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Xin Chen

Publications and source records attributed to Xin Chen.

At least 145 records · Page 8Linked to original sources
arXiv2026

ViBES: A Conversational Agent with Behaviorally-Intelligent 3D Virtual Body

Human communication is inherently multimodal and social: words, prosody, and body language jointly carry intent. Yet most prior systems model human behavior as a translation task co-speech gesture or text-to-motion that maps a fixed utterance to motion clips-without requiring agentic decision-making about when to move, what to do, or how to adapt across multi-turn dialogue. This leads to brittle timing, weak social grounding, and fragmented stacks where speech, text, and motion are trained or inferred in isolation. We introduce ViBES (Voice in Behavioral Expression and Synchrony), a conversational 3D agent that jointly plans language and movement and executes dialogue-conditioned body actions. Concretely, ViBES is a speech-language-behavior (SLB) model with a mixture-of-modality-experts (MoME) backbone: modality-partitioned transformer experts for speech, facial expression, and body motion. The model processes interleaved multimodal token streams with hard routing by modality (parameters are split per expert), while sharing information through cross-expert attention. By leveraging strong pretrained speech-language models, the agent supports mixed-initiative interaction: users can speak, type, or issue body-action directives mid-conversation, and the system exposes controllable behavior hooks for streaming responses. We further benchmark on multi-turn conversation with automatic metrics of dialogue-motion alignment and behavior quality, and observe consistent gains over strong co-speech and text-to-motion baselines. ViBES goes beyond "speech-conditioned motion generation" toward agentic virtual bodies where language, prosody, and movement are jointly generated, enabling controllable, socially competent 3D interaction. Code and data will be made available at: ai.stanford.edu/~juze/ViBES/

cs.CV↗
arXiv2026

Search-MIND: Training-Free Multi-Modal Medical Image Registration

Multi-modal image registration plays a critical role in precision medicine but faces challenges from non-linear intensity relationships and local optima. While deep learning models enable rapid inference, they often suffer from generalization collapse on unseen modalities. To address this, we propose Search-MIND, a training-free, iterative optimization framework for instance-specific registration. Our pipeline utilizes a coarse-to-fine strategy: a hierarchical coarse alignment stage followed by deformable refinement. We introduce two novel loss functions: Variance-Weighted Mutual Information (VWMI), which prioritizes informative tissue regions to shield global alignment from background noise and uniform regions, and Search-MIND (S-MIND), which broadens the convergence basin of structural descriptors by considering larger local search range. Evaluations on CARE Liver 2025 and CHAOS Challenge datasets show that Search-MIND consistently outperforms classical baselines like ANTs and foundation model-based approaches like DINO-reg, offering superior stability across diverse modalities.

eess.IV↗
arXiv2026

MARS-Dragonfly: Agile and Robust Flight Control of Modular Aerial Robot Systems

Modular Aerial Robot Systems (MARS) comprise multiple drone units with reconfigurable connected formations, providing high adaptability to diverse mission scenarios, fault conditions, and payload capacities. However, existing control algorithms for MARS rely on simplified quasi-static models and rule-based allocation, which generate discontinuous and unbounded motor commands. This leads to attitude error accumulation as the number of drone units scales, ultimately causing severe oscillations during docking, separation, and waypoint tracking. To address these limitations, we first design a compact mechanical system that enables passive docking, detection-free passive locking, and magnetic-assisted separation using a single micro servo. Second, we introduce a force-torque-equivalent and polytope-constraint virtual quadrotor that explicitly models feasible wrench sets. Together, these abstractions capture the full MARS dynamics and enable existing quadrotor controllers to be applied across different configurations. We further optimize the yaw angle that maximizes control authority to enhance agility. Third, building on this abstraction, we design a two-stage predictive-allocation pipeline: a constrained predictive tracker computes virtual inputs while respecting force/torque bounds, and a dynamic allocator maps these inputs to individual modules with balanced objectives to produce smooth, trackable motor commands. Simulations across over 10 configurations and real-world experiments demonstrate stable docking, locking, and separation, as well as effective control performance. To our knowledge, this is the first real-world demonstration of MARS achieving agile flight and transport with 40 deg peak pitch while maintaining an average position error of 0.0896 m. The video is available at: https://youtu.be/yqjccrIpz5o

cs.RO↗
arXiv2026

NS-RGS: Newton-Schulz based Riemannian gradient method for orthogonal group synchronization

