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Xinyi Wang

Publications and source records attributed to Xinyi Wang.

At least 19 recordsLinked to original sources
arXiv2026

Probabilistic Symbol-Level Precoding based Affine Frequency Division Multiplexing Transmission

Affine frequency division multiplexing (AFDM) has recently gained significant attention due to its robustness against time-frequency doubly selective channel fading. However, the high computational complexity at the receiver poses a critical challenge for practical deployment. To overcome this issue, we propose a probabilistic symbol-level precoding (SLP)-based AFDM transmission framework, in which the processing burden in downlink transmission is shifted from the user to the base station (BS), enabling direct symbol detection without channel estimation or equalization at the receiver. In the proposed framework, the BS exploits the uplink channel state information (CSI) to design the downlink transmit waveform based on uplink-downlink channel reciprocity. In particular, we innovatively introduce a probabilistic SLP technology by explicitly characterizing the likelihood of symbol detection errors under noise perturbations. Specifically, the transmitted symbols are optimized to minimize the likelihood that the received symbols fall into erroneous decision regions, where the resulting error-probability minimization problem is subsequently approximated as a second order cone programming (SOCP) problem by exploiting the monotonicity of the objective function. Simulation results show that the proposed probabilistic SLP-based scheme achieves performance comparable to that of conventional AFDM receivers, whilst enjoying significant reduction of computational complexity at the receiver end. These results demonstrate the effectiveness and practical potential of the proposed approach.

eess.SP↗
arXiv2026

SkillForge: Compositional Skill Synthesis with Verification-in-the-Loop for Generating Formally Verified Dafny Programs

Generating formally verified programs from natural language remains challenging: existing approaches either produce code in a single pass without recourse when verification fails, or rely on open-ended agentic reasoning that is non-deterministic and opaque. We introduce SKILLFORGE, a framework that decomposes formal code synthesis into a library of atomic, reusable skills, each targeting a specific subtask such as specification inference, body synthesis, invariant generation, error diagnosis, or targeted repair, and defined by a prompt template, tool binding, and decidable success criterion. A verification-driven harness orchestrates these skills: it submits candidates to the Dafny verifier, diagnoses failures into structured categories, deterministically routes to the appropriate repair skill, and iterates until formal correctness is proved or a budget is exhausted. On a curated benchmark of natural language to Dafny specification pairs, SKILLFORGE substantially outperforms both state-of-the-art agentic approaches (including ReAct-style agents, MCTS-based repair, and RL-guided verification) and traditional iterative baselines, while requiring fewer tokens and lower latency. Ablation studies confirm that every skill contributes measurably, and the harness converges rapidly with the majority of programs verified on the first attempt.

cs.CL↗
arXiv2026

Behavior2Trip: Towards Personalized Travel Planning via User Behavior Trajectory

Travel planning agents assist users in generating personalized travel plans by modeling their individual preferences. Existing agents either rely on explicit user instructions or engage in multi-turn clarification to elicit user preferences. However, both approaches overlook the rich behavioral signals latent in users' past behaviors, which implicitly encode their preferences. This over-reliance on active user input increases interaction burden and limits plan personalization. To bridge this gap, we introduce a new task, Behavior-Aware Travel Planning, which infers user preferences directly from past behaviors and generates personalized travel plans. To facilitate research on this task, we introduce Behavior2Trip, a benchmark constructed from one of the largest Chinese online travel platforms, comprising 11,400 instances. Each instance represents an average of 39.8 past user behaviors spanning 14 attributes across 5 preference dimensions. We further propose B2T-Agent, a reinforcement learning-based agent that leverages user behavior trajectories, interacts with external tools for preference-aligned retrieval, and maintains an internal memory module. Experiments on Behavior2Trip show that GPT-4.1 achieves a full-constraint pass rate of only 0.5\% on the hardest tasks, while B2T-Agent built upon Qwen3-8B outperforms all baselines, highlighting the substantial challenge of this task. Moreover, Qwen3-8B trained with B2T-Agent also outperforms GPT-4.1 on the TravelPlanner benchmark, demonstrating strong generalization. Code and data are available at https://github.com/BUAA-IRIP-LLM/Behavior2Trip

