arXiv subjects

Wenqi Zhang

Publications and source records attributed to Wenqi Zhang.

At least 19 recordsLinked to original sources

arXiv2026

MemU-Bench: Benchmarking GUI Agents on Long-Horizon User Interactions

Existing Graphical User Interface (GUI) benchmarks predominantly rely on precise and stateless user instructions. In everyday usage, however, instructions are often \emph{vague and history-dependent}: users omit the exact details of their past operations because they no longer remember them, leaving the agent to recover the missing context from long and noisy interaction histories. To bridge this evaluation gap, we introduce \textbf{MemU-Bench}, a mobile benchmark of \textbf{118 vague tasks} grounded in 29 long-horizon user trajectories, where agents must distill raw interaction streams into memory and retrieve the missing context on demand, with task outcomes verified against serialized application databases. Alongside Success Rate, we incorporate Interaction Efficiency (IE) and Success weighted by Path Length (SPL) to expose agents that succeed by exhaustively searching across different applications rather than by \emph{genuinely recalling} the history. Evaluations show that without user history, state-of-the-art systems struggle under such ambiguity: the best-performing Gemini-3.1-Pro achieves an SPL of only 16.4\%, and end-to-end GUI agents fall below 5\%. To address this, we further propose \textbf{AppMem}, a training-free framework that distills user history into a \emph{structured, app-centric} memory bank, tracks interrupted intents across application switches, and selectively retrieves relevant memories via target-app inference. AppMem raises the SPL of GPT-5.5 from 15.7\% to 66.9\% (\textbf{+51.2\%}), outperforms a naive summary baseline by 9.3\%, and delivers consistent gains across evaluated backbones.

cs.AI↗

arXiv2026

VLA-Corrector: Lightweight Detect-and-Correct Inference for Adaptive Action Horizon

Vision-Language-Action (VLA) foundation models have recently achieved strong progress in embodied intelligence. To reduce policy-call frequency while preserving temporal coherence, most generative policies adopt an action chunk mechanism, executing multiple future actions in an open-loop manner under a fixed action horizon. However, this "predict-then-blindly-execute" paradigm sacrifices closed-loop reactivity: in contact-rich physical interactions, even small local perturbations can rapidly amplify within the open-loop blind spot, leading to compounding errors and ultimately task failure. To address this limitation, we propose VLA-Corrector, a lightweight corrective inference framework for action-chunked VLA policies. Without modifying the backbone policy weights, VLA-Corrector introduces a lightweight Latent-space Vision Monitor (LVM) that continuously compares predicted and actual visual feature evolution, enabling online detection of visual dynamics deviations. Once persistent deviation is detected, the system triggers a truncation event, discards the remaining stale actions, and invokes corrective replanning via Online Gradient Guidance (OGG). The detect-and-correct mechanism of VLA-Corrector naturally induces an event-triggered adaptive action horizon: it preserves long-horizon execution when the current chunk remains reliable, and invokes short-horizon corrective replanning when execution begins to drift. In doing so, VLA-Corrector mitigates the trade-off imposed by static horizons between execution robustness and policy-call frequency. It can be integrated into different VLA models without further retraining the VLA backbone, interrupting compounding errors while preserving much of the efficiency benefit of action chunking and substantially improving robustness in long-horizon, contact-rich robotic manipulation tasks.

cs.RO↗

arXiv2026

DTCA: Denoising Token Credit Assignment for Reinforcement Learning in Diffusion Language Models

Diffusion language models (DLMs) generate text through iterative denoising, enabling bidirectional context modeling and parallel token refinement. Recent studies have applied reinforcement learning (RL) to DLMs and improved their reasoning performance. However, the iterative denoising process makes credit assignment more challenging, as final outcome rewards provide limited information about how different tokens contribute to the final output. In this paper, we propose Denoising Token Credit Assignment (DTCA), a framework for token-level credit assignment in reinforcement learning for diffusion language models. DTCA estimates token contributions by measuring the improvement in prediction confidence of remaining masked positions after token commitment and groups these signals according to part-of-speech (POS) categories. These contribution weights are used to select informative denoising timesteps and assign token-level learning signals during RL training. DTCA further calibrates these learning signals according to token-level entropy changes induced by policy updates. Experiments on LLaDA-8B-Instruct show that DTCA consistently improves mathematical reasoning performance across different generation budgets, with gains of up to 9.0 points on MATH500 and 5.3 points on GSM8K over the base model.

