arXiv subjects

Xinyu Zhang

Publications and source records attributed to Xinyu Zhang.

At least 73 records · Page 4Linked to original sources

arXiv2026

MUSON: A Reasoning-oriented Multimodal Dataset for Socially Compliant Navigation in Urban Environments

Socially compliant navigation requires structured reasoning about dynamic pedestrians and physical constraints to ensure safe and interpretable decisions. Vision-language models (VLMs) provide a promising foundation for this task because they can integrate visual observations with language-based social knowledge. However, existing untuned VLMs still struggle to reliably understand fine-grained social norms, making task-specific fine-tuning essential. At the same time, no large-scale egocentric dataset is available this task. To address these challenges, we introduce MUSON, a multimodal dataset for short-horizon social navigation containing 10,110 egocentric samples collected across diverse indoor and outdoor social scenes. MUSON adopts a structured five-step chain-of-thought annotation framework comprising perception, prediction, reasoning, action, and explanation. It explicitly models static physical constraints and employs a standardized six-action decision space. Compared with existing social-navigation datasets, MUSON provides consistent annotations for reasoning, actions, and explanations. We evaluate ten representative small-to-medium VLMs on MUSON. Qwen3-VL-8B achieves the strongest decision-level performance, attaining the highest action accuracy of 0.7765 and Macro-F1 score of 0.7490, as well as the lowest collision rate of 0.0609. These results demonstrate that MUSON is an effective and reusable benchmark for advancing socially compliant navigation. The dataset is publicly available at https://github.com/MUSON-dataset/MUSON/releases/tag/v1.0.

cs.CV↗

arXiv2026

Double Descent, Ensemble Emergence, and Large Model Averaging in High-Dimensional Multimodel Prediction

This paper investigates the predictive performance of high-dimensional multimodel prediction, where the number of regressors is comparable to the sample size. Leveraging tools from random matrix theory, we derive the exact limiting out-of-sample risk under a nested model setting and comprehensively characterize the risk landscape. This limiting risk helps to reveal two phenomena: simple weighting inherits the double descent trajectory and its associated variance explosion near the interpolation boundary; strategic weighting triggers an ensemble emergence that suppresses the localized risk surge and yields a globally flat risk surface. Building on this limiting risk, we also propose the Large Model Averaging (LaMA) method, in which we consider the discrepancy between in-sample and out-of-sample risks in the high-dimensional regime. Numerical studies and real data applications confirm that LaMA achieves superior predictive accuracy in high-dimensional environments.

stat.ME↗

arXiv2026

Knowledge-Based Pull Requests: A Trusted Workflow for Agent-Mediated Knowledge Collaboration

AI coding agents are changing the bottleneck in software collaboration: code is increasingly cheap, while understanding intent, negotiating scope, and governing long-term project responsibility remain costly. This paper proposes \emph{Knowledge-Based Pull Requests} (KPR), a trusted workflow for agent-mediated software collaboration across trust boundaries, including open source, enterprise, vendor, contractor, and customer-driven settings. In KPR, an external collaborator's local code, tests, and cleaned agent interaction trace are treated as knowledge sources rather than as the default merge candidate. Agents distill these sources into a human-confirmed knowledge package and render it into reviewer-facing forms such as design memos, risk checklists, test plans, or implementation briefs. A project-owned inner trusted coding agent then regenerates candidate code inside the receiving project's environment under repository context, engineering conventions, tests, and security policy. KPR therefore separates two decisions that traditional pull requests often collapse: whether the knowledge should enter the project, and whether a particular implementation should be merged. We contribute the KPR workflow, a candidate artifact schema, a cost-accounting view, a collaboration gateway architecture, a minimal controlled simulation pilot over seven merged public pull requests, and an evaluation agenda. The pilot shows that KPR packages can be instantiated from real PR material and stress-tested under description ablation, diff ablation, and synthetic poisoned-patch conditions. We position KPR as an empirically testable workflow: its value depends on whether auditable extraction, transformation, and project-side regeneration reduce the cost of understanding and reworking high-context external changes.