Group synchronization is a fundamental task involving the recovery of group elements from pairwise measurements. For orthogonal group synchronization, the most common approach reformulates the problem as a constrained nonconvex optimization and solves it using projection-based methods, such as the generalized power method. However, these methods rely on exact SVD or QR decompositions in each iteration, which are computationally expensive and become a bottleneck for large-scale problems. In this paper, we propose a Newton-Schulz-based Riemannian Gradient Scheme (NS-RGS) for orthogonal group synchronization that significantly reduces computational cost by replacing the SVD or QR step with the Newton-Schulz iteration. This approach leverages efficient matrix multiplications and aligns perfectly with modern GPU/TPU architectures. By employing a refined leave-one-out analysis, we overcome the challenge arising from statistical dependencies, and establish that NS-RGS with spectral initialization achieves linear convergence to the target solution up to near-optimal statistical noise levels. Experiments on synthetic data and real-world global alignment tasks demonstrate that NS-RGS attains accuracy comparable to state-of-the-art methods such as the generalized power method, while achieving nearly a 2$\times$ speedup.

stat.ML↗
arXiv2026

Interband optical conductivities in two-dimensional tilted Dirac bands revisited within the tight-binding model

Within the framework of linear response theory, we theoretically investigated the interband longitudinal optical conductivities (LOCs) in two-dimensional (2D) tilted Dirac bands using a tight-binding (TB) model, incorporating the effects of band tilting and Dirac-point shifting. We identified three characteristic critical frequencies in the interband LOCs of the TB model: the partner frequencies, the sharp- peak frequency, and the cutoff frequency. In contrast to conventional critical frequencies, these three types are consistently absent in the corresponding linearized $k\cdot p$ model. Notably, the sharp-peak frequency and cutoff frequency remain robust against variations in band tilting and Dirac-point shifting. By employing analytical expressions derived via the Lagrange multiplier method, we elucidate the origins of the conventional critical frequencies and their partner counterparts. In contrast, the sharp-peak frequency and cutoff frequency are associated with interband optical transitions at high-symmetry points of the energy bands, arising from the Pauli exclusion principle and the finite boundaries of the Brillouin zone. Our theoretical predictions are intended to guide future experimental studies on tilt-dependent optical phenomena in 2D tilted Dirac systems.

cond-mat.mes-hall↗
arXiv2026

In the Middle, Not on Top: AI-Mediated Communication for Patient-Provider Care Relationships

Relationship-centered care relies on trust and meaningful connection. As AI enters clinical settings, we must ask not just what it can do, but how it should be positioned to support these values. We examine a "middle, not top" approach where AI mediates communication without usurping human judgment. Through studies of CLEAR, an asynchronous messaging system, we show how this configuration addresses real-world constraints like time pressure and uneven health literacy. We find that mediator affordances (e.g., availability, neutrality) redistribute interpretive work and reduce relational friction. Ultimately, we frame AI mediation as relational infrastructure, highlighting critical design tensions around framing power and privacy.

cs.HC↗
arXiv2026

Towards Holistic Modeling for Video Frame Interpolation with Auto-regressive Diffusion Transformers

Existing video frame interpolation (VFI) methods often adopt a frame-centric approach, processing videos as independent short segments (e.g., triplets), which leads to temporal inconsistencies and motion artifacts. To overcome this, we propose a holistic, video-centric paradigm named Local Diffusion Forcing for Video Frame Interpolation (LDF-VFI). Our framework is built upon an auto-regressive diffusion transformer that models the entire video sequence to ensure long-range temporal coherence. To mitigate error accumulation inherent in auto-regressive generation, we introduce a novel skip-concatenate sampling strategy that effectively maintains temporal stability. Furthermore, LDF-VFI incorporates sparse, local attention and tiled VAE encoding, a combination that not only enables efficient processing of long sequences but also allows generalization to arbitrary spatial resolutions (e.g., 4K) at inference without retraining. An enhanced conditional VAE decoder, which leverages multi-scale features from the input video, further improves reconstruction fidelity. Empirically, LDF-VFI achieves state-of-the-art performance on challenging VFI benchmarks, demonstrating superior per-frame quality and temporal consistency, especially in scenes with large motion. The source code is available at https://github.com/xypeng9903/LDF-VFI.

