arXiv subjects

Xu Wang

Publications and source records attributed to Xu Wang.

At least 145 records · Page 8Linked to original sources

arXiv2026

Autonomous Driving in Unstructured Environments: How Far Have We Come?

Research on autonomous driving in unstructured outdoor environments is less advanced than in structured urban settings due to challenges like environmental diversities and scene complexity. These environments-such as rural areas and rugged terrains-pose unique obstacles that are not common in structured urban areas. Despite these difficulties, autonomous driving in unstructured outdoor environments is crucial for applications in agriculture, mining, and military operations. Our survey reviews over 250 papers for autonomous driving in unstructured outdoor environments, covering offline mapping, pose estimation, environmental perception, path planning, end-to-end autonomous driving, datasets, and relevant challenges. We also discuss emerging trends and future research directions. This review aims to consolidate knowledge and encourage further research for autonomous driving in unstructured environments. To support ongoing work, we maintain an active repository with up-to-date literature and open-source projects at: https://github.com/chaytonmin/Survey-Autonomous-Driving-in-Unstructured-Environments.

cs.RO↗

arXiv2026

PointSLAM++: Robust Dense Neural Gaussian Point Cloud-based SLAM

Real-time 3D reconstruction is crucial for robotics and augmented reality, yet current simultaneous localization and mapping(SLAM) approaches often struggle to maintain structural consistency and robust pose estimation in the presence of depth noise. This work introduces PointSLAM++, a novel RGB-D SLAM system that leverages a hierarchically constrained neural Gaussian representation to preserve structural relationships while generating Gaussian primitives for scene mapping. It also employs progressive pose optimization to mitigate depth sensor noise, significantly enhancing localization accuracy. Furthermore, it utilizes a dynamic neural representation graph that adjusts the distribution of Gaussian nodes based on local geometric complexity, enabling the map to adapt to intricate scene details in real time. This combination yields high-precision 3D mapping and photorealistic scene rendering. Experimental results show PointSLAM++ outperforms existing 3DGS-based SLAM methods in reconstruction accuracy and rendering quality, demonstrating its advantages for large-scale AR and robotics.

cs.CV↗

arXiv2026

Warming-driven rise in soil moisture entropy signals destabilization of the Asian Water Tower

The Tibetan Plateau (TP), known as the "Asian Water Tower," is currently undergoing a rapid wetting trend. While this moisture increase is often viewed as beneficial for water availability, it remains unclear whether the hydrological system itself is becoming more resilient or drifting toward instability. Here, we apply an entropy-based framework to quantify the changing structural organization of the TP's soil moisture system. We show that from 2000 to 2024, regional wetting has driven a long-term decline in entropy, reflecting an increase in system order and stability due to enhanced hydrological buffering capacity. This stability is modulated by the El Niño-Southern Oscillation (ENSO), which regulates regional heterogeneity via a distinct spatial dipole. Crucially, however, CMIP6 climate projections reveal an alarming reversal: future warming triggers a rise in entropy. This transition signals a loss of systemic resilience, characterized by intensified spatial disorder and potential abrupt regime shifts by the mid-century. Our findings suggest that while current wetting provides a stabilizing buffer, continued warming is projected to amplify spatial heterogeneity, thereby destabilizing the Asian Water Tower, with significant risks for downstream water security.

physics.ao-ph↗

arXiv2026

NextFlow: Unified Sequential Modeling Activates Multimodal Understanding and Generation

We present NextFlow, a unified decoder-only autoregressive transformer trained on 6 trillion interleaved text-image discrete tokens. By leveraging a unified vision representation within a unified autoregressive architecture, NextFlow natively activates multimodal understanding and generation capabilities, unlocking abilities of image editing, interleaved content and video generation. Motivated by the distinct nature of modalities - where text is strictly sequential and images are inherently hierarchical - we retain next-token prediction for text but adopt next-scale prediction for visual generation. This departs from traditional raster-scan methods, enabling the generation of 1024x1024 images in just 5 seconds - orders of magnitude faster than comparable AR models. We address the instabilities of multi-scale generation through a robust training recipe. Furthermore, we introduce a prefix-tuning strategy for reinforcement learning. Experiments demonstrate that NextFlow achieves state-of-the-art performance among unified models and rivals specialized diffusion baselines in visual quality.

