arXiv subjects

Xinyu Zhang

Publications and source records attributed to Xinyu Zhang.

At least 19 recordsLinked to original sources

arXiv2026

OmniNav: Robust Long-Horizon Target Navigation in Dynamic Environments

Long-horizon target navigation requires a robot to sustain task execution across evolving observations, decisions, and physical interactions. This requires three coupled capabilities: maintaining valid scene memory, revising target beliefs under partial observability, and selecting interaction-feasible navigation endpoints. However, the state underlying each capability is only conditionally valid: scene representations become stale when objects move or disappear, unsuccessful searches alter beliefs over target locations, and geometrically convenient endpoints may still be infeasible for manipulation. To address these challenges, we present OmniNav, which formulates long-horizon navigation as continual inference over a factorized task state posterior coupling scene validity, target belief, and interaction feasibility. For representation, OmniNav incrementally constructs an updatable 3D object scene memory, preventing stale scene evidence from propagating to subsequent decisions. For exploration, it introduces an evidence-aware Bayesian belief-revision mechanism that derives dependency-aware region priors from semantic context, incorporates unsuccessful searches as negative evidence, and updates them for posterior-guided frontier selection. For interaction, OmniNav incorporates manipulation reachability and collision constraints into navigation-endpoint selection and propagates execution feedback through hierarchical closed-loop recovery. Extensive experiments demonstrate that OmniNav achieves the highest success rates among the compared methods on semantic ObjectNav and fine-grained instance navigation benchmarks, remains robust to target relocation, and improves real-world pick-and-place success from 53.3% to 71.7% over an adapted open-loop baseline. The project page of OmniNav is available at https://omni-nav.github.io/.

cs.RO↗

arXiv2026

HarmoCore: Functional Latent Diffusion for Sparse Reconstruction of Oscillatory Wave Fields

Reconstructing oscillatory wave fields from scattered sensors is a severely underdetermined inverse problem. Beyond the challenges of general physical-field reconstruction, wave responses are complex-valued, frequency-sensitive, and highly oscillatory, while costly simulation and sensing often leave only extreme-sparse observations. Existing low-rank, operator, and diffusion approaches are largely designed for real-valued, smoother fields; dense pixel-space diffusion is particularly inefficient for oscillatory complex fields and difficult to scale to 3D. We propose HarmoCore, which places a generative prior in a compact, continuous, and structured wave-field latent. HarmoCore represents joint real--imaginary channels with Functional Tucker cores over shared continuous spatial bases, learns a frequency-conditioned core diffusion prior, and performs Diffusion Posterior Sampling directly in core space. At fixed sensor coordinates, the multilinear decoder induces an explicit likelihood guidance operator, avoiding dense pixel-space correction. Optional target-equation residual guidance further promotes physical consistency. Experiments on 2D Helmholtz, 2D synthetic wave fields, and 3D Helmholtz show substantial gains under 1%--2% sensing while remaining practical in three dimensions.

cs.LG↗

arXiv2026

Nonlinear trajectories of lung function recovery in patients with pulmonary disease: empirical evaluation of longitudinal modeling approaches

Introduction: Longitudinal lung function recovery after pulmonary disease commonly follows nonlinear trajectories, and failure to adequately model these trajectories can lead to biased or misleading estimates of treatment effects. However, an important methodological gap remains as there is limited assessment of statistical methods for modeling nonlinear lung function trajectories. Methods: We compared several longitudinal modeling approaches for characterizing recovery in percent predicted forced expiratory volume in one second (FEV1p) using data from a phase 2 randomized trial for pulmonary tuberculosis (TB). We estimate the differences in repeated mean FEV1p between each treatment arm and control arm over a 180-days follow-up period. We compared 6 different statistical models: (1) linear mixed-effects model, (2) a piecewise linear mixed-effects model, (3) quadratic and (4) natural cubic spline mixed-effects models, (5) a nonlinear mixed-effects model with exponential recovery function, and (6) a generalized additive mixed model. We discussed the assumptions, clinical interpretations, and resulting treatment-effect estimates across these approaches. Results: The results from the TB trial analyses showed that the conventional linear mixed-effects model provided limited evidence of treatment differences over follow-up, whereas several flexible models identified significant differences during specific periods of recovery. Conclusion: Flexible longitudinal models can complement conventional linear mixed-effects models by revealing treatment differences at certain periods of follow-up that may be obscured by assuming a single linear trend. The choice of nonlinear modeling strategy should be guided by the scientific objective, available data, and the desired balance between clinical interpretability and flexibility.