cs.CV↗
arXiv2026

T-araVLN: Translator for Agricultural Robotic Agents on Vision-and-Language Navigation

Agricultural robotic agents have been becoming useful helpers in a wide range of agricultural tasks. However, they still heavily rely on manual operations or fixed railways for movement. To address this limitation, the AgriVLN method and the A2A benchmark pioneeringly extend Vision-and-Language Navigation (VLN) to the agricultural domain, enabling agents to navigate to the target positions following the natural language instructions. We observe that AgriVLN can effectively understands the simple instructions, but often misunderstands the complex ones. To bridge this gap, we propose the T-araVLN method, in which we build the instruction translator module to translate noisy and mistaken instructions into refined and precise representations. When evaluated on A2A, our T-araVLN successfully improves Success Rate (SR) from 0.47 to 0.63 and reduces Navigation Error (NE) from 2.91m to 2.28m, demonstrating the state-of-the-art performance in the agricultural VLN domain. Code: https://github.com/AlexTraveling/T-araVLN.

cs.RO↗
arXiv2026

T$_2$* and Susceptibility Mapping as Indicators of Placental Health

Objective(s): T$_2$* and susceptibility ($χ$) MRI mapping provide complimentary measures of the haemodynamic environment in the placenta. The aims of this work were to use these simultaneously obtained measures to investigate the role of oxygen distribution on the well-established reduction of T$_2$* with gestational age found in healthy pregnancies and explore differences in both measures in compromised placentas. Methods: T$_2$* and $χ$ were measured simultaneously from a double echo, echo planar scan of the whole placenta, across a range of gestational ages and pregnancy complications. Regional variations across the placenta were investigated. Results: Whole placental mean T$_2$* was more correlated with standard deviation of $χ$ than mean $χ$ indicating it is more driven by increasing local inhomogeneities rather than bulk deoxygenation with healthy gestation. Compromised placentas also showed increased standard deviation of $χ$ as well as lower mean T$_2$* suggesting flow/uptake mismatch and reduced oxygenation. Regionally, the susceptibility was lowest (most oxygenated) and least variable in the central region of the placenta indicating good mixing and refreshment of blood in this area. The susceptibility was highest (most deoxygenated) and most variable at the fetal side, suggesting less effective perfusion in this region. Compromised cases showed the greatest difference on the fetal side for both mean and standard deviation of $χ$. T$_2$* was lowest at the fetal side for healthy and compromised cases but the maternal and central regions better distinguished between the two groups. Conclusion(s): T$_2$* and susceptibility can be mapped simultaneously from a single MRI scan and provide complimentary information about the function of the placenta across healthy gestational development, and as a potential indicator of placental compromise.

physics.med-ph↗
arXiv2026

SAM Molecular Stacking with Heterogeneous Orientationfor High-Performance Perovskite Photovoltaics

This study demonstrates that thermal-evaporated SAM (eSAM) films, particularly in a thick configuration, spontaneously adopt a heterogeneous molecular orientation, forming a vertical-to-horizontal gradient in molecular packing. This unique architecture establishes a graded energy barrier, which is shown to facilitate more efficient hole transport compared with the single energy barrier presented by conventional thin SAMs. In conclusion, while solution-processed SAMs present formidable scalability challenges, the thermal evaporation of SAMs offers a viable pathway toward industrial-scale fabrication. The strategy of employing thick eSAM films with gradient molecular packing not only circumvents the uniformity issues of solution methods but also introduces a superior structure for charge transport, positioning it as a promising enabler for the commercialization of high-efficiency perovskite photovoltaics. The inability to achieve uniform hole transport with solution-processed self-assembled monolayers (SAMs) constitutes a fundamental bottleneck for scaling perovskite photovoltaics. Herein, we demonstrate that thermal-evaporated SAMs (eSAMs) overcome this limitation by enabling precise thickness control. Crucially, a thickened eSAM spontaneously forms a vertical-to-horizontal gradient in molecular orientation, which creates a descending energy barrier that directionally facilitates hole transport. This tailored interface also ensures excellent surface coverage and directs the growth of high-quality perovskite films. Consequently, the resultant photovoltaic devices set new benchmarks, delivering impressive power conversion efficiencies (PCEs) of 21.46% (small-area, 0.108 cm2) and 19.38% (large-area module, 15.52 cm2) for fully vacuum-evaporated devices, while also setting an impressive PCE of 23.67% for eSAM-based devices with solution-processed perovskites.