cs.CL↗
arXiv2026

SRL-MPC: Shape-Aware Reinforcement Learned Model Predictive Control

Safe and efficient shape-aware navigation in heterogeneous crowds and robot fleets remains challenging. Traditional approaches often assume homogeneous robots, sparse workspaces, simplified geometry, offline computation, or handcrafted parameters to make the problem tractable, which limits their deployment in dense crowd scenarios. Toward this end, we propose Shape-Aware Reinforcement Learned Model Predictive Control (SRL-MPC), a method for safe, efficient, and adaptive navigation in crowds with heterogeneous shapes without geometry simplification. To encode shape-aware safety, we formulate high-order control barrier function (HOCBF) constraints from geometric separation features (GSFs) based on support function transformation. A reinforcement learning (RL) framework then learns a neural policy that reads GSFs and outputs real-time MPC parameter updates, enabling the MPC solver to adapt to neighboring crowd geometries. The key advantage of SRL-MPC is that it preserves the safety structure and generalizability of MPC while integrating the adaptability and intelligence of RL. Experiments in randomized crowd scenarios with arbitrary shaped robot fleets demonstrate the effectiveness, scalability, and robustness of SRL-MPC. The results show that SRL-MPC substantially outperforms representative baselines in safety and adaptability. Project website: https://hanruihua.github.io/srl_mpc_project/

cs.RO↗
arXiv2026

Integrated Sensing, Communication, and Computing in Multi-Tier Systems: Joint Hybrid Beamforming Design and Computation Resource Allocation

This paper proposes a novel integrated sensing, communication, and computing (ISCC) framework over a cloud-edge-device collaborative architecture, where passive sensing is enabled by reusing uplink offloading signals to extract sensing information directly at the edge without incurring additional transmission overhead. Nevertheless, such signal reuse introduces an inherent tradeoff between communication efficiency and sensing coverage. To address this challenge, we adopt a hybrid beamforming architecture under practical hardware constraints. In addition, the integration of sensing tasks creates significant resource contention at the mobile edge computing (MEC) server, where latency-sensitive device tasks and computation-intensive sensing inference tasks compete for limited processing capacity. To alleviate this computation burden, we introduce a split inference mechanism that strategically partitions intelligent sensing tasks between the edge and the cloud. Building upon this framework, we formulate a joint optimization problem to minimize the average computation latency of all device tasks subject to strict sensing performance constraints. To tackle the high non-convexity of the formulated problem, we develop an efficient alternating optimization algorithm. In particular, we design a two-layer framework to jointly determine the optimal DNN splitting point and computation resource allocation and employ a weighted minimum mean square error (WMMSE)-based approach with manifold optimization for hybrid beamforming design. Numerical results demonstrate that the proposed framework achieves a superior tradeoff between sensing accuracy and computation latency compared to the benchmark schemes.

eess.SP↗
arXiv2026

Skill-Use: Can LLMs Actually Use Skills in Agentic Harnesses?

Large language model (LLM) agents increasingly rely on skills, structured documents that specify when to act, which procedure to follow, and which tools are allowed. Existing evaluations mostly judge the quality of a skill or its contribution to task success, leaving unexamined whether an agent can recognize a relevant skill and apply it on its own. We introduce Skill-Use, a benchmark that evaluates skill use under progressive disclosure, where an agent sees only a skill's name and short description and must retrieve the full procedure before following it. Skill-Use separates three facets of skill use. Trigger measures whether the agent invokes the relevant skill, Compliance measures how faithfully it follows the prescribed procedure, and Boundary measures whether it avoids forbidden operations. A Skill-Use (SU) score combines the three and credits execution only after the skill is triggered. Skill-Use pairs 79 real skills with 177 executable tasks across nine domains, each grounded in real files, run in an isolated Docker sandbox, and scored by a trajectory-based rubric. Evaluating eight LLMs under two agent harnesses, we find that reliable skill use remains out of reach, as the strongest configuration reaches an SU of only 0.613. Triggering and procedural compliance fail as independent bottlenecks, and both scores and model rankings shift with the harness, so skill use behaves as a capability conditioned on the harness rather than a fixed property of the model.