cs.CV↗

arXiv2026

VAR RL Done Right: Tackling Asynchronous Policy Conflicts in Visual Autoregressive Generation

Visual generation is dominated by three paradigms: AutoRegressive (AR), diffusion, and Visual AutoRegressive (VAR) models. Unlike AR and diffusion, VARs operate on heterogeneous input structures across their generation steps, which creates severe asynchronous policy conflicts. This issue becomes particularly acute in reinforcement learning (RL) scenarios, leading to unstable training and suboptimal alignment. To resolve this, we propose a novel framework to enhance Group Relative Policy Optimization (GRPO) by explicitly managing these conflicts. Our method integrates three synergistic components: 1) a stabilizing intermediate reward to guide early-stage generation; 2) a dynamic time-step reweighting scheme for precise credit assignment; and 3) a novel mask propagation algorithm, derived from principles of Reward Feedback Learning (ReFL), designed to isolate optimization effects both spatially and temporally. Our approach demonstrates significant improvements in sample quality and objective alignment over the vanilla GRPO baseline, enabling robust and effective optimization for VAR models.

cs.CV↗

arXiv2025

MiMo-Audio: Audio Language Models are Few-Shot Learners

Existing audio language models typically rely on task-specific fine-tuning to accomplish particular audio tasks. In contrast, humans are able to generalize to new audio tasks with only a few examples or simple instructions. GPT-3 has shown that scaling next-token prediction pretraining enables strong generalization capabilities in text, and we believe this paradigm is equally applicable to the audio domain. By scaling MiMo-Audio's pretraining data to over one hundred million of hours, we observe the emergence of few-shot learning capabilities across a diverse set of audio tasks. We develop a systematic evaluation of these capabilities and find that MiMo-Audio-7B-Base achieves SOTA performance on both speech intelligence and audio understanding benchmarks among open-source models. Beyond standard metrics, MiMo-Audio-7B-Base generalizes to tasks absent from its training data, such as voice conversion, style transfer, and speech editing. MiMo-Audio-7B-Base also demonstrates powerful speech continuation capabilities, capable of generating highly realistic talk shows, recitations, livestreaming and debates. At the post-training stage, we curate a diverse instruction-tuning corpus and introduce thinking mechanisms into both audio understanding and generation. MiMo-Audio-7B-Instruct achieves open-source SOTA on audio understanding benchmarks (MMSU, MMAU, MMAR, MMAU-Pro), spoken dialogue benchmarks (Big Bench Audio, MultiChallenge Audio) and instruct-TTS evaluations, approaching or surpassing closed-source models. Model checkpoints and full evaluation suite are available at https://github.com/XiaomiMiMo/MiMo-Audio.

cs.CL↗

arXiv2025

Search for Light Dark Matter with 259-day data in PandaX-4T

We present a search for light dark matter particles through their interactions with atomic electrons and nucleons, utilizing PandaX-4T data with an effective exposure of 1.04 tonne$\cdot$year for ionization-only data and 1.20 tonne$\cdot$year for paired data. Our analysis focuses on the energy range (efficiency$>$0.01) of approximately 0.33 to 3 keV for nuclear recoils, and from 0.04 to 0.39 keV for electronic recoils. We establish the most stringent constraints on spin-independent dark matter-nucleon interactions within a mass range of 2.5 to 5.0 GeV/$c^2$, spin-dependent neutron-only interactions within 2.0 to 5.3 GeV/$c^2$, and spin-dependent proton-only interactions within 2.0 to 3.8 GeV/$c^2$. Their corresponding limits at 3\,GeV/$c^2$ are $1.1 \times 10^{-43}$, $1.6 \times 10^{-38}$, and $5.6 \times 10^{-37}$\,cm$^2$, respectively. Additionally, our results improve the upper limits on the dark matter-electron scattering cross-section by a factor of 1.5 and 9.3 for heavy and light mediator scenarios respectively within 50 MeV/$c^2$ to 10 GeV/$c^2$, compared with previous best results.

hep-ex↗

arXiv2025

Design, simulation and performance of the resistive-anode PICOSEC Micromegas detector

