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Wenhao Li

Publications and source records attributed to Wenhao Li.

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

SCULPT-VLA: Learning Structured Control through Staged Action Grounding

Vision-language-action (VLA) policies increasingly incorporate structured intermediate supervision beyond action labels. Yet specifying what an intermediate representation should encode leaves open how action prediction learns to depend on it. We introduce \textbf{SCULPT-VLA}, a policy that learns structured control through staged action grounding. Its action-conditioning state comprises complementary factors for task progression, scene dynamics, and spatial grounding. Training first forms these factors with teacher scaffolds, then grounds coarse action prediction through their composition as scaffold inputs are withdrawn. Direct perceptual access is subsequently restored for continuous refinement, combining the learned state with perceptual detail. The curriculum separates learning to condition actions on structure from refining continuous control. Deployment requires neither teachers nor discrete-action autoregression. SCULPT-VLA achieves higher average success than shared-backbone baselines on LIBERO, SimplerEnv-WidowX, and RoboTwin 2.0 Full. On SimplerEnv-WidowX, final success is 83.5\%, versus 71.3\% when Stage-II action learning directly accesses vision and language. Across four physical robot tasks, average success under the tested distribution shifts reaches 58.1\%, compared with 45.6\% for $π_{0.5}$. Training ablations and factor-wise interventions support the staged design and show that the learned state continues to contribute to control after direct perceptual access is restored.

cs.RO↗
arXiv2026

AntiGrounding: Executable Robot Trajectories as Visual Prompts for VLM-Guided Manipulation

Natural-language instructions specify manipulation goals but leave the robot's motion underdetermined. We present AntiGrounding, a visual action-selection framework built around a dual geometric--visual trajectory interface. Each short trajectory retained after feasibility filtering remains an explicit motion plan and serves as a visual prompt for instruction-conditioned vision--language model (VLM) assessment. Structured multi-view visual question answering (VQA) scores safety, task alignment, efficiency, and physical plausibility. Weighted view fusion aggregates these scores for trajectory selection, while the scores also guide subsequent translational proposals. Separate orientation and gripper controls coordinate physical interaction. Planning proceeds in an initialized digital twin, which validates selected segments before the real robot executes the same waypoint sequences. Across eight real-world manipulation tasks, AntiGrounding with a single GPT-6 Astra evaluator achieves \AstraOverall\% overall success. Under the reported deployment protocol, $π_{0.5}$ achieves \PiOverall\%, and a PIVOT-style visual proposal-selection baseline with the same evaluator achieves \PivotOverall\%. Component ablations and evaluator sensitivity characterize trajectory assessment, proposal search, orientation control, and evaluator choice. Performance depends on digital-twin fidelity and physical interaction.

cs.RO↗
arXiv2026

LIFD: Anchored Diffusion for 3D-Aware Scene Memory in Robotic Manipulation

During manipulation, robot and scene motion can move previously observed regions outside the camera's field of view. Geometry-aware RGB features encode visible structure, while control under partial observability requires scene memory that integrates observation history and grounds inferred content in current evidence. We introduce \lifd{} (Look, Imagine, Focus, and Do), a framework for persistent, 3D-aware scene memory. LIFD learns scene tokens through multi-view agreement, then completes them from a single RGB view and recurrent memory using rectified flow. Anchor-Guided Cross-Attention anchors generation to current geometry-aware features, and compact slot features condition a visuomotor policy. Multi-view and geometric supervision are used during representation learning; deployment requires one RGB camera, proprioception, and a task instruction. LIFD (Staged) reaches 91.6\% average success on LIBERO and 79.8\% on MetaWorld, improving LIBERO average success by 11.1 percentage points over Joint training. After policy-head adaptation with ten demonstrations per family, LIFD achieves 56.0\% mean success across four UR5e task families, compared with 40.5\% for OpenVLA-7B.

