arXiv subjects

Xiaowen Chu

Publications and source records attributed to Xiaowen Chu.

At least 19 recordsLinked to original sources

arXiv2026

VOMMI: Collecting and Leveraging Portable Demonstrations for Mobile Manipulation

Portable mobile-manipulation demonstrations can help alleviate data scarcity for embodied intelligence, but obtaining reliable, low-cost, and robot-free motion supervision from RGB observations remains challenging. Existing approaches often rely on teleoperation or specialized devices equipped with additional sensing hardware, while directly using estimated visual odometry (VO) trajectories can introduce inconsistencies due to accumulated drift and imperfect motion supervision. We present the Visual-Odometry-Conditioned Mobile Manipulation Interface (VOMMI), a portable demonstration collection and learning framework that connects portable RGB demonstrations to vision-language-action (VLA) post-training through offline trajectory reconstruction and online visual-motion conditioning. VOMMI synchronizes body and hand views to capture navigation context and local object interactions without requiring human-robot kinematic correspondence calibration. R2-VO refines offline demonstration trajectories using sparse geometric anchors and produces causal local-motion tokens over multiple prediction horizons for online policy conditioning. An action-group residual adapter incorporates these tokens only into the base branch. Experiments use a 500-trajectory portable for each task, with 75 trajectories held out for RGB-VO evaluation, and 200 robot demonstrations as references. Our policy, post-trained only on portable demonstrations, achieves 18.2% lower base-velocity error than a policy trained with robot-collected demonstrations, while maintaining comparable end-effector translation accuracy. Offline reconstruction reduces absolute trajectory errors for the body and hand streams by 24.6% on average relative to the best evaluated baseline for each stream. The complete system improves the mean success rate by 8.3 percentage points over OpenPI 0.5 across three real-robot tasks.

cs.RO↗

arXiv2026

ResServe: Accurate and Efficient FP4 LLM Inference with Residue Compensation

Block-scaled 4-bit floating-point (FP4) quantization reduces large language model inference costs but can degrade task quality. Higher-precision computation can mitigate this loss at the expense of some of the efficiency gains from FP4 inference. Narrow matrix computations common in decoding often leave spare hardware capacity for low-cost precision recovery. ResServe combines an FP4 activation base with an FP4-quantized residue representing information lost during quantization. It uses this spare capacity to compute the residue's contribution and combines results on-chip, avoiding extra result transfers. We apply this principle to linear layers and decode attention, while selective compensation limits added work when processing input prompts. On NVIDIA B200, compensated linear kernels using the NVFP4 format improve numerical precision while retaining latency close to uncompensated execution for the evaluated operations with few rows. In the evaluated NVFP4 inference configurations, ResServe adds at most 3.4% request-latency overhead over W4A4 and reduces request latency by 22.4-53.3% relative to W4A8. Across five models, code-generation accuracy improves over same-format uncompensated inference, with mean relative gains of 15.04% for NVFP4 and 53.57% for MXFP4.

cs.DC↗

arXiv2026

FourSight: Stable FP4 RL Post-Training via Sequence Filtering and Sparse Channel Compensation

Reinforcement learning (RL) post-training increasingly targets low-bit deployment, with NVFP4 weight-and activation quantization (W4A4) becoming the state-of-the-practice format. However, integrating NVFP4 into RL degrades rollout quality and amplifies cross-engine training-inference mismatch (TIM), destabilizing training. We show that these failures are concentrated rather than uniform - severely mismatched tail tokens concentrate in a few outlier sequences, while policy weights remain largely intact and quantization error concentrates in a few high-variance activation channels. Guided by this, we present FourSight, an algorithm-system co-design with two targeted solutions: TIM-aware sequence filtering that excludes drifted trajectories from policy updates, and sparse precision compensation that keeps only top-variance channels in BF16 while retaining native NVFP4 elsewhere. We further design a fused SpliceGEMM kernel with specialized prefill and decode datapaths to minimize overhead. FourSight sustains near-BF16 accuracy and strong FP4 deployment quality across models and engines, while improving step-to-accuracy by 1.76-2.60x and staying within 2.3% of FP4 step time up to 120B-scale models.

