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Yizhou Wang

Publications and source records attributed to Yizhou Wang.

At least 19 recordsLinked to original sources

Robust Aggregation of Quantile Statistics: from Median to Interval

Quantile-based summaries, such as prediction intervals and medians, are commonly used in economic forecasting, climate science, and public health. For highly skewed samples, experimental evidence suggests that estimates of the mean can be biased toward the median, whereas estimates of the median are relatively accurate. This motivates aggregating explicitly elicited quantiles rather than reported means. We study robust aggregation of quantile reports for bounded outcomes under squared loss, minimizing worst-case regret relative to an omniscient Bayesian aggregator who knows the information structure and observes all private signals. Without restrictions on the information structure, no rule improves on the constant forecast at the range midpoint in worst-case regret. We therefore consider weak substitutes, a diminishing-returns condition on the value of information, and characterize optimal aggregation rules under this condition. For central prediction intervals with common nominal coverage $α$, the optimal rule, which we call regularized simple average for prediction intervals, shrinks the average reported interval midpoint toward the range midpoint, with a weight determined by $α$ and the number $n$ of experts. This optimal rule strictly improves on the constant baseline in worst-case regret when $α<1/\sqrt{n}$; at or above this threshold, the constant rule is optimal. The optimal worst-case regret is minimized at a unique interior coverage level, revealing a nonmonotonic relationship between coverage and aggregation performance. For median reports, regularized simple average for medians similarly shrinks the average reported median toward the range midpoint, assigning weight $1/n$ to the reported average and strictly improving on the constant baseline in worst-case regret for every finite $n\ge2$.

cs.GT↗

GazeVLA: Learning Human Intention for Robotic Manipulation

Embodied foundation models have significantly propelled the advancement of artificial general intelligence, yet they rely heavily on large-scale data. Recent studies identify human behavior as one of the most scalable sources for fostering robotic physical intelligence. However, the inherent embodiment gap remains a fundamental challenge for effective human-to-robot learning. In this work, we model human intention to enable efficient learning from human demonstrations. Among human behavioral cues, gaze simultaneously encodes high-level task semantics and exhibits a synergistic coupling with low-level action. By modeling intention through gaze, we derive a mid-level representation that facilitates cross-embodiment knowledge transfer. We demonstrate that robots can internalize human intentions to enhance manipulation, even without robotic intention annotations. To capture the synergy between intention and action, we adopt a Chain-of-Thought reasoning paradigm during inference. Our approach enables the execution of long-horizon and fine-grained tasks across diverse embodiments. Extensive experiments in both simulation and real-world demonstrate that our method consistently outperforms baseline approaches and generalizes to unseen settings. Project page: https://gazevla.github.io .

cs.RO↗

Prefrontal scaling of reward prediction error readout gates reinforcement-derived adaptive behavior in primates

Reinforcement learning (RL) driven by reward prediction errors (RPEs) enables adaptive behavior across species. While midbrain-striatal encoding of RPEs is well-documented, how prefrontal circuits translate these signals into species-specific flexibility remains unknown. Integrating cross-species RL modeling, neuroimaging, and transcriptomics, we identified shared molecular and neuroanatomical infrastructure for RPE computation in humans and macaques. Despite this conserved foundation, humans demonstrated superior performance on deterministic and probabilistic reversal tasks. Single-trial decoding revealed equally robust dynamic RPE-to-choice prediction in both species; yet humans disproportionately recruited dorsal anterior cingulate (dACC) and dorsolateral prefrontal cortex (dlPFC). Interspecies alignment localized similarly predictive policy signals in macaque dACC/dlPFC that failed to guide behavior. Crucially, a within-species comparison in an independent human cohort demonstrated that only near-optimal performers exhibited strong prefrontal action decoding, contrasting with suboptimal individuals. These findings suggest that behavioral flexibility arises from prefrontal readout breadth - a hierarchical scaling principle that challenges efficient coding theories.

q-bio.NC↗

WAM-TTT: Steering World-Action Models by Watching Human Play at Test Time

Steering robot foundation models (RFMs) toward new task variants or user-preferred behaviors remains challenging, often requiring additional robot demonstrations, task-specific fine-tuning, or long-context conditioning. We present WAM-TTT, a test-time training framework for steering world action models from raw human videos. Rather than treating human videos as trajectories to imitate, WAM-TTT absorbs them into a lightweight adaptive memory inside a frozen WAM through self-supervised video prediction. To make this memory useful for control, we introduce a meta-training stage that aligns human demonstrations with robot behaviors using paired human-robot data and a key--value memory reconstruction objective. At test time, only unlabeled human videos are required to adapt the memory, while the pretrained WAM remains frozen. This enables efficient and reusable steering without robot actions, human-side annotations, or task-specific fine-tuning, while preserving the generalization ability of the foundation model. Extensive experiments show that WAM-TTT consistently outperforms in-context human-video conditioning baselines across diverse manipulation tasks and generalization settings.

