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Xudong Li

Publications and source records attributed to Xudong Li.

At least 19 recordsLinked to original sources
arXiv2026

RoboAtom: Large-scale Atomic-Action Supervision for Robot Learning

Fine-grained action annotations can support skill reuse and compositional generalization in robot policies. However, robot datasets typically provide task-level instructions without subtask annotations. Although some include subtask labels, inconsistent formats and conventions hinder cross-source joint training. We propose RoboAtom-Data, which adds unified, time-aligned atomic-action annotations to existing data from multiple sources, covering 1.45 million trajectories, 6.88 million skill-labeled segments, and 16,882.1 hours. Our pipeline combines a unified protocol, large-scale manual annotation, propagation across repeated executions with the same ordered skill sequence, and multi-stage quality control. We evaluate the dataset through automatic atomic-action annotation and robot control. We construct RoboAtom-Bench to standardize evaluation of skill recognition and temporal boundary localization. Trained on the annotated data, RoboAtom-Anno achieves better automatic annotation performance than all evaluated open- and closed-source models on both RoboAtom-Bench and the external WGO-Bench. For robot control, atomic-action supervision paired with hierarchical execution improves task success over task-level baselines on LIBERO-Long, LIBERO-Plus, and RoboTwin. We will release the data, benchmark, model, and construction pipeline to support further research on skill-level robot learning.

cs.RO↗
arXiv2026

Second-Order Nonlinear Microresonators on Thin-Film Lithium Tantalate

Nonlinear frequency conversion enables coherent light generation in spectral regions that conventional lasers cannot reach directly and is foundational to the generation of squeezed states and correlated photon pairs. Implementing these nonlinear processes in microresonators lowers the required optical power by orders of magnitude but requires two conditions to be met simultaneously across wide optical bandwidths: phase matching between the interacting fields, and an appropriate coupling condition to the resonator both in the fundamental and second harmonic band. While the former can be addressed by quasi-phase matching through periodic poling, coupling two widely separated spectral bands to the resonator is nontrivial because of the wavelength dependence of mode overlap. Here, we demonstrate parametric oscillation and efficient second-harmonic generation in periodically poled racetracks on thin-film lithium tantalate on insulator. The proposed resonators feature bus-ring coupling engineered independently in the two spectral bands via a long synchronous directional coupler. Quasi-phase matching is achieved using sidewall poling that is also wavelength-calibrated and locally adapted to compensate for thickness nonuniformities. Together, these two design elements enable second-order parametric oscillation with an on-chip threshold of 181 uW and 9.8% conversion efficiency, with signal and idler tunable over tens of nanometers by a few hundred megahertz of pump detuning. Our design strategy can be flexibly applied to efficient second-harmonic generation, reaching 25% absolute conversion efficiency at milliwatt pump powers. These results show how the coupling condition is a design variable in second-order nonlinear resonators and establish thin-film lithium tantalate as a competitive platform for efficient and low-power frequency conversion.

physics.optics↗
arXiv2026

MIRAGE: Metric Inference and Reliability-Aware Gaussian Estimation from Feed-Forward Vision

Feed-forward 3D priors enable high-quality reconstruction from image streams but often lack reliable metric scale and suffer from long-term trajectory drift. In contrast, LiDAR--inertial estimation provides metrically accurate motion but lacks the image-space consistency needed for high-fidelity reconstruction. We propose $MIRAGE$, which anchors feed-forward visual geometry to LiDAR--IMU metric motion and regulates online pose corrections according to correspondence support and cross-modal agreement, jointly enabling accurate metric pose estimation and high-fidelity Gaussian reconstruction. Experiments on Oxford Spires, M2DGR and INS show that MIRAGE achieves accurate metric trajectory estimation, outperforming COLMAP, a widely used but computationally expensive reference for vision-only benchmarks. Motivated by the scarcity of long-horizon monocular benchmarks for large-scale indoor reconstruction, we further build a multimodal data-collection platform and use MIRAGE to establish accurate 6-DoF reference trajectories for a new vision-only benchmark. We benchmark recent monocular large-scale reconstruction methods on this dataset, providing a systematic evaluation of their performance in long-horizon indoor scenes.

cs.CV↗
arXiv2026

MCAIR: Monitoring and Correcting Agent Unfaithfulness via Internal Representations