cs.AI↗

arXiv2026

Architecture-Aware Reinforcement Learning Makes Sliding-Window Attention Competitive in Math Reasoning

The rapid progress of reasoning and agentic large language models (LLMs) has increased the demand for long-context inference, but self-attention (SA) scales quadratically with context length. To address this, we study SWARR (Sliding-Window Attention with Reinforced Adaptation for Math Reasoning), a practical recipe for adapting SWA models to mathematical reasoning. SWARR has two stages: (1) efficient conversion from a pretrained SA model to SWA with supervised fine-tuning (SFT), which avoids pretraining a new base model, and (2) policy adaptation with reinforcement learning (RL). We find that SWA still underperforms SA after SFT, and we hypothesize that this gap is caused in part by a data-architecture mismatch: most SFT data are prepared for SA models and may contain long-range dependencies that are difficult for SWA to model. Because on-policy RL optimizes self-generated trajectories under the SWA constraint, it can adapt trajectories to better match SWA. Experiments on mathematical reasoning benchmarks show that this recipe substantially narrows the gap between SWA and SA, recovering much of the accuracy lost during SWA conversion while preserving the efficiency benefits of linear-complexity attention. Our central contribution is the empirical finding that RL changes the conclusion one would draw from conversion and SFT alone about SWA's viability for math reasoning.

cs.AI↗

arXiv2026

Taming CoT Obfuscation in VLMs: From Mechanistic Evidence to Activation-Level Enforcement

Reinforcement learning (RL) has substantially improved the reasoning capabilities of vision-language models (VLMs), yet it can induce chain-of-thought (CoT) obfuscation, an operational, non-intentional regime where models achieve high accuracy while producing reasoning traces that are less grounded and harder to monitor. While prior work documents this decay at the behavioral level, the underlying representational correlates of such drift remain poorly understood. In this work, we find that obfuscation is accompanied by a representational shift, where RL-induced optimization makes task-agnostic template features less separable from visually grounded content in the model's activation space. Based on this insight, we propose TAME, an activation-level intervention framework that leverages Sparse Autoencoders (SAEs) to regularize VLM internal features during RL training. Specifically, TAME utilizes an anti-obfuscation feedback loop to reduce behavioral obfuscation and applies an asymmetric SAE constraint to specific internal directions, penalizing template activations while preserving visual evidence. By directly intervening on the features associated with obfuscation, our method improves the transparency and visual grounding of reasoning traces. Experiments on the VIRL-39k and SPA-VL benchmarks across two model families show that TAME improves CoT monitorability (by up to +30.9 points on VIRL and +16.7 points on SPA-VL over GRPO), while largely preserving task accuracy and general-capability performance across four standard VLM benchmarks, with task-specific trade-offs. Our code is available at https://github.com/henrymao2004/TAME.

cs.AI↗

arXiv2026

Benchmarking and Error Analysis of Deep Search and Deep Research LLM Agents

As Large Language Models (LLMs) evolve into autonomous Deep Search and Deep Research Agents capable of executing long-horizon, multi-step tasks, evaluating their reliability becomes increasingly critical. However, existing evaluation paradigms predominantly focus on final task outcomes, leaving a significant gap in understanding the intermediate execution traces, where agents are highly susceptible to various errors. To address this critical gap, we introduce a comprehensive methodology and analytical framework designed specifically to diagnose errors in intermediate workflows. Building upon this framework, we establish a structured taxonomy that categorizes these vulnerabilities into two primary dimensions: System-Level Errors and Task-Level Errors. Through a systematic examination of step-by-step execution traces and agent-environment interactions, we reveal how these underlying errors affect overall performance. Finally, through empirical experiments and systematic analysis of the identified error types, we provide actionable design guidelines, aiming to enhance the robustness, reasoning capabilities, and reliability of Deep Search and Deep Research agents.

cs.LG↗

arXiv2026

AlphaLedger: Portfolio-Grounded On-Policy Distillation for Regime-Aware Alpha Mining