stat.AP↗

arXiv2026

openJiuwen: Beyond Static Harnesses for Long-Horizon Coding Agents

Long-horizon coding agents operate over evolving repository states while increasingly relying on heterogeneous capabilities, delegated agents, and multi-agent coordination. These trends pose two complementary challenges for the agent harness. First, developers need to compose capabilities, reconfigure execution logic, and scale increasingly complex agent systems without repeatedly rebuilding orchestration. Second, complex coding tasks continuously produce new evidence---such as semantic diagnostics, execution outcomes, task progress, and changing context relevance---that should dynamically influence subsequent runtime decisions. We characterize these challenges as Structural Composability and Runtime Adaptivity. We present openJiuwen, an open-source harness designed for both developer composability and adaptive task execution. openJiuwen provides a shared execution substrate and Rail-based capability composition across single agents, delegated sub-agents, and Swarm Flow, enabling developers to construct sophisticated agent harnesses under common execution semantics. It further adapts framework-controlled runtime decisions around a fixed model policy, allowing evolving evidence to dynamically affect context, feedback, and task control toward successful completion. We systematically evaluate openJiuwen on SWE-bench Verified and Terminal-Bench 2.1, where it achieves 82.6% and 87.19%, respectively, exceeding the strongest selected official-leaderboard point estimates by 3.4 and 3.39 percentage points. These results show that openJiuwen achieves strong performance on complex coding tasks while providing a composable and adaptive harness design.

cs.AI↗

arXiv2026

Expected Shortfall Model Averaging

Expected shortfall (ES) is widely used to measure tail risk in finance and economics, but its prediction is challenging due to non-elicitability and model uncertainty. This paper proposes a two-stage cross-validation model averaging method for ES forecasting. In the first stage, conditional value-at-risk is estimated using quantile model averaging. In the second stage, a transformed response is constructed and mean squared error-based model averaging is applied to estimate ES. We establish theoretical properties of the proposed method under both correct specification and model misspecification, showing consistency of the estimators and asymptotic optimality of the forecasting risk. Simulation studies and empirical applications to U.S. stock return and macroeconomic GDP growth data show that the proposed approach provides accurate and stable ES forecasts and is computationally efficient.

stat.ME↗

arXiv2026

TRACE: Retrospective Streaming Generation of Physical Fields under Sparse Structured Sensing

Reconstructing continuous physical fields from sparse measurements is central to scientific monitoring, inverse modeling, and digital-twin construction. Generative reconstruction has recently emerged as a promising paradigm for this task by learning data-driven physical priors that complete plausible full fields from limited observations. However, existing methods largely assume fixed, batch conditioning, whereas real sensing systems often produce structured streams: probes scan local regions, instruments observe moving fields of view, and communication constraints may leave entire frames missing. We propose TRACE, a retrospective streaming generative reconstruction framework for physical fields under structured sensing. TRACE performs approximate Bayesian inference in a learned continuous-coordinate latent space, converting sparse off-grid measurements into generative latent evidence, fusing it with a state-space temporal prior through Kalman-style filtering, and refining under-observed past frames via retrospective smoothing. Experiments on active matter, ocean sound-speed fields, and supernova simulations show that TRACE matches or surpasses frame-wise generative reconstructors, offline spatiotemporal methods, and streaming data-assimilation baselines in reconstruction quality under temporally sparse and spatially localized sensing protocols.

stat.ML↗

arXiv2026

Gaussianization-Based Parameter Estimation for Gamma-Gamma and Lognormal-Rician Turbulence Channels

Accurate parameter estimation for atmospheric turbulence channels is challenging because the probability density functions of the Gamma-Gamma (GG) and Lognormal-Rician (LR) models involve special functions and numerical integrations. This paper proposes two Gaussianization parameter estimators for GG and LR turbulence channels, i.e., the quantile-transformation (QT) estimator and the Box-Cox estimator. The QT estimator employs bidirectional cross-transformation together with higher-order statistical matching, whereas the Box-Cox estimator constructs an approximate likelihood by incorporating the transformation Jacobian. Asymptotic analysis identifies skewness as the leading-order deviation from Gaussianity under weak-to-moderate turbulence and yields asymptotic expressions for the Box-Cox power parameters. In addition, a physics-informed regularizer based on the extended Rytov-theory mapping from the Rytov variance to the GG shape parameters is introduced to improve parameter identifiability. Simulation results demonstrate that both estimators provide robust performance under noiseless and noisy conditions, while the physics-informed regularization term can improve the parameter estimation performance by at least three orders of magnitude compared with the iterative moment-based estimator and the method-of-moments/convex-optimization estimator in specific turbulence scenarios.

math.ST↗

arXiv2026

QUMem: Personalized Memory for Query-Conditioned User-State Inference in LLM Agents