cs.CL↗
arXiv2026

Anchoring and Steering Diffusion: Enhancing the Faithfulness of Text-to-Image Generation at Inference Time

While text-to-image diffusion models achieve impressive visual quality, they frequently struggle to maintain precise alignment with complex compositional prompts. An effective strategy is to improve the inference process of diffusion models, thereby better leveraging their pretrained priors to address misalignment. Existing training-free methods can be divided into two categories. The first category focuses on improving the randomly sampled initial noise, either performing costly search over noise pools or manipulating sampled noise without ensuring reliable semantic injection. The second category focuses on improving the denoising trajectory, lacking explicit mechanisms to timely diagnose and correct semantic errors. we propose \textbf{AnchorSteer}, a training-free framework that exerts fine-grained control over \textbf{both initialization} and \textbf{the denoising trajectory}. AnchorSteer consists of two synergistic components: \textbf{Semantic Anchoring} replaces uninformative Gaussian noise with text-aligned initializations via CLIP-based prior extraction and a novel Latent-Prior Score Distillation Sampling (LP-SDS) objective. Specifically, LP-SDS distills CLIP visual priors into the knowledge distribution of diffusion models, mitigating the domain gap between CLIP-based priors and diffusion-based priors. \textbf{Reflective Steering} transforms passive denoising with an active Think--Erase--Retouch loop that enables mid-generation self-correction. It leverages VLM-based diagnosis to detect semantic deviations and performs targeted latent refinement to suppress erroneous content and recover missing attributes. Extensive experiments on GenEval and T2I-CompBench++ demonstrate that AnchorSteer consistently outperforms existing baselines in text--image alignment while preserving high visual quality.

cs.CV↗
arXiv2026

Distributed Model-Based Diffusion For Scalable Multi-Robot Trajectory Optimization

Trajectory optimization for multi-robot systems remains a critical challenge, particularly when navigating highly non-convex, non-linear, and non-differentiable environments. While Model-Based Diffusion (MBD) has recently emerged as a promising sampling-based optimization paradigm for single-robot trajectory generation, extending it to multi-robot systems results in a centralized, high-dimensional inference problem that (i) suffers from poor sample efficiency due to the curse of dimensionality and (ii) requires global access to all robots' dynamics, constraints, and objectives. To address this, we propose Distributed Model-Based Diffusion (DMBD), a distributed server-robot framework that decomposes the reverse diffusion process into local conditional reverse diffusion processes. This decomposition enables each robot to iteratively perform denoising independently within its own control subspace while conditioning on the current trajectory estimates of the other robots that are aggregated and broadcast by the server. Extensive simulations in goal swapping, multi-floor coverage, parking, and rush-hour scenarios demonstrate that DMBD achieves strong scalability, solving many challenging coordination tasks in sub-seconds and significantly outperforming existing baselines.