cs.RO↗

Semantic Anchoring for Robotic Action Representations

Vision-Language-Action (VLA) models inherit rich semantic representations from pretrained Vision-Language Models, yet fine-tuning on limited robot demonstrations degrades this structure and undermines generalization. A fundamental question therefore arises: what constitutes a good action representation? Inspired by the mirror neuron theory's insight that observation and execution share an intention-level encoding, we examine whether a robot's action representations preserve the semantic structure captured by pretrained encoders. Systematic probing confirms that this structure erodes during finetuning, and that its quality synchronizes with both task success and out-of-distribution generalization. We further introduce a plug-and-play method that anchors action representations to a semantic manifold while decomposing representations into a shared semantic channel and a private channel, all discarded at inference, leaving the deployed model unchanged. Validated on different VLA backbones across simulation and real-world benchmarks, our method yields up to +18.7% on real-world in-distribution tasks and +21.5% on out-of-distribution generalization.

cs.RO↗

ViT-H: Generative Video-To-Humanoid Control with Motion Tracking Feedback

Learning humanoid control from monocular human videos offers a scalable way to acquire diverse whole-body behaviors. Yet, existing reconstruction-retargeting-tracking pipelines are limited in system-level scalability by separately optimized intermediate stages and cannot directly optimize reference motion executability using downstream tracking feedback. We present ViT-H, a video-to-humanoid control framework following a generation-and-tracking paradigm. ViT-H directly generates humanoid reference motions from videos with a diffusion model, bypassing human motion reconstruction and retargeting, and uses motion-tracking outcomes to post-train the generator with direct preference optimization. We further introduce an autoregressive variant that enables real-time humanoid video teleoperation with sub-400 ms latency. Extensive experiments on the Unitree G1 demonstrate that ViT-H outperforms state-of-the-art reconstruction-retargeting-tracking pipelines in both motion quality and executability. We further show that ViT-H scales favorably with model size and with both pre-training and post-training data scale, while motion-tracking feedback consistently improves executability across different motion trackers.

cs.RO↗

ADT: All-Atom Diffusion Tokenizer for 3D Molecular Structures

Discrete structural tokenization provides a promising route to autoregressive 3D molecular generation. Yet, existing tokenizers face a trade-off between compact representation and all-atom reconstruction: atom-level tokens preserve atomic details but produce long sequences, while compact residue-level protein tokens typically omit side-chain geometry. To overcome this limitation, we propose All-atom Diffusion Tokenizer (ADT), which decouples token granularity from reconstruction resolution. ADT uses one structural token per atom for small molecules and one token per protein residue that jointly represents backbone and side-chain geometry. To mitigate geometric distortion introduced by quantization, we leverage the generative capacity of diffusion models to recover fine-grained atomic geometry beyond deterministic decoding from discrete tokens. Extensive experiments across small molecules and proteins demonstrate that ADT achieves strong reconstruction from compact discrete representations while enabling high-quality autoregressive generation of both small molecules and all-atom protein structures. These results establish compact structural tokens as an effective discrete interface for all-atom molecular reconstruction and generation.

cs.LG↗

PROTEAN: Beyond De Novo Generation - Can LLM Agents Perform Text-Guided Protein Structure Editing?

Generative AI has achieved remarkable success in de novo protein design, yet protein engineering typically begins with existing, characterized proteins. The primary demand is targeted local editing, e.g., engineering a specific region to optimize affinity, alter immunogenicity, or improve stability, while strictly preserving core catalytic motifs and overall scaffold integrity. However, no standardized framework currently exists for carrying out and evaluating such edits. In current generative-design workflows, researchers often need to manually specify complex low-level parameters and rely on repetitive, trial-and-error sampling and evaluation across generative backends to search for viable conformations. While large language models (LLMs) offer an intuitive interface to express these goals using natural language, prevailing structure-generation models cannot directly interpret high-level human instructions. To bridge this gap, we introduce PROTEAN, a standardized benchmark for text-guided protein structural editing. PROTEAN comprises 380 sub-tasks spanning six intervention families and evaluates a two-stage pipeline in which an LLM translates natural-language goals into backend-specific geometric constraints and a generative model remodels the protein backbone. A two-tier evaluation separates geometric compliance, including target attainment and off-target scope fidelity, from biophysical realizability assessed by inverse folding and refolding consistency. Across five frontier LLMs paired with three backends, strict end-to-end biophysical success starts at just 7.0%. Ablation studies show that LLM constraint compilation is already highly accurate, whereas the main bottlenecks are backend-specific scope leakage and refolding failure. PROTEAN provides an open testbed for developing autonomous, multi-backend macromolecular design agents.