cs.CL↗

arXiv2026

VLA-Rolling: Fewer Denoising Steps, Better Control via Adaptive Action Reuse

Flow-matching vision-language-action (VLA) models generate an action chunk by iteratively denoising Gaussian noise, but typically execute only a short prefix before replanning with updated observations. Under this receding-horizon paradigm, the unexecuted remainder---the action tail---is discarded, and the next chunk is regenerated from fresh noise. We show that this discarded tail retains transferable denoising progress: action-tail initialization can match or outperform a native 10-step Gaussian baseline using fewer denoising steps. However, the optimal denoising budget varies substantially across samples, indicating that tail reuse should be adapted to the updated environment. Based on this observation, we introduce VLA-Rolling, a lightweight inference framework that reuses action tails through three stages: action-tail inheritance, per-action confidence estimation, and confidence-guided refinement through renoising and denoising budget allocation, while the underlying VLA remains frozen. Across $π_{0.5}$, SmolVLA, X-VLA, and MolmoAct2 on LIBERO, MetaWorld, LIBERO-Plus, and RoboTwin 2.0, VLA-Rolling reduces action-chunk inference cost in all 16 model--benchmark pairs, achieving up to a $1.48\times$ speedup, while improving success rate in 14 pairs by up to $15.08$ percentage points. These results show that action tails are not merely discarded predictions, but reusable intermediate states that enable more efficient and accurate VLA inference. These results demonstrate that the action tail can support the generation of better actions with fewer denoising steps. Our project is available at https://chenbao123ww.github.io/VLA-Rolling/.

cs.AI↗

arXiv2026

SpaceCast-Bench: Evaluating Predictive Spatial Reasoning in Vision-Language Models

Existing spatial reasoning benchmarks mainly test spatial perception: reading off relations already visible in the input. Yet real-world spatial intelligence demands predictive spatial reasoning: constructing a scene from observations, anticipating how an intervention changes it, and reasoning about the unseen outcome. We introduce SpaceCast-Bench, the first benchmark to directly and diagnostically evaluate this capability. Built around an observe-transform-infer framework, its 3,862 questions from 182 real-world scenes span 16 task types at three levels: static perception, local prediction, and global prediction, progressively requiring scene understanding, spatial state updating, and relational inference over unobserved outcomes. Evaluating 21 models exposes a stark gap: the strongest model reaches only 58.0% against 87.2% human performance, while spatially specialized models remain near random chance. Controlled analyses further reveal that bridge views are critical for integrating distributed observations, and that explicit 3D evidence benefits models more reliably than generated outcome images or videos. Fine-tuning on our programmatically generated data lifts Qwen3-VL-4B from 34.0% to 65.7% with macro-average gains across six out-of-domain benchmarks.

cs.CV↗

arXiv2026

Scene-Designer: Learning Design Intelligence for Agentic 3D Scene Generation

Generating complete, coherent, and usable 3D indoor scenes from natural language requires strong \textbf{design intelligence}: the ability to design high-quality scenes and critique their quality. However, existing approaches either rely on general-purpose models lacking domain-specific design experience or learn from static scenes. In this work, we introduce \textbf{Scene-Designer}, an agentic framework that learns design intelligence through complementary design and critique experiences. We construct two datasets: \textbf{Scene-OTA-35K}, which provides Observation--Thought--Action supervision for learning scene design and efficient error correction, and \textbf{Scene-OTC-15K}, which provides Observation--Thought--Critic supervision for learning scene quality critique across physical validity, functional correctness, and layout coherence. Based on these experiences, we propose \textbf{Scene-GRPO}, a Critic-guided GRPO framework that improves design decisions and reduces unnecessary trial-and-error corrections. Extensive experiments demonstrate that Scene-Designer achieves superior performance in physical validity, functional correctness, and layout coherence, while the learned Scene-Critic significantly outperforms general-purpose models in scene critique. Moreover, test-time Critic guidance further improves scene generation, showing that the Critic can provide useful guidance beyond training. Additional analysis suggests a trend of mutual enhancement between scene design and critique abilities.

cs.CV↗

arXiv2026

VLA-$Δ$: Learning Physical State Transition for Vision-Language-Action Models

Vision-language-action (VLA) models transfer semantic knowledge acquired through vision-language pretraining to robot control, achieving strong performance across various benchmarks. However, most VLAs directly map observations to demonstrated actions without explicit supervision of intermediate physical state changes, making them prone to overfitting observation-action correspondences. Some methods introduce intermediate reasoning or future-state prediction in language, visual, or latent spaces to guide action generation, but do not explicitly supervise the physical state transition itself. We therefore propose VLA-$Δ$, a general framework that uses physical changes between current and future states as explicit learning targets. To support this objective, we construct a large-scale pretraining dataset and derive physical state-transition annotations covering task-relevant semantics and visual motion changes, providing more direct supervision for continuous action generation. During inference, the model generates actions directly from current observations without additional inference overhead. VLA-$Δ$ achieves performance competitive with the state of the art on LIBERO and RoboTwin, and outperforms $π_{0.5}$ in real-robot experiments. Our code is available at https://github.com/ZJU-OmniAI/VLA-Delta

cs.CV↗

arXiv2026

Spatial-Interactor: Learning Spatial Reasoning through Interaction with the Observable Physical World