Large language model (LLM) agents increasingly use external memory systems to support personalization by drawing on long and evolving interaction histories, in which user preferences may be distributed across time, change with context, and conflict with earlier evidence. However, existing systems face three limitations: fixed-turn, fixed-token, or session-based boundaries can mix unrelated dialogue or split an event from its causes, decisions, and outcomes; storing multiple pieces of user information from the same interaction as a single memory binds together items that serve different functions and should be independently retrievable; and treating the current task as a single top-$k$ retrieval query can return fragments that are individually relevant but fail to jointly capture preference evolution, temporal validity, and contextual applicability. We introduce \textsc{QUMem}, a structured memory framework for query-conditioned user-state inference. \textsc{QUMem} first segments interaction histories into variable-length episodes according to semantic continuity, then decomposes each episode into independently retrievable factual, preference, and transferable insight memories while preserving temporal positions and source evidence. At inference time, three sequential agents identify task-specific information needs, plan multi-query retrieval over the typed memory stores, and jointly infer a temporally and contextually valid user state for downstream response generation. \textsc{QUMem} achieves state-of-the-art performance on both PersonaMem and KnowU-Bench, demonstrating the effectiveness of query-conditioned user-state inference for long-term personalization.

cs.CL↗

arXiv2026

Strong Converse Exponents of Quantum Soft Covering and Privacy Amplification

We determine the exact strong converse exponent of quantum soft covering under the sandwiched R{\'e}nyi divergence for all orders $\alpha\in[\frac{1}{2},\infty)$. For $\alpha\in[\frac{1}{2},1)$, the exponent is characterized by the two-parameter club-sandwiched mutual information, whereas for $\alpha\in[1,\infty)$, it is characterized by the order-$\alpha$ sandwiched R{\'e}nyi mutual information. We also determine the exact strong converse exponent of privacy amplification against quantum side information under the sandwiched R{\'e}nyi divergence for $\alpha\in(2,\infty)$, expressed in terms of the corresponding order-$\alpha$ sandwiched R{\'e}nyi conditional entropy. To the best of our knowledge, these results provide the first exact characterization of the strong converse exponent of quantum soft covering and the first precise operational interpretation of the two-parameter club-sandwiched mutual information in the quantum setting. The key ingredient is that we establish the exponential rate of the $K$-functional, which is instrumental in deriving the strong converse exponent of quantum soft covering for $\alpha\in[\frac{1}{2},1)$.

quant-ph↗

arXiv2026

GLaQ: Grounding Latent Queries in Visual Evidence for Multimodal Reasoning

Chain-of-thought reasoning has substantially improved the problem-solving capabilities of multimodal large language models. Fine-grained visual evidence, however, remains difficult to preserve and reuse across text-based reasoning steps. To address this limitation, tool-augmented thinking-with-images methods maintain visual access externally by revisiting or manipulating the image, but require predefined tools and additional inference-time processing. As an internal alternative, continuous visual latent reasoning retains intermediate computation in hidden states. However, its prevailing autoregressive construction makes each latent state depend on its predecessors, so later states may repeat information already present in the latent sequence rather than capture complementary visual details. We introduce GLaQ, a grounded latent-query framework that replaces sequential latent rollout with a fixed set of context-conditioned queries grounded in the original visual tokens. The grounded queries are reinjected for answer generation, providing direct and coordinated access to source visual evidence. We train GLaQ with localized-view supervision followed by reinforcement learning under task-level rewards. Across five benchmarks for fine-grained visual understanding and perception, GLaQ-7B gains 5.99--9.66\% over its base model and leads all compared visual latent methods, suggesting that direct query-to-image grounding can recover localized evidence from the full image without external visual operations or autoregressive latent rollouts.

cs.CV↗

arXiv2026

Handling covariate shift by model averaging

Distributional mismatch between the data used to construct a statistical procedure and the population to which it is ultimately applied is pervasive in modern data analysis. We study covariate shift, a fundamental instance of this problem, and develop an adaptive importance-weighted model averaging method for prediction when labeled observations are available from a source distribution, whereas only unlabeled covariates are observed from the target distribution. Procedures fitted directly to the source sample generally optimize prediction risk under the source distribution and may therefore be suboptimal for target prediction. Importance weighting by the density ratio between the target and source covariate marginals provides a natural correction, but a small number of large density-ratio values can substantially inflate the variance of the resulting estimator in finite samples. We address this bias-variance trade-off by treating the degree of importance-weighting correction as a source of model uncertainty. Specifically, we construct a family of adaptive importance-weighted least-squares estimators by raising the estimated density ratio to a range of exponents, with the endpoints corresponding to ordinary least squares and standard importance-weighted least squares, and form a data-driven average over these candidates. Under model misspecification, the proposed model averaging estimator is shown to be asymptotically optimal relative to the infeasible best convex combination of the candidate estimators. Under correct specification, a diverging penalty is shown to make the selected weights concentrate near the ordinary least-squares endpoint. Simulations and a real-data application show that the proposed method achieves competitive target-prediction performance across the settings considered.

