arXiv subjects

Yuheng Zhang

Publications and source records attributed to Yuheng Zhang.

At least 19 recordsLinked to original sources

arXiv2026

Out-of-Distribution Semantic Occupancy Prediction

3D semantic occupancy prediction is crucial for autonomous driving, providing a dense, semantically rich environmental representation. However, existing methods focus on in-distribution scenes, making them susceptible to Out-of-Distribution (OoD) objects and long-tail distributions, which increase the risk of undetected anomalies and misinterpretations, posing safety hazards. To address these challenges, we introduce the task of Out-of-Distribution Semantic Occupancy Prediction, targeting OoD detection in 3D voxel space. To fill dataset gaps, we propose Realistic Anomaly Augmentation that injects synthetic anomalies while preserving realistic spatial and occlusion patterns, enabling the creation of two datasets: VAA-KITTI and VAA-KITTI-360. We then propose OccOoD, a novel framework that integrates OoD detection into 3D semantic occupancy prediction, which uses Cross-Space Semantic Refinement (CSSR) to refine semantic predictions from complementary voxel and BEV representations, improving OoD detection. Experimental results demonstrate that OccOoD achieves an AuROC of 65.50% and an AuPRCr of 31.83% within a 1.2m radius, while maintaining competitive semantic occupancy prediction accuracy, significantly improving detection sensitivity for unknown obstacles, and validating strong generalization in real-world urban driving scenes. The established datasets and source code will be made publicly available at https://github.com/7uHeng/OccOoD.

cs.CV↗

arXiv2026

TuringLLM: Efficiently Scaling Foundation Models Toward Physical AI

We present Turing-20B-A2B, a 20B-parameter Mixture-of-Experts language model that activates approximately 2B parameters per token, designed for long-context and latency-sensitive physical AI applications. The model adopts Quantile Routing in a dynamic top-k configuration, enabling token-adaptive expert allocation while maintaining balanced expert utilization and a controlled average compute budget. During deployment, we further apply capacity-constrained routing to prompt prefill for more regular and efficient expert execution, while retaining dropless routing during pretraining. Turing-20B-A2B also employs a hybrid attention architecture that combines Lightning Attention with a small number of full-attention layers for efficient long-context modeling. The model is pretrained with a progressive three-stage curriculum and extended to a native context length of 128K through continued pretraining, with further inference-time extension to 512K using YaRN. Despite its compact active-parameter budget, Turing-20B-A2B achieves, at the base-model stage, overall general capability exceeding Qwen3-8B Base and approaching Qwen3.5-9B Base, while maintaining strong long-context performance and favorable prefill-latency scaling. These results demonstrate an effective balance among model capability, long-context scalability, and practical inference efficiency.

cs.AI↗

arXiv2026

O3N: Omnidirectional Open-Vocabulary Occupancy Prediction for Embodied Intelligent Robotics

The rapid evolution of consumer electronics toward embodied intelligence has accelerated the emergence of Consumer Embodied Intelligent Robotics (CEIRs), where intelligent devices are expected to perceive, understand, and interact with complex real-world environments. Understanding and reconstructing the 3D world through omnidirectional perception is therefore becoming increasingly important for CEIRs operating in complex and dynamic environments. However, existing vision-based 3D occupancy prediction methods are constrained by limited perspective inputs and a predefined training distribution, making them difficult to support embodied intelligent systems that require comprehensive and safe perception of scenes in open-world exploration. To address this, we present O3N, the first framework for open-vocabulary occupancy prediction from a single omnidirectional RGB image. O3N embeds omnidirectional voxels in a polar-spiral topology via the Polar-spiral Mamba (PsM) module, enabling continuous spatial representation and long-range context modeling across 360°. The Occupancy Cost Aggregation (OCA) module introduces a principled mechanism for unifying geometric and semantic supervision within the voxel space, ensuring consistency between reconstructed geometry and underlying semantic structure. Moreover, Natural Modality Alignment (NMA) establishes a gradient-free alignment pathway that harmonizes visual features, voxel embeddings, and text semantics, forming a consistent pixel-voxel-text representation triad for open-world perception. Extensive experiments on multiple models demonstrate that our method not only achieves state-of-the-art performance on QuadOcc and Human360Occ benchmarks but also exhibits remarkable cross-scene generalization and semantic scalability. The source code will be made publicly available at https://github.com/MengfeiD/O3N.

