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Wentao Lu

Publications and source records attributed to Wentao Lu.

14 recordsLinked to original sources

Outcome-Routed Distillation and Reinforcement Learning for Diffusion Language Models

On-policy distillation provides dense supervision on the student's own samples, but its targets still come from the teacher. Verifier reinforcement learning (RL) instead uses an outcome signal, but it provides no direct constraint on capabilities outside the verifier. Combining the two is difficult for diffusion language models (dLLMs), because bidirectional denoising makes the policy likelihoods required by ratio-based RL unreliable. We develop a likelihood-free pipeline for a mixture-of-experts dLLM. Each rollout group is routed by verifier outcome. Mixed groups use ratio-free, group-centred REINFORCE. If every student rollout fails but a teacher succeeds, the model receives dense KL supervision on the student's denoising canvases. All other groups are skipped. A KL term anchored to the distilled checkpoint limits changes outside the verifier reward. The tool-calling teacher succeeds on only 18.6% of the training prompts. At 24 denoising steps, distillation exceeds the teacher by 6.77 percentage points, and routing improves the distilled checkpoint by a further 18.31 points. Routing lowers reasoning-trace accuracy by 0.71 points but raises direct-answer accuracy on the same items by 13.21 points. The anchored arm restores trace accuracy. Its tool-calling score differs by -0.16 points, with a confidence interval that includes zero, although this comparison also removes a small fallback distillation route. A domain-conditional recipe retains a 16.37-point tool-calling gain; a second seed gives 18.23 points and reproduces both preservation results, but the math result is seed-dependent. We pre-registered every arm and evaluated each comparison on paired items in a single sweep on one machine.

cs.LG↗

Context-Tower Conversion Preserves Generation While Freezing Retains Knowledge: Low-Budget AR-to-Diffusion Conversion of MoE LLMs

Converting a pretrained autoregressive (AR) model to a diffusion language model (dLLM) enables parallel generation without pretraining a new model. Published conversion methods differ by roughly three orders of magnitude in training data and have not been compared under a common protocol. We compare two conversions of the same 30B Mixture-of-Experts (MoE) parent, holding the corpus, supervised-token budget, trainable parameter set and evaluation harness fixed, each under its own training recipe. The in-place model updates a subset of the parent's weights using denoising and representation-alignment losses; the frozen-tower model instead conditions through cross-attention on a frozen causal copy of the parent. With 1B training tokens, the frozen-tower model scores 71.60 on HumanEval pass@10 against 6.19 for the in-place model, an 11.6x improvement. At the same budget it also keeps 95% of the parent's GSM8K score and 99% of its MMLU-Pro score. A dense-parent experiment reproduces the HumanEval separation. Within the two-tower design at about 500M tokens, freezing the context tower retains substantially more MMLU-Pro performance than training it, while both give similar observed HumanEval scores. Our theoretical analysis establishes that both conversion classes contain an exact sampler for the AR parent under a hard attention mask and left-to-right commitment of one position per round. Under a shared loss, freezing removes the gradient contribution through the context states. Furthermore, evaluation protocol substantially affects a published 500B-token conversion's scores in both directions across tasks, while its AR parent's scores vary by less than three points, so comparing dLLMs needs a common protocol. These results show that, in the tested low-budget regime, the frozen-tower configuration retains substantially more of the parent's generation performance than in-place conversion.