The PICOSEC Micromegas detector is a Micro-Pattern Gaseous Detector concept developed to achieve tens of picosecond timing resolution for charged particle detection by combining a Cherenkov radiator with a two-stage Micromegas amplification structure. To improve operational robustness, a resistive anode has been implemented using a DLC layer deposited on a Kapton substrate. While this design enhances detector stability, the resistive layer may influence rate capability, signal formation, and detector capacitance, altering timing performance. This work presents a comprehensive study of a resistive design, including an analytical model and finite-element simulations to quantify rate-dependent gain reduction due to ohmic voltage drop on the resistive layer. An analytical solution for the voltage across a finite-size resistive layer is derived, and a numerical model is developed to evaluate gain suppression under intense particle fluxes. The impact of the resistive layer on signal formation is investigated using time-dependent weighting fields and the Garfield++ simulation framework. The contribution of signal components induced by the resistive layer is quantified, and preservation of the signal leading edge is found for surface resistivities above 100 kohm per square. Single-channel resistive-anode prototypes were designed, constructed, and experimentally characterized. Laboratory measurements using single photoelectrons and power spectral density analysis show the predicted reduction in signal amplitude while preserving the leading edge. Muon beam tests with CsI and DLC photocathodes demonstrate a time resolution of 11.5 ps for CsI, comparable to 11.9 ps for the metallic-anode device, showing the suitability of the resistive design for precision timing applications.

physics.ins-det↗

arXiv2025

LiveSecBench: A Dynamic and Event-Driven Safety Benchmark for Chinese Language Model Applications

We introduce LiveSecBench, a continuously updated safety benchmark specifically for Chinese-language LLM application scenarios. LiveSecBench constructs a high-quality and unique dataset through a pipeline that combines automated generation with human verification. By periodically releasing new versions to expand the dataset and update evaluation metrics, LiveSecBench provides a robust and up-to-date standard for AI safety. In this report, we introduce our second release v251215, which evaluates across five dimensions (Public Safety, Fairness & Bias, Privacy, Truthfulness, and Mental Health Safety.) We evaluate 57 representative LLMs using an ELO rating system, offering a leaderboard of the current state of Chinese LLM safety. The result is available at https://livesecbench.intokentech.cn/.

cs.CL↗

arXiv2025

Easy Come, Easy Go? Examining the Perceptions and Learning Effects of LLM-based Chatbot in the Context of Search-as-Learning

The cognitive process of Search-as-Learning (SAL) is most effective when searching promotes active encoding of information. The rise of LLMs-based chatbots, which provide instant answers, introduces a trade-off between efficiency and depth of processing. Such answer-centric approaches accelerate information access, but they also raise concerns about shallower learning. To examine these issues in the context of SAL, we conducted a large-scale survey of educators and students to capture perceived risks and benefits of LLM-based chatbots. In addition, we adopted the encoding-storage paradigm to design a within-subjects experiment, where participants (N=92) engaged in SAL tasks using three different modalities: books, search engines, and chatbots. Our findings provide a counterintuitive insight into stakeholder concerns: while LLM-based chatbots and search engines validated perceived benefits on learning efficiency by outperforming book-based search in immediate conceptual understanding, they did not result in a long-term inferiority as feared. Our study provides insights for designing human-AI collaborative learning systems that promote cognitive engagement by balancing learning efficiency and long-term knowledge retention.

cs.HC↗

arXiv2025

Scaling Spatial Reasoning in MLLMs through Programmatic Data Synthesis

Embodied intelligence, a grand challenge in artificial intelligence, is fundamentally constrained by the limited spatial understanding and reasoning capabilities of current models. Prevailing efforts to address this through enhancing Vision-Language Models (VLMs) are trapped in a dilemma: template-based datasets are scalable but structurally rigid, while manual annotation is linguistically diverse but unscalable and, critically, computationally imprecise. We introduce SPRITE, a novel framework that overcomes this dilemma by leveraging simulators and large models to programmatically synthesize scalable, diverse, and high-quality spatial reasoning data. The core innovation of SPRITE is to reframe ground-truth generation as a code-generation task. We utilize LLMs to compile complex spatial questions into executable programs, which are then verified against high-precision scene meta-information extracted from simulators. This ensures our ground truth is both computationally precise and verifiable, while the generative power of LLMs provides vast linguistic diversity. Leveraging this pipeline, we have curated a dataset encompassing 3 simulators, 11k+ scenes, and 300k+ image/video instruction-tuning pairs. We demonstrate that a VLM trained on our data achieves significant performance gains on multiple spatial benchmarks and outperforms other open-source datasets of equivalent size. Furthermore, a scalability analysis confirms our hypothesis that overcoming the low-diversity nature of traditional template methods is essential for building robust, generalizable spatial intelligence. We will make the SPRITE framework code and the full 300k+ dataset publicly available to facilitate future research in spatial intelligence.