Hosted LLMs enable automated alpha mining but incur recurring API costs and expose research context to external providers. Training a local generator requires supervision aligned with portfolio utility: a predictive factor may add little after redundancy and trading costs. This incremental value is assessed only after the factor program is complete, whereas generation proceeds sequentially. Deployment must also adapt to evolving stock-specific evidence and changes in factor effectiveness across market regimes. We propose AlphaLedger to address these challenges. Economic-context on-policy distillation (EC-OPD) conditions a frozen teacher on completed factors and their cost-adjusted marginal portfolio contributions, then distills its legal-action distributions along the student's own trajectories. The deployed generator requires neither teacher calls nor outcome inputs. EviPool constructs a dynamic stock universe from lagged multi-source evidence, while a regime-residual gate (RRG) reweights factors using matured, state-matched returns with shrinkage and bounded deviations from equal weighting. On Chinese A-shares, AlphaLedger achieves a 55.4\% annualized net return, a Sharpe ratio of 2.06, and a maximum drawdown of 10.8\%. In a common CSI500 universe, its annualized net return exceeds the strongest baseline by 43.6\% (31.6\% vs.\ 22.0\%), with a 13.5\% higher Sharpe ratio.

cs.CE↗

arXiv2026

DRNOISE: Benchmarking Deep Research Agents in Misleading Evidence Environments

Deep research agents increasingly operate over the open web, where relevant records coexist with redundant summaries, outdated reports, and misleading documents. Existing evaluations offer limited insight into whether agents preserve sound evidential standards when an ordinary-looking false document is deliberately seeded into a searchable environment and offers a direct shortcut to a conflicting answer. We introduce DRNOISE, a 100-task benchmark for answer recovery under misleading evidence. Each task has a unique gold answer supported by two corroborating indirect record chains; the paired noisy condition adds one plausible document that states a conflicting answer directly. The benchmark spans ten families of evidence operations. Among models with strong clean-task performance in the shared agent framework, this single intervention causes 66--88 percentage-point accuracy drops. Trace analyses reveal a pattern of verification inertia: agents often retrieve truthful records yet defer to the answer-like document without adequately checking its claim against the underlying evidence. Generic verification prompts reduce but do not close this gap. The setting is especially relevant to open-web deployment, where plausible falsehoods arrive through ordinary-looking pages without explicit adversarial instructions. Reliable deep research therefore requires more than retrieval and citation; it requires active reconciliation of direct claims with record-level evidence.

cs.LG↗

arXiv2026

Accelerating Disaggregated RL for Visual Generative LLMs with Diffusion-Based Parallelism and Trainer-Assisted Generation

Reinforcement learning (RL) has become a dominant post-training paradigm, driving the emergence of high-performance RL systems such as veRL for autoregressive large language models (LLMs). In parallel, diffusion-oriented RL algorithms, e.g., DanceGRPO and FlowGRPO, have rapidly expanded the scope of RL from language reasoning to diffusion-based visual and flow-based generation. However, efficient RL systems for diffusion generative LLMs remain underexplored. Existing implementations, e.g., veRL-Omni, still rely on colocated execution, which simplifies synchronization but couples rollout and training resources, limits heterogeneous deployment, and constrains independent scaling. To this end, we introduce DigenRL, a disaggregated RL framework for diffusion-based generative LLMs that supports flexible resource allocation, accommodates heterogeneous GPUs, and facilitates efficient task scheduling. To maximally reduce the execution bubbles in the disaggregated architecture, we propose: 1) a generation-axis pipeline (GAP) and time-step parallelism (TSP) in the diffusion architecture to enable finer-grained pipelining between rollout and training; 2) an elastic trainer-assisted generation (TAG) approach to enable the trainer GPU resources to dynamically assist in executing rollout generations; and 3) a tightly one-step constrained asynchronous strategy to further utilize the tail bubble in the pipeline. Extensive experiments are conducted on three hardware testbeds with 16-32 GPUs using HunyuanVideo-13B, Wan2.1-14B, FLUX.1-12B, and QwenImage-20B generative models. Experimental results show that DigenRL achieves 1.56-2.10x throughput improvements over state-of-the-art diffusion RL systems, veRL-Omni and GenRL.

cs.AI↗

arXiv2026

DreamTrajectory: Trajectory-Guided Action Generation with World Model Alignment for Mobile Manipulation