Spatial reasoning is essential for vision-language models (VLMs) to understand and act in the physical world. Reasoning in dynamic environments requires VLMs to perceive local state transitions caused by object motion and viewpoint changes and integrate them over long trajectories to maintain an updated spatial state, yet existing VLMs remain limited in both capabilities. Current spatial training primarily focuses on static questions about object attributes and spatial relations, providing limited direct supervision for state transitions; in contrast, interaction trajectories naturally connect a preceding observation, an action, and a subsequent observation, offering direct supervision for local state transitions, while complete trajectories reveal dependencies among consecutive transitions. We therefore introduce Spatial-Interactor, a framework that trains VLMs to model physical-world state transitions through interaction, organizing this learning process into a three-level curriculum covering L1 passive world-state transitions, L2 active self-state transitions, and L3 long-horizon interaction trajectories. Accordingly, we construct the Learning from Spatial Interaction dataset (LSI-108K) from simulated and real interaction trajectories, with tasks aligned with the objective of each level. Our two-stage training strategy applies Supervised Fine-Tuning (SFT) to L1 and L2 for local transition modeling, and On-Policy Distillation (OPD) then uses privileged self-distillation: a teacher branch given segment-level transition descriptions supervises the student's on-policy CoT, helping the student learn to integrate consecutive transitions over L3 long trajectories. Experiments across multiple VLMs and spatial benchmarks show consistent gains in local transition modeling and long-horizon integration.

cs.AI↗

arXiv2026

Distilling Routed 3D Privilege for Spatial Reasoning in Vision-Language Models

Spatial reasoning remains a persistent weakness of vision-language models (VLMs), because RGB inputs do not directly provide geometric evidence. Existing remedies either inject 3D into the model at inference, paying architecture and latency costs, or train with outcome rewards that supervise only the final answer. Spatial errors originate in perception: a misjudged depth or direction can be corrected only by the scene's true geometry, which the 3D-scanned sources of spatial training corpora already provide. We propose GPD (Geometry-Privileged Distillation), which makes geometric evidence the privilege in on-policy self-distillation (OPSD). For each question, depth, semantic, and bird's-eye-view (BEV) cues are rendered as compact text and routed to the teacher alongside the reference answer; a privileged KL, applied only to incorrect trajectories, augments GRPO, and the deployed model remains RGB-only. On the 4B backbone, GPD achieves 57.1 on VSI-Bench and 37.6 average across MindCube, SPARBench, MMSI-Bench, and ViewSpatial, outperforming both GRPO and answer-privileged OPSD across spatial reasoning benchmarks. Ablations confirm the complementarity of 3D and answer privilege, the advantage of question-conditioned routing over full-context injection, and the benefit of restricting distillation to incorrect trajectories.

cs.CV↗

arXiv2026

ViSkill: Reinforcing VLM Agents with Evolving Visual-Native Skills

Skill-augmented agents improve sample efficiency by distilling successful trajectories into reusable strategies. Yet most existing approaches remain text-centric, linearizing spatial layouts and action-state correspondences into language that loses critical geometric structure. Recent efforts have begun incorporating visual evidence, but construct and update skills separately from policy optimization, leaving their mutual improvement underexplored. We propose ViSkill, a visual-native skill learning framework that encodes successful interactions as composite visual skill cards directly accessible to VLM agents. Retrieved skills guide both inference and reward shaping, while successful trajectories are distilled back into the library, forming a closed feedback loop in which skill accumulation and policy improvement reinforce each other. An optional cold-start mechanism further accelerates early-stage learning. Evaluated on Sokoban, FrozenLake, and PrimitiveSkill, ViSkill achieves an overall success rate of 0.89, rising to 0.91 with cold-start initialization, outperforming all evaluated proprietary and open-source baselines while converging faster than standard PPO. Our code is available at https://github.com/ZJU-REAL/ViSkill.

