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Zhe Li

Publications and source records attributed to Zhe Li.

At least 19 recordsLinked to original sources
arXiv2026

Self-powered InAs nanowire detector arrays for extended-SWIR spectrometry at room temperature

Spectral sensing in the extended shortwave infrared (e-SWIR) is important for molecular analysis, infrared imaging, and machine vision, motivating the development of compact spectrometers for broader applications. However, conventional commercial off-the-shelf spectrometers in this wavelength region are expensive and bulky due to their reliance on external dispersive optics/filters and/or cryogenic accessories. Other emerging computational spectrometers are based on Si and InGaAs photodetectors that remain focused on the visible and near-infrared, with few detector platforms operating in the e-SWIR regime that simultaneously provide broadband sensitivity, low-noise room-temperature operation, and diverse spectral signatures for accurate identification and reconstruction. Here, we report a room-temperature e-SWIR computational spectrometer based on InAs/InP core-shell nanowire photodetector arrays with geometry-encoded spectral responses. The detectors exhibit self-powered broadband photoresponse across the 1--3 $\mu$m range, with responsivity up to 0.215 A W$^{-1}$, detectivity up to $1.6 \times 10^{9}$ cm Hz$^{1/2}$ W$^{-1}$, and microsecond response times. The excellent detector performance is leveraged to demonstrate filter-free spectral reconstruction using a compact multipixel photodetector array device. This enables high-accuracy molecular absorption spectrum reconstruction and hyperspectral imaging. Our results indicate that InAs nanowire arrays are a promising platform for compact computational spectrometry and imaging in the e-SWIR at room temperature.

physics.optics↗
arXiv2026

RoboDreamer: Anticipatory Humanoid Locomotion with Predictive State-Space Models

Humanoid locomotion requires control policies that remain stable under imperfect sensing while exploiting temporal context for consistent motion. We present RoboDreamer, a two-stage teacher--student framework that combines next-observation consistency with randomized continuous temporal masking. A teacher is first trained on clean observations, and a student is then distilled under masked recent observations, encouraging the policy to infer missing current information from history. At inference, the same masking interface is reused for implicit closed-loop action refinement and optional multi-step action chunking. Mamba is used as the temporal backbone, while matched ablations show that masking/distillation provides a substantial part of the gain and Mamba contributes additional tracking improvements with real-time latency. Experiments in IsaacLab, MuJoCo, and on a Unitree G1 demonstrate robust motion tracking under observation masking and successful real-world deployment.

cs.RO↗
arXiv2026

EMERGE-Policy: A Robot Mind Emerges Beyond a Single Policy

A robot's effective ``mind'' need not reside in a single policy. It can emerge when specialized components perceive, reason, predict, act, verify, and remember within a shared orchestration process. EMERGE-Policy turns this perspective into a graph-structured agentic framework that coordinates both capability invocation and information exchange. A Main Agent retains task-level state within an active context window, while role-specific Sub Agents process perception, execution monitoring, verification, and memory consolidation in isolated contexts and return structured, task-relevant evidence. Role-specific contexts control information load by exposing only decision-relevant evidence to the Main Agent, while the functional Skill interface composes heterogeneous backends as Operational, Imagination, and Evaluation Skills. Criterion-grounded verification, textual failure diagnosis, and Branch Stack recovery provide localized correction, with token-aware external memory preserving task-relevant state. Together, their closed-loop interaction realizes the system-level policy captured by the name EMERGE-Policy. Without additional fine-tuning, we achieved outstanding performance on several public benchmark that have had a wide-reaching impact, and conducted a series of real robot experiments. These system-level results suggest that through the division of different functional sub-tasks among multiple agents and their concurrent collaboration, as well as the technical paradigm where the model is regarded as a skill and called within the framework, EMERGE-Policy can extend the robust robot policies beyond isolated runs.

