arXiv subjects

Yuchen Huang

Publications and source records attributed to Yuchen Huang.

At least 19 recordsLinked to original sources

arXiv2026

Buried in Textual Debt: Context Pruning with Visual Evidence Preservation for MLLM Agents

Multimodal Large Language Models (MLLMs) are increasingly deployed as multi-step agents, where explicit reasoning supports task decomposition and tool coordination but also accumulates self-generated text. Over long trajectories, this text can dominate the context and suppress visual evidence, creating textual debt. We observe that reasoning becomes redundant once task-relevant visual evidence is grounded, while stale hypotheses can misguide later inference when grounding remains uncertain. Pruning must therefore remove redundant text without discarding visual evidence. We propose SPARE, a Kullback-Leibler (KL)-guided framework for pruning accumulated reasoning in multimodal tool-use agents. SPARE uses a compact task-state summary as privileged diagnostic context. For each candidate segment, it replays the same model under the original and summary-conditioned contexts. Reverse-KL divergence from on-policy self-distillation (OPSD) then tests whether the summary sufficiently covers the segment without disrupting future reasoning. We further fine-tune the summarizer with supervised fine-tuning (SFT), enabling more compact summaries, broader coverage, and more aggressive pruning. Across multi-step visual tool-use benchmarks, SPARE achieves the highest average accuracy among pruning methods while removing 37.89-64.58\% of reasoning tokens. This favorable accuracy-context trade-off shows that reducing textual dominance restores reliance on visual evidence and mitigates over-conditioning on self-generated language.

cs.AI↗

arXiv2026

BICPO-VLA: Behavior-Identified Continuation Preference Optimization for Smooth Asynchronous Vision-Language-Action Control

The request-to-handoff gap has three coupled sources: ambiguity about the behavior intended at request time, physical-state drift accumulated during action generation, and residual incompatibility when the new action finally assumes control. BICPO-VLA addresses them in sequence. First, an instruction-aware causal history encoder identifies the behavior supported by the command and current task progress. Second, sequential Haar subspace generation decomposes each action chunk into complementary pairwise scaffold and residual coefficients, enabling two specialized generation stages followed by exact reconstruction. By reducing iterative refinement in the original action space, it shortens the interval over which the robot continues moving before the new chunk becomes available. Finally, BICPO rolls the known outgoing actions to the actual handoff state and applies reference-relative Flow-DPO among behaviorally matched candidates, adapting the generated chunk to the remaining request-to-handoff mismatch without changing its intended behavior.

cs.RO↗

arXiv2026

PBD-AG: Persistent Baseline-Delta Active Graphs with Uncertainty-Aware Inspection for Long-Horizon Service Robots

Long-horizon service robots require persistent world models that can be built autonomously in unseen environments and revised as task-relevant objects change. Existing methods rely on online mapping, which accumulates localization and observation errors, static scene representations that cannot capture persistent object changes, or holistic vision-language predictions that lack verifiable 3D geometric evidence. We present PBD-AG, a persistent baseline-delta active graph framework that decouples robot-verified stable fixtures from revisable dynamic object events. Under our framework, the robot autonomously bootstraps the structural baseline from onboard exploration and inspects discovered fixtures to ground hierarchical object beliefs. PBD-AG maintains reliability-weighted object states over geometry, semantics, identity, existence, and support relations, utilizing a geometric visibility gate to mitigate false deletions under occlusion. Inspection viewpoints are selected by a graph-conditioned policy that balances target coverage, travel cost, collision risk, and redundant observation. Simulation experiments in multiple environments and under controlled dynamic evaluation show higher aggregate coarse-fixture F1 than capability-matched controls, as well as stronger identity continuity and event recall. A qualitative physical-robot demonstration further illustrates integration with onboard sensing, providing a traceable world model for long-horizon robotic perception. The project page of PBD-AG is available at https://shuobao214.github.io/PBD-AG/