cs.RO↗
arXiv2026

Rethinking Music Tokenization: A Semantic Codec toward High-Fidelity LLM Music Generation

Discrete audio tokenization has become the critical interface between raw waveforms and autoregressive modeling in recent music generation. As a result, music tokenizers must simultaneously support high-fidelity reconstruction and produce discrete sequences that remain amenable to language modeling. Existing reconstruction-oriented tokenizers often mix musical structure with fine acoustic details, producing high-entropy tokens that are hard to model. In contrast, semantics-guided alternatives are designed for speech and do not fit music well, often hurting reconstruction quality. We address these trade-offs by rethinking music tokenization around a measurable notion of music semantic content grounded in downstream Music Information Retrieval tasks. Guided by this definition, we propose MuSeC, a music semantic codec that factorizes semantic and acoustic content directly from mixed signals without source separation. MuSeC preserves information required for high-fidelity reconstruction while producing more LM-friendly discrete units. Empirically, it improves reconstruction quality and yields more predictable token sequences, providing a practical foundation toward high-fidelity LLM music generation. Demos are available at https://longwaytog0.github.io/MuSeC/.

eess.AS↗
arXiv2026

A Structural Proof of the Lower Bound 21 for $3\times3$ Matrix Multiplication over $\mathbb F_2$

We prove that the tensor rank of $3\times3$ matrix multiplication over $\mathbb F_2$ is at least $21$. The structural proof, independently developed by Qiushi Engine, converts occupation constraints on a single tensor factor into algebraic relations coupling all three factors. Certified quotient-rank bounds and finite geometry force any hypothetical $20$-term decomposition to have first-factor matrix-rank profile $(16,1,3)$. The ranks of the corresponding split-flattened summands therefore sum to $27$, exactly the rank of the full split flattening. Equality in rank subadditivity forces their images to form a direct sum; normalization by the inverse flattening then makes the summands pairwise annihilating idempotents. An explicit product identity for matrix multiplication implies that at most one first factor can be invertible, contradicting the three forced by the profile. The same obstruction constrains $22$-term decompositions attaining the split-rank bound. The complete proof, including the finite quotient bounds, is formalized in Lean. The accompanying research trajectory records Qiushi Engine's long-horizon autonomous research, from numerical experiments and quotient constructions to the structural proof.

cs.CC↗
arXiv2026

WLA$^3$: World Latent Action Modeling for Semantics, Dynamics, and Kinematics

Scaling generalist policy models with heterogeneous data is limited by the lack of unified, low-noise action supervision. Human egocentric videos are abundant, but only a small fraction comes with high-quality hand-action labels. Observed world transitions offer a common source of action-related supervision across data sources. We introduce WLA$^3$ (World Latent Action Modeling for Semantics, Dynamics, and Kinematics), a unified generalist policy model framework built around representations learned by a World Latent Action Model (WLAM). WLAM first learns how multimodal world states change over a local interval, encoding synchronized camera views and available embodiment-state changes into a compact local latent action and a richer transition feature. Reconstruction from partial modalities and consistency across overlapping windows encourage robust transition representations. WLA$^3$ reuses them across semantics, dynamics, and kinematics: local latent actions support action-sensitive physical-dynamics modeling, segment-level features directly supervise the VLM through a Semantic Latent Aggregate (SLA), and an action expert jointly predicts latent actions together with embodiment-specific robot controls. Human videos provide scalable transition supervision, while robot trajectories ground the shared representation in executable native controls. On LARYBench, the final 32D latent action reaches 67.89\% average classification accuracy. WLA$^3$ achieves 81.9% average success across six real-robot tasks versus 66.2% for $π_{0.5}$. Performance improves as generalist policy model mid-training data scales, and human videos support human-to-robot transfer. Project page can be found at https://wla-3.github.io/.