cs.RO↗
arXiv2026

APTER: Adaptive Post-Training with Expert-Grounded Rubrics

As large language models enter professional domains, they must satisfy domain constraints, include critical evidence, and provide complete reasoning rather than merely produce fluent responses. Existing post-training methods often rely on holistic preferences or outcome-level verification, while recent rubric-based methods usually generate rubrics independently for each query. In specialized domains, such unconstrained rubrics may omit critical requirements and vary across samples, hindering the diagnosis and targeted repair of persistent capability deficiencies. We propose APTER (Adaptive Post-Training with Expert-Grounded Rubrics), a framework that integrates structured domain knowledge into fine-grained evaluation, optimization, and diagnosis for specialized complex reasoning. First, expert-grounded rubric construction starts from an expert criteria framework built by domain experts, where each criterion represents a stable professional capability. For each query, APTER selects relevant criteria and instantiates them into query-level rubrics linked to their source criteria, turning reusable expert criteria into executable query-level supervision without reference answers. Second, adaptive post-training uses rubric verdicts as both optimization and criterion-level diagnostic signals. Aggregating low-scoring verdicts by criterion ID reveals persistent deficiencies and triggers targeted supervised fine-tuning updates during reinforcement learning. Experiments on mathematical reasoning and medical question answering show consistent gains across both domains. Across three model generations, APTER improves the mathematics and medical averages over the corresponding base models by up to 15.86 and 8.04 points, respectively. Code and rubric datasets are available at https://github.com/AntDT-APTER/APTER.

cs.AI↗
arXiv2026

Tripwire: Triggering Aligned Refusal via Statistically Certified Safety Neurons

Neuron- and path-level interventions offer the finest-grained route to defending large language models (LLMs) against jailbreak attacks, yet existing methods fall short of this promise, i.e., they often compromise model utility significantly. Specifically, one line of work suppresses toxic neurons to erase harmful semantics, but since such semantics are distributed across the network, blocking every pathway forces a large intervention footprint. An alternative line of research focus on identify safety neurons using external classifiers. While promising, the existing approaches suffer from compromising neurons that are important for the model utility as well. Moreover, both approaches remain always on and thus perturb every benign request even when no attack is present. To address these limitations, we present \ours{}, a training-free defense that first identifies safety-specific neurons through per-neuron hypothesis tests under false-discovery-rate control together with a utility-specificity filter. Based on this identification, a trigger-style clamp holds the selected neurons at their harmful-conditional mean activations, injecting an internal harmful-input signal that triggers the refusal behavior learned during alignment. The clamp is then realized by two provably equivalent deployment modes, namely a detector-gated inference-time intervention and an offline bias-patch weight edit. Extensive experiments across four safety-aligned LLMs and four representative attacks demonstrate that \ours{} reduces the average attack success rate to at most 2.0\% while incurring a utility drop of only 0.5\% to 5.3\% on MT-Bench, the smallest among all defenses. Code is available at https://anonymous.4open.science/r/Tripwire-65C4.

cs.AI↗
arXiv2026

Alpha as an Efficiency Signal: Visibility-Routed RGBA Image-to-Video Generation

RGBA videos combine RGB appearance with an alpha channel, enabling animated assets to be applied across arbitrary backgrounds, which are heavily used in gaming industry. However, generating high-quality RGBA animations for games remains challenging for two reasons. First, most existing RGBA video datasets are dominated by photorealistic content, with limited coverage of game assets. Second, the traditional generate-then-matte pipelines estimate alpha only after RGB synthesis, so semi-transparent regions are often blurred by background, resulting in unstable matting outputs. More recently, many methods have begun to model RGB and alpha jointly, but existing approaches are mostly text-conditioned, and still have unresolved issues in efficiency and quality. To address these challenges, we introduce GameAlpha-2.4K, a 2.4K-clip game-style RGBA video dataset built with matte-friendly synthesis, multi-hypothesis alpha recovery, and compositing-based quality gates. Using this dataset, we train a reference-conditioned RGBA video generator that jointly produces RGB frames and alpha mattes in a single pass. To improve efficiency, we propose a visibility router that identifies transparent tokens in an early stage and bypasses their later DiT updates, while x_0-lock guides them along the original flow-matching schedule toward self-predicted endpoints. Our model obtains lower FVD than traditional two-stage pipelines, and the visibility router skips 35% of token evaluations in the final two DiT denoising steps, providing a 1.2x backbone speedup with negligible quality degradation compared to dense inference.

cs.CV↗
arXiv2026

Beyond Residual Connections: Manifold-Constrained Hyper-Connections for Robust Speaker Representation Learning

Residual connections are fundamental to deep speaker recogni- tion models, such as ECAPA-TDNN and ResNet. However, standard identity mapping limits information flow to a sin- gle path, constraining representation capacity. We introduce Manifold-Constrained Hyper-Connections (mHC), reformulat- ing residual paths as a multi-stream evolution where informa- tion is mixed through a doubly stochastic matrix. By employing Sinkhorn-Knopp iterations, mHC ensures energy conservation by preserving signal intensity and feature mean, which stabi- lizes gradients and mitigates signal degradation in complex net- works. We evaluate mHC by replacing standard residual con- nections in backbones including ECAPA-TDNN, ResNet-34, Res2Net, and E-Res2Net. Extensive experiments on VoxCeleb1 demonstrate that mHC connections consistently enhance per- formance across all architectures, highlighting its effectiveness for robust speaker representation learning.