cs.LG↗

ReCoLoRA: Spectrum-Aware Recursive Consolidation for Continual LLM Fine-Tuning

Parameter-efficient fine-tuning adapts a large language model to one task cheaply, but across a task sequence LoRA-style methods keep stacking low-rank updates on the same frozen weight, so each new task tends to overwrite the previous ones. We present ReCoLoRA (Recursive Consolidation of Low-Rank Adapters), a spectrum-aware framework for continual fine-tuning: adapters are initialized from a randomized SVD of the pretrained weight, per-layer effective ranks are selected by an elbow criterion, and the principal subspace is adapted before residual capacity is opened. Before each new task, ReCoLoRA re-decomposes the current effective weight, rather than the original one, into a frozen residual, a slowly updated principal component, and a fresh adapter (recursive consolidation), so every task starts from the model that has already absorbed its predecessors. On a six-task continual GLUE sequence over four 7-8B backbones, ReCoLoRA attains the best final average score on three of the four backbones against rank-swept LoRA, PiSSA, AdaLoRA, and DoRA baselines while training fewer parameters; an oracle-routed task-bank variant serves as an upper bound under full task isolation. Code: https://github.com/bhqy666/ReCoLoRA.

cs.LG↗

How Far Can VLMs Go for Visual Bug Detection? Studying 19,738 Keyframes from 41 Hours of Gameplay Videos

Video-based quality assurance (QA) for long-form gameplay video is labor-intensive and error-prone, yet valuable for assessing game stability and visual correctness over extended play sessions. Vision language models (VLMs) promise general-purpose visual reasoning capabilities and thus appear attractive for detecting visual bugs directly from video frames. Recent benchmarks suggest that VLMs can achieve promising results in detecting visual glitches on curated datasets. Building on these findings, we conduct a real-world study using industrial QA gameplay videos to evaluate how well VLMs perform in practical scenarios. Our study samples keyframes from long gameplay videos and asks a VLM whether each keyframe contains a bug. Starting from a single-prompt baseline, the model achieves a precision of 0.50 and an accuracy of 0.72. We then examine two common enhancement strategies used to improve VLM performance without fine-tuning: (1) a secondary judge model that re-evaluates VLM outputs, and (2) metadata-augmented prompting through the retrieval of prior bug reports. Across \textbf{100 videos} totaling \textbf{41 hours} and \textbf{19,738 keyframes}, these strategies provide only marginal improvements over the simple baseline, while introducing additional computational cost and output variance. Our findings indicate that off-the-shelf VLMs are already capable of detecting a certain range of visual bugs in QA gameplay videos, but further progress likely requires hybrid approaches that better separate textual and visual anomaly detection.

cs.CV↗

D-GVIO: A Buffer-Driven and Efficient Decentralized GNSS-Visual-Inertial State Estimator for Multi-Agent Systems

Cooperative localization is essential for swarm applications like collaborative exploration and search-and-rescue missions. However, maintaining real-time capability, robustness, and computational efficiency on resource-constrained platforms presents significant challenges. To address these challenges, we propose D-GVIO, a buffer-driven and fully decentralized GNSS-Visual-Inertial Odometry (GVIO) framework that leverages a novel buffering strategy to support efficient and robust distributed state estimation. The proposed framework is characterized by four core mechanisms. Firstly, through covariance segmentation, covariance intersection and buffering strategy, we modularize propagation and update steps in distributed state estimation, significantly reducing computational and communication burdens. Secondly, the left-invariant extended Kalman filter (L-IEKF) is adopted for information fusion, which exhibits superior state estimation performance over the traditional extended Kalman filter (EKF) since its state transition matrix is independent of the system state. Thirdly, a buffer-based re-propagation strategy is employed to handle delayed measurements efficiently and accurately by leveraging the L-IEKF, eliminating the need for costly re-computation. Finally, an adaptive buffer-driven outlier detection method is proposed to dynamically cull GNSS outliers, enhancing robustness in GNSS-challenged environments.

cs.RO↗

PhysicsMind: Sim and Real Mechanics Benchmarking for Physical Reasoning and Prediction in Foundational VLMs and World Models

