-stage protocol that synchronizes lightweight adapters within compression groups and fuses full-rank reconstructions across groups via structural alignment. Finally, a weak-to-strong elicitation step with auxiliary confidence loss transfers the aggregated knowledge to the full-scale server, while an explicit bias--variance trade-off mitigates compression artifacts. We provide theoretical guarantees for adapter-level aggregation, subspace-alignment bounds for cross-group fusion, and a characterization of how the confidence loss mitigates weak-supervision noise. Experiments on natural language and vision--language benchmarks show that FedSLM outperforms existing federated baselines under both IID and non-IID partitions, while client models operate at roughly 50% of the GPU memory required by the full model.

cs.LG↗
arXiv2026

Switchable Altermagnetism via Spin-Induced Improper Polarization

Enabling reversible spin-splitting switching in stray-field-free altermagnets is promising for spintronic applications, but currently limited to a narrow class of polar materials. We propose a broader approach based on spin-induced improper polarization in nonpolar dual-sublattice magnets. We demonstrate this mechanism in DyFeO3, where the product of nonpolar Fe and Dy spin modes transforms as an induced polar mode. Density functional theory shows that the relative Dy--Fe spin alignment selects the polarization, while the Fe sublattice controls nonrelativistic spin splitting, thus enabling reversible switching. These results establish spin-induced improper polarization as a route to switchable altermagnetism in nonpolar bulk systems.

cond-mat.mtrl-sci↗
arXiv2026

WuYuEval: A Multi-Level Benchmark for Large Language Models in Solid Waste Management

Large language models (LLMs) are increasingly used as technical assistants, but their competence in solid waste management (SWM) remains difficult to assess because existing benchmarks emphasize general knowledge rather than professional decisions under engineering, environmental, and policy constraints. We introduce WuYuEval, a multi-level benchmark for evaluating LLMs in SWM across foundational knowledge, domain reasoning, and expert decision-making. After quality auditing, WuYuEval contains a Foundation Module with 4,590 closed-ended multiple-choice questions across six task types and eight domain categories, together with an Expert Module with 247 scenario-based open-ended questions involving multi-objective optimization, constraint trade-offs, and system design. For expert tasks, we combine anchor-calibrated LLM-as-a-Judge scoring with Elo-based pairwise comparison. Across 33 LLMs, performance varied widely. The leading model reached 94.64\% accuracy on the Foundation Module, but average accuracy still fell from 84.14\% on easy questions to 42.50\% on hard questions, with lower performance concentrated in calculation, experimental design, urban planning, and open-ended expert tasks. Reasoning-oriented Thinking modes improve most matched model pairs after auditing, but the gains depend on baseline capability and are not uniformly positive. These results suggest that visible deliberation helps only when it remains anchored to units, assumptions, and engineering constraints; otherwise, it may drift from decisive answer boundaries. WuYuEval therefore provides both an evaluation resource and an empirical basis for developing SWM-oriented foundation models with professional reasoning chains and explicit constraint control.

cs.CL↗
arXiv2026

Human-in-the-Loop Distributed Control of Grid-Interactive Buildings for Demand Response Participation

This paper proposes a human-in-the-loop distributed consensus control approach for demand-side management across multiple buildings. Specifically, a novel framework is introduced in which a human acts as the non-autonomous leader in consensus control of cooperative buildings participating in demand response programs. In this system, the facility manager in the facility building serves as the leader, determining the participation level of cooperative buildings in demand response events while simultaneously considering occupants' comfort. Cooperative buildings align their responses with the facility management building, despite lacking direct access to the facility manager's decisions, which presents a challenge for observer design. To address this, a nonlinear unknown input sliding-mode observer is proposed, tailored for leader-follower multi-agent systems (MASs). Furthermore, a human-in-the-loop leader-follower consensus protocol is introduced, enabling a framework to flexibly manage energy use and balance thermal comfort during demand response events. Simulation results validate the effectiveness of the proposed approach, demonstrating its ability to achieve consensus, maintain system performance, and enhance the adaptability of power grid operations under various demand response scenarios.