Mobile manipulation requires a robot to coordinate base and arm motion under continuously changing viewpoints and contact conditions, within an action space far larger than that of fixed-base manipulation. Existing Vision-Language-Action (VLA) policies are limited in two respects. (i)They map observations directly to whole-body action chunks, searching this large action space without an explicit task-space motion plan, which makes coordinated base--arm prediction imprecise. (ii)They execute the predicted chunk open-loop, without checking whether the actions can realize the motion the policy intended, so control errors and unmodeled contacts accumulate into a gap between planned and realized motion. We present DreamTrajectory, a trajectory-guided framework for language-conditioned mobile manipulation that introduces one component for each limitation. Addressing(i), DreamTrajectory jointly predicts an intention-level end-effector trajectory and a whole-body action chunk in a single action expert, so that the trajectory explicitly guides base--arm action generation instead of remaining implicit. Addressing(ii), a lightweight trajectory world model predicts the trajectory that a candidate action chunk would induce, and a test-time search--predict--score procedure selects the candidate best aligned with the planned trajectory. On MS-HAB, trajectory guidance raises average success from 32.3% to 47.5% and test-time refinement further to 54.8%, with the largest gains on contact-rich articulated-object tasks. On three real-world mobile manipulation tasks, the corresponding average success rates are 63.3%, 81.7%, and 90.0%.

cs.RO↗

arXiv2026

Agent-MD: Selective LLM Intervention with Event-Driven Escalation for Stateful GCMC--MD Campaigns

Long-running molecular simulation campaigns require repeated continuation from saved states, provenance-aware progression, adaptive assessment, and occasional interpretation of workflow conditions that cannot be resolved safely by fixed rules. Here, we present Agent-MD, a framework that places large language model (LLM) reasoning selectively at campaign construction and event-triggered review, while routine simulation, analysis, continuation, archiving, and state progression are handled by a persistent rule-based campaign agent using approved policies and explicit state records. Agent-MD was demonstrated in a grand canonical Monte Carlo-molecular dynamics (GCMC-MD) water-vapor desorption campaign comprising five montmorillonite systems and three sequential relative-humidity states (RH = 0.9-0.3-0.1). Across 15 system-RH states, the workflow completed 120 segmented simulation cycles with state-specific sampling lengths and provenance-aware restart inheritance. Routine production required no live reasoning-agent invocation, while one state reached a review boundary; two preserved incidents were subsequently evaluated through blinded reasoning-agent replay, which identified the underlying workflow problems and recommended appropriate follow-up actions. The simulations also revealed distinct composition-dependent low-RH responses, with Ca-bearing montmorillonite retaining more interlayer water and maintaining a larger basal spacing than the Na- and K-bearing systems, while the highest-charge Na system retained more residual water under dry conditions. These results demonstrate that long-running scientific workflows need not place every operation inside an LLM reasoning loop: selective reasoning can instead be combined with deterministic execution, structured evidence, and validated control handoffs to provide reproducible and auditable agent-assisted molecular simulation.

cs.AI↗

arXiv2026

SNI-GNN: SmartNIC-Assisted Full-Graph GNN Training with In-Network Embedding Prediction

Full-graph GNN training delivers high accuracy but scales poorly on multi-server clusters due to heavy, irregular inter-node embedding exchanges. We present SNI-GNN, a SmartNIC-assisted full-graph training system that reduces communication while preserving accuracy by predicting remote embeddings in-network. SNI-GNN deploys a lightweight linear-trend predictor on SmartNICs to refine cached historical embeddings, coupled with an importance-based boundary-node sampling policy and an asynchronous DPU--GPU data pipeline with intermediate-result reuse. We provide error and convergence bounds showing that predictor bias remains controlled under bounded second-order dynamics and yields standard non-convex convergence with inexact gradients. Implemented on NVIDIA BlueField-3, SNI-GNN integrates with state-of-the-art full-graph systems, cuts communication by 21--45\%, achieves 1.3--3.6$\times$ end-to-end speedups over BNS-GCN and up to 1.29$\times$ over baseline SANCUS, with accuracy loss $\leq 0.01$, and scales efficiently to 16 GPUs on graphs with up to tens of millions of edges. These results indicate SmartNIC-based in-network prediction is a practical complement to partitioning and compression techniques for communication-efficient full-graph GNN training at scale.