Modern foundational Multimodal Large Language Models (MLLMs) and video world models have advanced significantly in mathematical, common-sense, and visual reasoning, but their grasp of the underlying physics remains underexplored. Existing benchmarks attempting to measure this matter rely on synthetic, Visual Question Answer templates or focus on perceptual video quality that is tangential to measuring how well the video abides by physical laws. To address this fragmentation, we introduce PhysicsMind, a unified benchmark with both real and simulation environments that evaluates law-consistent reasoning and generation over three canonical principles: Center of Mass, Lever Equilibrium, and Newton's First Law. PhysicsMind comprises two main tasks: i) VQA tasks, testing whether models can reason and determine physical quantities and values from images or short videos, and ii) Video Generation(VG) tasks, evaluating if predicted motion trajectories obey the same center-of-mass, torque, and inertial constraints as the ground truth. A broad range of recent models and video generation models is evaluated on PhysicsMind and found to rely on appearance heuristics while often violating basic mechanics. These gaps indicate that current scaling and training are still insufficient for robust physical understanding, underscoring PhysicsMind as a focused testbed for physics-aware multimodal models. Our data will be released upon acceptance.

cs.CV↗

A Sample of HeII $λ$4686 "Changing-Look" Quasars

We present the first systematic search for "changing-look" ("CL") behavior in the broad He ii $λ$4686 emission line in quasars, utilizing repeated spectroscopy from the Sloan Digital Sky Survey (SDSS). The He ii line, originating from high-ionization gas and powered by extreme ultraviolet photons, serves as a sensitive tracer of changes in the ionizing continuum. After applying strict spectral selection criteria and visual inspection to a parent sample of over 9,000 quasars with multi-epoch spectra, we identify a sample of 34 He ii "changing-look" quasars that show a significant appearance or disappearance of the broad He ii $λ$4686 line. Compared with previously known H$β$ "CL" quasars, the He ii "CL" sample exhibits similarly strong continuum variability and broad-line flux changes, yet shows a preference for higher Eddington ratios and lower host-galaxy contamination. These results highlight the value of He ii line in studying the central variable engines of AGNs and uncovering a more complete census of extreme quasar variability. A comparison with H$β$ "CL" further underscores the profound selection biases inherent in "changing-look" studies, especially those associated with line strength, host-galaxy contamination, and spectral signal-to-noise ratio.

astro-ph.GA↗

Automated Bug Frame Retrieval from Gameplay Videos Using Vision-Language Models

Modern game studios deliver new builds and patches at a rapid pace, generating thousands of bug reports, many of which embed gameplay videos. To verify and triage these bug reports, developers must watch the submitted videos. This manual review is labour-intensive, slow, and hard to scale. In this paper, we introduce an automated pipeline that reduces each video to a single frame that best matches the reported bug description, giving developers instant visual evidence that pinpoints the bug. Our pipeline begins with FFmpeg for keyframe extraction, reducing each video to a median of just 1.90% of its original frames while still capturing bug moments in 98.79 of cases. These keyframes are then evaluated by a vision--language model (GPT-4o), which ranks them based on how well they match the textual bug description and selects the most representative frame. We evaluated this approach using real-world developer-submitted gameplay videos and JIRA bug reports from a popular First-Person Shooter (FPS) game. The pipeline achieves an overall F1 score of 0.79 and Accuracy of 0.89 for the top-1 retrieved frame. Performance is highest for the Lighting & Shadow (F1 = 0.94), Physics & Collision (0.86), and UI & HUD (0.83) bug categories, and lowest for Animation & VFX (0.51). By replacing video viewing with an immediately informative image, our approach dramatically reduces manual effort and speeds up triage and regression checks, offering practical benefits to quality assurance (QA) teams and developers across the game industry.

cs.SE↗

MARec: Metadata Alignment for cold-start Recommendation

For many recommender systems, the primary data source is a historical record of user clicks. The associated click matrix is often very sparse, as the number of users x products can be far larger than the number of clicks. Such sparsity is accentuated in cold-start settings, which makes the efficient use of metadata information of paramount importance. In this work, we propose a simple approach to address cold-start recommendations by leveraging content metadata, Metadata Alignment for cold-start Recommendation. We show that this approach can readily augment existing matrix factorization and autoencoder approaches, enabling a smooth transition to top performing algorithms in warmer set-ups. Our experimental results indicate three separate contributions: first, we show that our proposed framework largely beats SOTA results on 4 cold-start datasets with different sparsity and scale characteristics, with gains ranging from +8.4% to +53.8% on reported ranking metrics; second, we provide an ablation study on the utility of semantic features, and proves the additional gain obtained by leveraging such features ranges between +46.8% and +105.5%; and third, our approach is by construction highly competitive in warm set-ups, and we propose a closed-form solution outperformed by SOTA results by only 0.8% on average.

