SearcharxivSearch

arXiv subjects

Wei Yin

Publications and source records attributed to Wei Yin.

At least 19 recordsLinked to original sources

Spread of Chronic Wasting Disease under Stochastic Environmental Conditions and its Control using Deep Reinforcement Learning

Chronic wasting disease (CWD) is a fatal prion disease affecting deer, elk, moose, reindeer, muntjac, and other cervids. Because free-ranging cervid populations face environmental variability and randomness, deterministic models may miss important dynamics like stochastic fade-out. We develop a stochastic Susceptible-Infectious-Environmental model using differential equations with reflection to ensure the susceptible class remains non-negative. We examine how environmental variability influences cervid populations as CWD pressure and control measures increase. For the deterministic model, we derive the basic reproduction number as the sum of direct and environmental contributions, showing the endemic phase arises at R0=1. For the stochastic system, we establish local well-posedness, positivity, and the disease-free law. The top Lyapunov exponent for invasion remains unaffected by reflection. We evaluate CWD mitigation using a deep reinforcement learning agent trained with Proximal Policy Optimization in a hybrid action space, comparing hunting, decontamination, and combined strategies. In the deterministic case, hunting alone can control the disease but reduces the population by about 58%, while decontamination requires sustained effort. The combined policy more than doubles the cervid population and nearly eliminates infection and contamination. In the stochastic case, the policy contains the disease in about 80% of runs, with 10% experiencing large outbreaks; effectiveness decreases as noise increases. Across all scenarios, the agent consistently emphasizes environmental decontamination, the key control method.

q-bio.PE

Exact branch-transfer criterion for common-mode Thomson heat cancellation in thermoelectric couples

Thermoelectric p- and n-type legs are commonly paired by matching their Seebeck magnitudes, although a cooler responds to heat transported through its complete electrical and thermal network. We decompose the leg coefficients into differential thermopower $\alpha=S_p-S_n$ and common thermopower $M=(S_p+S_n)/2$. In a connected steady-state scalar thermoelectric network, a temperature-independent co-shift applied to every electrically active segment is an exact terminal null. A temperature-dependent perturbation of the legs relative to fixed leads is instead physical. At fixed current and shared isothermal endpoints, its first-order cold-port response is the action of $\Gamma_m=T\,dm/dT$ on the difference between the p- and n-branch oriented collection measures. We prove that every continuous $\Gamma_m$ cancels if and only if these measures are equal. In the constant-property, linear-common-mode limit, matching $R_i/K_i^{\rm leg}$ is sufficient and does not require identical legs. One- and two-dimensional calculations confirm the analytic reductions within their stated domains. For split thermal pads, the analysis gives the exact array law $\Delta Q_{c,\Sigma}=\sum_j C_jI_j\Delta T_{c,j}$ and, for series elements with isothermal hot pairs, $I\Delta V_\Sigma=-\Delta Q_{c,\Sigma}$. A representative seven-pair model gives corresponding increments of 7.87 mW and $-2.80$ mV. Branch transfer and endpoint topology therefore provide distinct material-pairing and device-test criteria for common-mode Thomson heat.

cond-mat.mtrl-sci

Broadband phonon-velocity suppression and a finite anisotropic crossover in twisted bilayer SnSe

Moir\'e superlattices reshape lattice dynamics without altering chemical composition, yet how crystal anisotropy modifies this control remains unclear. We combine density-functional-theory (DFT)-calibrated lattice-dynamical calculations with angle-matched untwisted controls to study puckered bilayer SnSe across seven commensurate twist angles ($3.18^\circ$--$8.77^\circ$). At 300 K, twisting suppresses the band-path heat-capacity-weighted mean-square group velocity to 2.6--8.4\% of the control values; the suppression spans a broad frequency range rather than a few soft branches. The velocity response crosses over between $4.78^\circ$ and $3.82^\circ$ into a regime where the relaxed stacking textures and frequency-resolved velocity profiles become self-similar, with the normalized mean-square velocity ratio spanning only 11.1\% of its mean across the three smallest angles---a finite anisotropic crossover, not a singular-angle condition. Direct DFT--MACE force-constant agreement ($r=0.996$), uniform $4\times4\times1$ stability scans, and acoustic-sum-rule and path-density tests support the trend. The equilibrium trend is defined by six structures after excluding one relaxation-sensitive case. These results extend phonon twistronics to low-symmetry layered materials and identify crystal anisotropy as a key determinant of finite-angle phonon crossover behavior.