cs.SD↗
arXiv2026

$\omega$-0: A Latent Predictive World Action Model for Concurrent Humanoid Loco-Manipulation

Humanoid household tasks often require concurrent loco-manipulation, where the robot must move, adjust posture, maintain balance, and manipulate objects as a single coordinated behavior. Yet existing humanoid policies typically decompose locomotion and manipulation, while recent world-action models remain either arm-centric or video-centered. We present $\omega$-0, a latent predictive whole-body world-action model for real-world humanoid concurrent loco-manipulation. Given a language instruction, current visual observation, and robot proprioceptive state, $\omega$-0 directly predicts controller-compatible whole-body action latents for real-robot execution. Rather than reconstructing future videos, $\omega$-0 learns compact future observation embeddings as a lightweight predictive objective, coupling latent visual foresight with diffusion-based whole-body action generation. The model supports egocentric RGB, exocentric RGB, and exocentric depth inputs, and leverages controller-based simulation replay to ground human/public visual-motion priors into robot-executable action latents. We further collect $\omega$-HOME, a 40+ hour real-world household humanoid dataset with synchronized multi-view observations, whole-body SMPL motions, robot states, and action latents. Real-world experiments on 11 household tasks demonstrate that a single $\omega$-0 model can produce smooth manipulate-while-moving behaviors and consistently outperform representative imitation learning, VLA, humanoid, and WAM baselines.

cs.RO↗
arXiv2026

CoCo-IR: Contextual Composed Image Retrieval

Current instruction-based image retrieval systems are powerful but limited to single-turn interactions, failing to capture the iterative nature of complex, real-world visual searches. To overcome this limitation, we introduce Contextual Composed Image Retrieval (CoCo-IR), a novel task that enables users to progressively refine search results through interactions. We address this new task by proposing a new model based on a Large Multimodal Model (LMM) that functions as a context-aware reasoner for CoCo-IR. Our model interprets the entire interaction history to generate Transformable Image Embeddings (TIE) that evolve across turns. To fuel the model training without expensive human annotations, we develop a fully autonomous, scalable data engine that leverages LMMs to generate high-quality contextual retrieval data, and uses model-guided verification to mine challenging hard negatives. Extensive experiments demonstrate that our approach establishes new state-of-the-art performance: We achieve 39.4 mAP@5 on the challenging single-turn benchmark CIRCO; furthermore, on our new CoCo-IR benchmark, our model maintains robust performance with 44.1 R@1 on 4-turn dialogues, dramatically outperforming existing methods (28.2 4-turn R@1) that fail to handle multi-turn context. Project page: https://CoCo-IR.github.io.

cs.CV↗
arXiv2026

Learning Physical Interaction: A Survey of Tactile- and Force-aware Robot Learning

Physically grounded robot intelligence requires robots to perceive, reason about, and regulate their interactions with the physical world. This capability is particularly critical in contact-sensitive manipulation, where successful task execution depends not only on visual perception and motion generation, but also on force regulation and adaptive control. In this context, recent robot learning methods have made substantial progress by integrating force, tactile, vision, language, and proprioceptive sensing into learned manipulation policies. In parallel, many systems adopt multi-phase architectures that combine high-level policies, action-refinement modules, and low-level controllers to bridge semantic task understanding with reactive physical execution. Despite these advances, existing surveys have not explicitly reviewed force- and tactile-aware robot learning from a unified perspective that jointly captures multimodal sensing and multi-phase system design. This survey addresses this gap by proposing TF-ART, a Tactile/Force-Aware Robot learning Taxonomy for multimodal and multi-phase frameworks, which maps individual methods into a unified hierarchical structure. The framework characterizes how recent works organize observation modalities, encode and fuse heterogeneous sensory inputs, generate and refine actions across multiple phases, and connect learned policies to reactive robot-end control. Building on this methodological view, we further examine the task settings and infrastructure requirements of physical interaction, thereby integrating both algorithmic and practical perspectives on force- and tactile-aware robot learning.

cs.RO↗
arXiv2026

EmoEUS: Uncertainty Supervision for Multimodal Emotion Recognition in Conversation