cs.CE↗

BRIDGE: Selective Boundary Repair with Dependency Graph Evidence in Multi-Agent Systems

Multi-agent collaboration has emerged as a critical paradigm for tackling complex, long-horizon tasks; however, while coordination protocols continue to advance, systemic failures at the inter-agent collaboration interface remain a pervasive bottleneck. In collaborative workflows, systems frequently suffer from \emph{broken handoffs}---where critical task context is omitted, misrouted, or ignored despite each agent emitting locally plausible responses. To address this challenge, we present \method, a verifiable runtime control framework that treats handoff repair as selective intervention over explicit dependency graphs. Central to \method is an integrated fault-attribution and calibration pipeline, \dataset, which decouples execution dependencies and injects counterfactual handoff perturbations to provide empirical supervision for runtime intervention. Leveraging this diagnostic foundation, \method dynamically compiles observable interaction traces into a provenance graph to pinpoint unresolved dependencies, without accessing private agent states. It then evaluates candidate repairs through an empirical gate that weighs expected gains against disruption risks, and executes repairs only when formal local postconditions hold. Extensive evaluations across demanding benchmarks demonstrate that \method boosts task success by up to 12.3 absolute percentage points on SILO-BENCH and 11.1 on TeamBench. Across both backbones, \method maintains strict cost-effectiveness, adding as little as 2.0\% marginal token overhead. Furthermore, on 562 handoff-relevant traces from the MAST benchmark, \method achieves 69.8\% F1 in a single pass, establishing a reliable operational boundary for verifiable coordination repair.

cs.CL↗

Boosting Large Language Models with Mask Fine-Tuning

The large language model (LLM) is typically integrated into the mainstream optimization protocol. However, it remains underexplored whether maintaining the model integrity is \textit{indispensable} for promising performance. In this work, we introduce Mask Fine-Tuning (MFT), a novel LLM fine-tuning paradigm demonstrating that carefully breaking the model's structural integrity can surprisingly improve performance without updating model weights. MFT learns and applies binary masks to well-optimized models, using the standard LLM fine-tuning objective as supervision. Based on fully fine-tuned models, MFT uses the same fine-tuning datasets to achieve consistent performance gains across domains and backbones (e.g., an average gain of 2.70/4.15 on IFEval with LLaMA2-7B/3.1-8B). Detailed ablation studies and analyses examine the proposed MFT from different perspectives, including the sparse ratio and the loss surface. Additionally, when deployed on well-trained models, MFT is compatible with other LLM optimization procedures to improve overall model performance. Furthermore, this study extends the masking operation beyond its conventional use in network pruning for model compression to encompass a broader range of model capabilities.

cs.CL↗

RACER: Reflective Agent Coupling Query Interpretation and Tool-Based Retrieval for Frame Selection in Long Video Understanding

Video large language models (Vid-LLMs) excel at diverse video-language tasks by reasoning over selected frames. However, frame selection for long videos remains challenging, as it requires retrieving relevant frames distributed across segments from a large candidate pool given complex queries. This paper investigates dominant approaches to long-video frame selection from a task-decomposition perspective, identifying two key challenges: the Query Comprehension Gap in similarity-based methods and the Interpretation--Selection Gap in judgment-based methods. To address them, we propose RACER, a training-free reflective agentic framework that decomposes long-video frame selection into query interpretation driven by a lightweight Vid-LLM and evidence localization supported by an embedding model serving as a retrieval tool. Specifically, the Vid-LLM is responsible solely for reformulating the complex query into sub-queries that make implicit information requirements explicit, mitigating the Query Comprehension Gap. Meanwhile, the retrieval tool leverages these sub-queries to localize relevant evidence, relieving the Vid-LLM of direct frame selection and thus addressing the Interpretation--Selection Gap. Finally, the retrieved frames are fed back to the Vid-LLM for sub-query refinement, forming a reflection loop that iteratively improves query interpretation and frame selection. Experiments across multiple benchmarks show that RACER consistently improves long video understanding. Notably, RACER achieves effective frame selection even with limited-capability components, demonstrating that agentic integration enables these components to enhance more capable Vid-LLMs.