cs.RO↗
arXiv2026

X-Pred MeanFlow for Streaming Token-to-Mel Speech Decoding

Recent advancements in discrete token-based speech generation have highlighted the importance of efficient token-to-waveform synthesis in streaming and dialogue scenarios. Flow-matching acoustic decoders achieve high-quality token-to-mel generation, but their iterative sampling requires multiple neural function evaluations, limiting low-latency speech synthesis. MeanFlow reduces the sampling budget by modeling the average velocity over a temporal interval, yet maintaining high acoustic quality under extremely few-step token-to-mel generation remains challenging. To address this challenge, we propose X-Pred MeanFlow, a few-step streaming token-to-mel decoder that reparameterizes MeanFlow with mel-space prediction. The decoder predicts a generalized mel field and analytically derives the corresponding average velocity for sampling, thereby preserving the MeanFlow formulation while providing a direct acoustic prediction target. We further introduce layer-selective block-wise attention to enable continuous chunk-wise generation with bounded context. Experiments show that X-Pred MeanFlow improves few-step token-to-mel synthesis over Direct-$u$ MeanFlow and supports stable streaming generation. Speech samples are available.https://renxiaming.github.io/xpred-meanflow-stream-demo

eess.AS↗
arXiv2026

SphereVAE: Hyperspherical Latent Autoencoders for Robust Autoregressive Speech Representation Modeling

With the rapid development of speech generation technology, discrete codec representations have been widely used because they provide a stable prediction paradigm. In expressive speech generation, however, the quantization bottleneck of discrete codecs results in information gaps in fine-grained prosody, timbre, pronunciation, and frame-to-frame continuity. Continuous representations (e.g., VAE latents), by eliminating this constraint, have emerged as a more effective alternative for autoregressive modeling. Yet when continuous representations are used as autoregressive prediction targets, prediction errors can accumulate along the generation chain, causing latent drift and degrading long-form stability. To mitigate this problem, we propose SphereVAE, which constrains the VAE latent space to the unit hypersphere. SphereVAE defines a Power Spherical posterior on the hypersphere and regularizes the latent distribution toward a uniform prior, so that information is encoded mainly by directional variation, providing a bounded geometric target for autoregressive prediction and reducing the risk of norm drift. SphereVAE underperforms the standard VAE on reconstruction metrics due to reduced latent freedom. However, when integrated into VoxCPM for zero-shot TTS and long-text generation, it yields lower content error rates with comparable speaker similarity, and shows more stable long-range speaker consistency. These results indicate that an appropriate latent geometric constraint can effectively mitigate autoregressive error accumulation and drift in speech generation.

eess.AS↗
arXiv2026

Data-Efficient Language Modeling: From Frontier Advancement to Principle-Guided Model Improvement

Learning from limited text requires models to use context, generalize to new inputs, and retain useful capabilities. Qiushi Engine conducted a long-horizon, end-to-end autonomous research program on BabyLM 2026 Strict-Small, within 10 million corpus words and 100 million cumulative word presentations. Three stages connected frontier advancement, principle discovery, and principle-guided model improvement. Stage I combined compact restatements, budget reinvestment, and residual incremental learning to build a frontier model. Stage II found that exact repetition and aligned restatement produce different patterns of context use, depending on target relations and prediction windows. In controlled tasks, recovering familiar performance did not ensure that unseen inputs could still use learned computations. These findings support a testable data-efficient learning principle: organize experience around the contextual dependencies needed for prediction; separately design visible information, supervision, and preservation; test learning, generalization, and retention. Stage III retained source text, masked more local clues, supervised selected targets, and preserved predictions on ordinarily masked inputs. Two continuation seeds from the same parent outperformed ordinary continuation on the complete nine-metric aggregate. Overall rose from 42.02 to 42.25 across two generations; the second achieved the highest Overall in the public Strict-Small snapshot of 8 September 2026. Further studies addressed compression, relational anchors, shared representations, and measurement. Models are available on Hugging Face; code and research records accompany the GitHub repository. Together, these stages illustrate Research RSI: recursive self-improvement of the research process. Scientific understanding and method innovations change subsequent questions and designs; new experiments test and refine them.