cs.RO↗
arXiv2026

SNR-Dependent Mismatched Filtering for Bistatic OFDM Ranging

This paper investigates the ranging performance of a bistatic integrated sensing and communications (ISAC) system employing orthogonal frequency-division multiplexing (OFDM), in which an ISAC transmitter emits a communication waveform carrying random data symbols, and a separate receiver performs ranging by correlating the received signal with a locally demodulated symbol sequence. Owing to inevitable demodulation errors, the ranging processor operates under mismatched filtering rather than ideal matched filtering, resulting in a delay-domain correlation response whose sidelobe structure explicitly depends on the signal-to-noise ratio (SNR). Focusing on frequency-flat fading channels, we derive closed-form expressions for the expected sidelobe level (ESL) and the average mainlobe level of the resulting mismatched ranging response for BPSK, QPSK, and general square QAM constellations. The analysis quantitatively characterizes how SNR-driven symbol decision errors reshape the delay-domain sidelobe behavior, thereby providing analytical insight into the SNR-dependent scaling behavior of ranging performance in bistatic OFDM-based ISAC systems. Simulation results validate the theoretical derivations and confirm the accuracy of the proposed analysis.

eess.SP↗
arXiv2026

Parker Solar Probe Observations of Preferential Heating of Protons over Alpha Particles near Turbulent Coherent Structures

Solar wind alpha particles exhibit preferential heating and acceleration relative to protons; however, their behavior in the vicinity of turbulent coherent structures remains less understood. We report the first evidence of localized alpha particle and proton heating within coherent structures identified using the Partial Variance of Increments (PVI) method, based on Parker Solar Probe (PSP) observations. Our results show that high-PVI events are associated with significant, species-dependent temperature enhancements: protons undergo a relative larger temperature increase than alpha particles. This preferential proton heating produces a localized decrease in the alpha-to-proton temperature ratio, indicating that the plasma is driven toward thermal equilibration between species. The heating is also anisotropic, being dominated by enhancements in the perpendicular temperature. These temperature-signatures coincide with a pronounced reduction in the normalized alpha-proton differential flow speed and a localized minimum in the Coulomb collision age, suggesting that the relaxation is affected primarily by collisionless kinetic effects. These findings provide new insight into the intermittent energy conversion and ion thermodynamics in the solar wind.

astro-ph.SR↗
arXiv2026

AMBUSH: Collaborative Capture in Complex Environments with Neural Acceleration

Collaborative capture of dynamic targets is common in nature as an essential strategy for weaker species against the strong. Similar concepts have shown to be useful for numerous robotic applications, such as security and surveillance, search and rescue. However, most existing works focus on analytical and geometric solutions or end-to-end reinforcement learning methods, which are largely constrained to obstacle-free environments or scenarios with sparse, regularly distributed obstacles. This work tackles the problem from a unique perspective: the renowned strategy of``ambush'' alone would suffice for multiple slower pursuers to capture one faster evader with different levels of intelligence efficiently in complex environments. A parameterized strategy of ambush (including discrete and continuous parameters) is designed first, which takes into account the topological properties of the workspace, the truncated line-of-sight visibility, the relative speed ratio and the limited capture range. Then, a Hybrid Monte Carlo Tree Search (H-MCTS) algorithm is proposed to optimize the associated parameters through long-term planning, enabling the identification of highly promising parameters for future capture. Lastly, the neural acceleration is trained offline to learn the ranking of different choices of parameters across various environments, and to directly predict scores, replacing the rollout process in H-MCTS. The neural acceleration is adopted during online H-MCTS to accelerate the planning procedure while guaranteeing the planning quality. Its efficiency and effectiveness are validated in extensive simulations and hardware experiments, against evaders with different capabilities and intelligence levels, including two-times higher velocity and human-controlled behavior.