cond-mat.mtrl-sci

PATH-Bench: Path-Dependent Evaluation of Lifelong Agents

Lifelong LLM agents increasingly adapt through external learning states that store past interactions as retrievable memories or reusable skills, yet existing benchmarks rarely account for how the path of accumulated experience shapes what agents transfer and retain. In this work, we establish PATH-Bench, a benchmark for path-dependent evaluation of lifelong agents. PATH-Bench estimates directed task relationships via multi-model in-context learning, constructs probe-centered sequences with controlled helpful and interfering histories, and repeatedly evaluates probe tasks to measure average performance, forward transfer, backward transfer, and forgetting. We evaluate eight representative agents on single-turn code generation and multi-turn tool-use tasks under positive- and negative-dominant histories. Benchmark results show that experience utility depends jointly on how experience is represented and on the task's interaction structure, that strong transfer does not ensure retention, and that later experience can reshape gains acquired earlier in the learning path. Based on these findings, we propose Selective Experience Use (SEU), an agent harness that regulates how path-accumulated experience influences each new task, admitting helpful items while filtering out potential interference. SEU consistently reduces forgetting while improving forward transfer in the majority of settings. The PATH-Bench provides both a controlled evaluation framework and actionable guidance for designing more selective and robust lifelong agents.

cs.AI

EventDrive: Event Cameras for Vision-Language Driving Intelligence

Event cameras sense the world through asynchronous brightness changes with microsecond latency and high dynamic range, offering motion fidelity far beyond frame-based sensors and capturing temporal structure that conventional exposures often miss. These properties make events a powerful complement to RGB in autonomous driving, especially under blur, glare, and rapid motion, where frame-based perception can become unreliable. However, existing event-aware vision-language models remain limited to generic perception and do not reveal how event sensing contributes to reasoning and decision-making across the full driving loop. We present EventDrive, a large-scale benchmark and model suite that unifies event streams, RGB frames, and language supervision across four core dimensions: Perception, Understanding, Prediction, and Planning, covering captions, structured QA, grounding, motion-state recognition, trajectory forecasting, and planning tasks. Building on this foundation, EventDrive-VLM introduces a multi-horizon event pyramid and a temporal-horizon mixture-of-experts module to adaptively encode and fuse asynchronous and frame-based information for downstream reasoning. Comprehensive evaluation across diverse tasks shows that event streams provide substantial gains in temporal precision, motion awareness, and robustness, bringing event sensing into the center of driving intelligence.

cs.CV

EPS3D: End-to-End Feed-Forward 3D Panoptic Segmentation

This paper introduces EPS3D, a new end-to-end feed-forward framework for open-vocabulary 3D panoptic segmentation. Unlike existing methods relying on additional preprocessing, we design an end-to-end architecture, with a distillation-based training strategy on diverse 3D scenes to predict 3D-aware semantic and instance features from multi-view images, improving 3D consistency and avoiding error accumulation. We further propose a mutual enhancement module to enforce inherent semantic-instance consistency. By aligning semantics within instances (Ins2Sem) and refining instance features with semantic guidance (Sem2Ins), we achieve more coherent 3D scene understanding. Ultimately, EPS3D outperforms SOTA baselines on two benchmarks (e.g., +13% mIoU for semantics on Replica) with high efficiency (e.g., 1s per scene), supporting tasks like robotic manipulation and 3D scene editing.