stat.ME↗

arXiv2026

Beyond Retrieval: Query-Conditioned Reuse of Long-Horizon Agent Trajectories

Retrieval can identify a past trajectory that may matter, yet it does not specify how an acting agent should use that trajectory after users, entities, constraints, or environment state have changed. We identify this post-retrieval reuse step as a distinct bottleneck for long-horizon trajectory memory and formulate an evaluation framework that holds candidate retrieval, target state, model, decoding, and tool budget fixed while varying the support delivered to the agent. We instantiate the framework with query-conditioned reuse (QCR), a deliberately simple target-bound note that records a reusable procedure, bindings to recover, applicability conditions, and verification requirements. QCR serves to test the reuse hypothesis rather than to claim a universally preferred memory format. Across 2,391 target instances in WebArena, WorkArena, and AppWorld, QCR reaches 62.3% average Success, 10.7 points above Full Trajectory, while using 48.9% fewer online tokens. Summary reranking selects a reusable memory for 94.8% of targets, placing end-task Success within 1.8 points of an oracle reusable selector. Analyses by trajectory length and source--target binding shift show that direct trajectory injection loses much of its utility as traces grow longer or source-specific values change, whereas target-bound support preserves a larger share of the measured gain. The resulting framework separates retrieval quality from the problem of turning retrieved experience into safe, useful support for a new task.

cs.AI↗

arXiv2026

SDO: Subspace Deconflicting Operator for Multi-Adapter Composition

Composing independently trained adapters within a shared diffusion backbone provides a modular approach to multi-character generation, but naive joint deployment often causes identity mixing, cross-character attribute leakage, and unstable scene composition. We study this interference from a parameter-space perspective and hypothesize that it arises partly from conflicts between overlapping dominant subspaces in shared layers. To address this issue, we propose \textbf{SDO}, a \textbf{S}ubspace \textbf{D}econflicting \textbf{O}perator for multi-adapter composition. SDO reconstructs layer-wise low-rank updates from the selected adapters, extracts compact subspace signatures, measures pairwise conflict through output-subspace overlap, and applies a permutation-equivariant transformation that suppresses harmful shared directions while retaining identity-specific characteristics. The resulting representations are mapped back to standard adapter updates and can be directly incorporated into existing diffusion inference pipelines. Experiments demonstrate that SDO consistently improves identity fidelity and compositional stability, with particularly clear gains as the number of jointly composed adapters increases.

cs.AI↗

arXiv2026

Understanding Differentiable Embeddings Through Differential and Integral Geometry

How can an analyst decide whether a nonlinear dimensionality reduction embedding can be trusted? Existing diagnostics provide only partial answers: projection glyphs characterize local sensitivity, map-continuity scores measure local conditioning, and transport-based analyses reveal path-dependent inconsistencies. However, these methods appear unrelated and provide no common framework for understanding when they agree or not. We show that they are all derived from a single geometric object induced by every differentiable embedding, whether defined implicitly through optimization or explicitly by a learned mapping. This framework provides two complementary geometric views of an embedding. The differential view explains local behavior: its first-order term recovers projection glyphs, while its second-order curvature quantifies how far their linear approximation remains reliable. The integral view follows the same geometry along high dimensional paths and determines whether an embedding depends only on the current state or also on the path taken to reach it. We further show that map-continuity is a prerequisite for the other analyses. The framework is theoretically complete for diagnostics derived from the embedding geometry, and we prove the integral view irreducible: no amount of local measurement at any number of points, to any order of derivative, reproduces what it detects. Classical rank-based metrics form a complementary class based on finite-scale neighborhood relationships. Experiments on synthetic and real datasets validate theoretical predictions, demonstrate accurate curvature-based trust estimates on single-cell embeddings, and show that the integral analysis distinguishes single-valued embeddings from path-dependent optimization-based embeddings in ways that existing pointwise diagnostics cannot.

cs.LG↗

arXiv2026

Reliability Functions of Quantum Soft Covering and Privacy Amplification via a Mixed-Order R\'enyi Divergence