cs.RO↗
arXiv2026

RoboTacDex: A Dexterous Visual-Tactile-Action Dataset for Humanoid Manipulation

In the field of robot learning, large-scale and diverse demonstration trajectories provide the fundamental basis for enhancing robotic manipulation ability. We introduce RoboTacDex, a large, multi-modal, and diverse dataset of dexterous manipulation behaviors performed with a humanoid robot. Built on the publicly accessible humanoid robot Unitree G1, RoboTacDex consists of 6k trajectories covering 19 tasks, 23 skills, and interactions with 22 objects. RoboTacDex provides comprehensive records including multi-view RGB and depth information, tactile feedback, and detailed semantic annotations. Furthermore, the dataset features a variety of relatively challenging tasks that can only be completed by dual arms and dexterous hands, aiming to mimic human-like operational logic and simulate real-world manipulation complexity. To ensure data collection quality, we develop an improved multi-camera synchronization system to enable millisecond data synchronization and recording of modalities. In our experiments, we evaluate three representative imitation learning models on our dataset, analyzing their performance as well as their respective strengths and limitations across different task categories. Successful trial results and a moderate level of generalization capabilities across a suite of tasks indicate the effectiveness and diversity of the collected dataset. Our dataset will be open-sourced soon.

cs.RO↗
arXiv2026

OASIF: An Efficient Obfuscation-Aware Self-Improving Framework for LLM-Based Assembly Code Instruction Following and Comprehension

Large Language Models (LLMs) have recently shown promise in automated binary analysis, yet they remain brittle under commercial-grade obfuscation. We present OASIF, an Obfuscation-Aware Self-evolving Instruction-Following framework for obfuscated assembly comprehension. OASIF couples a token-efficient assembly encoder with a lightweight projector to expose long obfuscated code to a pretrained code LLM under a bounded context budget and follows a three-phase training: (i) feature-space alignment, (ii) supervised instruction fine-tuning, and (iii) online self-evolving reinforcement learning with hybrid rewards, enabling continual adaptation with minimal manual verification. On VMISA-Bench, a challenging out-of-distribution suite featuring three commercial VM-based obfuscators, OASIF consistently improves open-source backbones; Qwen2.5-Coder-Instruct-14B attains Success Rate gains of +15.9, +5.8, and +16.9 percentage points (pp) on Code Virtualizer, Themida (v3.0.7), and VMProtect (v3.5), respectively, and improves the OASIF-Bench average by +9.8. OASIF further delivers stable gains across seven standard BCSD benchmarks while preserving general and domain-relevant capabilities on HumanEval, VulBench, and HumanEval-Decompile.

cs.SE↗
arXiv2026

From Outcomes to Actions: Leveraging Hindsight for Long-Horizon Language Agent Training

Reinforcement learning (RL) has become a widely adopted technique for improving large language models (LLMs) on complex tasks. Despite this progress, existing RL methods still face challenges in training agents with longer-horizon interactions. One major bottleneck is distinguishing the contribution of different actions in long-horizon interaction, leading to high optimization variance. To address this, we introduce a novel policy gradient method, Hindsight Policy Optimization (HPO), that projects both the current policy distribution and the hindsight distribution into an intent space and extracts low-variance learning signals from the Wasserstein distance between them. We theoretically and empirically show that aggregating semantically similar states and actions in the intent space yields a bounded-variance estimator and improves policy performance stably. Our code is available online.

cs.LG↗
arXiv2026

MER-R1: Multimodal Emotion Reasoning via Slow-Fast Thinking Synergy

We find that explicit reasoning does not necessarily translate into better multimodal emotion recognition (MER) accuracy, even though it makes predictions more interpretable. Specifically, for reasoning-based MLLMs, fast thinking by triggering direct answers often outperforms slow thinking after deliberative reasoning. Our empirical analyses show that fast thinking improves recall with broader and more confident predictions, whereas slow thinking favors precision through conservative filtering of incorrect categories. Building on these insights, we propose MER-R1, a reinforcement learning framework that turns slow-fast complementarity into explicit optimization. Dual-objective disentanglement separates recall and precision into two optimization signals, allowing them to be jointly optimized rather than traded off against each other. Slow-fast confidence calibration further aligns the final slow-thinking answer with fast-thinking intuition, strengthening correct emotions while suppressing incorrect ones. In this way, MER-R1 unifies the recall-oriented intuition of fast thinking with the precision-oriented selectivity of slow thinking. We further provide theoretical justification for this synergy, showing that it mitigates variance-induced interference during optimization. Extensive experiments on MER-UniBench and MME-Emotion show that MER-R1 achieves state-of-the-art performance and makes reasoning genuinely benefit emotion recognition.