cs.CV

Anchor3R: Streaming 3D Reconstruction with Transient Anchors for Long-Horizon Visual Mapping

Long-horizon online visual mapping is a core capability for robot perception, requiring continuous camera-motion and scene-geometry estimation from visual streams under bounded memory and computation. Recent feed-forward 3D reconstruction models provide strong geometric priors, but their streaming variants often predict poses in a fixed coordinate system tied to the first frame or a persistent scene memory. This fixed-gauge design leads to train--test mismatch, attention bias toward early anchors, and accumulated drift on sequences much longer than those seen during training. We propose \emph{Anchor3R}, a streaming 3D reconstruction framework that treats feed-forward reconstruction as current-centric local measurement prediction rather than persistent global-gauge regression. At each time step, Anchor3R predicts window-relative poses and a local pointmap in the current-frame coordinate system, turning streaming reconstruction into relative-pose measurement generation. These measurements support online pose updates, while loop-closure reinsertion and motion averaging align the trajectory and transform local pointmaps into a coherent global reconstruction. Experiments on indoor, outdoor, driving, and RGB-D benchmarks show that Anchor3R improves long-horizon pose accuracy and dense reconstruction quality over existing streaming baselines, while supporting bounded-memory online inference.

cs.CV

HorizonStream: Long-Horizon Attention for Streaming 3D Reconstruction

Online 3D reconstruction requires estimating camera pose and scene geometry under strict causal and bounded-memory constraints. Existing methods often suffer from drift, jitter, or collapse on long sequences. We trace these failures to a fundamental mismatch. Streaming geometry is inherently temporally heterogeneous, with evidence ranging from short-lived correspondences to persistent global scale. However, current architectures impose uniform and pathological influence patterns. For example, sliding windows enforce hard cutoffs, while ungated recurrence and causal attention cause cache saturation and spike-like attention sinks. To resolve this, we formalize geometric propagation as an \emph{evidence influence kernel} and propose HorizonStream, a long-horizon Transformer that explicitly factorizes this kernel. For the long-range temporal factor, Geometric Linear Attention learns channel-wise decay rates to enable bounded, multi-timescale propagation of geometric evidence. For the short-range spatial factor, Geometric Local Attention with Spatiotemporal RoPE performs reliable 3D matching while suppressing attention sinks. Finally, Metric Readout Tokens recover stable scale and rigid pose directly from the persistent geometric state. Extensive experiments show that HorizonStream, trained on only 48-frame clips, generalizes stably to sequences exceeding 10,000\ frames with constant memory and linear time, achieving state-of-the-art streaming 3D reconstruction performance. Project Page: https://3dagentworld.github.io/horizonstream/

cs.CV

EponaV2: Driving World Model with Comprehensive Future Reasoning

Data scaling plays a pivotal role in the pursuit of general intelligence. However, the prevailing perception-planning paradigm in autonomous driving relies heavily on expensive manual annotations to supervise trajectory planning, which severely limits its scalability. Conversely, although existing perception-free driving world models achieve impressive driving performance, their real-world reasoning ability for planning is solely built on next frame image forecasting. Due to the lack of enough supervision, these models often struggle with comprehensive scene understanding, resulting in unsatisfactory trajectory planning. In this paper, we propose EponaV2, a novel paradigm of driving world models, which achieves high-quality planning with comprehensive future reasoning. Inspired by how human drivers anticipate 3D geometry and semantics, we train our model to forecast more comprehensive future representations, which can be additionally decoded to future geometry and semantic maps. Extracting the 3D and semantic modalities enables our model to deeply understand the surrounding environment, and the future prediction task significantly enhances the real-world reasoning capabilities of EponaV2, ultimately leading to improved trajectory planning. Moreover, inspired by the training recipe of Large Language Models (LLMs), we introduce a flow matching group relative policy optimization mechanism to further improve planning accuracy. The state-of-the-art (SOTA) performances of EponaV2 among perception-free models on three NAVSIM benchmarks (+1.3PDMS, +5.5EPDMS) demonstrate the effectiveness of our methods.

