arXiv subjects

Wenxuan Zhu

Publications and source records attributed to Wenxuan Zhu.

At least 19 recordsLinked to original sources

arXiv2026

Towards Trustworthy Embodied Intelligence: A Systems Framework and Graded Trustworthiness Levels

Embodied intelligence integrates learned perception and decision making with real-time computation, control, and physical interaction. Because failures can cause immediate physical or operational harm, task completion alone does not establish trustworthiness. We define trustworthy embodied intelligence as the sustained capacity to execute specified tasks reliably under environmental and system variation while maintaining risk within acceptable bounds. We term this objective sustained safe success. Its supporting mechanisms are organized into four interdependent layers. The model layer generates task-competent action proposals with calibrated uncertainty and explicit safety preferences. The system layer realizes authorized actions dependably through integrated sensing, computation, control, hardware safeguards, fault containment, and fallback. The evidence layer substantiates bounded claims through evaluation, verification, validation, traceability, and structured assurance arguments. The deployment layer maintains claim validity through runtime monitoring, authority management, intervention, incident response, and controlled updates. Because assumptions and failures propagate across these layers, neither model capability, isolated safeguards, nor benchmark performance alone can establish end-to-end trustworthiness. Drawing on embodied AI, robotics, control, dependable computing, distributed systems, and autonomous driving, we further propose a non-normative hierarchy of trustworthiness levels. This hierarchy grades the strength of bounded deployment claims across task capability, safety, system assurance, operational governance, and supporting evidence, providing a basis for bounded deployment, comparative evaluation, research prioritization, and future standardization.

cs.RO↗

arXiv2026

LDA-1B: Scaling Latent Dynamics Action Model via Universal Embodied Data Ingestion

Recent robot foundation models largely rely on large-scale behavior cloning, which imitates expert actions but discards transferable dynamics knowledge embedded in heterogeneous embodied data. While the Unified World Model (UWM) formulation has the potential to leverage such diverse data, existing instantiations struggle to scale to foundation-level due to coarse data usage and fragmented datasets. We introduce LDA-1B, a robot foundation model that scales through universal embodied data ingestion by jointly learning dynamics, policy, and visual forecasting, assigning distinct roles to data of varying quality. To support this regime at scale, we assemble and standardize EI-30k, an embodied interaction dataset comprising over 30k hours of human and robot trajectories in a unified format. Scalable dynamics learning over such heterogeneous data is enabled by prediction in a structured DINO latent space, which avoids redundant pixel-space appearance modeling. Complementing this representation, LDA-1B employs a multi-modal diffusion transformer to handle asynchronous vision and action streams, enabling stable training at the 1B-parameter scale. Experiments in simulation and the real world show LDA-1B outperforms prior methods (e.g., $π_{0.5}$) by up to 21\%, 48\%, and 23\% on contact-rich, dexterous, and long-horizon tasks, respectively. Notably, LDA-1B enables data-efficient fine-tuning, gaining 10\% by leveraging 30\% low-quality trajectories typically harmful and discarded.

cs.RO↗

arXiv2026

GeoSSA: Geometric Sparrow Search Algorithm for UAV Path Planning and Engineering Design Optimization

The Sparrow Search Algorithm (SSA), characterized by its simple structure and ease of implementation, nevertheless suffers from an insufficient balance between exploration and exploitation, making it prone to premature convergence and slow optimization progress. To address these shortcomings, this paper proposes a Geometric Sparrow Search Algorithm (GeoSSA). By integrating Good Nodes Set initialization, a Sine-Cosine Enhanced Producer position update strategy, and a Triangular-Walk Enhanced Edge Sparrow update strategy, GeoSSA significantly improves the global exploration ability, local exploitation efficiency, and convergence stability of the original SSA. To thoroughly validate the effectiveness of GeoSSA, we conducted ablation studies, qualitative analysis, and comparative experiments on 23 benchmark functions against state-of-the-art algorithms. Experimental results show that GeoSSA achieves the best or near-best performance in terms of average fitness, standard deviation, Wilcoxon tests, and Friedman rankings, with an Overall Effectiveness ($OE$) of 95.65\%. Its overall performance is significantly superior to all compared algorithms. In three-dimensional UAV path planning tasks, GeoSSA demonstrates excellent stability and superior path quality. In four categories of engineering design optimization problems, GeoSSA consistently attains the highest solution accuracy and strongest stability. GeoSSA not only exhibits outstanding global optimization performance on standard benchmark functions but also shows strong robustness and generalization ability in practical applications such as UAV path planning and engineering design. Therefore, GeoSSA provides an efficient and reliable solution framework for complex optimization problems.