cs.CV↗

arXiv2026

SurveyReview: A Reviewer-Aligned Benchmark for Survey Evaluators

The rapid advancement of large language models has transformed survey writing from a months-long manual effort into an automated process. As generation scales, reliable evaluation becomes the bottleneck, and LLMs are increasingly used as survey evaluators. However, existing approaches largely rely on off-the-shelf LLM-as-a-judge methods without systematic alignment to human reviewers, and there remains a lack of systematic frameworks for quantifying alignment with human reviewers. To address this gap, we propose SurveyReview, a reviewer-aligned, multi-dimensional benchmark and dataset for survey evaluation. We collect and annotate 675 survey papers with 1,630 review reports. We structure authentic peer-review reports by converting free-form comments into four-dimensional scores (Readability, Criticalness, Comprehensiveness, Structure) paired with supporting rationales. We further release standardized train/test splits and an evaluation protocol to measure alignment between automatic evaluators and human reviewers. To validate the benchmark, we develop SurveyAlign, a strong baseline evaluator by fine-tuning Qwen3-32B with LoRA on our annotated data, augmented with external knowledge for knowledge-intensive dimensions. On the test set, SurveyAlign substantially improves reviewer alignment over prompt-based judging with GPT-5.2, reducing average MSE from 2.28 to 1.38 and MAE from 1.15 to 0.69 across all four dimensions. Our contributions are twofold: (1) we establish the first multi-dimensional, reviewer-aligned dataset with a reproducible evaluation framework for survey reviewing; (2) we develop a strong baseline evaluator that substantially improves alignment with human reviewers, providing a competitive reference for future research. Our code and data are available at https://surveyreview.github.io

cs.CL↗

arXiv2026

Tracing cosmic star formation history through radio continuum spectral energy distribution and non-thermal emission

As a tracer of massive star formation unaffected by dust, the radio continuum emission provides a unique window into the formation of the first stars and galaxies in the Universe. Recent observations show that the integrated rest-frame mid-radio (~1-10 GHz) luminosity of galaxies serves as one of the most robust tracers of the star formation rate (SFR). These studies further demonstrate that the synchrotron spectral index and the shape of the radio spectral energy distribution (SED) evolves with redshift as a consequence of the cosmic evolution of star formation activity. These findings underscore the importance of deep multi-band radio continuum observations in calibrating the SFR of early galaxies and understanding the astrophysical processes governing their assembly and evolution over cosmic time. This chapter presents recent progress in radio SFR calibrations for star-forming galaxies (SFGs) and reviews radio-continuum studies of the cosmic star formation history (SFH). We highlight the transformative potential of SKA AA4, whose broad frequency coverage and high sensitivity will enable well-constrained radio SEDs for SFGs across a wide redshift range.

astro-ph.GA↗

arXiv2026

PanoAffordanceNet: Towards Holistic Affordance Grounding in 360° Indoor Environments

Global perception is essential for embodied agents in 360° spaces, yet current affordance grounding remains largely object-centric and restricted to perspective views. To bridge this gap, we introduce a novel task: Holistic Affordance Grounding in 360° Indoor Environments. This task faces unique challenges, including severe geometric distortions from Equirectangular Projection (ERP), semantic dispersion, and cross-scale alignment difficulties. We propose PanoAffordanceNet, an end-to-end framework featuring a Distortion-Aware Spectral Modulator (DASM) for latitude-dependent calibration and an Omni-Spherical Densification Head (OSDH) to restore topological continuity from sparse activations. By integrating multi-level constraints comprising pixel-wise, distributional, and region-text contrastive objectives, our framework effectively suppresses semantic drift under low supervision. Furthermore, we construct 360-AGD, the first high-quality panoramic affordance grounding dataset. Extensive experiments demonstrate that PanoAffordanceNet significantly outperforms existing methods, establishing a solid baseline for scene-level perception in embodied intelligence. The source code and benchmark dataset will be made publicly available at https://github.com/GL-ZHU925/PanoAffordanceNet.