cs.CL↗
arXiv2026

Qiushi Engine on AstaBench E2E-Bench-Hard

This report analyzes Qiushi Engine v0.8 across all 40 test tasks in AstaBench E2E-Bench-Hard, a benchmark that requires autonomous agents to carry a research question through experimental design, code implementation, actual execution, result analysis, and report delivery. Qiushi Engine is model-configurable; this evaluation selected DeepSeek deepseek-v4pro-preview as the model backend. The official AstaBench leaderboard records a score of 0.816 and an average benchmark cost of USD 15.209 per task, while the full-precision local recomputation is $81.59 \pm 1.87$. Four tasks satisfied every rubric item, yielding a full-task completion rate of 4/40 = 10% -- 7 percentage points above, and about 3.3 times, the approximately 3% best rate reported for AstaBench's official agents. Across 507 required rubric items, 416 were satisfied (82.1%). Official scoring archives and 40 Meta-Trace records show sustained production and verification of reports, code, and experimental artifacts; the principal gaps lie in repeated runs, external dependencies, specified metrics, and ablation studies. The report explains the benchmark, system workflow, aggregate results, representative cases, and limits of interpretation.

cs.AI↗
arXiv2026

HubMixer: Progressive Latent Hub Mixing for Parameter-Efficient Feature Interaction in Recommendation

Learning effective feature interactions is central to industrial recommendation and advertising ranking systems. Recent token-mixing architectures simplify self-attention with lightweight mixing operators, improving hardware efficiency and enabling large-scale deployment. However, recommendation tokens are fundamentally heterogeneous: user profiles, item attributes, behavioral sequences, context features, statistical signals, and business-side features live in different semantic spaces and interact in sparse, sample-specific patterns. Directly mixing all tokens in the raw heterogeneous token space may therefore be parameter-inefficient, as the model must implicitly discover which feature groups should interact and how such interactions should be routed. In the paper, we propose HubMixer, a parameter-efficient latent hub mixing architecture for feature interaction in recommendation. Instead of directly mixing raw feature tokens, HubMixer introduces a small set of learnable latent hubs to organize feature interactions through an `induction--interaction--readout` paradigm. First, hub induction summarizes heterogeneous tokens into compact latent hubs, where latent hubs query input tokens through cross-attention. Second, hub interaction performs high-order interaction in the cleaner latent hub space. Third, token-conditioned readout lets each original token selectively read from the interacted hubs, injecting global interaction semantics while preserving token-level field identity. Extensive offline experiments on industrial recommendation tasks show that HubMixer outperforms the SOTA models. Online A/B testing in the Kuaishou short-video recruitment business further shows a statistically significant 5.48% improvement in resume submission conversion rate, and HubMixer has been fully deployed in production.

cs.IR↗
arXiv2026

Jiuge-Tuiqiao: An Interpretable Human-AI System for Classical Chinese Poetry Refinement

Classical Chinese poetry composition has long valued Tuiqiao, the iterative refinement of words, imagery, and prosody. However, many current AI poetry systems follow a one-shot generation paradigm, which reduces users to prompt providers and weakens their creative agency. We present Jiuge-Tuiqiao, an interactive human-AI collaborative system for classical Chinese poetry composition. The system is designed around a triadic model: user-driven control, ancient-guided evidence, and AI-assisted generation. Users can lock characters or lines, receive real-time prosody feedback, and obtain interpretable refinement suggestions grounded in high-frequency collocations, PPL-ranked classical lines, and structured knowledge extracted from classical encyclopedias. This design turns AI from an autonomous generator into a background assistant that supports the user's own process of poetic refinement. Preliminary experiments and user feedback suggest that Jiuge-Tuiqiao improves controllability, interpretability, and user engagement in classical poetry composition.