cs.CE↗

arXiv2025

NAWOA-XGBoost: A Novel Model for Early Prediction of Academic Potential in Computer Science Students

Whale Optimization Algorithm (WOA) suffers from limited global search ability, slow convergence, and tendency to fall into local optima, restricting its effectiveness in hyperparameter optimization for machine learning models. To address these issues, this study proposes a Nonlinear Adaptive Whale Optimization Algorithm (NAWOA), which integrates strategies such as Good Nodes Set initialization, Leader-Followers Foraging, Dynamic Encircling Prey, Triangular Hunting, and a nonlinear convergence factor to enhance exploration, exploitation, and convergence stability. Experiments on 23 benchmark functions demonstrate NAWOA's superior optimization capability and robustness. Based on this optimizer, an NAWOA-XGBoost model was developed to predict academic potential using data from 495 Computer Science undergraduates at Macao Polytechnic University (2009-2019). Results show that NAWOA-XGBoost outperforms traditional XGBoost and WOA-XGBoost across key metrics, including Accuracy (0.8148), Macro F1 (0.8101), AUC (0.8932), and G-Mean (0.8172), demonstrating strong adaptability on multi-class imbalanced datasets.

cs.CE↗

arXiv2025

An Enhanced Whale Optimization Algorithm with Log-Normal Distribution for Optimizing Coverage of Wireless Sensor Networks

Wireless Sensor Networks (WSNs) are essential for monitoring and communication in complex environments, where coverage optimization directly affects performance and energy efficiency. However, traditional algorithms such as the Whale Optimization Algorithm (WOA) often suffer from limited exploration and premature convergence. To overcome these issues, this paper proposes an enhanced WOA which is called GLNWOA. GLNWOA integrates a log-normal distribution model into WOA to improve convergence dynamics and search diversity. GLNWOA employs a Good Nodes Set initialization for uniform population distribution, a Leader Cognitive Guidance Mechanism for efficient information sharing, and an Enhanced Spiral Updating Strategy to balance global exploration and local exploitation. Tests on benchmark functions verify its superior convergence accuracy and robustness. In WSN coverage optimization, deploying 25 nodes in a 60 m $\times$ 60 m area achieved a 99.0013\% coverage rate, outperforming AROA, WOA, HHO, ROA, and WOABAT by up to 15.5\%. These results demonstrate that GLNWOA offers fast convergence, high stability, and excellent optimization capability for intelligent network deployment.

cs.CE↗

arXiv2025

Time-Series Learning for Proactive Fault Prediction in Distributed Systems with Deep Neural Structures

This paper addresses the challenges of fault prediction and delayed response in distributed systems by proposing an intelligent prediction method based on temporal feature learning. The method takes multi-dimensional performance metric sequences as input. We use a Gated Recurrent Unit (GRU) to model the evolution of system states over time. An attention mechanism is then applied to enhance key temporal segments, improving the model's ability to identify potential faults. On this basis, a feedforward neural network is designed to perform the final classification, enabling early warning of system failures. To validate the effectiveness of the proposed approach, comparative experiments and ablation analyses were conducted using data from a large-scale real-world cloud system. The experimental results show that the model outperforms various mainstream time-series models in terms of Accuracy, F1-Score, and AUC. This demonstrates strong prediction capability and stability. Furthermore, the loss function curve confirms the convergence and reliability of the training process. It indicates that the proposed method effectively learns system behavior patterns and achieves efficient fault detection.

cs.DC↗

arXiv2025

Graph Neural Network-Based Collaborative Perception for Adaptive Scheduling in Distributed Systems

This paper addresses the limitations of multi-node perception and delayed scheduling response in distributed systems by proposing a GNN-based multi-node collaborative perception mechanism. The system is modeled as a graph structure. Message-passing and state-update modules are introduced. A multi-layer graph neural network is constructed to enable efficient information aggregation and dynamic state inference among nodes. In addition, a perception representation method is designed by fusing local states with global features. This improves each node's ability to perceive the overall system status. The proposed method is evaluated within a customized experimental framework. A dataset featuring heterogeneous task loads and dynamic communication topologies is used. Performance is measured in terms of task completion rate, average latency, load balancing, and transmission efficiency. Experimental results show that the proposed method outperforms mainstream algorithms under various conditions, including limited bandwidth and dynamic structural changes. It demonstrates superior perception capabilities and cooperative scheduling performance. The model achieves rapid convergence and efficient responses to complex system states.