cs.CV↗

arXiv2026

TagSpeech: End-to-End Multi-Speaker ASR and Diarization with Fine-Grained Temporal Grounding

We present TagSpeech, a unified LLM-based framework that utilizes Temporal Anchor Grounding for joint multi-speaker ASR and diarization. The framework is built on two key designs: (1) decoupled semantic and speaker streams fine-tuned via Serialized Output Training (SOT) to learn turn-taking dynamics; and (2) an interleaved time anchor mechanism that not only supports fine-grained timestamp prediction but also acts as a synchronization signal between semantic understanding and speaker tracking. Compared to previous works that primarily focus on speaker-attributed ASR or implicit diarization, TagSpeech addresses the challenge of fine-grained speaker-content alignment and explicitly models "who spoke what and when" in an end-to-end manner. Experiments on AMI and AliMeeting benchmarks demonstrate that our method achieves consistent improvements in Diarization Error Rate (DER) over strong end-to-end baselines, including Qwen-Omni and Gemini, particularly in handling complex speech overlaps. Moreover, TagSpeech employs a parameter-efficient training paradigm in which the LLM backbone is frozen and only lightweight projectors are trained, resulting in strong performance with low computational cost.

eess.AS↗

arXiv2026

Where Speech Enhancement Hurts Recognition: An Inference Time Polar Projection Diagnosis

Speech enhancement (SE) can substantially improve perceptual quality, yet enhanced speech does not necessarily improve automatic speech recognition (ASR). Existing remedies, such as retraining the enhancer jointly with recognizer or interpolating enhanced speech with the noisy input, can mitigate this mismatch, but common explanations such as artifacts and over-suppression remain qualitative and do not localize which enhancement component harms recognition. We propose inference time polar projection, a diagnosis for STFT domain enhancement. Given a mask $M=Ae^{jϕ}$, polar projection forms $M_{α,γ}=A^αe^{jγϕ}$, where $α$ controls magnitude strength and $γ$ controls phase correction. Sweeping these controls on frozen SE and ASR models turns ASR degradation into measurable magnitude and phase effects. Our projection analysis shows that magnitude strength is the operative axis, while estimated phase correction provides no recognition benefit. The optimal magnitude strength is recognizer dependent: waveform-input wav2vec2.0 favors strong correction, whereas log-Mel-input, noise-robust Whisper prefers weaker correction. Finally, the projection provides a simple mitigation for any SE front end in the STFT mask domain, without retraining either the enhancer or the recognizer, making it directly useful for voice assistants and agents that rely on enhanced speech.

eess.AS↗

arXiv2026

Can we Trust Unreliable Voxels? Exploring 3D Semantic Occupancy Prediction under Label Noise

3D semantic occupancy prediction is a cornerstone of robotic perception, yet real-world voxel annotations are inherently corrupted by structural artifacts and dynamic trailing effects. This raises a critical but underexplored question: can autonomous systems safely rely on such unreliable occupancy supervision? To systematically investigate this issue, we establish OccNL, the first benchmark dedicated to 3D occupancy under occupancy-asymmetric and dynamic trailing noise. Our analysis reveals a fundamental domain gap: state-of-the-art 2D label noise learning strategies collapse catastrophically in sparse 3D voxel spaces, exposing a critical vulnerability in existing paradigms. To address this challenge, we propose DPR-Occ, a principled label-noise-robust framework that constructs reliable supervision through dual-source partial label reasoning. By synergizing temporal model memory with representation-level structural affinity, DPR-Occ dynamically expands and prunes candidate label sets to preserve true semantics while suppressing noise propagation. Extensive experiments on SemanticKITTI demonstrate that DPR-Occ prevents geometric and semantic collapse under extreme corruption. Notably, even at 90% label noise, our method achieves significant performance gains (up to 2.57% mIoU and 13.91% IoU) over existing label noise learning baselines adapted to the 3D occupancy prediction task. By bridging label noise learning and 3D perception, OccNL and DPR-Occ provide a reliable foundation for safety-critical robotic perception in dynamic environments. The benchmark and source code will be made publicly available at https://github.com/mylwx/OccNL.