cs.SE↗

arXiv2026

Multi-Source Prediction-Powered Inference

Prediction-powered inference integrates a small gold-standard dataset with large pseudo-labeled data, whose labels are generated by machine learning methods, to enhance statistical inference. In modern applications, multiple data sources and diverse machine learning methods often give rise to multiple pseudo-labeled datasets, each encoding potentially different aspects of the underlying information. However, how to optimally combine multiple data sources and machine learning methods for statistical inference remains unclear. To address this problem, we propose a multi-source prediction-powered inference method by aggregating multiple pseudo-labeled datasets together, where the aggregation weights are estimated by minimizing the asymptotic volume of the resulting confidence region. We study both homogeneous settings, where the source and target distributions coincide, and heterogeneous settings, where distributional discrepancies arise between source and target distributions, including covariate shift and domain shift. Theoretically, we establish the asymptotic normality of the proposed estimator and show that the resulting confidence-region volume is asymptotically equivalent to the oracle optimal volume within the proposed weighting class. We further characterize when our method yields smaller confidence regions compared with both classical target-only inference and single-source prediction-powered inference. Simulation studies and a real-data application on dual-energy X-ray absorptiometry measured high body fat prevalence show that MPPI can reduce confidence-region volume while maintaining inferential validity in the settings considered.

stat.ME↗

arXiv2026

Local-GS: Accelerating 3D Gaussian Splatting via Tile-Local Warp Coherence

3D Gaussian Splatting (3DGS) has significantly advanced real-time novel view synthesis by representing scenes as dense collections of anisotropic 3D Gaussian primitives. However, the irregular spatial distribution of Gaussians often leads to poor GPU utilization, as warp divergence and redundant computation degrade rendering performance. To address this, we present Local-GS, a warp-coherent rendering paradigm that, organizes Gaussian primitives with respect to SIMT (Single Instruction, Multiple Threads) execution boundaries rather than scene geometry. Specifically, we propose three warp-coherent stages: a hoisting stage that precomputes shared parameters at tile level, a culling stage that discards warps with no contribution, and a blending stage that replaces per-pixel branching with a uniform instruction stream. Across extensive benchmarks on multiple datasets, Local-GS improves efficiency without compromising quality. As a plug-and-play optimization, it provides additional performance gains to all tested baselines, culminating in a $7.76\times$ speedup on Deep Blending scenes.

cs.CV↗

arXiv2026

SkillsBench: Benchmarking How Well Agent Skills Work Across Diverse Tasks

Agent Skills are structured packages of procedural knowledge that augment large language model (LLM) agents at inference time. Despite rapid adoption, there is no standard way to measure whether they actually help. We present SkillsBench, a benchmark whose current inventory contains 87 tasks across 8 domains paired with curated Skills and deterministic verifiers. Our latest aggregate evaluation runs the 87-task benchmark under matched no-Skills and curated-Skills conditions for 18 model-harness configurations. Curated Skills raise the average pass rate from 33.9% to 50.5% (+16.6 percentage points; 25.5% normalized gain), with configuration-level gains ranging from +4.1 to +25.7 pp. Focused Skills with at most three modules outperform larger or exhaustive bundles, and smaller models with Skills can match larger models without them. SkillsBench establishes paired evaluation as the foundation for rigorous measurement of Skill efficacy on agentic, expertise-heavy work.

cs.AI↗

arXiv2026

MaxProof: Scaling Mathematical Proof with Generative-Verifier RL and Population-Level Test-Time Scaling

We present MaxProof, a population-level test-time scaling framework for competition-level mathematical proof in the MiniMax-M3 series. M3 first trains three proof-oriented capabilities -- proof generation, proof verification, and critique-conditioned proof repair -- using a defense-in-depth generative verifier engineered for low false-positive rate. These capabilities are merged into a single released M3 model. At test time, MaxProof treats the model as a generator, verifier, refiner, and ranker, searches over a population of candidate proofs, and returns one final proof through tournament selection. With MaxProof test-time scaling, the M3 model reaches 35/42 on IMO 2025 and 36/42 on USAMO 2026, exceeding the human gold-medal threshold on both.

cs.LG↗

arXiv2026

Glove2Hand: Synthesizing Natural Hand-Object Interaction from Multi-Modal Sensing Gloves