cs.LG↗

arXiv2025

Deep Probabilistic Modeling of User Behavior for Anomaly Detection via Mixture Density Networks

To improve the identification of potential anomaly patterns in complex user behavior, this paper proposes an anomaly detection method based on a deep mixture density network. The method constructs a Gaussian mixture model parameterized by a neural network, enabling conditional probability modeling of user behavior. It effectively captures the multimodal distribution characteristics commonly present in behavioral data. Unlike traditional classifiers that rely on fixed thresholds or a single decision boundary, this approach defines an anomaly scoring function based on probability density using negative log-likelihood. This significantly enhances the model's ability to detect rare and unstructured behaviors. Experiments are conducted on the real-world network user dataset UNSW-NB15. A series of performance comparisons and stability validation experiments are designed. These cover multiple evaluation aspects, including Accuracy, F1- score, AUC, and loss fluctuation. The results show that the proposed method outperforms several advanced neural network architectures in both performance and training stability. This study provides a more expressive and discriminative solution for user behavior modeling and anomaly detection. It strongly promotes the application of deep probabilistic modeling techniques in the fields of network security and intelligent risk control.

cs.LG↗

arXiv2025

Joint Graph Convolution and Sequential Modeling for Scalable Network Traffic Estimation

This study focuses on the challenge of predicting network traffic within complex topological environments. It introduces a spatiotemporal modeling approach that integrates Graph Convolutional Networks (GCN) with Gated Recurrent Units (GRU). The GCN component captures spatial dependencies among network nodes, while the GRU component models the temporal evolution of traffic data. This combination allows for precise forecasting of future traffic patterns. The effectiveness of the proposed model is validated through comprehensive experiments on the real-world Abilene network traffic dataset. The model is benchmarked against several popular deep learning methods. Furthermore, a set of ablation experiments is conducted to examine the influence of various components on performance, including changes in the number of graph convolution layers, different temporal modeling strategies, and methods for constructing the adjacency matrix. Results indicate that the proposed approach achieves superior performance across multiple metrics, demonstrating robust stability and strong generalization capabilities in complex network traffic forecasting scenarios.

cs.LG↗

arXiv2025

Can Video Diffusion Model Reconstruct 4D Geometry?

Reconstructing dynamic 3D scenes (i.e., 4D geometry) from monocular video is an important yet challenging problem. Conventional multiview geometry-based approaches often struggle with dynamic motion, whereas recent learning-based methods either require specialized 4D representation or sophisticated optimization. In this paper, we present Sora3R, a novel framework that taps into the rich spatiotemporal priors of large-scale video diffusion models to directly infer 4D pointmaps from casual videos. Sora3R follows a two-stage pipeline: (1) we adapt a pointmap VAE from a pretrained video VAE, ensuring compatibility between the geometry and video latent spaces; (2) we finetune a diffusion backbone in combined video and pointmap latent space to generate coherent 4D pointmaps for every frame. Sora3R operates in a fully feedforward manner, requiring no external modules (e.g., depth, optical flow, or segmentation) or iterative global alignment. Extensive experiments demonstrate that Sora3R reliably recovers both camera poses and detailed scene geometry, achieving performance on par with state-of-the-art methods for dynamic 4D reconstruction across diverse scenarios.

cs.CV↗

arXiv2025

4D-Bench: Benchmarking Multi-modal Large Language Models for 4D Object Understanding

Multimodal Large Language Models (MLLMs) have demonstrated impressive 2D image/video understanding capabilities. However, there are no publicly standardized benchmarks to assess the abilities of MLLMs in understanding the 4D objects (3D objects with temporal evolution over time). In this paper, we introduce 4D-Bench, the first benchmark to evaluate the capabilities of MLLMs in 4D object understanding, featuring tasks in 4D object Question Answering (4D object QA) and 4D object captioning. 4D-Bench provides 4D objects with diverse categories, high-quality annotations, and tasks necessitating multi-view spatial-temporal understanding, different from existing 2D image/video-based benchmarks. With 4D-Bench, we evaluate a wide range of open-source and closed-source MLLMs. The results from the 4D object captioning experiment indicate that MLLMs generally exhibit weaker temporal understanding compared to their appearance understanding, notably, while open-source models approach closed-source performance in appearance understanding, they show larger performance gaps in temporal understanding. 4D object QA yields surprising findings: even with simple single-object videos, MLLMs perform poorly, with state-of-the-art GPT-4o achieving only 63\% accuracy compared to the human baseline of 91\%. These findings highlight a substantial gap in 4D object understanding and the need for further advancements in MLLMs.