cond-mat.mtrl-sci↗
arXiv2026

AERO-MPPI: Anchor-Guided Ensemble Trajectory Optimization for Agile Mapless Drone Navigation

Agile mapless navigation in cluttered 3D environments poses significant challenges for autonomous drones. Conventional mapping-planning-control pipelines incur high computational cost and propagate estimation errors. We present AERO-MPPI, a fully GPU-accelerated framework that unifies perception and planning through an anchor-guided ensemble of Model Predictive Path Integral (MPPI) optimizers. Specifically, we design a multi-resolution LiDAR point-cloud representation that rapidly extracts spatially distributed "anchors" as look-ahead intermediate endpoints, from which we construct polynomial trajectory guides to explore distinct homotopy path classes. At each planning step, we run multiple MPPI instances in parallel and evaluate them with a two-stage multi-objective cost that balances collision avoidance and goal reaching. Implemented entirely with NVIDIA Warp GPU kernels, AERO-MPPI achieves real-time onboard operation and mitigates the local-minima failures of single-MPPI approaches. Extensive simulations in forests, verticals, and inclines demonstrate sustained reliable flight above 7 m/s, with success rates above 80% and smoother trajectories compared to state-of-the-art baselines. Real-world experiments on a LiDAR-equipped quadrotor with NVIDIA Jetson Orin NX 16G confirm that AERO-MPPI runs in real time onboard and consistently achieves safe, agile, and robust flight in complex cluttered environments. Code is available at https://github.com/XinChen-stars/AERO_MPPI.

cs.RO↗
arXiv2026

Neuron-Aware Data Selection In Instruction Tuning For Large Language Models

Instruction Tuning (IT) has been proven to be an effective approach to unlock the powerful capabilities of large language models (LLMs). Recent studies indicate that excessive IT data can degrade LLMs performance, while carefully selecting a small subset of high-quality IT data can significantly enhance their capabilities. Therefore, identifying the most efficient subset data from the IT dataset to effectively develop either specific or general abilities in LLMs has become a critical challenge. To address this, we propose a novel and efficient framework called NAIT. NAIT evaluates the impact of IT data on LLMs performance by analyzing the similarity of neuron activation patterns between the IT dataset and the target domain capability. Specifically, NAIT captures neuron activation patterns from in-domain datasets of target domain capabilities to construct reusable and transferable neuron activation features. It then evaluates and selects optimal samples based on the similarity between candidate samples and the expected activation features of the target capabilities. Experimental results show that training on the 10\% Alpaca-GPT4 IT data subset selected by NAIT consistently outperforms methods that rely on external advanced models or uncertainty-based features across various tasks. Our findings also reveal the transferability of neuron activation features across different capabilities of LLMs. In particular, IT data with more logical reasoning and programmatic features possesses strong general transferability, enabling models to develop stronger capabilities across multiple tasks, while a stable core subset of data is sufficient to consistently activate fundamental model capabilities and universally improve performance across diverse tasks.

cs.CL↗
arXiv2026

Fish Audio S2 Technical Report

We introduce Fish Audio S2, an open-sourced text-to-speech system featuring multi-speaker, multi-turn generation, and, most importantly, instruction-following control via natural-language descriptions. To scale training, we develop a multi-stage training recipe together with a staged data pipeline covering video captioning and speech captioning, voice-quality assessment, and reward modeling. To push the frontier of open-source TTS, we release our model weights, fine-tuning code, and an SGLang-based inference engine. The inference engine is production-ready for streaming, achieving an RTF of 0.195 and a time-to-first-audio below 100 ms.Our code and weights are available on GitHub (https://github.com/fishaudio/fish-speech) and Hugging Face (https://huggingface.co/fishaudio/s2-pro). We highly encourage readers to visit https://fish.audio to try custom voices.

cs.SD↗
arXiv2026

SI-ChainFL: Shapley-Incentivized Secure Federated Learning for High-Speed Rail Data Sharing