Multimodal emotion recognition in conversation (MERC) can leverage multimodal and contextual cues to boost recognition performance. However, existing fusion approaches in MERC often ignore modality-specific uncertainty across utterances caused by conflicting cues, varying noise, and missing modality-specific signals. We propose EmoEUS, an explicit uncertainty supervision framework for MERC. EmoEUS performs uncertainty-aware multimodal fusion by dynamically weighting modalities using learned variance estimates. We also introduce an explicitly supervised loss that aligns each utterance's predicted variance with the distance between the utterance's distributional representation and its emotion- and modality-specific cluster center. Experiments on IEMOCAP and MELD show that EmoEUS consistently outperforms state-of-the-art methods.

cs.MM↗
arXiv2026

Open-AoE: An Open Egocentric Manipulation Dataset and Toolchain for Embodied Learning

Egocentric videos of human manipulation provide scalable supervision for embodied intelligence, yet existing resources rarely combine low-cost continuous capture, manipulation-level structured annotations, and reusable tools for robot learning. We present Open-AoE, an open, community-oriented egocentric manipulation dataset and toolchain spanning the full pipeline from smartphone capture to model training. Its first release contains approximately 2,000 hours of manipulation video collected in natural environments by 500+ contributors using 400+ smartphones. The dataset provides text annotations, MANO-based hand poses, camera trajectories, and temporally localized atomic actions. Open-AoE further includes a data processing pipeline that transforms raw recordings into structured samples through temporal action segmentation, semantic annotation, hand reconstruction, and camera trajectory reconstruction. Meanwhile, we provide a separate downstream toolchain supports visualization, cross-embodiment retargeting, model-specific data conversion, and training recipes for VLA policies, WAMs, and World Models. By integrating scalable capture, structured processing, and downstream adaptation, Open-AoE reduces the barriers to both data contribution and reuse, providing practical open infrastructure for embodied model training, human-to-robot transfer, and world modeling.

cs.RO↗
arXiv2026

Unveiling the Spin-Valley Structure of Dipolar Exciton Ladders in R-stacked WSe$_2$/WS$_2$ Moir\'e Heterobilayers

Localized interlayer excitons in moir\'e heterobilayers can form dipolar exciton ladders, yet their internal spin-valley structure remains unresolved. Here, we use helicity-resolved magneto-photoluminescence to identify the microscopic origin of the ladder in R-stacked WSe$_2$/WS$_2$ at charge neutrality and one-electron filling of the moir\'e lattice. At charge neutrality, the first two emission peaks correspond to a spin-triplet interlayer exciton and a triplet-triplet two-exciton state separated by 38 meV, reflecting the on-site dipolar interaction. The opposite Zeeman response of the apparent third rung of the ladder rules out its assignment as a spin-conserving three-exciton state and instead identifies it as a triplet-singlet two-exciton configuration with a 22 meV offset set by the WS$_2$ conduction-band spin splitting. At one-electron filling, the correlated electronic background gives rise to charged one- and two-exciton states and intervalley/intravalley two-exciton configurations, while reducing the effective exciton-exciton interaction. Our results establish a spin-valley-resolved picture of dipolar exciton ladders beyond simple occupation-number physics in moir\'e heterobilayers.

cond-mat.mes-hall↗
arXiv2026

DeSeG: Decoupling Semantic Intent and Geometric Constraints for Physically Plausible Human-Scene Interaction

Synthesizing physically plausible human-scene interactions (HSI) remains a critical challenge in computer vision and the development of human avatars. Although recent generative models enable diverse motion synthesis, they suffer from an inductive bias referred to as semantic-geometric entanglement. Because spatial constraints often strongly correlate with specific actions in training data, monolithic models will learn the shortcut bias, aggressively overriding the semantic intent when faced with strict geometric cues. Furthermore, this entanglement exacerbates physical hallucinations, such as body-scene penetrations. To address these limitations, we propose DeSeG, a hierarchical framework that explicitly decouples semantic intent from geometric constraints. First, we introduce a Residual Semantic Planner that encodes textual instructions and canonicalized goal voxels into a compact latent space, enabling fine-grained semantic control independent of spatial trajectories. Second, we propose a physics regularized diffusion executor that incorporates differentiable repulsive potential fields directly into the diffusion objective, enforcing collision-aware motion generation. Extensive experiments on the Lingo dataset demonstrate that DeSeG achieves state-of-the-art performance, reducing mean scene penetration by 47% and improving semantic alignment by 29% over the SOTA baselines.

cs.CV↗
arXiv2026

DT-Guard: Intent-Driven Reasoning-Active Training for Reasoning-Free LLM Safety Guardrail