cs.AI↗

arXiv2025

Studies on quark-mass dependence of the $N^*(920)$ pole from $πN$ $χ$PT amplitudes

The quark-mass dependence of the $N^*(920)$ pole is analyzed using $K$-matrix method, with the $πN$ scattering amplitude calculated up to $O(p^3)$ order in chiral perturbation theory. As the quark mass increases, the $N^*(920)$ pole gradually approaches the real axis in the complex $w$-plane (where $w=\sqrt{s}$). Eventually, in the $O(p^2)$ case, it crosses the $u$-cut on the real axis and enters the adjacent Riemann sheet when the pion mass reaches $526~{\rm MeV}$. At order $O(p^3)$, the rate at which it approaches the real axis slows down; however, we argue that it will ultimately cross the $u$-cut and enter the adjacent Riemann sheet as well. Additionally, the trajectory of the $N^*(920)$ pole is in qualitative agreement with the results from the linear $σ$ model calculation.

hep-ph↗

arXiv2025

Tomographic beta-gamma spectroscopy of nuclear beta decay

Nuclear $β$ decay, a sensitive probe of nuclear structure and weak interactions, has become a precision test bed for physics beyond the Standard Model, driven by recent advances in spectrometric techniques. Here we introduce tomographic $β$-$γ$ spectroscopy (TBGS) of nuclear $β$ decay, a method that detects the energies of $β$, $γ$, and internal conversion electrons while simultaneously reconstructing the energy deposition vertices. Using the PandaX-4T detector operated as a TBGS, we obtain a precise and unbiased decay scheme of $^{214}$Pb, a key background isotope in searches for dark matter and Majorana neutrinos. For the first time, transitions of $^{214}$Pb to both the ground and excited states of $^{214}$Bi are measured concurrently, revealing discrepancies in branching ratios of up to 4.7$σ$ relative to previous evaluations. Combined with state-of-the-art theoretical spectral-shape calculations, these results establish a new benchmark for background modelling in rare-event searches and highlight the potential of TBGS as a versatile tool for fundamental physics and nuclear applications.

nucl-ex↗

arXiv2025

Field-programmable dynamics in a soft magnetic actuator enabling true random number generation and reservoir computing

Complex and even chaotic dynamics, though prevalent in many natural and engineered systems, has been largely avoided in the design of electromechanical systems due to concerns about wear and controlability. Here, we demonstrate that complex dynamics might be particularly advantageous in soft robotics, offering new functionalities beyond motion not easily achievable with traditional actuation methods. We designed and realized resilient magnetic soft actuators capable of operating in a tunable dynamic regime for tens of thousands cycles without fatigue. We experimentally demonstrated the application of these actuators for true random number generation and stochastic computing. {W}e validate soft robots as physical reservoirs capable of performing Mackey--Glass time series prediction. These findings show that exploring the complex dynamics in soft robotics would extend the application scenarios in soft computing, human-robot interaction and collaborative robots as we demonstrate with biomimetic blinking and randomized voice modulation.