In high-speed rail (HSR) systems, federated learning (FL) enables cross-departmental flow prediction without sharing raw data. However, existing schemes suffer from two key limitations: (1) insufficient incentives, leading to free-riding and model poisoning; and (2) centralized aggregation, which introduces a single point of failure. We propose a secure and efficient framework SI-ChainFL that addresses these issues by combining contribution-aware incentives with decentralized aggregation. First, we quantify client contributions using a Shapley value metric that jointly considers rare-event utility, data diversity, data quality, and timeliness. To reduce computational overhead, we further develop a rare positive driven client clustering strategy to accelerate Shapley estimation. Moreover, we design a blockchain-based consensus protocol for decentralized aggregation, where aggregation eligibility is tied to Shapley incentives. This design motivates clients to submit high-quality updates and enables efficient and secure global aggregation. Experiments on MNIST, CIFAR 10 and CIFAR 100, and a HSR flow dataset show that SI ChainFL remains effective under 90% malicious clients in PA attacks, achieving 14.12% higher accuracy than RAGA. Theoretical analysis further guarantees an upper bound on performance

cs.DC↗
arXiv2026

Landscape of Policy Optimization for Finite Horizon MDPs with General State and Action

Policy gradient methods are widely used in reinforcement learning. Yet, the nonconvexity of policy optimization poses significant challenges in understanding the global convergence of policy gradient methods. For a class of finite-horizon Markov Decision Processes (MDPs) with general state and action spaces, we identify a set of structural properties to establish a benign nonconvex landscape, the Polyak-Łojasiewicz-Kurdyka (PŁK) condition of the policy optimization. Leveraging the PŁK condition, policy gradient methods converge to the globally optimal policy with a non-asymptotic rate despite nonconvexity. Our results apply to various control and operations models, including entropy-regularized tabular MDPs, Linear Quadratic Regulator problems, and both stochastic inventory models and stochastic cash balance problems with strongly convex costs. In these models, stochastic policy gradient methods obtain an $ε$-optimal policy using a sample size of $\tilde{\mathcal{O}}(ε^{-1})$ and polynomial in terms of the planning horizon. To the best of our knowledge, we provide the first sample-complexity guarantees for multi-period inventory systems with Markov-modulated demand and for stochastic cash balance problems. We complement the theory with numerical experiments showing that policy gradient methods outperform several benchmark algorithms from the literature across these operations models.

math.OC↗
arXiv2026

MASQuant: Modality-Aware Smoothing Quantization for Multimodal Large Language Models

Post-training quantization (PTQ) with computational invariance for Large Language Models~(LLMs) have demonstrated remarkable advances, however, their application to Multimodal Large Language Models~(MLLMs) presents substantial challenges. In this paper, we analyze SmoothQuant as a case study and identify two critical issues: Smoothing Misalignment and Cross-Modal Computational Invariance. To address these issues, we propose Modality-Aware Smoothing Quantization (MASQuant), a novel framework that introduces (1) Modality-Aware Smoothing (MAS), which learns separate, modality-specific smoothing factors to prevent Smoothing Misalignment, and (2) Cross-Modal Compensation (CMC), which addresses Cross-modal Computational Invariance by using SVD whitening to transform multi-modal activation differences into low-rank forms, enabling unified quantization across modalities. MASQuant demonstrates stable quantization performance across both dual-modal and tri-modal MLLMs. Experimental results show that MASQuant is competitive among the state-of-the-art PTQ algorithms. Source code: https://github.com/alibaba/EfficientAI.

cs.CV↗
arXiv2026

Fusion4CA: Boosting 3D Object Detection via Comprehensive Image Exploitation

Nowadays, an increasing number of works fuse LiDAR and RGB data in the bird's-eye view (BEV) space for 3D object detection in autonomous driving systems. However, existing methods suffer from over-reliance on the LiDAR branch, with insufficient exploration of RGB information. To tackle this issue, we propose Fusion4CA, which is built upon the classic BEVFusion framework and dedicated to fully exploiting visual input with plug-and-play components. Specifically, a contrastive alignment module is designed to calibrate image features with 3D geometry, and a camera auxiliary branch is introduced to mine RGB information sufficiently during training. For further performance enhancement, we leverage an off-the-shelf cognitive adapter to make the most of pretrained image weights, and integrate a standard coordinate attention module into the fusion stage as a supplementary boost. Experiments on the nuScenes dataset demonstrate that our method achieves 69.7% mAP with only 6 training epochs and a mere 3.48% increase in inference parameters, yielding a 1.2% improvement over the baseline which is fully trained for 20 epochs. Extensive experiments in a simulated lunar environment further validate the effectiveness and generalization of our method. Our code will be released through Fusion4CA.

cs.CV↗