cs.CV↗

arXiv2026

What if? Emulative Simulation with World Models for Situated Reasoning

Situated reasoning often relies on active exploration, yet in many real-world scenarios such exploration is infeasible due to physical constraints of robots or safety concerns of visually impaired users. Given only a limited observation, can an agent mentally simulate a future trajectory toward a target situation and answer spatial what-if questions? We introduce WanderDream, the first large-scale dataset designed for the emulative simulation of mental exploration, enabling models to reason without active exploration. WanderDream-Gen comprises 15.8K panoramic videos across 1,088 real scenes from HM3D, ScanNet++, and real-world captures, depicting imagined trajectories from current viewpoints to target situations. WanderDream-QA contains 158K question-answer pairs, covering starting states, paths, and end states along each trajectory to comprehensively evaluate exploration-based reasoning. Extensive experiments with world models and MLLMs demonstrate (1) that mental exploration is essential for situated reasoning, (2) that world models achieve compelling performance on WanderDream-Gen, (3) that imagination substantially facilitates reasoning on WanderDream-QA, and (4) that WanderDream data exhibit remarkable transferability to real-world scenarios.

cs.CV↗

arXiv2026

Labimus: A Simulation and Benchmark for Humanoid Dexterous Manipulation in Chemical Laboratory

Laboratory automation has made remarkable progress through robotic platforms and AI-driven scientific reasoning. However, many laboratory operations (e.g., solid--solid transfer) remain inherently dynamic and require real-time adaptation to different materials and experimental conditions. Such precision-critical manipulations are difficult to standardize, motivating the use of humanoid robots with dexterous hands. Despite this opportunity, no existing benchmark evaluates humanoid manipulation in precision-critical laboratory environments. We present Labimus, to our knowledge, the first benchmark for humanoid dexterous manipulation in organic chemistry laboratories. Labimus reconstructs over 30 functionally faithful assets from real organic chemistry workstations through real-to-sim modeling, collectively covering the core operations of routine organic chemistry experiments. The benchmark integrates articulated laboratory instruments, particle-based powder physics, and closed-loop instrument readouts, enabling a complete manipulation-to-measurement pipeline. It further defines six atomic operations and a seven-step solid-weighing workflow derived from real laboratory standard operating procedures. We introduce a precision-aware evaluation protocol designed to jointly measure task completion, experimental precision, and long-horizon execution. We benchmark three representative policies under procedural layouts and environmental perturbations. Results reveal a precision gap: policies that successfully complete laboratory tasks can still fail to satisfy the quantitative tolerances required by experimental protocols. Our benchmark exposes a fundamental disconnect between task completion and experimental validity, providing a new testbed for developing reliable humanoid robots for scientific laboratories.

cs.RO↗

arXiv2026

TuringViT: Making SOTA Vision Transformers Accessible to All

Modern VLMs and VLA systems commonly adopt off-the-shelf ViTs such as SigLIP2 as visual encoders, but diverse downstream requirements in latency, temporal modeling, and VLM integration often call for customized SOTA-level ViTs. Training such encoders remains beyond the reach of much of the community, as it requires massive image-text data, while standard softmax attention makes high-resolution or dynamic-resolution pretraining prohibitively costly and often forces low-resolution pretraining followed by post-hoc adaptation. TuringViT addresses these challenges with three key designs: Turing Linear Attention (TLA) for efficient sequence modeling, VISTA-Curation to construct supervision-rich image-video training data, and native dynamic-resolution pretraining that supports flexible inputs from the start and transfers seamlessly to downstream VLMs. As a result, TuringViT outperforms leading open-source ViT baselines with only 10% of the data, achieves stronger downstream VLM performance, and delivers substantially better latency scaling on high-resolution inputs. Our scaling-law analysis further shows that TuringViT continues to improve predictably with curated data scale, far from saturation. Its fast adaptation, hardware-friendly design, and efficient deployment have made it a unified visual foundation across XPeng's AI systems. More broadly, TuringViT provides a reproducible pipeline that dramatically lowers the cost for the community to train, customize, and deploy SOTA-level ViTs, moving toward making such Vision Transformers accessible to all.