cs.CV↗

arXiv2024

Electrical Manipulation of Spin Splitting Torque in Altermagnetic RuO2

Due to nonrelativistic altermagnetic spin splitting effect (ASSE), altermagnets can generate time-reversal-odd spin current and spin splitting torque (SST) with spin polarization parallel to the Néel vector. Hence the effective manipulation of SST would provide plenty of opportunities for designable spintronic devices, which remains elusive. Here, the electrical control of SST is achieved in altermagnetic RuO2, based on controllable Néel vector of RuO2 and Néel vector-dependent generation of SST. We demonstrate the current-induced switching of Néel vector via spin-orbit torque in RuO2 films, according to the reversible polarity of electrical transport measurements and X-ray magnetic linear dichroism (XMLD). The XMLD also unprecedentedly demonstrates that Néel vector really exists in altermagnets. The switching of Néel vector to the current direction and resultantly enhanced spin polarization parallel to the Néel vector brings about stronger ASSE-induced spin current. Our findings not only enrich the properties of altermagnets but also pave the way for high speed memories and nano-oscillators with excellent controllability and efficiency.

cond-mat.mtrl-sci↗

arXiv2024

Lead-free Hybrid Perovskite: An Efficient Room Temperature Spin Generator via Large Interfacial Rashba effect

Two-dimensional (2D) hybrid organic-inorganic perovskite (HOIP) demonstates great potential for developing flexible and wearable spintronic devices, by serving as spin sources via the bulk Rashba effect (BRE). However, the practical application of BRE in 2D HOIP faces huge challenges, particularly due to the toxicity of lead, which is crucial for achieving large spin-orbit coupling, and the restrictions in 2D HOIP candidates to meet specific symmetry-breaking requirements. To overcome these obstacles, we design a strategy to exploit the interfacial Rashba effect (IRE) of lead-free 2D HOIP (C6H5CH2CH2NH3)2CuCl4 (PEA-CuCl), manifesting as an efficient spin generator at room temperature. IRE of PEA-CuCl originates from the large orbital hybridization at the interface between PEA-CuCl and adjacent ferromagnetic layers. Spin-torque ferromagnetic resonance measurements further quantify a large Rashba effective field of 14.04 Oe per 10^11 A m-2, surpassing those of lead-based HOIP and traditional all-inorganic heterojunctions with noble metals. Our lead-free 2D HOIP PEA-CuCl, which harnesses large IRE for spin generation, is efficient, nontoxic, and economic, offering huge promise for future flexible and wearable spintronic devices.

cond-mat.mtrl-sci↗

arXiv2024

Tunable Quantum Anomalous Hall Effect via Crystal Order in Spin-Splitting Antiferromagnets

Quantum anomalous Hall (QAH) effect provides dissipationless chiral channels for spin transport, expected as an outstanding candidate in future low-power quantum computation. The spin-splitting band structure is vital for obtaining QAH effect in topological systems, with ferromagnetism indispensable to manipulate the Chern number. Herein, we challenge this wisdom by proposing tunable QAH effect in spin-splitting antiferromagnets with zero magnetization. Since the spin splitting of these unique magnets originates from the alternate crystal environment, the Chern number can be modulated not only by the conventional magnetic order, but also by the crystal order, opening an additional dimension for tuning QAH effect. Our concept is illustrated based on two-dimensional (2D) MnBi2Te4 (MBT) with even septuple layers (SLs), a typical axion insulator with fully magnetic compensation. By interlayer rotation and translation operations, sublattices of MBT with opposite magnetizations are no longer connected by inversion or mirror symmetries, leading to the transition to the QAH insulator. The flexible stacking of 2D materials enables the reversible Chern number by crystal design. Our work fundamentally reveals the crystal-order-dependent QAH effect in spin-splitting antiferromagnets, which would advance QAH effect-based devices towards high controllability, integration density and operation speed.