cs.AI↗
arXiv2026

Omni-Perception Policy Optimization for Multimodal Emotion Reasoning

We find that current emotion-oriented Omni-MLLMs still lack reliable omni-modal perception: they (i) underutilize multimodal cues in their reasoning trajectories and (ii) exhibit unfaithful behavior, often hallucinating modality-specific statements from other modalities. Building on these insights, we propose OPPO (Omni-Perception Policy Optimization), a reinforcement learning framework that explicitly optimizes multimodal perception. First, an Omni-Perception Reward decomposes ground-truth reasoning into fine-grained visual, acoustic, and emotion cues and rewards trajectories that semantically recover these cues. Second, an Omni-Perception Loss compares the policy under full and unimodally masked inputs, applying a KL penalty only to modality-specific evidence tokens to suppress cross-modal hallucination. We further introduce MEP-Bench, a diagnostic benchmark that quantifies utilization and faithfulness. Experiments show that OPPO achieves state-of-the-art performance on MER-UniBench and MME-Emotion, while substantially improving utilization and faithfulness scores on MEP-Bench, highlighting the importance of sufficient and faithful omni perception for multimodal emotion reasoning.

cs.AI↗
arXiv2026

Performance Analysis for Heterogeneous Air-Ground ISAC in Coordinated Multipoint Networks

The emergence of the \textit{low-altitude economy} (LAE) calls for highly integrated and reliable wireless systems that can simultaneously support \textit{communication and sensing} (C\&S) functions. Although \textit{integrated sensing and communication} (ISAC) has been widely studied, most existing works focused on link-level or single-cell architectures in terrestrial environments, leaving the potential of network-level cooperative air-ground ISAC largely unexplored. To bridge this gap, a heterogeneous air-ground ISAC network architecture based on \textit{coordinated multipoint} (CoMP) is proposed, which incorporates a cooperative hybrid mono/bi-static sensing scheme to enhance spatial diversity and sensing capability. In the proposed architecture, a two-tier \textit{base station} (BS) deployment is adopted: master BSs are arranged in a hexagonal lattice, while slave BSs follow a Poisson point process distribution. This structure concurrently supports communication for terrestrial users and sensing for aerial targets. A holistic performance analysis framework for both C\&S is further developed, accounting for key channel and network parameters. Simulation results reveal inherent trade-offs between C\&S performance, especially under multi-BS cooperation and varying network density. These findings provide practical guidance for the deployment of scalable and efficient ISAC networks in LAE scenarios.

cs.IT↗
arXiv2026

ADaPT: Token-Level Decoupling for Efficient Large Reasoning Models

Large reasoning models rely on long chain-of-thought to achieve strong performance, but applying such reasoning uniformly incurs high computational cost. Existing efficiency-oriented methods attempt to shorten or mix reasoning strategies, yet often degrade reasoning capability. We identify the root cause as sequence-level coupling between efficiency incentives and correctness optimization, which implicitly penalizes long but correct reasoning trajectories. To address this issue, we propose Adaptive Dual-Process Thinking (ADaPT), a token-level dual-process framework that explicitly decouples efficiency and correctness signals during training. ADaPT introduces a mode-selection token to control fast and slow reasoning, applying efficiency-related rewards exclusively to this token to avoid penalizing correct long reasoning while encouraging efficiency when appropriate. Moreover, ADaPT enables precise and continuous control over the efficiency-performance trade-off at inference time: by adjusting the generation probability of the mode-selection token, a single trained model can smoothly move along the efficiency-performance Pareto frontier. Extensive experiments demonstrate that ADaPT significantly reduces inference cost while maintaining strong reasoning performance across multiple benchmarks.

cs.LG↗