cs.CV↗

arXiv2026

ULTIMATE-deblending I. A 50-band Ultraviolet to Mid-infrared Photometric Catalog Combining Space- and Ground-based Data in the JWST/PRIMER survey

Our understanding of the early Universe has long been limited by biased galaxy samples selected through various color criteria. With deep JWST infrared imaging, mass-complete galaxy samples can now be studied up to $z \sim 8$ for the first time. However, recent work has revealed systematic uncertainties in measuring physical properties of galaxies based solely on JWST/NIRCam and HST photometry, due to their limited wavelength coverage. This highlights the need for supplementary data, particularly in the rest-frame UV and near-infrared. Here we present the ULTIMATE-deblending project, which will eventually deliver self-consistent UV to radio photometry for galaxies detected in deep JWST surveys, including both NIRCam and MIRI data. In this first paper, we release a 50-band photometric catalog spanning CFHT/U to JWST/MIRI F1800W, covering a total of 627.1 arcmin$^2$ across two JWST/PRIMER fields. We detail the reduction of the JWST imaging data, the photometric procedures, and the spectral-energy-distribution-fitting methodology used to derive the galaxy properties. Compared with photometry including only HST and JWST bands, the inclusion of deblended low-resolution photometry from ground-based telescopes improves the accuracy of photometric redshifts by $\sim$40%, while reducing the outlier fraction by $\sim$60%. This galaxy sample can serve as a key reference for statistical studies of galaxy formation and evolution in the early Universe. The UV-to-MIR catalogs and JWST mosaics from the ULTIMATE-deblending project have been made publicly available.

astro-ph.GA↗

arXiv2026

Spider-Webb: enhanced star formation in low-mass galaxies within the Spiderweb protocluster revealed by JWST Pa$β$ narrow-band imaging

Understanding the role of the environment in galaxy evolution is key to revealing the physical processes that regulate galaxy growth. We study the star formation activity of \pab\ emitters (PBEs) in the Spiderweb protocluster at $z=2.16$ using \textit{James Webb Space Telescope}/NIRCam narrow-band imaging. To investigate the environmental dependence of star formation, we derive star formation rates (SFRs) from the \pab\ emission line and compare SFRs in the Spiderweb protocluster with those in the field. Our main finding is that low-mass PBEs ($M_\star < 10^9\,M_\odot$) in the Spiderweb protocluster exhibit an enhancement in star formation compared to their field counterparts. This excess persists even without applying dust-attenuation corrections, indicating that enhanced star formation in the protocluster is robust regardless of whether a dust correction is applied. In contrast, intermediate- and high-mass PBEs ($M_\star > 10^9\,M_\odot$) show no significant deviation from the field, revealing a strong mass dependence in the environmental effects on star formation. No clear spatial concentration toward the cluster core of starbursting low-mass galaxies within the protocluster is seen, suggesting that their enhancement is not restricted to the cluster core. We suggest that starbursts in low-mass galaxies are facilitated by environmental processes such as galaxy mergers/interactions, and/or efficient gas supply. While the enhancement at the low-mass end is consistent with trends reported for other protoclusters at similar redshifts, the behaviour of star formation at intermediate masses ($10^{9} < M_\star/M_\odot < 10^{10}$) is not uniform across protoclusters. Our \pab-based results in the Spiderweb protocluster indicate that star-formation enhancement at cosmic noon depends on both mass and the dynamical state of the protocluster.

