arXiv subjects

Xintong Zhang

Publications and source records attributed to Xintong Zhang.

At least 19 recordsLinked to original sources

arXiv2026

AdaVDR: Adaptive Tool Use and Reflection for Video Deep Research

Video deep research answers complex questions by jointly understanding video content and retrieving external knowledge from the open Web. However, diverse questions and videos require different tool-use strategies, and inappropriate tool calls can produce incorrect results. Uncertain grounding and retrieval also make unnecessary interactions costly and error-prone, increasing latency and reasoning errors. To address these challenges, we propose AdaVDR, an adaptive video deep research agent with adaptive tool invocation and reflection. AdaVDR selects tools according to the task and its capabilities, and backtracks only when unreliable intermediate results require correction. To enable these capabilities, we develop a video deep research data construction pipeline. We first discover retrieval-relevant events and entities in diverse videos and acquire detailed information through grounding and external retrieval to construct high-quality QA pairs. For each QA, task-specific prompts organize the information acquisition process into a tool-use trajectory, allowing different question and video types to follow different grounding and retrieval strategies. We further introduce model-conditioned tool necessity filtering, which evaluates tool calls against the target model's video understanding and internal knowledge, removing tools or tool chains the model can bypass. This yields trajectories tailored to the target model's video understanding capability and knowledge. Using this pipeline, we construct training data and VDR-EE, a benchmark covering entity-centric and event-centric questions. We perform supervised fine-tuning followed by reinforcement learning with a redundancy-aware reward to strengthen adaptive tool invocation and reflection. Experiments show that our method performs best among the evaluated open-source models on VDR-EE and substantially improves over its base models on VideoDR.

cs.CV↗

arXiv2026

Bridging Modality Disconnect in Self-Reflection via Closed-Loop Visually Grounded Verification

In the era of Vision-Language Models (VLMs), enhancing multimodal reasoning capabilities remains a critical challenge, particularly in handling ambiguous or complex visual inputs, where initial inferences often lead to hallucinations or logic errors. Existing VLMs often produce plausible yet ungrounded answers, and even when prompted to "reflect", their corrections may remain detached from the image evidence. To address this, we propose the MIRROR framework for Multimodal Iterative Reasoning via Reflection On visual Regions. By embedding visual reflection as a core mechanism, MIRROR is formulated as a closed-loop process comprising draft, critique, region-based verification, and revision, which are repeated until the output is visually grounded. To facilitate training of this model, we construct **ReflectV**, a visual reflective dataset for multi-turn supervision that explicitly contains reflection triggers, region-based verification actions, and answer revision grounded in visual evidence. Experiments on both general vision-language benchmarks and representative vision-language reasoning benchmarks show that MIRROR improves correctness and reduces visual hallucinations, demonstrating the value of training reflection as an evidence-seeking, region-aware verification process rather than a purely textual revision step.

cs.CV↗

arXiv2026

Melding LLM and temporal logic for reliable human-swarm collaboration in complex scenarios

Robot swarms promise scalable assistance in complex and hazardous environments. Task planning lies at the core of human-swarm collaboration, translating the operator's intent into coordinated swarm actions and helping determine when validation or intervention is required during execution. In long-horizon missions under dynamic scenarios, however, reliable task planning becomes difficult to maintain: emerging events and changing conditions demand continual adaptation, and sustained operator oversight imposes substantial cognitive burden. Existing LLM-based planning tools can support plan generation, yet they remain susceptible to invalid task orderings and infeasible robot actions, resulting in frequent manual adjustment. Here we introduce a neuro-symbolic framework for long-horizon human-swarm collaboration that tightly melds verifiable task planning with context-grounded LLM reasoning. We formalize mission goals and operational rules as temporal logic formulas and admissible task orderings as task automata. Conditioned on these formal constraints and live perceptual context, LLMs generate executable subtask sequences that satisfy mission rules and remain grounded in the current scene. An uncertainty-aware scheduler then assigns subtasks across the heterogeneous swarm to maximize parallelisms while remaining resilient to disruptions. An event-triggered interaction protocol further limits operator involvement to sparse, high-level confirmation and guidance. Deployment on a heterogeneous robotic fleet yields similar results while remaining robust to hardware-specific actuation and communication uncertainties. Together, these results support a formal and scalable paradigm for reliable and low-overhead human-swarm collaboration in dynamic environments

cs.RO↗

arXiv2026

AdaptMMBench: Benchmarking Adaptive Multimodal Reasoning for Mode Selection and Reasoning Process