cs.LG↗

arXiv2026

Bidirectional Resource Scheduling for Disaggregated and Asynchronous RL Post-Training

It is well established that the reasoning capabilities of large language models (LLMs) can be improved by applying reinforcement learning (RL) in a post-training stage. In a standard RL iteration, the current model (the policy) generates experience through rollouts, and the resulting data is then used to update the policy during training. High-performance RL frameworks such as StreamRL and AReaL employ a disaggregated architecture and asynchronous rollouts to better exploit both rollout and training resources, thereby increasing overall system throughput. Nonetheless, across varying RL setups (e.g., hardware configurations, model scales, staleness levels, and hyperparameters) and under changing workloads, it remains common for both rollout and training resources to experience idle periods. In this paper, we present BiDiRL, a hybrid time-space multiplexing architecture for asynchronous, disaggregated RL designed to reduce resource idleness. First, we develop a hot-switch runtime that enables rapid switching between rollout and training resources with negligible overhead. Second, we propose a static, scheduling-aware planner based on time-performance modeling that chooses a hot-switch-friendly resource partition, so that rollout and training durations are roughly balanced at a coarse level. Third, at execution time, we introduce a bidirectional scheduler that further exploits runtime bubbles through fine-grained resource switching, allowing the bottleneck stage to temporarily borrow idle resources from the other pool. Across a wide range of workloads, datasets, and models on two 32-GPU testbeds, BiDiRL increases RL training throughput by up to 1.94x compared with RL systems including veRL, AReaL, and ROLL, without affecting convergence behavior.

cs.DC↗

arXiv2026

Zellige: Moldable Sequence Placement for Mixed Image-Video DiT Training

High-quality video generation requires training Diffusion Transformers (DiTs) jointly on image and video data, posing a mixed-length sequence training problem across GPUs. Existing systems rely on data parallelism (DP), context parallelism (CP), or their combination; we model these designs as disjoint-group placement and prove that they face a fundamental tradeoff between inter-group load imbalance and intra-group communication redundancy. We present Zellige, a moldable sequence placement system that jointly selects each sequence's parallelism configuration and participating ranks. Zellige consists of three components: a hardware profiler that estimates the execution time and memory consumption of candidate placements, a two-stage planner that balances compute-heavy anchor sequences and packs lighter filler sequences into the remaining capacity, and a coalesced attention engine that efficiently executes whole sequences alongside distributed-attention shards. Across 21 plans, the hardware profile predicts step makespan and peak allocated memory with mean absolute percentage errors of $3.4%$ and $1.5%$, respectively. The two-stage planner solves each batch in 33--119 ms, significantly faster than a joint-placement reference that optimizes all sequences together, while their modeled makespans differ by at most $0.32%$. In end-to-end evaluations, Zellige outperforms KnapFormer by $1.12$--$1.48\times$ on 16 A800 GPUs and $1.27$--$1.54\times$ on 32 A6000 GPUs.

cs.DC↗

arXiv2026

Structured Scaling of AI Discovery Across Diverse Scientific Domains

Scientific discovery often requires many cycles of proposing, testing, and refining candidate solutions. Language models can increasingly participate in these loops, but simply generating more attempts does not ensure progress: parallel searches may duplicate one another and iterative refinement may become trapped in poor directions. The central challenge is therefore not only to scale AI-driven discovery, but to structure that scaling so that evaluation signals compound over time. Here we introduce SimpleTES (Simple Test-time Evaluation-driven Scaling), a framework that focuses on the structured scaling of AI discovery loops, organizing evaluator queries across independent trajectories, iterative refinement, local candidate selection, and the selective reuse of evaluated histories. Drawing on structural features of scientific communities, SimpleTES uses a single open-source GPT-OSS model to establish new state-of-the-art solutions across 28 open-ended problems in diverse scientific domains ranging from quantum physics and astronomy to biology, AI, and mathematics. These include a 24.5% reduction in quantum circuit compilation overhead, up to 23% lower propulsive cost for deep-space trajectories, a 2.17x faster lasso-path solver, an 8.5% lower-error whole-brain neural-activity predictor, the fastest reported TriMul kernel, and new mathematical constructions beyond prior human or AI records. We further post-train the model for long-horizon discovery by assigning each attempt the final outcome of the trajectory it helped produce. This improves performance on both training and held-out mathematics problems, further advancing the frontier. Together, these results establish structured scaling as a general mechanism for advancing AI scientific discovery.