eess.SY↗
arXiv2026

CHMAS: A Coupled Hierarchical Framework for Multi-Agent Reinforcement Learning

Multi-agent reinforcement learning (MARL) systems face fundamental challenges in balancing global coordination with local execution across different temporal scales. This paper introduces the Coupled Hierarchical Multi-Agent System (CHMAS), a novel framework that decomposes multi-agent decision-making into centralized strategic planning and distributed tactical execution with bidirectional information flow. The strategic layer integrates all agents' states with an exclusive global environmental state to generate guidance actions every $T$ timesteps, while tactical agents execute distributed policies augmented by strategic guidance and local neighborhood observations. Unlike existing hierarchical approaches with unidirectional control, CHMAS establishes a feedback mechanism where accumulated tactical rewards influence strategic objectives through a coupling coefficient $λ$, ensuring strategic plans remain grounded in tactical feasibility. To address the non-stationarity inherent in hierarchical learning, we propose an asynchronous update protocol where strategic parameters update every $N_f$ tactical episodes, allowing tactical policies to converge to quasi-stationary points between strategic changes. We present both a general bi-level formulation capturing full system dynamics and a tractable additive approximation enabling rigorous analysis. Theoretical analysis proves that this asynchronous scheme achieves $\mathcal{O}(\log K/\sqrt{K})$ convergence for the strategic layer after $K$ strategic updates under standard assumptions. Experimental validation in a multi-agent foraging domain demonstrates successful learning of spatially partitioned exploration strategies, with both layers converging stably despite hierarchical coupling.

cs.MA↗
arXiv2026

Optimal Safety Control using High-Order Control Barrier Functions

This paper investigates the optimal safety control problem of nonlinear control systems by proposing novel high-order control barrier functions (HOCBFs). Different from zeroing HOCBFs, two novel HOCBFs are derived and the safety controllers are designed in an explicit way. Next, we implement vector Lyapunov function approach to propose a novel high-order control Lyapunov function (HOCLF) for the stabilization control problem. The relations between the proposed and existing HOCBFs are discussed. Afterwards, the compatibility of the proposed HOCLF and HOCBF is addressed to guarantee the stabilization and safety control objectives simultaneously, and thus the optimal controller is established. Finally, a numerical example from the navigation problem of quadrotors is presented to illustrate the efficacy of the derived results.

eess.SY↗
arXiv2026

How to Train a Real-World Silicon Concierge? Internalizing Complex Business Workflow to Only OneModel

Traditional industrial agents rely on modular pipelines, including Router, Retriever, Planner, Executor, Responder, Reviewer, and other components. These systems often fracture into a labyrinth of ad-hoc patches, leading to cascading errors and high latency. We propose OneModel, an applicable paradigm shift from external workflows to internalized knowledge representation. Unlike modular systems that slice fluid user intents into static steps, OneModel consolidates complex business logic and SOPs directly into the model parameters. Through Continual Pre-training (CPT) and logic-compilation SFT, we transform fragmented business rules into intuitive model reasoning within a unified attention space. Deployed in our global financial service system, OneModel effectively breaks the trade-off between latency, accuracy, and complexity. Online A/B testing demonstrates an end-to-end latency reduction of more than 50 percent, from 18.7 seconds to 8.0 seconds, while the Intelligent Resolution Rate (IRR) increases from 64.3 percent to 83.3 percent. The results show that OneModel can replace brittle engineering logic with internalized cognitive intuition, offering a scalable blueprint for transitioning industrial agents from complex, error-prone workflows to unified model architectures.

cs.CL↗
arXiv2026

Ferroelectric polarization controlled orbital Hall conductivity in a higher-order topological insulator: \textit{d1T}-phase monolayer MoS$_2$

The higher-order topological insulator is an extended concept of the conventional topological insulator, which obeys the generalization of the standard bulk-boundary correspondence. In our paper, we predict the monolayer \textit{d1T}-phase transition metal dichalcogenide MoS$_2$ to be a higher-order topological insulator, while also possessing intriguing ferroelectric characteristics. We explicitly demonstrate the nontrivial topological index and reveal the hallmark corner states with quantized fractional charge within the bulk band gap. Second, we show the existence of a nonzero orbital Hall conductivity plateau within the energy gap which is a signature to identify higher-order topology system. Additionally, we investigate the relationship between the ferroelectricity and the orbital Hall conductivity of \textit{d1T} MoS$_2$ and find that the direction of ferroelectric polarization can modulate the positive and negative values of the orbital Hall conductivity $σ_{\rm{OH}}^x$. Our findings provide the theory and material candidate for ferroelectricity tunable orbital Hall effect which is promising to realize the external electric field controllable orbitronics.

cond-mat.mtrl-sci↗
arXiv2026

Observation of flat-bottom U-shaped energy gap in high-Tc nickelate (La,Pr)3Ni2O7 thin films