cs.CV↗

On the Spread of a Virus and Traveling Waves, Part I

This paper develops a one-dimensional model for a mobile viral component propagating through a spatially distributed susceptible population. Random viral motion produces diffusion, whereas a response to the relative gradient of susceptible density generates directed transport. The existence of a positive entire traveling wave is proved when directed transport dominates diffusion, and the limiting case of equal transport and diffusion coefficients is constructed separately. A dimensionless transformation then converts the remaining equation into a logistic equation and supplies closed-form profiles. These formulas identify the unique viral maximum and the far-field behavior. A conservative implicit-explicit finite-difference method provides an independent numerical check. Diffusion is evaluated at the new time level, the gradient-driven flux explicitly at cell interfaces, and susceptible depletion pointwise. Exact traveling-wave values specify the initial data and time-dependent Dirichlet conditions at both endpoints. Thus, the computation tests preservation and translation of the analytical profiles. A calculation with eight hundred spatial subintervals reproduces the localized viral band and the monotone susceptible front. The largest uniform errors are approximately $1.70\cdot10^{-2}$ for viral density and $2.22\cdot10^{-3}$ for susceptible density. The numerical results corroborate the analytical construction and show that the conservative discretization captures the proposed propagation mechanism.

math.DS↗

Physical AI Smart Spaces: A Large-Scale Benchmark for Multi-Camera 3D Perception in Smart Spaces

Physical AI Smart Spaces is, to the best of our knowledge, the first benchmark to simultaneously provide large-scale, multi-class, and multi-camera 3D perception data for indoor smart spaces. It contains over 280 hours of synchronized 1080p footage captured by nearly 1,800 cameras in warehouses, hospitals, retail venues, and similar settings, together with automatic annotations for multi-camera identities, 2D bounding boxes, 3D bounding boxes, camera calibration, and depth where available. The benchmark spans Isaac Sim synthetic generation, Cosmos Transfer appearance augmentation, and real-world Sim2Real evaluation. For the real-world target, we include two warehouse deployments with time-synchronized streams, automatic VGGT-based calibration, and a 3D labeling interface that projects world-frame 3D boxes into each view for cross-camera verification. We describe the dataset scope, annotation and calibration schema, generation workflow, benchmark protocols, and official evaluation system, which standardizes submission format, and leaderboard reporting. A central contribution is a 3D instantiation of Higher Order Tracking Accuracy (HOTA), extending the usual 2D box-based tracking evaluation to 3D locations and 3D boxes. We further report empirical baselines from the AI City Challenge leaderboards, showing how methods evolve from person-only 3D location tracking to multi-class 3D box tracking under realistic smart-space constraints. The release is available at https://huggingface.co/datasets/nvidia/PhysicalAI-SmartSpaces.

cs.CV↗

Less Data, Faster Convergence: Goal-Driven Data Optimization for Multimodal Instruction Tuning

Multimodal instruction tuning is often compute-inefficient because training budgets are spread across large mixed image-video pools whose utility is highly uneven. We present Goal-Driven Data Optimization (GDO), a framework that computes six sample descriptors for each candidate and constructs optimized 1$\times$ training subsets for different goals. Under a fixed one-epoch Qwen3-VL-8B-Instruct training and evaluation recipe on 8 H20 GPUs, GDO uses far fewer training samples than the Uni-10x baseline while converging faster and achieving higher accuracy. Relative to the fixed 512k-sample Uni-10x baseline, GDO reaches the Uni-10x reference after 35.4k samples on MVBench, 26.6k on VideoMME, 27.3k on MLVU, and 34.7k on LVBench, while improving Accuracy by +1.38, +1.67, +3.08, and +0.84 percentage points, respectively. The gains are largest on MVBench and MLVU, while LVBench improves more modestly, consistent with its ultra-long-video setting and the mismatch between that benchmark and the short-video/image-dominant training pool. Across MinLoss, Diverse, Temp, and Temp+, stronger temporal emphasis yields steadily better long-video understanding behavior. Overall, GDO provides a goal-driven data optimization framework that enables faster convergence with fewer training samples under a fixed training protocol. Code is available at https://github.com/rujiewu/GDO.

cs.CV↗

DualWAM: Dual-System World Action Models for Asynchronous Global Planning and Local Refinement