cs.RO↗

arXiv2026

PACE: Adaptive Budget Allocation for Time-Efficient Embodied Planning

Reasoning-enhanced large language models have achieved remarkable improvements in planning tasks, yet their deployment in embodied systems remains impractical due to prohibitive inference delays-often exceeding minutes per planning instance. The fundamental bottleneck stems from the serial nature of existing paradigms: models must complete all reasoning before any action execution, leaving execution time windows entirely unexploited. We introduce PACE (Planning with Adaptive Cognitive Effort), a framework that enables interleaved reasoning and execution through two key innovations: an Interleaved Think-Act architecture that pipelines cognitive processing with action execution, and a Dynamic Budget Allocator that adapts reasoning token budgets to available execution time windows. On the Robotouille benchmark using Qwen3-8B-AWQ, PACE achieves a 10% success rate-representing a 67% improvement over the ReAct+Think baseline-while delivering 6.9 times acceleration in thinking time compared to unconstrained reasoning. The framework hides 66.8% of thinking time within execution windows, demonstrating that strategic cognitive effort allocation can simultaneously improve both planning quality and time efficiency. These results provide evidence that time-aware architectural innovations enable reasoning models to operate in latency-sensitive embodied domains where they were previously impractical.

cs.RO↗

arXiv2026

AXIS: A Growable Community-Driven Data Engine for Scalable Robot Manipulation

Learning effective robot manipulation policies requires diverse, high-quality demonstrations, yet existing data pipelines are often difficult to scale because they rely on specialized hardware, centralized operators, or fixed task suites. We present AXIS, a growable community-driven data engine and benchmark for scalable robot learning, which enables browser-based teleoperation for large-scale demonstration collection, automatically generates and validates new manipulation tasks, and transforms community-collected demonstrations into training-ready data through automated success checking, quality filtering, trajectory smoothing, and visual and physics-based augmentation. The AXIS dataset currently contains 207 diverse tasks and 50K+ trajectories. Meanwhile, AXIS organizes data into task snapshots and evaluates policies with a systematic held-out protocol. We compare vision-language-action (VLA) policies under a unified AXIS evaluation suite and analyze scaling behavior across different data volumes. Continual pretraining on AXIS substantially improves the overall success rate of $\pi_{0.5}$ by 5.8%, outperforms the model pretrained on RoboCasa365 by 37.3%, and exhibits consistent scaling with increasing data volume, with the largest gains observed under layout, sensor-noise, and camera perturbations.

cs.RO↗

arXiv2026

CDR-Bench: Evaluating Faithful Execution of Compositional, Order-Sensitive Data Refinement Recipes

Data refinement involves executing multi-step recipes over evolving text states, where both composition and execution order of processing operators determine the outcome. While existing benchmarks either isolate text editing or entangle it with code and tool execution, it remains unclear whether LLMs can directly and faithfully execute these compositional, order-sensitive data refinement recipes. To fill this gap, we introduce CDR-Bench, a comprehensive benchmark featuring 3,462 high-quality tasks spanning four real-world data refinement domains and 29 distinct operators. Our benchmark evaluates models across atomic, order-agnostic, and order-sensitive settings, leveraging deterministic reference outputs to enable exact evaluation. Experiments on 10+ state-of-the-art LLMs reveal consistent failure patterns: performance degrades sharply in compositional settings, and order-sensitive recipe success collapses. These findings underline that current LLMs lack the procedural faithfulness required for reliable compositional data refinement.

cs.AI↗

arXiv2026

The Clustering Strikes Back: Building Cost-Effective and High-Performance ANNS at Scale with Helmsman

RedNote (a.k.a., Xiaohongshu, a global-scale social network platform) widely adopts approximate nearest neighbor search (ANNS) to power its search, recommendation, and advertising services. Due to the demanding Service Level Agreements (SLAs), we have to rely on in-memory graph-based ANNS (i.e., HNSW) to provide high throughput and low latency. However, the ever-growing user base and content volume have led to an explosive increase in memory footprint and consequently huge CapEx and OpEx. After exploring various alternatives, we find that building a clustering-based ANNS on top of all-flash servers can be promising. Yet, we still experience severe overheads from the kernel I/O stack, a fixed pruning strategy, and slow index construction. We present HELMSMAN, a high-performance and cost-effective clustering-based ANNS system, which combines an ANNS-oriented userspace storage stack, a leveling-learned pruning module, and GPU-accelerated pipelines of construction. HELMSMAN saves over 90% of hardware costs and enables billion-scale index (re)builds within hours. In the current production deployment, operating stably for several months, 40 machines now host ANNS workloads that previously required about 35,000 cores and 0.35 PB DRAM.

cs.IR↗

arXiv2026

GEAR: Granularity-Adaptive Advantage Reweighting for LLM Agents via Self-Distillation