Large Language Model (LLM)-based agents have demonstrated remarkable capabilities in completing complex tasks through multi-step reasoning and tool interactions. However, recent studies have revealed that LLM-based agents can exhibit unfaithful behaviors, where their final reports fail to faithfully reflect their actual execution trajectories. Specifically, when agents fail to accomplish tasks through the intended sources or procedures, they may resort to alternative sources or strategies while failing to disclose such deviations, leading users to incorrectly believe that the tasks have been completed according to the original requirements. We refer to this specific form of agent unfaithfulness as Agent Completion Unfaithfulness. Detecting and mitigating agent completion unfaithfulness is critical yet remains largely unexplored. In this work, we propose MCAIR, a runtime monitoring and correction framework that leverages internal representations of LLM-based agents. MCAIR uses multi-step internal representations as inputs to train a risk-aware probe, enabling online detection of potential completion unfaithfulness during execution. Furthermore, MCAIR introduces a risk-guided correction loop that prompts agents to review their execution history and mitigate potential inconsistencies between their execution trajectories and final reports. Additionally, we construct ACUD, a dataset for Agent Completion Unfaithfulness detection that provides step-level execution traces, step-level internal representations, and consistency annotations for training and evaluating runtime detection probes. Experiments demonstrate that MCAIR outperforms LLM-as-a-judge baselines, generalizes across prompts and tasks, and effectively reduces agent completion unfaithfulness.

cs.AI↗
arXiv2026

BoundaryEvo: Data-Model Co-Evolution at the Capability Boundary for Long-Chain Reasoning Distillation

Distilling long-chain reasoning trajectories from large teacher models provides an effective way to improve the reasoning ability of small language models. However, existing methods typically select a fixed training set before distillation, overlooking that the usefulness of a reasoning example changes as the student evolves. This mismatch becomes especially costly when only a small number of teacher trajectories can be used for training. Besides, examples already mastered provide little new supervision, while examples far beyond the capability of student may be difficult to learn from. Training data should therefore adapt as model capability evolves, yet reliable data selection is difficult when the student is initially weak. To address these challenges, our key idea is to first establish the basic reasoning capability and then adapt the training data to the evolving capability boundary of the student. We propose BoundaryEvo, a two-stage data--model co-evolution framework. In Capability Priming, we directly distill a small set of teacher-generated long reasoning trajectories without using a separate model to judge and filter them, allowing the student to acquire an initial reasoning capability before capability-aware data selection. In Capability-Boundary Co-Evolution, we repeatedly select questions that the current student has not mastered but the expert can reliably solve, and update the training data as the student evolves. With only 1,000 training examples, BoundaryEvo consistently outperforms static and dynamic data selection baselines across 11 reasoning benchmarks, raising the original Qwen3.5-4B accuracy from 62.9 to 75.3 on IMO-AnswerBench and from 26.8 to 46.0 on AMO-Bench. The code and data will be made publicly available.

cs.AI↗
arXiv2026

InternW0-$Δ$: A World Action Model Bridging Predictive Dynamics and Actions with 20K+ Hours of Open Data

World Action Models (WAMs) jointly model visual dynamics and action generation for generalist robot manipulation. A central challenge is to integrate priors from large-scale pretrained models---including visual dynamics, scene semantics, geometry, and motion---into a unified framework for robot action generation. We introduce InternW0-$Δ$, a unified WAM pretrained on a heterogeneous corpus that outperforms prior methods across simulation benchmarks and real-robot platforms. InternW0-$Δ$ combines pretrained visual dynamics, scene-level semantics, 4D geometric and motion priors, and action generation within a Mixture-of-Transformers (MoT) framework. A pretrained video expert and an action expert interact under semantic guidance from a frozen VLM, while a pretrained 4D foundation model injects geometric and motion priors through training-only distillation. We further introduce Causal Imprint, which learns future-relevant scene changes from training-only future supervision and provides predictive representations directly to the action expert without future-video rollout at inference. For large-scale joint training, we construct a heterogeneous corpus of robot demonstrations, UMI data, egocentric human demonstrations, and Ego2Robot data, curated and aligned under a common state-action representation. The resulting corpus contains over 20K hours of processed training data, to our knowledge the largest open-source corpus of its kind. We pretrain InternW0-$Δ$ on this corpus and demonstrate strong performance across simulation benchmarks and real-robot platforms. We will open source the training code, model weights, infrastructure, data-processing pipeline, and processed data where licenses permit. Project page: https://internrobotics.github.io/InternW0-Delta/

cs.RO↗
arXiv2026

Semidefinite Implementations of the Proximal Point Algorithm and Consequences for Progressive Decoupling in Optimization