cs.CV↗

arXiv2026

Group Preference Collapse in Personalized Multimodal Large Language Models

Personalized multimodal large language models (MLLMs) aim to generate user-specific responses, but existing methods mainly rely on profile-level information and overlook diverse user preferences. We identify group preference collapse, where multi-user personalized MLLMs become insensitive to individual preferences and drift toward dominant population-level choices due to suppressed preference signals and unreliable preference use during generation. We propose PrefMoE, a preference-centric framework that separates stable profile information from preference-related representations. PrefMoE decomposes preferences into shared prototypes and personalized residuals, preserves individualized residuals with imbalance-aware learning, counterfactual pseudo-user augmentation, and residual decorrelation, and routes profile and preference factors through separate LoRA adaptation paths. Experiments across multiple MLLM backbones show that PrefMoE improves preference-sensitive personalization while substantially reducing preference collapse. Project page: https://prefmoe.github.io/.

cs.AI↗

arXiv2026

RetireOPD: Self-Retiring On-Policy Distillation for Agentic Reinforcement Learning

Multi-turn agents trained with reinforcement learning (RL) receive a single scalar reward per trajectory, which motivates self on-policy distillation (OPD) to supply dense token-level supervision from a self-teacher with privileged task skills, letting a skill-free student internalize them. This recipe, however, is undermined by two findings in agentic tasks: privileged information alone does not always make a teacher reliable, and the benefit of teacher supervision is stage-dependent. We therefore propose RetireOPD (Self-Retiring On-Policy Distillation), which first optimizes a decoupled, skill-conditioned teacher with environment rewards and then trains a skill-free student jointly with RL and OPD. Rather than following a predefined distillation schedule, RetireOPD adopts Adaptive Retirement: the student drops the teacher on its own once their discrepancy stops shrinking and it reaches a target fraction of the teacher's success rate, after which training proceeds with RL alone. Across Qwen2.5 models from 1.5B to 7B, RetireOPD improves ALFWorld success rate over RL baseline by 14.1% to 18.8% and WebShop accuracy by 11.8% to 19.0%, and surpasses its own skill-conditioned teacher in every setting.

cs.CL↗

arXiv2026

Scaling Properties of Same-Family On-Policy Distillation

*Reinforcement learning (RL)* can induce substantial reasoning capabilities in large language models (LLMs), but how much of this capability transfers across model scales, and how quickly, remains unclear. We study the scaling properties of *on-policy distillation (OPD)* across *weak-to-strong*, *same-base*, and *strong-to-weak* teacher--student setups. We find that early OPD training dynamics uniformly exhibit a regular *useful-transfer* regime, in which held-out accuracy (the *gold score*, $G$) rises approximately linearly in $d=\sqrt{\mathrm{KL}(π_θ\Vert π_{\mathrm{ref}})}$, the square root of token-level reverse KL divergence from the student initialization. In every observed weak-to-strong pair, the student's peak gold score exceeds its teacher's own, so a compact RL expert can transfer capability to a much larger student via OPD. To estimate OPD outcomes, we fit *power laws* for how $G_{\mathrm{peak}}$ and the slope of the useful-transfer regime scale with student and teacher parameter counts and with teacher gold score. These laws show that peak gold score improves with teacher scale only up to roughly the student's scale, and that at a matched gold score smaller teachers transfer better, so a teacher's score alone does not define its supervision value. We also study the scaling effects of two OPD variants, bootstrapping weak-to-strong OPD, and the degree of on-policy supervision.

cs.LG↗

arXiv2026

Non-Uniform Activation Aided Distributed Generalized Spatial Modulation for DMIMO Systems

This letter investigates a non-uniform activation aided distributed generalized spatial modulation (DGSM) scheme in a downlink distributed multiple-input multiple-output (DMIMO) system formed by geographically separated transmission reception points (TRPs). Unlike conventional uniform-activation DGSM, the proposed scheme assigns adaptive activation probabilities to different TRP subsets, thereby jointly exploiting the data-domain transmission capability and the index-domain information carried by cooperative subset selection. We derive a mutual-information upper bound under non-uniform activation and formulate a joint activation-probability and power allocation problem subject to a long-term average power constraint. To solve this problem, we develop a semi-closed-form joint probability and power optimization (SC-JPPO) algorithm, where the optimal activation probabilities are shown to follow a Softmax function of the effective utilities. Simulation results demonstrate that the proposed scheme improves spectral efficiency under the same activation scale and power budget compared with existing benchmarks.

cs.IT↗

arXiv2026

EmbodiedMemory-Bench: Benchmarking Embodied Memory for Long-Horizon Embodied Tasks