cs.CV

HorizonDrive: Self-Corrective Autoregressive World Model for Long-horizon Driving Simulation

Closed-loop driving simulation requires real-time interaction beyond short offline clips, pushing current driving world models toward autoregressive (AR) rollout. Existing AR distillation approaches typically rely on frame sinks or student-side degradation training. The former transfers poorly to driving due to fast ego-motion and rapid scene changes, while the latter remains bounded by the teacher's single-pass output length and thus provides only a limited supervision horizon. A natural question is: can the teacher itself be extended via AR rollout to provide unbounded-horizon supervision at bounded memory cost? The key difficulty is that a standard teacher drifts under its own predictions, contaminating the supervision it provides. Our key insight is to make the teacher rollout-capable, ensuring reliable supervision from its own AR rollouts. This is instantiated as HorizonDrive, an anti-drifting training-and-distillation framework for AR driving simulation. First, scheduled rollout recovery (SRR) trains the base model to reconstruct ground-truth future clips from prediction-corrupted histories, yielding a teacher that remains stable across long AR rollouts. Second, the rollout-capable teacher is extended via AR rollout, providing long-horizon distribution-matching supervision under bounded memory, while a short-window student aligns to it with teacher rollout DMD (TRD) for efficient real-time deployment. HorizonDrive natively supports minute-scale AR rollout under bounded memory; on nuScenes, HorizonDrive reduces FID by 52% and FVD by 37%, and lowers ARE and DTW by 21% and 9% relative to the strongest long-horizon streaming baselines, while remaining competitive with single-pass driving video generators.

cs.CV

Is Your Driving World Model an All-Around Player?

Today's driving world models can generate remarkably realistic dash-cam videos, yet no single model excels universally. Some generate photorealistic textures but violate basic physics; others maintain geometric consistency but fail when subjected to closed-loop planning. This disconnect exposes a critical gap: the field evaluates how real generated worlds appear, but rarely whether they behave realistically. We introduce WorldLens, a unified benchmark that measures world-model fidelity across the full spectrum, from pixel quality and 4D geometry to closed-loop driving and human perceptual alignment, through five complementary aspects and 24 standardized dimensions. Our evaluation of six representative models reveals that no existing approach dominates across all axes: texture-rich models violate geometry, geometry-aware models lack behavioral fidelity, and even the strongest performers achieve only 2-3 out of 10 on human realism ratings. To bridge algorithmic metrics with human perception, we further contribute WorldLens-26K, a 26,808-entry human-annotated preference dataset pairing numerical scores with textual rationales, and WorldLens-Agent, a vision-language evaluator distilled from these judgments that enables scalable, explainable auto-assessment. Together, the benchmark, dataset, and agent form a unified ecosystem for assessing generated worlds not merely by visual appeal, but by physical and behavioral fidelity.

cs.CV

Scal3R: Scalable Test-Time Training for Large-Scale 3D Reconstruction

This paper addresses the task of large-scale 3D scene reconstruction from long video sequences. Recent feed-forward reconstruction models have shown promising results by directly regressing 3D geometry from RGB images without explicit 3D priors or geometric constraints. However, these methods often struggle to maintain reconstruction accuracy and consistency over long sequences due to limited memory capacity and the inability to effectively capture global contextual cues. In contrast, humans can naturally exploit the global understanding of the scene to inform local perception. Motivated by this, we propose a novel neural global context representation that efficiently compresses and retains long-range scene information, enabling the model to leverage extensive contextual cues for enhanced reconstruction accuracy and consistency. The context representation is realized through a set of lightweight neural sub-networks that are rapidly adapted during test time via self-supervised objectives, which substantially increases memory capacity without incurring significant computational overhead. The experiments on multiple large-scale benchmarks, including the KITTI Odometry~\cite{Geiger2012CVPR} and Oxford Spires~\cite{tao2025spires} datasets, demonstrate the effectiveness of our approach in handling ultra-large scenes, achieving leading pose accuracy and state-of-the-art 3D reconstruction accuracy while maintaining efficiency. Code is available at https://zju3dv.github.io/scal3r.