The proximal point algorithm for finding a zero of a maximal monotone mapping is the engine that drives augmented Lagrangian methods and various splitting schemes in convex optimization, where proximal terms that are merely positive semidefinite can be helpful in preconditioning. Here a semidefinite extension of that algorithm is developed with new features which guarantee convergence, typically even linear convergence, in broader territory than previously foreseen. Moreover, inexact minimization is allowed in the subproblems in a variable-metric implementation which might open up quasi-Newton-like approaches. The key to the extension is applying an advanced form of the positive definite proximal point algorithm to a projected monotone mapping derived from the given mapping, and combining that with a completion step. For this to work, the maximality of the projected mapping is essential, but maximality is not automatic. The circumstances that guarantee maximality are definitively analyzed and convenient criteria for maximality are thereby identified. Consequences of the extended algorithm are worked out for application to convex inf-projection, augmented Lagrangian steps, and bracketed progressive decoupling based on Spingarn's partial inverse as a scheme for problem decomposition.

math.OC↗
arXiv2026

Learning Holistic Whole-Body Loco-Manipulation with a Bipedal Mobile Manipulator

Bipedal loco-manipulation enables robots to interact with objects beyond the nominal workspace of their arms by coordinating locomotion and manipulation. Realizing this capability requires a low-level whole-body controller that translates task-level manipulation goals into coordinated arm and leg motions while maintaining balance. We present a unified whole-body controller trained with reinforcement learning that directly maps 6-DoF end-effector targets to coordinated actions for the bipedal base and robotic arm. Given only an end-effector target, the learned controller autonomously coordinates reaching, postural adaptation, and stepping without explicit base-velocity or footstep commands. A reward-gating strategy regulates the trade-offs among end-effector tracking, locomotion, and balance during training, while a temporal context estimator combines windowed Transformer encoding, recurrent GRU memory, and auxiliary dynamics prediction to extract dynamics-relevant information from observation history. Real-robot experiments demonstrate that the same controller supports reaching, postural adaptation, and stepping under commands from VR teleoperation, a learned diffusion policy, and scripted trajectories, providing a common end-effector interface for diverse manipulation tasks.

cs.RO↗
arXiv2026

CLASH: Counterfactual Auditing of Lexical and Prosodic Reliance in Spoken Sarcasm Detection

Spoken sarcasm detectors may exploit lexical content, prosody, or their interaction, yet conventional evaluation cannot reveal which cues drive their predictions. We introduce CLASH (Controlled Lexical-Acoustic Separation Harness), a bilingual counterfactual diagnostic framework that evaluates each utterance under original, lexical-preserving, prosody-preserving, and approximately neutralised conditions. We evaluate handcrafted acoustic-feature systems, self-supervised learning (SSL) probes, and large audio language models (LALMs) on CMMA and MUStARD. For target-only Qwen3-Omni, lexical-preserving speech retains a 0.135--0.148 AUROC advantage over prosody-preserving speech after duration balancing, with cluster-bootstrap intervals above zero; alternative lexical resynthesis preserves this advantage. Acoustic interventions shift scores without consistently improving discrimination or changing binary predictions under the evaluated conditions. Context and interaction estimates vary across corpora. These findings distinguish acoustic sensitivity from sarcasm discrimination while exposing duration, identity, and transformation effects.

cs.SD↗
arXiv2026

Remote epitaxy beyond polarity

Remote epitaxy through a monolayer two-dimensional material-covered substrate establishes a crystallographic registry across the van der Waals (vdW) surface that enables the epitaxial growth, lift-off and transfer of single-crystalline films. A central belief in remote epitaxy is that the substrate facilitating the phenomenon must be a material with strong ionicity, as the interatomic electrostatic potential fluctuation in covalent and metallic materials is substantially attenuated by two-dimensional materials. Here, we show remote epitaxy is possible when the substrate is a metallic or covalently bonded material and experimentally demonstrate non-polar remote homo- and heteroepitaxy across a wide range of material systems, including both metals and semiconductors. The achieved non-polar remote interactions are designed and engineered by harnessing substrate conductivity and vicinal surface step-edge density. These findings indicate that remote epitaxy is universal and applicable to ionic, metallic, and covalent materials, expanding its capabilities and stimulating a plethora of new fundamental scientific questions about the mechanism of remote epitaxy.