Understanding hand-object interaction (HOI) is fundamental to computer vision, robotics, and AR/VR. However, conventional hand videos often lack essential physical information such as contact forces and motion signals, and are prone to frequent occlusions. To address the challenges, we present Glove2Hand, a framework that translates multi-modal sensing glove HOI videos into photorealistic bare hands, while faithfully preserving the underlying physical interaction dynamics. We introduce a novel 3D Gaussian hand model that ensures temporal rendering consistency. The rendered hand is seamlessly integrated into the scene using a diffusion-based hand restorer, which effectively handles complex hand-object interactions and non-rigid deformations. Leveraging Glove2Hand, we create HandSense, the first multi-modal HOI dataset featuring glove-to-hand videos with synchronized tactile and IMU signals. We demonstrate that HandSense significantly enhances downstream bare-hand applications, including video-based contact estimation and hand tracking under severe occlusion.

cs.CV↗

arXiv2026

Experimental Validation of Skull Acoustic Modelling Strategies for Transcranial Focused Ultrasound Simulation: A Cross-Comparison Study

Accurate acoustic modelling of the skull is essential for simulation-guided transcranial focused ultrasound (tFUS), but commonly used skull parameterisation strategies differ in complexity and reported accuracy. This study experimentally compared five k-Wave skull models: two voxel-wise linear mapping models, two three-layer models, and one single-layer fixed-parameter model. Nineteen regions of interest from five historical and two Thiel-embalmed human skulls were tested at 220 kHz, 680 kHz, and 1000 kHz. Bowl-surface source fields were reconstructed using acoustic holography, and simulated intracranial pressure fields were benchmarked against needle-hydrophone measurements. Across frequencies, mean peak-pressure errors ranged from 20% to 31%, whereas intensity errors reached 41% to 77%. Errors in -6 dB focal volume ranged from 11% to 67%, and focal-position discrepancies were typically several millimetres. Simulations generally predicted smaller insertion losses than measured, indicating a tendency to underestimate skull-related attenuation and overestimate transmitted intracranial exposure. The linear mapping model with fixed attenuation gave the lowest frequency-averaged pressure error, but no model showed a consistent advantage across all metrics. These results show that current skull models can reproduce gross intracranial beam patterns while retaining substantial quantitative uncertainty in exposure, focal coverage, and target localisation.

physics.med-ph↗

arXiv2026

Dual-Cluster Memory Agent: Resolving Multi-Paradigm Ambiguity in Optimization Problem Solving

Large Language Models (LLMs) often struggle with structural ambiguity in optimization problems, where a single problem admits multiple related but conflicting modeling paradigms, hindering effective solution generation. To address this, we propose Dual-Cluster Memory Agent (DCM-Agent) to enhance performance by leveraging historical solutions in a training-free manner. Central to this is Dual-Cluster Memory Construction. This agent assigns historical solutions to modeling and coding clusters, then distills each cluster's content into three structured types: Approach, Checklist, and Pitfall. This process derives generalizable guidance knowledge. Furthermore, this agent introduces Memory-augmented Inference to dynamically navigate solution paths, detect and repair errors, and adaptively switch reasoning paths with structured knowledge. The experiments across seven optimization benchmarks demonstrate that DCM-Agent achieves an average performance improvement of 11%- 21%. Notably, our analysis reveals a ``knowledge inheritance'' phenomenon: memory constructed by larger models can guide smaller models toward superior performance, highlighting the framework's scalability and efficiency.

cs.CL↗

arXiv2026

Semi-Supervised Hyperbolic Hierarchical Clustering with Set-Level Structural Priors

Semi-supervised hierarchical clustering aims to learn a tree structure consistent with data patterns and user-provided supervision. Supervision is usually given as leaf-level relations, such as pairwise must-link/cannot-link constraints or triplet-wise must-link-before constraints. Although useful for regulating local sample relations, such supervision does not directly indicate which samples should form coherent subtrees. Consequently, the non-leaf structure of the learned tree may deviate from the hierarchical organization preferred by ground-truth labels. To address this limitation, we propose a semi-supervised hyperbolic hierarchical clustering method with set-level structural priors. The main contribution is to introduce sets as basic modeling units for hierarchy learning. Each set denotes samples expected to cohere within a subtree and is induced from leaf-level supervision together with a learned constraint-consistent similarity structure. These sets act as soft structural priors for subtree-level supervision, allowing supervision to guide non-leaf hierarchy formation beyond local leaf-level relations. Specifically, we first learn constraint-consistent embeddings to obtain a reliable set partition, then construct constraint-induced sets and estimate inter-set similarities to form set-level structural priors. Finally, these priors are incorporated into a hyperbolic hierarchy objective for continuous tree optimization. Experiments on eleven benchmark datasets and ablation studies show that the proposed method consistently improves label consistency over representative hierarchical clustering baselines while also enhancing similarity-based tree quality.