Adaptive multimodal reasoning has emerged as a promising frontier in Vision-Language Models (VLMs), aiming to dynamically modulate between tool-augmented visual reasoning and text reasoning to enhance both effectiveness and efficiency. However, existing evaluations rely on static difficulty labels and simplistic metrics, which fail to capture the dynamic nature of difficulty relative to varying model capacities. Consequently, they obscure the distinction between adaptive mode selection and general performance while neglecting fine-grained process analyses. In this paper, we propose AdaptMMBench, a comprehensive benchmark for adaptive multimodal reasoning across five domains: real-world, OCR, GUI, knowledge, and math, encompassing both direct perception and complex reasoning tasks. AdaptMMBench utilizes a Matthews Correlation Coefficient (MCC) metric to evaluate the selection rationality of different reasoning modes, isolating this meta-cognition ability by dynamically identifying task difficulties based on models' capability boundaries. Moreover, AdaptMMBench facilitates multi-dimensional process evaluation across key step coverage, tool effectiveness, and computational efficiency. Our evaluation reveals that while adaptive mode selection scales with model capacity, it notably decouples from final accuracy. Conversely, key step coverage aligns with performance, though tool effectiveness remains highly inconsistent across model architectures.

cs.CV↗

arXiv2026

Developing a Machine-Learning Interatomic Potential for Non-Covalent Interactions in Proteins

Machine learning interatomic potentials (MLIPs) enable efficient modeling of molecular interactions with quantum mechanical (QM) accuracy. However, constructing robust and representative training datasets that capture subtle, system-specific interaction motifs remains challenging. We introduce PANIP (PAirwise Non-covalent Interaction Potential), an ensemble MLIP model built upon the NequIP framework and trained on non-covalent interactions (NCIs) between protein-derived fragments. PANIP is trained using an automated multi-fidelity active learning (MFAL) workflow, in which a representative training subset, termed PDB-FRAGID (PDB Fragment Interaction Dataset), was distilled from an otherwise prohibitively large pool of fragment dimers extracted from the Protein Data Bank (PDB). PANIP retains $ω$B97X-D3BJ/def2-TZVPP-level accuracy and achieves mean absolute errors below 0.2 kcal/mol on out-of-distribution systems, demonstrating excellent transferability across diverse NCI motifs. Compared to the widely used ANI-2x potential, PANIP delivers substantially lower errors, particularly for charged and strongly interacting dimers. Coupled with a fragmentation-based energy decomposition scheme, PANIP estimates protein-ligand binding energies at near force-field computational cost yet QM-level accuracy, enabling its use as a fragment-based scoring function that rivals specialized docking scoring functions.

physics.chem-ph↗

arXiv2026

Hierarchical self-organization of highly-ordered granular ensemble of optical solitons through collective motions

Self-organizations of ordered patterns in far-from-equilibrium many-body systems host fundamental importance in many disciplines. Meanwhile, complex systems often feature hierarchical structures with distinct scales for different layers, enabling high-level effective dynamics without exhaustive tracking of all possible degrees of freedoms. In this work, we report a study of the self-organization dynamics of highly-ordered soliton ensembles in a high-harmonic mode-locked fiber lasers through collective motions driven by nonlocal optomechanical interactions and local collisions, which exhibit a series of universal characteristics reminiscent of phase transitions. Moreover, the multi-soliton laser-field can be coarsely grained as a granular ensemble of limit-cycle oscillators with simple interaction rules derived from fine-scale physics. The self-organization of the multitude of solitons in the mode-locked laser cavity can then be mapped into a low-dimensional dynamic model that essentially reproduced the emergent process. Our work affords a conceptual framework for understanding the complex structure formation in nonlinear laser systems, and may help to design ultrafast lasers by exploiting universal principles of collective motions.

physics.optics↗

arXiv2026

CoCoPlan: Adaptive Coordination and Communication for Multi-robot Systems in Dynamic and Unknown Environments

Multi-robot systems can greatly enhance efficiency through coordination and collaboration, yet in practice, full-time communication is rarely available and interactions are constrained to close-range exchanges. Existing methods either maintain all-time connectivity, rely on fixed schedules, or adopt pairwise protocols, but none adapt effectively to dynamic spatio-temporal task distributions under limited communication, resulting in suboptimal coordination. To address this gap, we propose CoCoPlan, a unified framework that co-optimizes collaborative task planning and team-wise intermittent communication. Our approach integrates a branch-and-bound architecture that jointly encodes task assignments and communication events, an adaptive objective function that balances task efficiency against communication latency, and a communication event optimization module that strategically determines when, where and how the global connectivity should be re-established. Extensive experiments demonstrate that it outperforms state-of-the-art methods by achieving a 22.4% higher task completion rate, reducing communication overhead by 58.6%, and improving the scalability by supporting up to 100 robots in dynamic environments. Hardware experiments include the complex 2D office environment and large-scale 3D disaster-response scenario.