cond-mat.mtrl-sci↗
arXiv2026

Maximal monotonicity of piecewise polyhedral mappings

Maximal monotone mappings that are piecewise polyhedral arise from subdifferentials of convex functions and saddle functions that are piecewise linear-quadratic and enter into algorithmic constructions of importance in linear-quadratic optimization and associated splitting methods. The question of whether those constructions preserve maximal monotonicity is then crucial. The usual answers to that invoke constraint qualifications involving the nonemptiness of intersections of certain relative interiors, but it is shown here that the piecewise polyhedral structure allows the relative interiors to be bypassed.

math.OC↗
arXiv2026

Exact low-dimensional reformulations for regularized spectral approximation

We study exact low-dimensional reformulations for a regularized spectral approximation problem and its weighted variant. In the unweighted setting, weak-majorization monotonicity of the fidelity term enables an exact reformulation over singular values. In the weighted setting, we establish such a reformulation under compatibility and simultaneous diagonalization conditions. We further show, via a counterexample, that this exact reformulation can fail in the absence of simultaneous diagonalization.

math.OC↗
arXiv2026

Near-Optimal Sample Complexity Bounds for Constrained Average-Reward MDPs

Recent advances have significantly improved our understanding of the sample complexity of learning in average-reward Markov decision processes (AMDPs) under the generative model. However, much less is known about the constrained average-reward MDP (CAMDP), where policies must satisfy long-run average constraints. In this work, we address this gap by studying the sample complexity of learning an $ε$-optimal policy in CAMDPs under a generative model. We propose a model-based algorithm that operates under two settings: (i) relaxed feasibility, which allows small constraint violations, and (ii) strict feasibility, where the output policy satisfies the constraint. We show that our algorithm achieves sample complexities of $\tilde{O}\left(\frac{S A (B+H)}{ ε^2}\right)$ and $\tilde{O} \left(\frac{S A (B+H)}{ε^2 ζ^2} \right)$ under the relaxed and strict feasibility settings, respectively. Here, $ζ$ is the Slater constant indicating the size of the feasible region, $H$ is the span bound of the bias function, and $B$ is the transient time bound. Moreover, a matching lower bound of $\tildeΩ\left(\frac{S A (B+H)}{ ε^2ζ^2}\right)$ for the strict feasibility case is established, thus providing the first minimax-optimal bounds for CAMDPs. Our results close the theoretical gap in understanding the complexity of constrained average-reward MDPs.

cs.LG↗
arXiv2026

HarnessCompass: Guiding Automatic Harness Evolution toward Generalizable and Effective Agent Harnesses

Harness design plays a critical role in agent performance by shaping how large language models (LLMs) perceive, reason over, and act within executable environments. Recent work has proposed automatic harness evolution, which iteratively improves the harness from agent--environment interactions. However, existing methods often overfit to the evolution tasks, rely exclusively on trajectory-derived signals, and optimize harness components jointly, causing interference across components. We propose HarnessCompass, a novel automatic harness evolution framework built around constrained evolution, proactive feedback, and component-wise optimization. HarnessCompass first enforces global constraints on evolution, restricting modifications to task-agnostic harness changes that generalize beyond the evolution tasks. It then augments trajectory-derived evidence with proactive first-person feedback from the agent about harness usage, yielding richer signals for evolution. Finally, it decouples the optimization of different harness components before consolidating them into a unified harness, reducing cross-component interference while preserving component synergy. On SWE-bench Verified with GPT-5.4, HarnessCompass improves Pass@1 from 54\% to 66\% in only 5 evolution iterations, outperforming AHE in both effectiveness and evolution efficiency. In addition, the evolved harness transfers effectively to held-out tasks and other models, demonstrating substantially stronger generalization than prior automatic harness evolution methods.

cs.LG↗
arXiv2026

Hybrid BaTiO3/TiO2 Metasurface for Efficient Gigahertz-Speed Free-Space Electro-Optic Modulation