cs.AI↗
arXiv2026

XPolicyLab: A Unified Standard and Open Ecosystem for Robot Policy Evaluation and Deployment

Robot policy evaluation and deployment remain fragmented by model-specific software dependencies, data representations, and runtime interfaces, so that connecting N policies to M evaluation environments requires O(NM) separate integrations. We present XPolicyLab, a unified standard and open ecosystem that reduces this cost to O(N+M). XPolicyLab specifies common observation, action, and trajectory schemas together with a minimal adapter interface for observation updates, action prediction, batched execution, and episode reset, while a dependency-isolated client/server architecture separates policy inference from environment execution, so that each side retains its native software stack and may run locally or remotely. The ecosystem integrates 42 robot policies and standardizes their installation, debugging, serving, and evaluation workflows. Across these adapters, model-specific code varies by an order of magnitude while the environment-facing loop stays within a few lines of a fixed reference, confirming that the contract confines heterogeneity to the policy side. In a controlled study, conforming to the standard reduces the integration effort of a representative policy from over five hours to two hours, and packaged agent skills reduce it further to thirty minutes. The same adapters serve RoboTwin, RoboDojo simulation, and standardized real-robot evaluation through one interface. XPolicyLab is released as shared infrastructure for reproducible policy comparison and standardized deployment across simulation and physical platforms. Project website: https://xpolicylab.github.io/.

cs.RO↗
arXiv2026

MINT-Bench: A Comprehensive Multilingual Benchmark for Instruction-Following Text-to-Speech

Instruction-following text-to-speech (TTS) has emerged as an important capability for controllable and expressive speech generation, yet its evaluation remains underdeveloped due to limited benchmark coverage, weak diagnostic granularity, and insufficient multilingual support. We present \textbf{MINT-Bench}, a comprehensive multilingual benchmark for instruction-following TTS. MINT-Bench is built upon a hierarchical multi-axis taxonomy, a scalable multi-stage data construction pipeline, and a hierarchical hybrid evaluation protocol that jointly assesses content consistency, instruction following, and perceptual quality. Experiments across ten languages show that current systems remain far from solved: frontier commercial systems lead overall, while leading open-source models become highly competitive and can even outperform commercial counterparts in localized settings such as Chinese. The benchmark further reveals that harder compositional and paralinguistic controls remain major bottlenecks for current systems. We release MINT-Bench together with the data construction and evaluation toolkit to support future research on controllable, multilingual, and diagnostically grounded TTS evaluation. The leaderboard and demo are available at https://aslp-lab.github.io/MINT-Bench-Demo/

eess.AS↗
arXiv2026

StateTrace: An Object-Centric Framework for Hidden-State Spatiotemporal Reasoning in Long Videos

Existing VLMs have achieved strong performance in video understanding, yet they struggle with long-video spatiotemporal reasoning when target objects become invisible, often mistaking "invisible" for "unknown". We define this challenge as hidden-state spatiotemporal reasoning: inferring object states during prolonged invisible intervals from context interactions. To address this, we propose StateTrace, a novel object-centric framework that endows VideoLLMs with an explicit mechanism for hidden state reasoning in long videos. StateTrace builds a reusable spatiotemporal state memory that organizes object trajectories, inter-object relations, and state-transition events into a structured reasoning substrate. At inference time, it retrieves question-relevant state-evolution trajectories and converts them into compact reasoning cues, enabling the model to explicitly reason about why an object disappears, how its state evolves while invisible, and whether that state should persist at query time. We further build HSR-Bench, a diagnostic benchmark for hidden-state reasoning, containing 1,427 video-QA samples from 1,384 unique videos. Extensive experiments across multiple VideoLLMs show that StateTrace consistently improves performance on both public benchmarks and HSR-Bench (e.g., improving VideoLLaMA3 from 39.6 to 64.2 on HSR-Bench).