cs.CV

Composing Driving Worlds through Disentangled Control for Adversarial Scenario Generation

A major challenge in autonomous driving is the "long tail" of safety-critical edge cases, which often emerge from unusual combinations of common traffic elements. Synthesizing these scenarios is crucial, yet current controllable generative models provide incomplete or entangled guidance, preventing the independent manipulation of scene structure, object identity, and ego actions. We introduce CompoSIA, a compositional driving video simulator that disentangles these traffic factors, enabling fine-grained control over diverse adversarial driving scenarios. To support controllable identity replacement of scene elements, we propose a noise-level identity injection, allowing pose-agnostic identity generation across diverse element poses, all from a single reference image. Furthermore, a hierarchical dual-branch action control mechanism is introduced to improve action controllability. Such disentangled control enables adversarial scenario synthesis-systematically combining safe elements into dangerous configurations that entangled generators cannot produce. Extensive comparisons demonstrate superior controllable generation quality over state-of-the-art baselines, with a 17% improvement in FVD for identity editing and reductions of 30% and 47% in rotation and translation errors for action control. Furthermore, downstream stress-testing reveals substantial planner failures: across editing modalities, the average collision rate of 3s increases by 173%.

cs.CV

LongStream: Long-Sequence Streaming Autoregressive Visual Geometry

Long-sequence streaming 3D reconstruction remains a significant open challenge. Existing autoregressive models often fail when processing long sequences because they anchor poses to the first frame, leading to attention decay, scale drift, and extrapolation errors. We introduce LongStream, a novel gauge-decoupled streaming visual geometry model for metric-scale scene reconstruction across thousands of frames under a strictly online, future-invisible setting. Our approach is threefold. First, we discard the first-frame anchor and predict keyframe-relative poses. This reformulates long-range extrapolation into a constant-difficulty local task. Second, we introduce orthogonal scale learning. This method fully disentangles geometry from scale estimation to suppress drift. Finally, we identify attention bias issues in Transformers, including attention-sink reliance and long-term KV-cache saturation. We propose cache-consistent training combined with periodic cache refresh. This approach suppresses attention biases and contamination over ultra-long sequences and reduces the gap between training and inference. Experiments show that LongStream achieves state-of-the-art performance, enabling stable, metric-scale reconstruction over kilometer-scale sequences at 18 FPS. Project Page: https://3dagentworld.github.io/longstream/

cs.CV

Entropy-Guided k-Guard Sampling for Long-Horizon Autoregressive Video Generation

Autoregressive (AR) architectures have achieved significant successes in LLMs, inspiring explorations for video generation. In LLMs, top-p/top-k sampling strategies work exceptionally well: language tokens have high semantic density and low redundancy, so a fixed size of token candidates already strikes a balance between semantic accuracy and generation diversity. In contrast, video tokens have low semantic density and high spatio-temporal redundancy. This mismatch makes static top-k/top-p strategies ineffective for video decoders: they either introduce unnecessary randomness for low-uncertainty regions (static backgrounds) or get stuck in early errors for high-uncertainty regions (foreground objects). Prediction errors will accumulate as more frames are generated and eventually severely degrade long-horizon quality. To address this, we propose Entropy-Guided k-Guard (ENkG) sampling, a simple yet effective strategy that adapts sampling to token-wise dispersion, quantified by the entropy of each token's predicted distribution. ENkG uses adaptive token candidate sizes: for low-entropy regions, it employs fewer candidates to suppress redundant noise and preserve structural integrity; for high-entropy regions, it uses more candidates to mitigate error compounding. ENkG is model-agnostic, training-free, and adds negligible overhead. Experiments demonstrate consistent improvements in perceptual quality and structural stability compared to static top-k/top-p strategies.