Large language models deployed in open-world applications require safety guardrails that are both robust to complex risks and efficient enough for low-latency runtime moderation. Existing guardrails face a practical trade-off between lightweight classification-based models, which are efficient but often struggle with concealed intent, ambiguous semantics, and borderline safety decisions, and reasoning-based guards, which improve judgment quality but introduce additional token generation and inference latency. We present DT-Guard, a content safety guardrail model based on a Reasoning-Active Training, Reasoning-Free Inference paradigm. The key idea is to use reasoning supervision during training while emitting only structured safety labels at inference time. DT-Guard formulates safety judgment as a progressive decision process, Intent - Category - Safety, and constructs an intent-driven dataset with intent labels, risk categories, safety labels, and structured reasoning trajectories. To further improve hard-case robustness, we propose Rollout-Guided Progressive Hard-Case Optimization (RG-PHO), which uses multi-rollout consistency to identify stably mastered, persistently failed, and preference-unstable samples, and applies targeted supervised and preference optimization accordingly. At inference time, DT-Guard directly generates structured labels without explicit reasoning traces, preserving deployment efficiency. Experiments on prompt-side and response-side safety benchmarks show that DT-Guard achieves average F1 scores of 0.886 and 0.870, respectively. With only a 4B backbone, it reaches a dual-side average F1 of 0.878, outperforming strong 8B guardrail baselines. These results demonstrate that reasoning supervision can be effectively internalized into low-latency safety discrimination.

cs.AI↗
arXiv2026

Visual-Seeker: Towards Visual-Native Multimodal Agentic Search via Active Visual Reasoning

Multimodal large language models (MLLMs) have demonstrated impressive capabilities in many visual tasks, but they often struggle with factual grounding when confronted with complex, open-world scenarios. While recent multimodal deep search agents attempt to address this issue by utilizing external tools, the visual-native search paradigm remains underexplored. Existing methods primarily rely on simple images with explicit semantics and text-only evidence trajectories, limiting the agent's ability to perform multi-hop, cross-modal reasoning and search. To address these limitations, we propose Visual-Seeker, a visual-native multimodal deep search agent via active visual reasoning. Rather than treating vision as a static input, our agent actively attends to fine-grained visual details, dynamically harvests visual evidence throughout the search process. To unlock its visual-native potential, we design an active visual reasoning data pipeline and synthesize 5K high-quality multimodal trajectories for model training. Extensive experiments demonstrate the state-of-the-art performance across five challenging multimodal search benchmarks, even surpassing several proprietary models, validating robust visual-native reasoning and search in real-world web environments. The code and data can be accessed at: https://github.com/ZhengboZhang/Visual-Seeker.

cs.AI↗
arXiv2026

Stain-Aware Wavelet Regularization for Instant Adversarial Purification in Histopathology

Deep learning has become prevalent in computational pathology pipelines that support tasks such as cancer screening and digital pathology analysis. However, the susceptibility of neural networks to adversarial perturbations raises safety concerns for reliable deployment in clinical practice. In histopathological images, this challenge is exacerbated by the difficulty of distinguishing high-frequency adversarial noise from subtle and diagnostically relevant tissue structures. To address this issue, we propose Stain-Aware Wavelet Regularization (SAWR), an adversarial purification framework that leverages multi-level wavelet-domain regularization based on Haar transform to hierarchically disentangle adversarial perturbations from diagnostic structural information. This spectral constraint is further extended to individual histological channels, enabling stain-specific frequency regulation consistent with the biological properties of Hematoxylin and Eosin. Extensive experiments demonstrate that SAWR improves adversarial robustness by up to 10.69\% over the baseline approach, while maintaining texture and spectral fidelity under adversarial perturbations.

cs.CV↗
arXiv2026

Towards stable and accurate electron dynamics via neural network based time-dependent variational Monte Carlo

Real-time dynamics of interacting electrons lies at the interface between quantum mechanics and non-equilibrium physics, governing the microscopic origin of ultrafast phenomena of molecules and nano-materials. Though neural network variational Monte Carlo has achieved unprecedented accuracy for stationary state calculations, its extension to real-time evolution remains challenging. In this work, we introduce the neural basis time-dependent variational Monte Carlo framework, which achieves stable and highly accurate simulations of electron dynamics. By constraining the time evolution to a compact, customized manifold spanned by the neural basis, we effectively bypass instability issues and achieve long-term stable evolution. Moreover, we demonstrate that this framework yields benchmark-quality accuracy in simulating the laser-driven dipole responses of the hydrogen atom and a stretched hydrogen molecule, and accurately extracts the dynamic polarizabilities of helium and beryllium atoms. Our work reveals the vast potential of neural network wavefunctions for accurately describing real-time electron dynamics and establishes a promising new route for first-principles simulations of complex, time-dependent electronic phenomena.

physics.comp-ph↗