cs.IR↗

D-Flow: A Real Time Spatial Temporal Model for Target Area Segmentation

Semantic segmentation has attracted a large amount of attention in recent years. In robotics, segmentation can be used to identify a region of interest, or \emph{target area}. For example, in the RoboCup Standard Platform League (SPL), segmentation separates the soccer field from the background and from players on the field. For satellite or vehicle applications, it is often necessary to find certain regions such as roads, bodies of water or kinds of terrain. In this paper, we propose a novel approach to real-time target area segmentation based on a newly designed spatial temporal network. The method operates under domain constraints defined by both the robot's hardware and its operating environment . The proposed network is able to run in real-time, working within the constraints of limited run time and computing power. This work is compared against other real time segmentation methods on a dataset generated by a Nao V6 humanoid robot simulating the RoboCup SPL competition. In this case, the target area is defined as the artificial grass field. The method is also tested on a maritime dataset collected by a moving vessel, where the aim is to separate the ocean region from the rest of the image. This dataset demonstrates that the proposed model can generalise to a variety of vision problems.

cs.RO↗

The rUNSWift SPL Field Segmentation Dataset

In RoboCup SPL, soccer field segmentation has been widely recognised as one of the most critical robot vision problems. Key challenges include dynamic light condition, different calibration status for individual robot, various camera prospective and more. In this paper, we propose a dataset that contains 20 videos recorded with Nao V5/V6 humanroid robots by team rUNSWift under different circumstances. Each of the videos contains several consecutive high resolution frames and the corresponding labels for field. We propose this dataset to provide training data for the league to overcome field segmentation problem. The dataset will be available online for download. Details of annotation and example of usage will be explained in later sections.

cs.RO↗

Quantum fingerprints of classical Ruelle-Pollicot resonances

N-disk microwave billiards, which are representative of open quantum systems, are studied experimentally. The transmission spectrum yields the quantum resonances which are consistent with semiclassical calculations. The spectral autocorrelation of the quantum spectrum is shown to be determined by the classical Ruelle-Pollicot resonances, arising from the complex eigenvalues of the Perron-Frobenius operator. This work establishes a fundamental connection between quantum and classical correlations in open systems.

nlin.CD↗

Microwave study of quantum n-disk scattering

We describe a wave-mechanical implementation of classically chaotic n-disk scattering based on thin 2-D microwave cavities. Two, three, and four-disk scattering are investigated in detail. The experiments, which are able to probe the stationary Green's function of the system, yield both frequencies and widths of the low-lying quantum resonances. The observed spectra are found to be in good agreement with calculations based on semiclassical periodic orbit theory. Wave-vector autocorrelation functions are analyzed for various scattering geometries, the small wave-vector behavior allowing one to extract the escape rate from the quantum repeller. Quantitative agreement is found with the value predicted from classical scattering theory. For intermediate energies, non-universal oscillations are detected in the autocorrelation function, reflecting the presence of periodic orbits.

cond-mat↗

Quantum resonances and decay of a chaotic fractal repeller observed using microwaves

The quantum resonances of classically chaotic n-disk geometries were studied experimentally utilizing thin 2-D microwave geometries. The experiments yield the frequencies and widths of low-lying resonances, which are compared with semiclassical calculations. The longtime or small energy behavior of the wave-vector auto-correlation gives information about the quantum decay rate, which is in good agreement with that obtained from classical scattering theory. The intermediate energy behavior shows non-universal oscillations determined by periodic orbits.

chao-dyn↗