astro-ph.GA↗

arXiv2026

Pessimism-Free Offline Learning in General-Sum Games via KL Regularization

Offline multi-agent reinforcement learning in general-sum settings is challenged by the distribution shift between logged datasets and target equilibrium policies. While standard methods rely on manual pessimistic penalties, we demonstrate that KL regularization suffices to stabilize learning and achieve equilibrium recovery. We propose General-sum Anchored Nash Equilibrium (GANE), which recovers regularized Nash equilibria at an accelerated statistical rate of $\widetilde{O}(1/n)$. For computational tractability, we develop General-sum Anchored Mirror Descent (GAMD), an iterative algorithm converging to a Coarse Correlated Equilibrium at the standard rate of $\widetilde{O}(1/\sqrt{n}+1/T)$. These results establish KL regularization as a standalone mechanism for pessimism-free offline learning that achieves equivalent or accelerated rates in multi-player general-sum games.

cs.LG↗

arXiv2026

Fast Rates in $α$-Potential Games via Regularized Mirror Descent

An $α$-potential game is a multi-player non-cooperative interaction in which a global potential function approximates individual player rewards up to a structural bias $α$. While identifying a Nash Equilibrium (NE) in generic general-sum games is known to be computationally intractable, the potential game structure enables tractable NE identification. In this paper, we study the offline learning of NE in $α$-potential games using KL regularization. To analyze this process, we propose a novel Reference-Anchored offline data coverage framework--a verifiable condition that anchors data requirements to a known reference policy rather than an unknown optimum. Building on this, we propose Offline Potential Mirror Descent (OPMD), a decentralized algorithm that achieves an accelerated $\widetilde{\mathcal{O}}(1/n)$ statistical rate, surpassing the standard $\widetilde{\mathcal{O}}(1/\sqrt{n})$ rate typical of offline multi-agent learning. This work characterizes the first fast-rate offline learning approach for $α$-potential games.

cs.GT↗

arXiv2026

A Python-Based Peeling Framework for Radio Interferometry: Application to uGMRT 650MHz Imaging

Modern radio interferometric arrays offer high sensitivity, wide fields of view, and broad frequency coverage, but also pose significant data calibration challenges. Standard direction-independent calibration is insufficient to correct direction-dependent effects, such as ionospheric phase distortions and primary beam variations, which produce strong artifacts around bright sources and limit achievable image dynamic range. Built on standard CASA tasks, we present a Python-based direction-dependent calibration and peeling framework, demonstrated using radio continuum imaging data from the upgraded Giant Metrewave Radio Telescope (uGMRT). The framework efficiently subtracts bright-source models and suppresses their associated direction-dependent artifacts, producing significantly flattened backgrounds and improving image fidelity and faint-source detectability. We further introduce an optimized ``model-restoration'' strategy that mitigates direction-dependent artifacts while preserving the flux densities and morphologies of bright sources that are themselves of scientific interest. For fields containing multiple bright sources, sequential application of the framework systematically reduces background noise, thereby increasing sensitivity and faint-source detectability. The framework is Python-based, CASA-compatible, and can be readily applied to other mid- and low-frequency interferometric arrays. The code is publicly released with this paper.

astro-ph.IM↗

arXiv2026

Offline Two-Player Zero-Sum Markov Games with KL Regularization

We study the problem of learning Nash equilibria in offline two-player zero-sum Markov games. While existing approaches often rely on explicit pessimism to address distribution shift, we show that KL regularization alone suffices to stabilize learning and guarantee convergence. We first introduce Regularized Offline Sequential Equilibrium (ROSE), a theoretical framework that achieves a fast $\widetilde{\mathcal{O}}(1/n)$ convergence rate under \textit{unilateral concentrability}, improving over the standard $\widetilde{\mathcal{O}}(1/\sqrt{n})$ rates in unregularized settings. We then propose Sequential Offline Self-play Mirror Descent (SOS-MD), a practical model-free algorithm based on least-squares value estimation and iterative self-play updates. We prove that the last iterate of SOS-MD attains the same $\widetilde{\mathcal{O}}(1/n)$ statistical rate up to a vanishing optimization error of order $\widetilde{\mathcal{O}}(1/\sqrt{T})$ in the number of self-play iterations $T$.

cs.LG↗