The discovery of high transition temperature (high-Tc) superconductivity in Ruddlesden-Popper (R-P) bilayer nickelates under high pressure has stimulated extensive work to understand the underlying mechanism and search for superconductors with higher Tc. The recent realization of superconductivity in R-P bilayer nickelate thin films with onset Tc above 40 K at ambient-pressure enables the use of a wide array of powerful experimental tools to investigate the unconventional high-Tc superconductivity in bilayer nickelates. Here, using ultra-low temperature scanning tunneling microscopy/spectroscopy (STM/S) and electrical transport study, we report the first successful observation of an energy-symmetric, flat-bottom U-shaped gap with zero residual density of states around the Fermi level in the high-Tc nickelate (La,Pr)3Ni2O7 thin film grown on SrLaAlO4 substrate. Before and after STM/S studies, transport measurements on the same sample reveal consistent superconducting behaviors showing zero resistance, with an onset Tc above 40 K and zero resistance Tc above 20 K. The tunneling spectra exhibit highly unconventional temperature evolution, characterized by a rapid filling of the U-shaped energy gap to a V-shaped gap as the temperature increases. Furthermore, the U-shaped energy gap is reduced under a c-axis magnetic field of 14 T. The energy-symmetric U-shaped gap, taken together with its dependence on magnetic field and temperature, is consistent with the behavior of a superconducting gap, suggesting a nodeless gap function at ultra-low temperatures. Our findings shed new lights on the nature of high-Tc superconductivity and provide an encouraging and thought-provoking hint for a local superconductivity with Tc above liquid nitrogen boiling temperature in nickelate superconductors at ambient or zero pressure.

cond-mat.supr-con↗
arXiv2026

Probing the Chirality of Trigonal Selenium and Tellurium by Spin and Orbital Hall Effects

Chiral crystals exhibit enantiomer-dependent transport phenomena that generate pure spin or orbital currents, while the handedness sensitivity of spin and orbital Hall conductivities (SHC/OHC) remains insufficiently understood. Using first-principles calculations, we demonstrate that trigonal selenium and tellurium -- prototypical chiral semiconductors -- exhibit opposite signs of the SHC/OHC tensor elements $σ_{yx}^{S_y}$ and $σ_{yx}^{L_y}$ between their left- and right-handed enantiomers. This behavior originates from the mirror operation relating the two structures, described by space groups $P3_221$ (left-handed) and $P3_121$ (right-handed). Although both enantiomers share identical band structures and four nonzero SHC/OHC tensor components, $σ_{yx}^{S_y}$ and $σ_{yx}^{L_y}$ reverse sign due to the antisymmetric transformation of the spin/orbital Berry curvature under the $M_{xy}$ mirror operation. More generally, for mirror-related enantiomorphic structures, selected SHC/OHC tensor components can exhibit symmetry-governed sign reversal. For trigonal Se and Te, the calculated signs of these components can be directly correlated with the left- and right-handed structures under the chosen coordinate convention. These results clarify the symmetry origin of handedness-dependent SHC/OHC and suggest a possible route for correlating measurable SHC/OHC signals with structural handedness in specific chiral materials.

cond-mat.mtrl-sci↗
arXiv2026

Tunable Dual-Type Weyl Points in Dirac-Weyl Semimetal CaAgBi

Dirac-Weyl semimetals host both Dirac and Weyl fermions and the exploration of material candidates with tunable topological properties is essential to realize topological spintronic devices. In this work, we propose CaAgBi as a Dirac-Weyl semimetal with tunable type-I and type-II Weyl points based on first-principle calculations. In addition to the three pairs of Dirac points located along the rotational axis as previously reported, our calculations reveal 18 additional pairs of dual-type Weyl points distributed across three distinct planes: type-I in the $k_z=0$ plane and type-II in the $k_z= \pm 0.0698\,\frac{2π}{c}$ planes. The topological features are further confirmed through chirality of the Weyl points as well as the existence of surface Fermi arcs. Moreover, we find that the position and annihilation of Dirac and Weyl points are tunable by the alloy engineering and external strains. The alloy engineering is employed to modulate the positions of Weyl points, revealing different annihilation concentrations for type-I and type-II Weyl points, potentially offering novel experimental strategies for Weyl point manipulation. Under tensile biaxial strain, the Weyl points in the $k_{z}=0$ plane annihilate along the $Γ$--$\mathrm{M}$ path at $2.1\%$ strain, whereas the Weyl points in the $k_{z}\neq 0$ planes remain robust within $6\%$ strain. This work provides a versatile platform for manipulating Dirac/Weyl interactions, with spin-orbit coupling (SOC) driven alloy control and strain-selective engineering opening avenues for topological electronics.

cond-mat.mtrl-sci↗
arXiv2026

Optimal Planning and Control under Signal Temporal Logic Specifications

This paper addresses the planning and control problem for nonlinear systems under Signal Temporal Logic (STL) specifications. We first decompose an STL task into finite local tasks. A sampling-based method generates sequences of local waypoints to satisfy all local tasks, from which the corresponding satisfaction pair sets are derived. Following a local-to-global strategy, all sequences of local waypoints are synthesized into a global one, based on which a safe corridor is then constructed. Leveraging the safe corridor and the satisfaction pair sets, an optimization problem is formulated and solved to derive a position trajectory that satisfies the STL task. Finally, numerical examples and comparative results are presented to demonstrate the efficacy of the proposed approach.