cs.RO↗

arXiv2025

Split Unlearning

We introduce Split Unlearning, a novel machine unlearning technology designed for Split Learning (SL), enabling the first-ever implementation of Sharded, Isolated, Sliced, and Aggregated (SISA) unlearning in SL frameworks. Particularly, the tight coupling between clients and the server in existing SL frameworks results in frequent bidirectional data flows and iterative training across all clients, violating the "Isolated" principle and making them struggle to implement SISA for independent and efficient unlearning. To address this, we propose SplitWiper with a new one-way-one-off propagation scheme, which leverages the inherently "Sharded" structure of SL and decouples neural signal propagation between clients and the server, enabling effective SISA unlearning even in scenarios with absent clients. We further design SplitWiper+ to enhance client label privacy, which integrates differential privacy and label expansion strategy to defend the privacy of client labels against the server and other potential adversaries. Experiments across diverse data distributions and tasks demonstrate that SplitWiper achieves 0% accuracy for unlearned labels, and 8% better accuracy for retained labels than non-SISA unlearning in SL. Moreover, the one-way-one-off propagation maintains constant overhead, reducing computational and communication costs by 99%. SplitWiper+ preserves 90% of label privacy when sharing masked labels with the server.

cs.CR↗

arXiv2025

DBGroup: Dual-Branch Point Grouping for Weakly Supervised 3D Semantic Instance Segmentation

Weakly supervised 3D instance segmentation is essential for 3D scene understanding, especially as the growing scale of data and high annotation costs associated with fully supervised approaches. Existing methods primarily rely on two forms of weak supervision: one-thing-one-click annotations and bounding box annotations, both of which aim to reduce labeling efforts. However, these approaches still encounter limitations, including labor-intensive annotation processes, high complexity, and reliance on expert annotators. To address these challenges, we propose \textbf{DBGroup}, a two-stage weakly supervised 3D instance segmentation framework that leverages scene-level annotations as a more efficient and scalable alternative. In the first stage, we introduce a Dual-Branch Point Grouping module to generate pseudo labels guided by semantic and mask cues extracted from multi-view images. To further improve label quality, we develop two refinement strategies: Granularity-Aware Instance Merging and Semantic Selection and Propagation. The second stage involves multi-round self-training on an end-to-end instance segmentation network using the refined pseudo-labels. Additionally, we introduce an Instance Mask Filter strategy to address inconsistencies within the pseudo labels. Extensive experiments demonstrate that DBGroup achieves competitive performance compared to sparse-point-level supervised 3D instance segmentation methods, while surpassing state-of-the-art scene-level supervised 3D semantic segmentation approaches. Code is available at https://github.com/liuxuexun/DBGroup.

cs.CV↗

arXiv2025

Octopus Inspired Optimization (OIO): A Hierarchical Framework for Navigating Protein Fitness Landscapes

Navigating vast, rugged biological fitness landscapes to discover high-value functional patterns-such as optimal protein sequences-is a central challenge in health informatics. However, conventional algorithms often struggle with the exploration-exploitation dilemma, failing to synergize global search with deep local refinement, which leads to entrapment in suboptimal solutions. To overcome this barrier, we introduce Octopus Inspired Optimization (OIO), a novel hierarchical metaheuristic that mimics the octopus's unique neural architecture to intrinsically unify centralized global exploration and parallelized local exploitation. We validated OIO on a real-world protein engineering benchmark, where it surpassed 15 competing metaheuristics. This success is underpinned by OIO's architectural suitability for protein-like landscapes, confirmed by its top ranking on the NK-Landscape benchmark, and its powerful optimization engine, demonstrated by its first-place performance on the gold-standard CEC2022 benchmark. OIO thus provides a robust, nature-inspired computational tool for complex optimization problems in drug discovery and personalized medicine.

cs.NE↗

arXiv2025

Asymptotic Performance Analysis of Fluid Antenna Systems: An Extreme Value Theory Perspective

Fluid antenna systems (FAS) allow dynamic reconfiguration to achieve superior diversity gains and reliability. To quantify the performance scaling of FAS with a large number of antenna ports, this paper leverages extreme value theory (EVT) to conduct an asymptotic analysis of the outage probability (OP) and ergodic capacity (EC). The analysis reveals that the OP decays approximately exponentially with the number of antenna ports. Moreover, we establish upper and lower bounds for the asymptotic EC, uncovering its double-logarithmic scaling law. Furthermore, we re-substantiate these scaling laws by exploiting the fact that the mode of the Gumbel distribution scales logarithmically. Besides, we theoretically prove that spatial correlation among antenna ports degrades both OP and EC. All analytical findings are conclusively validated by numerical results.

cs.IT↗