World Action Models (WAMs) jointly generate robot actions and predict future world states, transferring priors from video pretraining to robot control. However, future visual prediction is computationally expensive, so existing WAMs often rely on long action chunks to amortize inference cost across control steps, at the cost of closed-loop responsiveness. We present \method, a dual-system WAM that preserves broader-horizon world-action generation while enabling high-frequency closed-loop action updates by decoupling global planning and local refinement. \systwo periodically performs high-noise bidirectional denoising over a broader world-action chunk to establish a global plan, while wrist-only \sysone extracts a temporally aligned short window from the intermediate denoising state and completes low-noise refinement using the latest wrist observations, which provide action-aligned cues about local geometry, motion, and contact during interaction. The two systems operate asynchronously along a shared denoising trajectory: each global plan is reused across multiple local updates, while \sysone repeatedly incorporates fresh interaction feedback. Across zero-shot manipulation tasks on Franka and Galbot, \method improves success over the strongest evaluated baseline by 4.5 percentage points on average, while achieving a 16.6$\times$ critical-path speedup. Further studies show that role-matched egocentric and UMI data improve success by 14 percentage points, and that the decoupled design naturally supports edge--cloud deployment with substantially lower communication overhead than the baseline.

cs.RO↗

MINT: A Unified Model for World-Space Camera and Hand Motion Estimation from Scalable Egocentric Pipeline Supervision

Recovering camera and hand motion in world coordinates from egocentric video is a key capability for activity understanding, robot learning, and augmented reality. Existing systems typically decompose this problem into separate stages for camera motion, depth estimation, hand reconstruction, and trajectory refinement, resulting in substantial computational overhead and preventing the joint modeling of camera and hand motion. We introduce MINT (Minting IN-the-Wild Trajectories), a foundation model for world-space hand motion reconstruction from ego-centric RGB video. From a single shared spatiotemporal video representation, MINT jointly predicts the camera trajectory, field of view (FoV), camera-frame hand states, and per-frame hand observability, and then produces world-space hand motion via explicit coordinate transformations. Training such a model at scale is challenging, since paired world-space camera and hand annotations are scarce. We therefore develop an open-source labeling EGOPIPELINE that converts large collections of public egocentric videos into structured camera-and-hand trajectory supervision. MINT is first pretrained on these large-scale pseudo-labels and then fine-tuned on a small set of high-quality camera-and-hand annotations. Across public benchmarks MINT approaches state-of-the-art accuracy without seeing either benchmark in training, reaching 0.945 frame accuracy, 13.646 mm PA-MPJPE-p and 55.058 px EPE-p for camera-frame bimanual reconstruction on HOT3D, 4.690 mm RPE-T and 0.284 degrees RPE-R for camera trajectory, and a 3.67x end-to-end speedup over the labeling pipeline that supervises it. We release the model, training and inference code, labeling pipeline, and a curated 1,021-hour egocentric trajectory dataset.

cs.CV↗

Simultaneous Determination of Local Magnetic Fields and Sensor Orientation with Nitrogen-Vacancy Centers in Nanodiamond

Nitrogen-vacancy (NV) centers in nanodiamonds have emerged as a promising quantum sensing platform for biomedical imaging applications, yet random orientations of individual particles present significant challenges in large-scale sensor calibration. In this study, we demonstrate a novel approach to simultaneously determine each particle's crystallographic axes and the surrounding local vector magnetic field. Specifically, a minimum of four distinct bias fields is required to unambiguously extract both the orientation and the local field. We validate our method experimentally using NV centers in two scenarios: (1) in a bulk diamond with known crystal orientation as a proof of concept, and (2) on various single nanodiamonds to mimic real-world applications. Our work represents a crucial step towards unlocking the full potential of nanodiamonds for advanced applications such as in-situ biomedical imaging and nanoscale sensing in complex environments.

quant-ph↗

HarnessEval-W: Agentifying the Evaluation of Visual Worlds

A benchmark should deliver more than a scalar score: what makes an evaluation trustworthy is the reasoning that justifies the score. This is especially critical for world models, where judging a rollout requires understanding whether physics, causality, and world state evolve correctly. Humans spot such violations naturally, yet no existing benchmark automates this capability: metrics are computed brute-force, leaving no reasoning chain that can be examined or verified. We introduce HarnessEval-W, an agentified evaluation pipeline that brings the harness paradigm from the LLM ecosystem to world model benchmarking. Rather than applying a fixed rubric, HarnessEval-W interprets the context of each evaluation case, decomposes the evaluation question into measurable subproblems, and spawns specialized sub-agents, each equipped with tailored context and diagnostic tools to reason over its own subproblem. The parent agent then validates the gathered evidence and summarizes it into the final verdict. This hierarchical workflow turns every evaluation into a transparent evidence tree whose complete reasoning chain justifies the result. We apply HarnessEval-W to 18 representative world models over 330 evaluation cases. Its judgments closely align with human preferences while providing verifiable, fine-grained diagnoses of every generated rollout. We open-source the full pipeline as a live benchmark and invite the broad community to contribute to grow new skills and evaluation cases as world models evolve.

cs.CV↗