cond-mat.mes-hall↗

arXiv2024

TrackNeRF: Bundle Adjusting NeRF from Sparse and Noisy Views via Feature Tracks

Neural radiance fields (NeRFs) generally require many images with accurate poses for accurate novel view synthesis, which does not reflect realistic setups where views can be sparse and poses can be noisy. Previous solutions for learning NeRFs with sparse views and noisy poses only consider local geometry consistency with pairs of views. Closely following \textit{bundle adjustment} in Structure-from-Motion (SfM), we introduce TrackNeRF for more globally consistent geometry reconstruction and more accurate pose optimization. TrackNeRF introduces \textit{feature tracks}, \ie connected pixel trajectories across \textit{all} visible views that correspond to the \textit{same} 3D points. By enforcing reprojection consistency among feature tracks, TrackNeRF encourages holistic 3D consistency explicitly. Through extensive experiments, TrackNeRF sets a new benchmark in noisy and sparse view reconstruction. In particular, TrackNeRF shows significant improvements over the state-of-the-art BARF and SPARF by $\sim8$ and $\sim1$ in terms of PSNR on DTU under various sparse and noisy view setups. The code is available at \href{https://tracknerf.github.io/}.

cs.CV↗

arXiv2024

Vivid-ZOO: Multi-View Video Generation with Diffusion Model

While diffusion models have shown impressive performance in 2D image/video generation, diffusion-based Text-to-Multi-view-Video (T2MVid) generation remains underexplored. The new challenges posed by T2MVid generation lie in the lack of massive captioned multi-view videos and the complexity of modeling such multi-dimensional distribution. To this end, we propose a novel diffusion-based pipeline that generates high-quality multi-view videos centered around a dynamic 3D object from text. Specifically, we factor the T2MVid problem into viewpoint-space and time components. Such factorization allows us to combine and reuse layers of advanced pre-trained multi-view image and 2D video diffusion models to ensure multi-view consistency as well as temporal coherence for the generated multi-view videos, largely reducing the training cost. We further introduce alignment modules to align the latent spaces of layers from the pre-trained multi-view and the 2D video diffusion models, addressing the reused layers' incompatibility that arises from the domain gap between 2D and multi-view data. In support of this and future research, we further contribute a captioned multi-view video dataset. Experimental results demonstrate that our method generates high-quality multi-view videos, exhibiting vivid motions, temporal coherence, and multi-view consistency, given a variety of text prompts.

cs.CV↗

arXiv2024

Exploring Learngene via Stage-wise Weight Sharing for Initializing Variable-sized Models

In practice, we usually need to build variable-sized models adapting for diverse resource constraints in different application scenarios, where weight initialization is an important step prior to training. The Learngene framework, introduced recently, firstly learns one compact part termed as learngene from a large well-trained model, after which learngene is expanded to initialize variable-sized models. In this paper, we start from analysing the importance of guidance for the expansion of well-trained learngene layers, inspiring the design of a simple but highly effective Learngene approach termed SWS (Stage-wise Weight Sharing), where both learngene layers and their learning process critically contribute to providing knowledge and guidance for initializing models at varying scales. Specifically, to learn learngene layers, we build an auxiliary model comprising multiple stages where the layer weights in each stage are shared, after which we train it through distillation. Subsequently, we expand these learngene layers containing stage information at their corresponding stage to initialize models of variable depths. Extensive experiments on ImageNet-1K demonstrate that SWS achieves consistent better performance compared to many models trained from scratch, while reducing around 6.6x total training costs. In some cases, SWS performs better only after 1 epoch tuning. When initializing variable-sized models adapting for different resource constraints, SWS achieves better results while reducing around 20x parameters stored to initialize these models and around 10x pre-training costs, in contrast to the pre-training and fine-tuning approach.

cs.LG↗

arXiv2024

Electrical-controllable antiferromagnet-based tunnel junction

Electrical-controllable antiferromagnet tunnel junction is a key goal in spintronics, holding immense promise for ultra-dense and ultra-stable antiferromagnetic memory with high processing speed for modern information technology. Here, we have advanced towards this goal by achieving an electrical-controllable antiferromagnet-based tunnel junction of Pt/Co/Pt/Co/IrMn/MgO/Pt. The exchange coupling between antiferromagnetic IrMn and Co/Pt perpendicular magnetic multilayers results in the formation of interfacial exchange bias and exchange spring in IrMn. Encoding information states 0 and 1 is realized through the exchange spring in IrMn, which can be electrically written by spin-orbit torque switching with high cyclability and electrically read by antiferromagnetic tunneling anisotropic magnetoresistance. Combining spin-orbit torque switching of both exchange spring andexchange bias, 16 Boolean logic operation is successfully demonstrated. With both memory and logic functionalities integrated into our electrical-controllable antiferromagnetic-based tunnel junction, we chart the course toward high-performance antiferromagnetic logic-in-memory.

physics.app-ph↗