cs.RO↗

arXiv2026

SLEI3D: Simultaneous Exploration and Inspection via Heterogeneous Fleets under Limited Communication

Robotic fleets such as unmanned aerial and ground vehicles have been widely used for routine inspections of static environments, where the areas of interest are known and planned in advance. However, in many applications, such areas of interest are unknown and should be identified online during exploration. Thus, this paper considers the problem of simultaneous exploration, inspection of unknown environments and then real-time communication to a mobile ground control station to report the findings. The heterogeneous robots are equipped with different sensors, e.g., long-range lidars for fast exploration and close-range cameras for detailed inspection. Furthermore, global communication is often unavailable in such environments, where the robots can only communicate with each other via ad-hoc wireless networks when they are in close proximity and free of obstruction. This work proposes a novel planning and coordination framework (SLEI3D) that integrates the online strategies for collaborative 3D exploration, adaptive inspection and timely communication (via the intermit-tent or proactive protocols). To account for uncertainties w.r.t. the number and location of features, a multi-layer and multi-rate planning mechanism is developed for inter-and-intra robot subgroups, to actively meet and coordinate their local plans. The proposed framework is validated extensively via high-fidelity simulations of numerous large-scale missions with up to 48 robots and 384 thousand cubic meters. Hardware experiments of 7 robots are also conducted. Project website is available at https://junfengchen-robotics.github.io/SLEI3D/.

cs.RO↗

arXiv2025

Long-Horizon Visual Imitation Learning via Plan and Code Reflection

Learning from long-horizon demonstrations with complex action sequences presents significant challenges for visual imitation learning, particularly in understanding temporal relationships of actions and spatial relationships between objects. In this paper, we propose a new agent framework that incorporates two dedicated reflection modules to enhance both plan and code generation. The plan generation module produces an initial action sequence, which is then verified by the plan reflection module to ensure temporal coherence and spatial alignment with the demonstration video. The code generation module translates the plan into executable code, while the code reflection module verifies and refines the generated code to ensure correctness and consistency with the generated plan. These two reflection modules jointly enable the agent to detect and correct errors in both the plan generation and code generation, improving performance in tasks with intricate temporal and spatial dependencies. To support systematic evaluation, we introduce LongVILBench, a benchmark comprising 300 human demonstrations with action sequences of up to 18 steps. LongVILBench emphasizes temporal and spatial complexity across multiple task types. Experimental results demonstrate that existing methods perform poorly on this benchmark, whereas our new framework establishes a strong baseline for long-horizon visual imitation learning.

cs.RO↗

arXiv2025

Adaptive Chain-of-Focus Reasoning via Dynamic Visual Search and Zooming for Efficient VLMs

Vision language models (VLMs) have achieved impressive performance across a variety of computer vision tasks. However, the multimodal reasoning capability has not been fully explored in existing models. In this paper, we propose a Chain-of-Focus (CoF) method that allows VLMs to perform adaptive focusing and zooming in on key image regions based on obtained visual cues and the given questions, achieving efficient multimodal reasoning. To enable this CoF capability, we present a two-stage training pipeline, including supervised fine-tuning (SFT) and reinforcement learning (RL). In the SFT stage, we construct the MM-CoF dataset, comprising 3K samples derived from a visual agent designed to adaptively identify key regions to solve visual tasks with different image resolutions and questions. We use MM-CoF to fine-tune the Qwen2.5-VL model for cold start. In the RL stage, we leverage the outcome accuracies and formats as rewards to update the Qwen2.5-VL model, enabling further refining the search and reasoning strategy of models without human priors. Our model achieves significant improvements on multiple benchmarks. On the V* benchmark that requires strong visual reasoning capability, our model outperforms existing VLMs by 5% among 8 image resolutions ranging from 224 to 4K, demonstrating the effectiveness of the proposed CoF method and facilitating the more efficient deployment of VLMs in practical applications.