Reinforcement learning has become a widely used post-training approach for LLM agents, where training commonly relies on outcome-level rewards that provide only coarse supervision. While finer-grained credit assignment is promising for effective policy updates, obtaining reliable local credit and assigning it to the right parts of the long-horizon trajectory remains an open challenge. In this paper, we propose Granularity-adaptivE Advantage Reweighting (GEAR), an adaptive-granularity credit assignment framework that reshapes the trajectory-level GRPO advantage using token- and segment-level signals derived from self-distillation. GEAR compares an on-policy student with a ground-truth-conditioned teacher to obtain a reference-guided divergence signal for identifying adaptive segment boundaries and modulating local advantage weights. This divergence often spikes at the onset of a semantic deviation, while later tokens in the same autoregressive continuation may return to low divergence. GEAR therefore treats such spikes as anchors for adaptive credit regions: where the student remains aligned with the teacher, token-level resolution is preserved; where it departs, GEAR groups the corresponding continuation into an adaptive segment and uses the divergence at the departure point to modulate the segment' s advantage. Experiments across eight mathematical reasoning and agentic tool-use benchmarks with Qwen3 4B and 8B models show that GEAR consistently outperforms standard GRPO, self-distillation-only baselines, and token- or turn-level credit-assignment methods. The gains are especially strong on benchmarks with lower GRPO baseline accuracy, reaching up to around 20\% over GRPO, suggesting that the proposed adaptive reweighting scheme is especially useful in more challenging long-horizon settings.

cs.LG↗

arXiv2026

CCD-Level and Load-Aware Thread Orchestration for In-Memory Vector ANNS on Multi-Core CPUs

Vector approximate nearest neighbor search (ANNS) underpins search engines, recommendation systems, and advertising services. Recent advances in ANNS indexes make CPU a cost-effective choice for serving million-scale, in-memory vector search, yet per-core throughput remains constrained by memory access latency of vector reading and the compute intensity of distance evaluations in production deployments. With the growing scale of the business and advances in hardware, modern CCD-based multi-core CPUs have been widely deployed for high throughput in our services. However, we find that simply increasing core counts does not yield optimal performance scaling. To improve the efficiency of more cores from the CCD-based architecture, we analyze the distributions of real-world requests in our production environments. We observe high access locality in vector search in our online services and low cache utilization, resulting from overlooking the multi-chiplet nature of CCD based CPUs. Hence, we propose a workload- and hardware-aware thread orchestration framework at CCD-level that (i) provides a uniform interface for both inter-query parallel HNSW search and intra-query parallel IVF search, (ii) achieves cache-friendly and workload-adaptive mapping of task dispatching, and (iii) employs CCD-aware task stealing to address load imbalance. Applied to real production workloads from search, recommendation, and advertising services of Xiaohongshu (RedNote), our approach delivers up to 3.7x higher throughput and 30-90% reductions in P50 and P999 latency. In detail, compared with the original framework, the cache-miss ratio decreases by 6-30%, and the total CPU stall is reduced by 20-80%.

cs.IR↗

arXiv2026

2D or 3D: Who Governs Salience in VLA Models? -- Tri-Stage Token Pruning Framework with Modality Salience Awareness

Vision-Language-Action (VLA) models have emerged as the mainstream of embodied intelligence. Recent VLA models have expanded their input modalities from 2D-only to 2D+3D paradigms, forming multi-visual-modal VLA (MVLA) models. Despite achieving improved spatial perception, MVLA faces a greater acceleration demand due to the increased number of input tokens caused by modal expansion. Token pruning is an effective optimization methods tailored to MVLA models. However, existing token pruning schemes are designed for 2D-only VLA models, ignoring 2D/3D modality salience differences. In this paper, we follow the application process of multi-modal data in MVLA models and develop a tri-stage analysis to capture the discrepancy and dynamics of 2D/3D modality salience. Based on these, we propose a corresponding tri-stage token pruning framework for MVLA models to achieve optimal 2D/3D token selection and efficient pruning. Experiments show that our framework achieves up to a 2.55x inference speedup with minimal accuracy loss, while only costing 5.8% overhead. Our Code is coming soon.

cs.MM↗

arXiv2026

Biaxial Disclinations Around a Spherical Colloid

We study the Landau-de Gennes theory in the one-constant limit for nematic liquid crystals in the exterior of a spherical colloid. The non-degenerate Nobili-Durand weak anchoring condition is imposed on the colloid boundary, supplemented by a homogeneous alignment condition at spatial infinity. Under an axially symmetric ansatz with an additional reflective symmetry and the Lyuksyutov constraint, we prove that biaxial boojums at the poles and a $-\frac{1}{2}$-degree Saturn ring disclination encircling the equator of the colloid can coexist within a single energy-minimizing configuration in this specific confined geometry. Finally, we rigorously characterize the local structural profile of the director field near these disclinations.