cs.CV

The RoboSense Challenge: Sense Anything, Navigate Anywhere, Adapt Across Platforms

Autonomous systems are increasingly deployed in open and dynamic environments -- from city streets to aerial and indoor spaces -- where perception models must remain reliable under sensor noise, environmental variation, and platform shifts. However, even state-of-the-art methods often degrade under unseen conditions, highlighting the need for robust and generalizable robot sensing. The RoboSense 2025 Challenge is designed to advance robustness and adaptability in robot perception across diverse sensing scenarios. It unifies five complementary research tracks spanning language-grounded decision making, socially compliant navigation, sensor configuration generalization, cross-view and cross-modal correspondence, and cross-platform 3D perception. Together, these tasks form a comprehensive benchmark for evaluating real-world sensing reliability under domain shifts, sensor failures, and platform discrepancies. RoboSense 2025 provides standardized datasets, baseline models, and unified evaluation protocols, enabling large-scale and reproducible comparison of robust perception methods. The challenge attracted 143 teams from 85 institutions across 16 countries, reflecting broad community engagement. By consolidating insights from 23 winning solutions, this report highlights emerging methodological trends, shared design principles, and open challenges across all tracks, marking a step toward building robots that can sense reliably, act robustly, and adapt across platforms in real-world environments.

cs.RO

DFedReweighting: A Unified Framework for Objective-Oriented Reweighting in Decentralized Federated Learning

Decentralized federated learning (DFL) has emerged as a promising paradigm that enables multiple clients to collaboratively train machine learning models through iterative rounds of local training, communication, and aggregation, without relying on a central server. Nevertheless, DFL systems continue to face a range of challenges, including fairness and Byantine robustness. To address these challenges, we propose \textbf{DFedReweighting}, a unified aggregation framework that achieves diverse learning objectives in DFL via objective-oriented reweighting at the final step of each learning round. Specifically, for each client, the framework first evaluates a target performance metric (TPM) on a compact auxiliary dataset constructed from local data, yielding preliminary aggregation weights, which are subsequently refined by a customized reweighting strategy (CRS) to produce the final aggregation weights. Theoretically, we prove that an appropriate TPM-CRS combination guarantees linear convergence for general $L$-smoothand strongly convex functions. Empirical results consistently demonstrate that \textbf{DFedReweighting} significantly improves fairness and robustness against Byzantine attacks across diverse settings. Two multi-objective examples, spanning tasks across and within clients, further establish that a broad range of desired learning objectives can be accommodated by appropriately designing the TPM and CRS. Our code is available at https://github.com/KaichuangZhang/DFedReweighting.

cs.LG

WorldLens: Full-Spectrum Evaluations of Driving World Models in Real World

Generative world models are reshaping embodied AI, enabling agents to synthesize realistic 4D driving environments that look convincing but often fail physically or behaviorally. Despite rapid progress, the field still lacks a unified way to assess whether generated worlds preserve geometry, obey physics, or support reliable control. We introduce WorldLens, a full-spectrum benchmark evaluating how well a model builds, understands, and behaves within its generated world. It spans five aspects -- Generation, Reconstruction, Action-Following, Downstream Task, and Human Preference -- jointly covering visual realism, geometric consistency, physical plausibility, and functional reliability. Across these dimensions, no existing world model excels universally: those with strong textures often violate physics, while geometry-stable ones lack behavioral fidelity. To align objective metrics with human judgment, we further construct WorldLens-26K, a large-scale dataset of human-annotated videos with numerical scores and textual rationales, and develop WorldLens-Agent, an evaluation model distilled from these annotations to enable scalable, explainable scoring. Together, the benchmark, dataset, and agent form a unified ecosystem for measuring world fidelity -- standardizing how future models are judged not only by how real they look, but by how real they behave.

cs.CV