Free-space electro-optic modulators are key to emerging photonic systems, yet their performance remains limited by trade-offs between modulation efficiency, bandwidth, and device aperture. Here we report a hybrid BaTiO3 (BTO)/TiO2 metasurface for large-aperture, efficient, gigahertz-speed free-space electro-optic modulation. Combining scalable BTO film growth by radio-frequency magnetron sputtering with mature TiO2 nanofabrication, we pattern the metasurface in TiO2 on an unetched BTO layer. The resulting devices support guided-mode resonances with quality factors exceeding 1300 and an optical confinement factor of ~0.8, while the continuous BTO layer makes efficient use of the applied voltage, together maximizing the overlap between the optical and driving fields within the BTO. A device with a 0.3 mm x 0.3 mm metasurface achieves a transmittance modulation efficiency of ~0.020 per volt and a -3 dB electro-optic bandwidth of ~0.8 GHz, with an effective Pockels coefficient of ~151 pm/V for the BTO. This establishes a scalable route to high-performance free-space electro-optic modulators for LiDAR, free-space optical communication, and reconfigurable optical computing.

physics.optics↗
arXiv2026

Ultrafast programmable Bragg reflection in photonic integrated circuits

Distributed Bragg reflectors (DBRs) are foundational building blocks of classical and quantum photonic technologies. However, their optical responses are typically fixed upon fabrication, limiting circuit robustness, reconfigurability, and functionality in applications from high-speed communications to quantum computing. Here, we demonstrate photonic chip-based programmable DBRs at telecommunications wavelengths, which are formed by electro-optically inducing refractive index contrast between periodic ferroelectric domains in thin-film lithium niobate waveguides. We achieve voltage-controlled Bragg reflection from zero to near-unity, and gigahertz-speed reflectivity modulation. Our results bring DBRs into the ultrafast programmable regime, opening new opportunities in topological photonics, cavity quantum electrodynamics, integrated lasers, and optical interconnects. The interplay between nanoscale ferroelectric domain engineering and strong electro-optic nonlinearity establishes a new design strategy for nanophotonic devices, otherwise inaccessible in bulk media.

physics.optics↗
arXiv2026

Semismooth Newton methods for degenerate polyhedral projection

In this paper, we study dual semismooth Newton (SSN) methods for degenerate polyhedral projection problems, where generalized Jacobians of the dual residual may remain singular even arbitrarily close to the solution set. Rather than regularizing these singular systems, we exploit the nonuniqueness of the dual representation. We introduce a primal--dual lifted projection-equivalent set that always possesses extreme points without additional structural assumptions on the polyhedron, and show that its extreme-point geometry identifies dual representatives at which nonsingular generalized Jacobians of the dual residual can be constructed. This geometry is further linked to a full-column-rank condition and a generalized weak strict Robinson constraint qualification, showing that the regularity required by the Newton step can be recovered rather than imposed \emph{a priori}. We also establish displacement bounds that connect representative selection throughout the algorithm with the local Newton mechanism. Building on this variational framework, we develop an inexact dual SSN method with local superlinear convergence and a globalized version combining monotone representative selection with a Wolfe line search. The resulting method is globally convergent and eventually recovers the fast local rate. Numerical experiments on regularized optimal transport, battery-scheduling feasibility restoration, and occupation-measure projection demonstrate its robustness in highly degenerate settings.

math.OC↗
arXiv2026

A Semismooth Newton Augmented Lagrangian Method for Sparse Spectral Risk Optimization

Empirical risk minimization is a standard and effective paradigm for learning predictive models by minimizing average loss. In high-stakes decision-making, however, an average-loss criterion may underrepresent rare but severe losses. Spectral risk measures (SRMs) provide a principled framework by incorporating weighted order statistics of losses, but the induced nonsmoothness and nonseparability from sorting make the resulting optimization problems challenging. We propose a relative inexact proximal augmented Lagrangian method with a semismooth Newton subproblem solver for solving SRM-based optimization problems. Exploiting a dual reformulation and properties of the Moreau envelope, we reduce the subproblems to structured dual-variable formulations, significantly simplifying computation. We provide explicit generalized Jacobian characterizations and tailor the pool adjacent violators algorithm for their efficient evaluation. Numerical results on synthetic and real-data instances show that the proposed method attains lower running times than the tested ADMM baseline while producing comparable stationarity residuals and sparse solutions.

math.OC↗