math.AP↗

arXiv2025

Experience-Evolving Multi-Turn Tool-Use Agent with Hybrid Episodic-Procedural Memory

As intents unfold and environments change, multi-turn agents face continuously shifting decision contexts. Although reusing past experience is intuitively appealing, existing approaches remain limited: full trajectories are often too context-specific to transfer, while tool-level reuse ignores the surrounding context and environment. In this paper, we introduce a hybrid episodic-procedural memory strategy (H-EPM) that enables experience-induced self-evolution of multi-turn tool-use policies by adaptively reusing partially overlapping successful experiences during both inference and training. Inspired by human episodic-procedural integration, we construct a tool graph from accumulated trajectories, where recurring tool-to-tool dependencies capture procedural routines and each edge is augmented with compact episodic summaries of relevant context. At inference time, the agent dynamically balances episodic recall for contextual reasoning with procedural execution for routine steps. Beyond inference, H-EPM introduces a memory-guided reinforcement learning paradigm that directly addresses a core challenge in multi-turn agent reinforcement learning, namely ineffective exploration over long trajectories. By biasing exploration toward historically successful tool transitions, H-EPM learns a stronger policy that generalizes at inference time without relying on domain-specific experience collection. Experiments show that H-EPM consistently delivers substantial inference-time gains over strong baselines across multi-turn tool-use benchmarks, reaching improvements of up to fifty percent. It also improves reinforcement learning policy performance, achieving gains of up to forty percent on out-of-distribution tasks.

cs.LG↗

arXiv2025

Constraint-Preserving High-Order Compact OEDG Method for Spherically Symmetric Einstein-Euler System

Numerical simulation of the spherically symmetric Einstein--Euler (EE) system faces severe challenges due to the stringent physical admissibility constraints of relativistic fluids and the geometric singularities inherent in metric evolution. This paper proposes a high-order Constraint-Preserving (CP) compact Oscillation-Eliminating Discontinuous Galerkin (cOEDG) method specifically tailored to address these difficulties. The method integrates a scale-invariant oscillation-eliminating mechanism [M. Peng, Z. Sun, K. Wu, Math. Comp., 94: 1147--1198, 2025] into a compact Runge--Kutta DG framework. By characterizing the convex invariant region of the hydrodynamic subsystem with general barotropic equations of state, we prove that the proposed scheme preserves physical realizability (specifically, positive density and subluminal velocity) directly in terms of conservative variables, thereby eliminating the need for complex primitive-variable checks. To ensure the geometric validity of the spacetime, we introduce a bijective transformation of the metric potentials. Rather than evolving the constrained metric components directly, the scheme advances unconstrained auxiliary variables whose inverse mapping automatically enforces strict positivity and asymptotic bounds without any limiters. Combined with a compatible high-order boundary treatment, the resulting CPcOEDG method exhibits robust stability and design-order accuracy in capturing strong gravity-fluid interactions, as demonstrated by simulations of black hole accretion and relativistic shock waves.

math.NA↗

arXiv2025

Environment Scaling for Interactive Agentic Experience Collection: A Survey

LLM-based agents can autonomously accomplish complex tasks across various domains. However, to further cultivate capabilities such as adaptive behavior and long-term decision-making, training on static datasets built from human-level knowledge is insufficient. These datasets are costly to construct and lack both dynamism and realism. A growing consensus is that agents should instead interact directly with environments and learn from experience through reinforcement learning. We formalize this iterative process as the Generation-Execution-Feedback (GEF) loop, where environments generate tasks to challenge agents, return observations in response to agents' actions during task execution, and provide evaluative feedback on rollouts for subsequent learning. Under this paradigm, environments function as indispensable producers of experiential data, highlighting the need to scale them toward greater complexity, realism, and interactivity. In this survey, we systematically review representative methods for environment scaling from a pioneering environment-centric perspective and organize them along the stages of the GEF loop, namely task generation, task execution, and feedback. We further analyze implementation frameworks, challenges, and applications, consolidating fragmented advances and outlining future research directions for agent intelligence.