cs.LG↗

arXiv2026

Reliable Self-Improvement Training by Verifying Reasoning, Not Just Answers

Self-improvement training, where models learn from self-generated solutions, promises sustained capability gains but suffers from a pervasive failure mode: across multiple rounds, compounding reasoning errors cause accuracy to stall or degrade. We trace this drift to standard filtering criteria that retain solutions based solely on final answer correctness, which lets lucky guesses (correct answers with flawed reasoning) contaminate the training data. We propose Verified Self-Improvement (VSI), a framework that conditions data retention on step-level structural integrity rather than just the final output. VSI validates solutions by recomputing arithmetic steps via a computer-algebra library (sympy), checking intermediate consistency, and enforcing domain constraints. Evaluating VSI on GSM8K with Qwen3-4B-Thinking across 5 rounds of self-improvement against four baselines (no verification, outcome verification, majority voting, and VSI with DPO) shows that VSI rejects approximately 34% of correct-answer solutions, successfully isolating lucky guesses. This cleaner training signal drives sustained accuracy gains across all rounds (80.5% to 91.0%), whereas outcome verification plateaus and unverified training collapses. Finally, converting VSI checks into DPO preference pairs trains the model to distinguish sound reasoning from lucky answers, boosting reward accuracy from 46% to 63%. VSI offers a simple, reproducible recipe for robust self-improvement whenever automated reasoning checks are available.

cs.AI↗

arXiv2026

Identification and Inference for Structural Accelerated Failure Time Models via Instrument Interactions

We study causal inference for time-to-event outcomes under right censoring in the presence of unmeasured confounding. Focusing on structural accelerated failure time models, we develop an identification and inference framework that exploits interactions among instrumental variables. The proposed approach does not rely on classical instrumental variable validity and yields valid causal inference under both valid and invalid instruments, provided that the interaction-based identification condition holds. To accommodate right censoring, we construct a censoring-adjusted observed data moment function using an augmented inverse probability censoring weighting approach. The resulting moment function is Neyman orthogonal with respect to nuisance functions and enjoys a double robustness property, enabling valid inference under flexible nuisance estimation. Estimation and inference are conducted using generalized empirical likelihood, which is well suited to settings with many potentially weak interaction-based moment conditions. We establish consistency, and asymptotic normality under many weak moment asymptotics, and develop diagnostic tools to assess interaction-based identification strength and overidentifying restrictions. Simulation studies demonstrate favorable finite sample performance across a range of censoring rates and instrument configurations. An application to UK Biobank data illustrates the practical relevance of the proposed method for causal survival analysis in large-scale observational studies.

stat.ME↗

arXiv2026

SchGen: PCB Schematic Generation with Semantic-Grounded Code Representations

Printed circuit board (PCB) schematic design defines nearly all electronic hardware, but it remains manual and expertise-intensive. While generative AI has advanced digital and analog IC design, PCB schematic generation from natural-language intent is largely unexplored. This paper presents SchGen, the first large language model that generates editable PCB schematics from natural-language requests. The key challenge lies in the lack of an LLM-suited representation and a large-scale dataset. Current schematic formats are dominated by verbose, tool-specific syntax and geometry-heavy descriptions, making them difficult to generate reliably. We introduce a semantically grounded code representation that encodes schematic editing primitives with relative placement and pin-name-based wiring, transforming a geometry-driven generation problem into a semantics-driven matching task amenable to LLMs. We further construct a large-scale dataset of PCB schematics paired with user prompts via a human-agent collaborative pipeline that converts open-source hardware designs into our representation. Experiments show that SchGen significantly outperforms alternative representations and even larger general-purpose LLMs on wire connectivity accuracy and functional correctness. Our results highlight the critical role of representation design in enabling generative models for complex hardware design tasks.