eess.SY↗
arXiv2026

A Characterization of Integral Input-to-state Stability for Hybrid Systems with Memory

This paper addresses characterizations of Integral Input-to-State Stability (iISS) for hybrid systems with memory. Based on the Krasovskii approach, a novel Lyapunov characterization of iISS is established to extend the hybrid system theory to the time-delay case. In particular, we introduce the notions of dissipativity, detectability and storage functional to describe the iISS property from different perspectives. Under mild regularity and convexity assumptions, the equivalence relations among diverse stability descriptions are established, which lays a solid foundation for the control design. Finally, a numerical example is presented to illustrate the derived results.

eess.SY↗
arXiv2026

Quillen equivalence for chain homotopy categories induced by balanced pairs

For a balanced pair $(\mathcal{X},\mathcal{Y})$ in an abelian category, we investigate when the chain homotopy categories ${\bf K}(\mathcal{X})$ and ${\bf K}(\mathcal{Y})$ are triangulated equivalent. To this end, we realize these chain homotopy categories as homotopy categories of certain model categories and give conditions that ensure the existence of a Quillen equivalence between the model categories in question. We further give applications to cotorsion triples, Gorenstein projective and Gorenstein injective modules, as well as pure projective and pure injective objects.

math.RT↗
arXiv2026

Polarization Engineering of the Orbital Hall Conductivity in Two-dimensional Ferroelectric Higher-Order Topological Insulator Tl$_2$S and SnS

Ferroelectric higher-order topological insulators (HOTIs) exhibit tunable physical properties arising from the interplay between ferroelectric polarization and band topology. This work investigates the topological origin of two classes of two-dimensional (2D) ferroelectric HOTIs with out-of-plane or in-plane polarization, revealing their distinct orbital transport behaviors and the mechanism for engineering orbital Hall conductivity (OHC) via polarization control. Our results demonstrate the unique role of polarization in modulating both the higher-order band topology and orbital transport. A strong coupling between in-plane polarization and higher-order topology is identified, establishing in-plane polarization as an intrinsic means to reversibly switch the OHC plateau within the band gap. Using Tl$_2$S and SnS as representative models of the two HOTI types, we demonstrate persistent and electrically switchable orbital transport, respectively. Our study advances the understanding of the coupling among ferroelectricity, higher-order topology, and orbital transport, offering new avenues for controllable orbitronics.

cond-mat.mtrl-sci↗
arXiv2026

Seeing No Evil: Blinding Large Vision-Language Models to Safety Instructions via Adversarial Attention Hijacking

Large Vision-Language Models (LVLMs) rely on attention-based retrieval of safety instructions to maintain alignment during generation. Existing attacks typically optimize image perturbations to maximize harmful output likelihood, but suffer from slow convergence due to gradient conflict between adversarial objectives and the model's safety-retrieval mechanism. We propose Attention-Guided Visual Jailbreaking, which circumvents rather than overpowers safety alignment by directly manipulating attention patterns. Our method introduces two simple auxiliary objectives: (1) suppressing attention to alignment-relevant prefix tokens and (2) anchoring generation on adversarial image features. This simple yet effective push-pull formulation reduces gradient conflict by 45% and achieves 94.4% attack success rate on Qwen-VL (vs. 68.8% baseline) with 40% fewer iterations. At tighter perturbation budgets ($ε=8/255$), we maintain 59.0% ASR compared to 45.7% for standard methods. Mechanistic analysis reveals a failure mode we term safety blindness: successful attacks suppress system-prompt attention by 80%, causing models to generate harmful content not by overriding safety rules, but by failing to retrieve them.

cs.CV↗
arXiv2026

Re-refinement of the structure of the planar hexagonal phase of ZnO nanocrystals

The planar hexagonal phase of ZnO, known as h-ZnO, g-ZnO, α-ZnO, the Bk structure, the 5-5 phase, the α-BN phase, etc., has P63/mmc symmetry and is implicated in ferroelectric switching mechanisms for wurtzite-ZnO. It is well-known in thin films on substrates and to be stabilized by external pressure, but critical is its possible existence in high-purity nanocrystals under ambient conditions. Indeed, a crystal structure has been reported, but this work remains controversial as first-principles calculations predict very different structural properties. Herein, the original experimental data is re-refined, through phase-shift determination and Morlet wavelet transformation, that molecular dynamics simulations associate with a P63/mmc structure with lattice parameters at room temperature of a = 3.45{\pm}0.02 Å and c = 4.46{\pm}0.02 Å. These values are 0.35 Å and 0.80 Å, respectively, larger than those previously reported and in good agreement with computational predictions. This confirms that ZnO nanocrystals can form a metastable planar hexagonal phase. It provides key information pertaining to polarization switching in ZnO, its derivatives, and general wurtzite-structured materials.

cond-mat.mtrl-sci↗