In this paper, we introduce a novel mixed-order R\'enyi divergence and investigate its fundamental properties. Using this divergence, we define a family of mixed-order order-two R\'enyi mutual information and R\'enyi conditional entropy. We derive exact reliability functions of quantum soft covering and privacy amplification under the sandwiched R\'enyi divergence with order $\alpha\in[2,\infty)$. The former is jointly characterized by the sandwiched and mixed-order order-two R\'enyi mutual information quantities, while the latter is characterized by the corresponding conditional entropies. These results provide operational interpretations of the proposed mixed-order R\'enyi divergence. To the best of our knowledge, this is the first exact characterization of the reliability function for quantum soft covering.

quant-ph↗

arXiv2026

SOPD-SocialNav: Selective On-Policy Distillation for Vision-Language Social Navigation

Vision-language models have shown strong potential for social robot navigation by leveraging rich semantic understanding of complex environments and human behaviors. However, large scale VLMs are difficult to deploy on resource-constrained robotic platforms, while lightweight VLMs often lack sufficient social reasoning capability. To address this problem, we propose SOPD-SocialNav, a selective on-policy distillation (SOPD) method that transfers social navigation knowledge from a large teacher VLM to a lightweight student VLM. SOPD introduces an entropy-based token selection mechanism that uses teacher uncertainty to identify socially informative decision tokens, while suppressing gradients from low-entropy tokens corresponding to trivial navigation states. A temperature-controlled Jensen-Shannon divergence objective is then used to align the student and teacher distributions on the selected tokens. Experiments on the SNEI and MUSON benchmarks demonstrate that SOPD consistently outperforms supervised fine-tuning, off-policy distillation, and standard on-policy distillation baselines in action prediction, perception consistency, and reasoning consistency. Real-world deployment on a Scout Mini robot further shows that the distilled model can generate more socially appropriate navigation behaviors in conversational and queuing scenarios. These results suggest that SOPD is an effective strategy for building lightweight yet socially aware VLM-based navigation systems.

cs.RO↗

arXiv2026

BTOR2-Based C Program Verification via Hardware Model Checking

Program verification tools often rely on specific intermediate representations and analysis backends, limiting the reuse of verification algorithms and model checkers across frameworks. In contrast, hardware model checking has developed a mature backend ecosystem, where standard formats such as BTOR2 support reusable algorithms for counterexample search and inductive safety proving. Applying these capabilities to C requires translating assertion-based programs into transition systems that hardware model checkers can directly process. We present C2Btor, a method for encoding such verification tasks into BTOR2 models. C2Btor uses a program counter to capture control transfers, represents data states and memory objects with bit-vectors and arrays, and maps assumptions and assertion checks into BTOR2 constraints and bad-state properties. We evaluate C2Btor on SV-COMP C ReachSafety benchmarks and a curated assertion-category benchmark suite, comparing it with representative program verification tools. C2Btor correctly solves 263 tasks, 101 more than CBMC configured with bounded model checking, and is especially effective on bit-vector benchmarks, where it solves 75.5% of the tasks with no wrong verdicts. These results show that the BTOR2 route allows C program verification to benefit from advances in hardware model-checking backends, expanding the available capability for counterexample search, inductive safety proving, and word-level transition-system reasoning.

cs.SE↗

arXiv2026

AIGB-R1: Self-Evolving Generative Auto-Bidding via Hierarchical Planner-Executor Optimization

Auto-bidding plays an essential role in online advertising, automatically adjusting bids for advertisers to optimize their commercial goals. The emerging AI-Generated Bidding (AIGB) paradigm widely adopts generative modeling to optimize bidding strategies, yet suffers from the limited mode coverage of offline datasets and inadequate task-state understanding, hindering effective exploration of optimal strategies. Large Language Models (LLMs), with prior world knowledge and reasoning capabilities, offer a promising approach to overcome these limitations. However, directly applying LLMs to auto-bidding tasks faces inherent challenges in limited numerical precision, hallucinations, and inference latency. To address these limitations, we propose AIGB-R1, a hierarchical self-evolving auto-bidding framework aiming to enhance AI-Generated Bidding via LLMs' Reasoning capabilities, comprising a high-level Planner module for macro-level strategy planning and a low-level Executor module for fine-grained decision-making. Building upon this, we design an experience-driven self-evolving loop, enabling autonomous strategy exploration and optimization from accumulated experience. We adopt a two-stage pipeline of offline pre-training and post-training alignment, and build an interactive bidding simulation environment for strategy rollout. Furthermore, we propose Decoupled Group Relative Policy Optimization (D-GRPO) to achieve end-to-end optimization via advantage decoupling. Experimental results on a large-scale public dataset demonstrate the effectiveness of AIGB-R1.

cs.LG↗