cs.AI↗

arXiv2026

Constrained Bayesian Experimental Design via Online Planning

Bayesian experimental design (BED) is a principled framework for data-efficient design of sequential experiments. However, existing BED methods are unable to adapt to dynamic constraints inherent in real-world tasks due to budget limitations, varying costs, or physical constraints that restrict how designs evolve over time. In this paper, we introduce a novel approach to BED that enables constrained optimization of experimental designs by combining offline pre-training of an amortized policy and a posterior network with online multi-step lookahead planning using scenario trees. We empirically demonstrate that our method yields substantially more informative design sequences than existing methods across a range of constrained BED tasks, while incurring only a modest additional computational overhead.

stat.ML↗

arXiv2026

Post-training makes large language models less human-like

Large language models (LLMs) are increasingly used as surrogates for human participants, but it remains unclear which models best capture human behavior and why. To address this, we introduce Psych-201, a novel dataset that enables us to measure behavioral alignment at scale. We find that post-training -- the stage that turns base models into useful assistants -- consistently reduces alignment with human behavior across model families, sizes, and objectives. Moreover, this misalignment widens in newer model generations even as base models continue to improve. Finally, we find that persona-induction -- a popular technique for eliciting human-like behavior by conditioning models on participant-specific information -- does not improve predictions at the level of individuals. Taken together, our results suggest that the very processes that are currently employed to turn LLMs into useful assistants also make them less accurate models of human behavior.

cs.CL↗

arXiv2026

Estimation of Directed Acyclic Graphs by Frequentist Model Averaging

Directed acyclic graphs provide a fundamental tool for representing directed dependence structures in multivariate network data, and are widely used to model financial and economic networks. However, accurate and interpretable estimation remains challenging under graph structural uncertainty. We propose an optimal model averaging method for directed acyclic Gaussian graphs. With a set of candidate models varying by graph structures, we average estimates from candidate models using weights that minimize a penalized negative log-likelihood criterion. In contrast to existing approaches, we not only establish the asymptotic optimality, weight consistency, and parameter consistency of the proposed method, but also explicitly characterize how different candidate models affect the convergence rate. Moreover, we prove parameter consistency even when all candidate graph models are misspecified. Results from simulation studies and a real-data analysis on the banks' international liability data show the promise of the proposed method.

stat.ME↗

arXiv2026

What Are We Actually Decoding? Source Attribution for Non-Invasive Brain-to-Language Retrieval

In non-invasive neural language decoding, results can be inflated by sources that are not stimulus-evoked neural evidence: decoder priors, embedding-based metrics, and non-neural structural nuisances such as signal duration. The methodological challenge is therefore attribution: a reported gain is more informative when it can be traced to a specific source. We recast stimulus-locked MEG-to-audio retrieval as an auditing framework that separates apparent performance into three sources - structural shortcuts, window-level stimulus-locked evidence, and cross-window contextual aggregation - and provides a diagnostic for each. Signal-blind Gaussian noise reaches 66.3% Rank@1 (R@1) under variable-length decoding but collapses to near chance once fixed-duration windows and stimulus-identity splits are enforced, isolating structural leakage. Under these controls, fixed-window retrieval recovers measurable MEG-audio discriminability, while an oracle sentence-bucket diagnostic shows that 95.7% of Top-1 errors select the wrong sentence, localising the residual bottleneck to sentence-level competition. We audit this contextual source with Group Context Bias (GCB), an inference-time additive logit bias that pools sentence-consistent evidence across windows while leaving the base retrieval scores and candidate pool fixed. Used as a score-space intervention, GCB makes the contextual source measurable: R@1 shifts from 44% to 52% on Gwilliams and from 22% to 29% on MOUS under the same fixed setting. GCB is auditable under this design: its effect collapses under random-grouping perturbations and vanishes when local evidence is attenuated in MEG or is near chance in EEG, supporting its use as a controlled source-attribution intervention. These results suggest that brain-to-language performance should be source-attributed, not merely reported.

cs.LG↗