cs.LG↗

arXiv2025

CantoASR: Prosody-Aware ASR-LALM Collaboration for Low-Resource Cantonese

Automatic speech recognition (ASR) is critical for language accessibility, yet low-resource Cantonese remains challenging due to limited annotated data, six lexical tones, tone sandhi, and accent variation. Existing ASR models, such as Whisper, often suffer from high word error rates. Large audio-language models (LALMs), in contrast, can leverage broader contextual reasoning but still require explicit tonal and prosodic acoustic cues. We introduce CantoASR, a collaborative ASR-LALM error correction framework that integrates forced alignment for acoustic feature extraction, a LoRA-finetuned Whisper for improved tone discrimination, and an instruction-tuned Qwen-Audio for prosody-aware correction. Evaluations on spontaneous Cantonese data show substantial CER gains over Whisper-Large-V3. These findings suggest that integrating acoustic cues with LALM reasoning provides a scalable strategy for low-resource tonal and dialectal ASR.

cs.CL↗

arXiv2025

Vision-Language Models Are Not Pragmatically Competent in Referring Expression Generation

Referring Expression Generation (REG) is a core task for evaluating the pragmatic competence of vision-language systems, requiring not only accurate semantic grounding but also adherence to principles of cooperative communication (Grice, 1975). However, current evaluations of vision-language models (VLMs) often overlook the pragmatic dimension, reducing REG to a region-based captioning task and neglecting Gricean maxims. In this work, we revisit REG from a pragmatic perspective, introducing a new dataset (RefOI) of 1.5k images annotated with both written and spoken referring expressions. Through a systematic evaluation of state-of-the-art VLMs, we identify three key failures of pragmatic competence: (1) failure to uniquely identify the referent, (2) inclusion of excessive or irrelevant information, and (3) misalignment with human pragmatic preference, such as the underuse of minimal spatial cues. We also show that standard automatic evaluations fail to capture these pragmatic violations, reinforcing superficial cues rather than genuine referential success. Our findings call for a renewed focus on pragmatically informed models and evaluation frameworks that align with real human communication.

cs.CL↗

arXiv2025

CultureCLIP: Empowering CLIP with Cultural Awareness through Synthetic Images and Contextualized Captions

Pretrained vision-language models (VLMs) such as CLIP excel in general multimodal comprehension but often struggle to capture nuanced, context-dependent visual cues. This makes it difficult to distinguish between similar-looking concepts with potentially different cultural meanings. Such deficiencies are mainly due to a limited amount of high-quality cultural data, contextual information, and the lack of negative examples that highlight subtle differences. To mitigate this, we design a data curation pipeline leveraging open-sourced VLMs and text-to-image models to construct CulTwin, a synthetic cultural dataset. This dataset consists of paired concept-caption-image triplets, where concepts visually resemble each other but are culturally different. Then, we fine-tune CLIP on CulTwin to develop CultureCLIP, which aligns cultural concepts with contextually enhanced captions and synthetic images through tailored contrastive learning. Experiments on culture-specific benchmarks show that CultureCLIP outperforms the base CLIP, achieving up to a notable 5.49% improvement in fine-grained concept recognition on certain tasks while preserving CLIP's original generalization ability, validating the effectiveness of our data synthesis and VLM backbone training paradigm in capturing subtle cultural distinctions.

cs.CV↗

arXiv2025

MMBoundary: Advancing MLLM Knowledge Boundary Awareness through Reasoning Step Confidence Calibration

In recent years, multimodal large language models (MLLMs) have made significant progress but continue to face inherent challenges in multimodal reasoning, which requires multi-level (e.g., perception, reasoning) and multi-granular (e.g., multi-step reasoning chain) advanced inferencing. Prior work on estimating model confidence tends to focus on the overall response for training and calibration, but fails to assess confidence in each reasoning step, leading to undesirable hallucination snowballing. In this work, we present MMBoundary, a novel framework that advances the knowledge boundary awareness of MLLMs through reasoning step confidence calibration. To achieve this, we propose to incorporate complementary textual and cross-modal self-rewarding signals to estimate confidence at each step of the MLLM reasoning process. In addition to supervised fine-tuning MLLM on this set of self-rewarded confidence estimation signal for initial confidence expression warm-up, we introduce a reinforcement learning stage with multiple reward functions for further aligning model knowledge and calibrating confidence at each reasoning step, enhancing reasoning chain self-correction. Empirical results show that MMBoundary significantly outperforms existing methods across diverse domain datasets and metrics, achieving an average of 7.5% reduction in multimodal confidence calibration errors and up to 8.3% improvement in task performance.

cs.CL↗