Long-horizon embodied interaction requires agents to retain and continually update information about the environment as they observe, act, and encounter change. Yet current agents struggle to maintain such memory reliably. Our analysis traces this limitation to four key deficiencies: weak fine-grained visual memory, unreliable dynamic world-state tracking, failing to record world state revealed by interaction outcomes, and limited generalization from prior experience. However, existing benchmarks do not directly assess these memory capabilities during long-horizon embodied interaction. To address this gap, we introduce EmbodiedMemory-Bench (EMem-Bench), comprising 2,554 interactive episodes across four task families. EMem-Bench requires agents to build and update memory from interaction history, then use it to complete a later task by acting in the environment. We further present Embodied-Memorizer (EMem), an external memory system that organizes embodied experience into spatial, event, and scene memories. We also train EMem-8B, an 8B policy that manages and uses these memories. We evaluate a diverse range of open-source and proprietary MLLMs and representative multimodal memory systems. Results show that current models remain weak and uneven across the four challenges. Under matched backbones, EMem achieves the best overall performance among the evaluated memory systems and improves both open-source and proprietary models, while EMem-8B further improves over its backbone. Project page: https://zju-omniai.github.io/EmbodiedMemoryBench/

cs.CV↗

arXiv2026

GNN-Based Global CSI Reconstruction for Fronthaul-Limited Distributed MIMO Systems

Global channel state information (CSI) acquisition is essential for cooperative precoding in distributed multiple-input multiple-output (DMIMO) systems, but uploading full instantaneous CSI from all distributed antennas creates heavy fronthaul overhead. This paper proposes a fronthaul-efficient acquisition framework based on graph neural network (GNN) reconstruction and task-driven antenna selection. Each transmission and reception point (TRP) uploads only selected antenna CSI, while the centralized unit (CU) reconstructs the full global CSI from partial observations. A universal mask-conditioned GNN is trained with random upload masks, used to evaluate antenna subsets under a fronthaul budget, and then fine-tuned for the selected deployment mask. Simulation results show improved CSI reconstruction accuracy with lower fronthaul and pilot overhead.

cs.IT↗

arXiv2026

Reconciling Process Supervision with Outcome-Based Credit in Agentic Policy Optimization

Outcome-based reinforcement learning provides verified feedback for language-model agents, but assigns trajectory-level advantage uniformly to all decisions, yielding coarse credit over long-horizon interactions. On-policy self-distillation offers finer supervision by re-evaluating sampled behavior with privileged information (PI) available only during training. However, fine-grained supervision is not necessarily fine-grained credit: PI-induced likelihood changes describe how additional information alters policy preference, but do not directly determine how an executable action should inherit the verified task outcome. This creates a supervision-credit gap. Privileged signals may be irrelevant to the current interaction state, operate at a token granularity misaligned with executable decisions, and lack the outcome semantics required for reinforcement. We introduce TASPO, which converts privileged supervision into outcome-grounded action credit. TASPO constructs decision-applicable PI from verified successful experience, aggregates PI-induced likelihood shifts at the executable-action level, and converts relative action support into positive, bounded, mean-preserving weights on the original trajectory advantage. Thus, the verified outcome determines the update direction and average scale, while PI only redistributes credit across actions. Across three agentic benchmarks, TASPO improves over GRPO by 10.6\% and generalizes better to unseen tasks. Further analysis indicates that TASPO reduces supervision mismatch and that action-level assignment stabilizes the policy optimization process. These findings offer the community another interesting perspective.

cs.AI↗

arXiv2026

Learning from Reliable Negatives: Confidence-Anchored Test-Time Adaptation for GUI Grounding

Graphical User Interface (GUI) grounding is essential for autonomous agents to map natural language instructions to precise screen coordinates. However, existing supervised fine-tuning and reinforcement learning methods are constrained by the high cost of annotation, creating a scalability bottleneck. In this paper, we introduce a label-free test-time training paradigm driven by two key insights: (1) confidence patterns in coordinate tokens are a better indicator than full-sequence confidence, and (2) in sparse GUI coordinate spaces, negative samples offer more reliable learning signals than potentially noisy positive ones. We first propose Confidence-Anchored Learning (CAL), which utilizes coordinate-token confidence to filter pseudo-labels and assign distance-based binary rewards. Building on this, we develop Confidence-Anchored Negative Learning (CANL), which exclusively optimizes the model using negative samples to bypass the risks of incorrect positive samples. Experimental results demonstrate that CANL-7B achieves 92.1% on ScreenSpot-V2. On more challenging ScreenSpot-Pro, CANL-7B reaches 33.8%, an 8.9% absolute improvement over the base model. Our findings establish coordinate-token confidence as a powerful alternative to manual annotations for scalable GUI agent development.

cs.CV↗