cs.CV↗

arXiv2025

On Domain-Adaptive Post-Training for Multimodal Large Language Models

Adapting general multimodal large language models (MLLMs) to specific domains, such as scientific and industrial fields, is highly significant in promoting their practical applications. This paper systematically investigates domain adaptation of MLLMs via post-training, focusing on data synthesis, training pipeline, and task evaluation. (1) Data Synthesis: Using only open-source models, we develop a generate-then-filter pipeline that curates diverse visual instruction tasks based on domain-specific image-caption pairs. The resulting data surpass the data synthesized by manual rules or strong closed-source models in enhancing domain-specific performance. (2) Training Pipeline: Unlike general MLLMs that typically adopt a two-stage training paradigm, we find that a single-stage approach is more effective for domain adaptation. (3) Task Evaluation: We conduct extensive experiments in high-impact domains such as biomedicine, food, and remote sensing, by post-training a variety of MLLMs and then evaluating MLLM performance on various domain-specific tasks. Finally, we fully open-source our models, code, and data to encourage future research in this area.

cs.CL↗

arXiv2025

DEXTER-LLM: Dynamic and Explainable Coordination of Multi-Robot Systems in Unknown Environments via Large Language Models

Online coordination of multi-robot systems in open and unknown environments faces significant challenges, particularly when semantic features detected during operation dynamically trigger new tasks. Recent large language model (LLMs)-based approaches for scene reasoning and planning primarily focus on one-shot, end-to-end solutions in known environments, lacking both dynamic adaptation capabilities for online operation and explainability in the processes of planning. To address these issues, a novel framework (DEXTER-LLM) for dynamic task planning in unknown environments, integrates four modules: (i) a mission comprehension module that resolves partial ordering of tasks specified by natural languages or linear temporal logic formulas (LTL); (ii) an online subtask generator based on LLMs that improves the accuracy and explainability of task decomposition via multi-stage reasoning; (iii) an optimal subtask assigner and scheduler that allocates subtasks to robots via search-based optimization; and (iv) a dynamic adaptation and human-in-the-loop verification module that implements multi-rate, event-based updates for both subtasks and their assignments, to cope with new features and tasks detected online. The framework effectively combines LLMs' open-world reasoning capabilities with the optimality of model-based assignment methods, simultaneously addressing the critical issue of online adaptability and explainability. Experimental evaluations demonstrate exceptional performances, with 100% success rates across all scenarios, 160 tasks and 480 subtasks completed on average (3 times the baselines), 62% less queries to LLMs during adaptation, and superior plan quality (2 times higher) for compound tasks. Project page at https://tcxm.github.io/DEXTER-LLM/

cs.RO↗

arXiv2024

Heat Transfer Coefficients of Moving Particle Beds from Flow-Dependent Particle Bed Thermal Conductivity and Near-Wall Resistance

Determination of heat transfer coefficients for flowing packed particle beds is essential to the design of particle heat exchangers, and other thermal processes. While such dense granular flows fall into the well-known plug-flow regime, the discrete nature of granular materials alters the thermal transport processes in both the near-wall and bulk regions of flowing particle beds from their stationary counterparts. As a result, heat transfer correlations based on the stationary particle bed thermal conductivity could be inadequate for flowing particles in a heat exchanger. Earlier works have achieved reasonable agreement with experiments by treating granular media as a plug-flow continuum with a near-wall thermal resistance in series. However, the properties of the continuum were often obtained from measurements on stationary beds owing to the difficulty of flowing bed measurements. In this work, it was found that the properties of a stationary bed are highly sensitive to the method of particle packing and there is a decrease in the particle bed thermal conductivity and increase in the near-wall thermal resistance, measured as an effective air gap thickness, on the onset of particle flow. These variations in the thermophysical properties of stationary and flowing particle beds can lead to errors in heat transfer coefficient calculations. Therefore, the heat transfer coefficients for granular flows were calculated using experimentally determined flowing particle bed thermal conductivity and near-wall air gap for ceramic particles -CARBOCP40/100(275 um), HSP40/70(404um) and HSP16/30(956um); at velocities of 5-15mms-1; and temperatures of 300-650C. The thermal conductivity and air gap values for CP40/100 and HSP40/70 were further used to calculate heat transfer coefficients across different particle bed temperatures and velocities for different parallel-plate heat exchanger dimensions.

physics.app-ph↗

arXiv2024

PersonalityScanner: Exploring the Validity of Personality Assessment Based on Multimodal Signals in Virtual Reality

Human cognition significantly influences expressed behavior and is intrinsically tied to authentic personality traits. Personality assessment plays a pivotal role in various fields, including psychology, education, social media, etc. However, traditional self-report questionnaires can only provide data based on what individuals are willing and able to disclose, thereby lacking objective. Moreover, automated measurements and peer assessments demand significant human effort and resources. In this paper, given the advantages of the Virtual Reality (VR) technique, we develop a VR simulator -- PersonalityScanner, to stimulate cognitive processes and simulate daily behaviors based on an immersive and interactive simulation environment, in which participants carry out a battery of engaging tasks that formulate a natural story of first-day at work. Through this simulator, we collect a synchronous multi-modal dataset with ten modalities, including first/third-person video, audio, text, eye tracking, facial microexpression, pose, depth data, log, and inertial measurement unit. By systematically examining the contributions of different modalities on revealing personality, we demonstrate the superior performance and effectiveness of PersonalityScanner.