cs.CV↗
arXiv2026

IB-RL: Isolated Bilateral Reinforcement Learning for Strategic Dialogue Agents

Reinforcement learning (RL) has achieved strong results in improving large language models (LLMs) on tasks with stationary, verifiable rewards, such as mathematical reasoning and code execution. In these settings, the environment follows fixed rules and does not adapt strategically to the agent. Strategic dialogue differs in this respect: the environment is another agent that adapts to the policy, and success depends on the interaction between the two sides. Despite this interactive nature, current RL approaches typically train a target agent against a fixed counterpart or simulator. We find that this training paradigm encourages the policy to exploit counterpart-specific regularities rather than learn strategies that generalize across counterparts. We call this problem the static-counterpart mismatch, which we quantify directly in our experiments. To address it, we propose Isolated Bilateral Reinforcement Learning (IB-RL), in which the two roles coevolve through joint rollouts while each role optimizes its own reward through fully independent advantages, action masks, and update paths. We evaluate frozen policies against fully independent held-out counterparts in both domains. On Vehicle TeleSales, IB-RL achieves 89.6% Success@1, compared to 84.6% for the best unilateral RL baseline. On Deal-or-NoDeal, it reaches 98.4% agreement against DeepSeek V4 Pro, compared to 86.4% for the best unilateral baseline. These results indicate that jointly training both roles with strict peragent isolation produces policies that generalize more effectively to unseen counterparts.

cs.AI↗
arXiv2026

A-SR: Self-Evolving Agentic LLMs for Symbolic Regression via Hierarchical Coordination

Symbolic regression aims to discover closed-form equations from data, but existing LLM-guided methods often rely on a unified proposal loop that compresses heterogeneous search failures into a scalar score and a single prompt. We propose A-SR, a self-evolving agentic framework that shifts the control unit from expression edits to role-conditioned evidence views. A-SR coordinates formula discovery through routing among coordination protocols, an online evaluator-reward role policy, and state-routed process memory. During search, evaluator feedback characterizes reliability and productivity, updates role-level utilities, and routes elite motifs, failure traces, and validity diagnostics to different agents. The framework self-evolves at two timescales: within a run, it adapts the search process without updating LLM parameters; across runs, recorded trajectories can be distilled into open-source LLMs as role-conditioned proposal priors. Averaged over the four LSR-Synth scientific domains in LLM-SRBench, A-SR improves Acc@0.01 over baselines from 25.79% to 48.30% with Llama3.1-8B, while A-SR-LoRA improves the corresponding Qwen3-4B result from 24.58% to 38.29%. On four real-world scientific discovery tasks, A-SR obtains the best in-distribution or out-of-distribution normalized mean squared error on 7 of 8 reported metrics.

cs.CL↗
arXiv2026

Training-Free Hashing-Based Attention via Binary Principal Components

Long-context large language models (LLMs) are increasingly deployed in real-world applications, yet self-attention remains a major efficiency bottleneck -- especially during decoding -- due to the necessity of repeatedly processing ever-growing key-value (KV) caches. Existing sparse attention reduce computation by attending to fewer KV pairs, but often suffer from substantial accuracy degradation, require additional training, or rely on expensive hashing. In this work, we present BinaryPC, a training-free, data-aware hashing-based sparse attention for long-context LLMs. BinaryPC constructs compact binary hash codes and corresponding hash function by computing binary principal components of data. Unlike Locality-Sensitive Hashing (LSH) with data-independent random projections or learned non-linear hashing methods, BinaryPC constructs binary codes that explicitly preserve the structural information of data without requiring gradient-based training. Comprehensive experiments across multiple model families and long-context benchmarks show that BinaryPC preserves accuracy relative to full attention while achieving superior performance among sparse and hashing-based baselines. On modern GPUs, BinaryPC improves end-to-end decoding throughput by 3.56$\times$ over the FlashAttention kernel. Our code is available at https://github.com/yudaohai666/BPC.

cs.LG↗