cs.LG↗

arXiv2026

Memory-Augmented Multimodal Large Language Models for Small Object Understanding in Streaming Aerial Videos

Language-guided aerial perception aims to understand user-specified tiny targets in complex unmanned aerial vehicle (UAV) scenes. In real UAV deployment, the UAV must respond while it flies, so such perception runs in an online streaming manner, where frames arrive sequentially and the model responds to each one without access to future frames. However, applying current Multimodal Large Language Models (MLLMs) to this setting raises two challenges. First, targets viewed from the air are often tiny, yet the visual compression in existing MLLMs treats all regions equally and discards their fine-grained details. Second, understanding a continuous stream requires past-frame context, yet retaining the entire history is infeasible on resource-constrained onboard hardware, whereas discarding it causes the target to drift or disappear. We address the tiny object and streaming challenges from both data and method perspectives. From the data perspective, we present \textbf{DroneEyes}, the \textbf{first} pixel-level and open-vocabulary referring-segmentation dataset for tiny aerial targets, comprising $2,140$ high-definition videos and $176,623$ pairs across Object Description and Referring Expression tasks, with dense per-frame masks. From the method perspective, we propose \textbf{SkyAnchor}, an MLLM with two designs to the above challenges: a Semantics-Aware Token Router that preserves small-target under a reduced visual-token budget, and a Hierarchical Memory Bank that keeps the target consistently understood on streams.

cs.CV↗

arXiv2026

Mediator: Memory-efficient LLM Merging with Less Parameter Conflicts and Uncertainty Based Routing

Model merging aggregates Large Language Models (LLMs) finetuned on different tasks into a stronger one. However, parameter conflicts between models leads to performance degradation in averaging. While model routing addresses this issue by selecting individual models during inference, it imposes excessive storage and compute costs, and fails to leverage the common knowledge from different models. In this work, we observe that different layers exhibit varying levels of parameter conflicts. Building on this insight, we average layers with minimal parameter conflicts and use a novel task-level expert routing for layers with significant conflicts. To further reduce storage costs, inspired by task arithmetic sparsity, we decouple multiple fine-tuned experts into a dense expert and several sparse experts. Considering the out-of-distribution samples, we select and merge appropriate experts based on the task uncertainty of the input data. We conduct extensive experiments on both LLaMA and Qwen with varying parameter scales, and evaluate on real-world reasoning tasks. Results demonstrate that our method consistently achieves significant performance improvements while requiring less system cost.

cs.LG↗

arXiv2026

Sparsity-Aware Low-Rank Representation for Efficient Fine-Tuning of Large Language Models

Adapting large pre-trained language models to downstream tasks often entails fine-tuning millions of parameters or deploying costly dense weight updates, which hinders their use in resource-constrained environments. Low-rank Adaptation (LoRA) reduces trainable parameters by factorizing weight updates, yet the underlying dense weights still impose high storage and computation costs. Magnitude-based pruning can yield sparse models but typically degrades LoRA's performance when applied naively. In this paper, we introduce SALR (Sparsity-Aware Low-Rank Representation), a novel fine-tuning paradigm that unifies low-rank adaptation with sparse pruning under a rigorous mean-squared-error framework. We prove that statically pruning only the frozen base weights minimizes the pruning error bound, and we recover the discarded residual information via a truncated-SVD low-rank adapter, which provably reduces per-entry MSE by a factor of $(1 - r/\min(d,k))$. To maximize hardware efficiency, we fuse multiple low-rank adapters into a single concatenated GEMM, and we adopt a bitmap-based encoding with a two-stage pipelined decoding + GEMM design to achieve true model compression and speedup. Empirically, SALR attains 50\% sparsity on various LLMs while matching the performance of LoRA on GSM8K and MMLU, reduces model size by $2\times$, and delivers up to a $1.7\times$ inference speedup.

cs.LG↗