cs.HC↗

arXiv2024

Retiming dynamics of harmonically modelocked laser solitons in a self-driven optomechanical lattice

Harmonic mode-locking, realized actively or passively, is an effective technique for increasing the repetition rate of lasers, with important applications in optical sampling, laser micro-machining and frequency metrology. It is critically important to understand how a harmonically mode-locked pulse train responds to external perturbations and noise, so as to make sure that it is stable and resistant to noise. Here, in a series of carefully designed experiments, we elucidate the retiming dynamics of laser pulses generated in a soliton fiber laser harmonically mode-locked at ~2 GHz to the acoustic resonance in a photonic crystal fiber (PCF) core. We characterize the self-driven optomechanical lattice along the PCF using a homodyne set-up, and reveal that each soliton undergoes damped oscillatory retiming within its trapping potential after an abrupt perturbation. In addition we show, through statistical analysis of the intra-cavity pulse spacing, how the trapping potentials are effective for suppressing timing jitter. The experimental results are well described using a dynamic model including dissipation, which provides valuable insight into the stability and noise performance of optomechanically mode-locked laser systems, and may also be useful for studying complex inter-soliton interactions.

physics.optics↗

arXiv2024

Micromechanical Origin of Heat Transfer to Granular Flow

Heat transfer to a granular flow is comprised of two resistances in series: near the wall and within the bulk particle bed, neither of which is well understood due to the lack of experimental probes to separate their respective contribution. Here, we use a frequency modulated photothermal technique to separately quantify the thermal resistances in the near-wall and the bulk bed regions of particles in flowing states. Compared to the stationary state, the flowing leads to a higher near-wall resistance and a lower thermal conductivity of bulk beds. Coupled with discrete element method simulation, we show that the near-wall resistance can be explained by particle diffusion in granular flows.

physics.flu-dyn↗

arXiv2024

CLOVA: A Closed-Loop Visual Assistant with Tool Usage and Update

Utilizing large language models (LLMs) to compose off-the-shelf visual tools represents a promising avenue of research for developing robust visual assistants capable of addressing diverse visual tasks. However, these methods often overlook the potential for continual learning, typically by freezing the utilized tools, thus limiting their adaptation to environments requiring new knowledge. To tackle this challenge, we propose CLOVA, a Closed-Loop Visual Assistant, which operates within a framework encompassing inference, reflection, and learning phases. During the inference phase, LLMs generate programs and execute corresponding tools to complete assigned tasks. In the reflection phase, a multimodal global-local reflection scheme analyzes human feedback to determine which tools require updating. Lastly, the learning phase employs three flexible approaches to automatically gather training data and introduces a novel prompt tuning scheme to update the tools, allowing CLOVA to efficiently acquire new knowledge. Experimental findings demonstrate that CLOVA surpasses existing tool-usage methods by 5% in visual question answering and multiple-image reasoning, by 10% in knowledge tagging, and by 20% in image editing. These results underscore the significance of the continual learning capability in general visual assistants.

cs.CV↗

arXiv2024

Four-fold non-Hermitian phase transitions and non-reciprocal coupled resonator optical waveguides

Non-Hermitian systems can exhibit extraordinary sensitivity to boundary conditions. Given that topological boundary modes and non-Hermitian skin effects can either coexist or individually appear in non-Hermitian systems, it is of great value to present a comprehensive non-Hermitian phase diagram, for further flexible control in realistic non-Hermitian systems. Here, we reveal four-fold non-Hermitian phase transitions at a mathematically level, where phase I exhibits only topological boundary modes, phase II displays both topological boundary modes and skin modes, phase III exhibits only skin modes, and phase IV cannot manifest any boundary modes. By deriving non-Hermitian winding numbers, the existence or non-existence condition of topological boundary modes are analytically expressed, consistent with the numerical results obtained through the iterative Green's function method. Combining with the study on non-Hermitian skin effects, we rigorously establish the four-fold phase diagram. We also design an array of coupled resonator optical waveguides. The introduction of non-Hermiticity in the photonic structure induces a phenomenon similar to band inversion in topological insulators, indicating the presence of topological boundary modes in the photonic bands.

quant-ph↗