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Zhenyu Li

Publications and source records attributed to Zhenyu Li.

At least 37 records · Page 2Linked to original sources
arXiv2026

LaRI: Layered Ray Intersections for Single-view 3D Geometric Reasoning

We present Layered Ray Intersections (LaRI), a fully supervised method for occluded geometry reasoning from a single image. Unlike conventional depth estimation, which is limited to visible surfaces, LaRI predicts multiple surfaces intersected by the camera rays using layered point maps. Compared to the existing approaches that leverage neural implicit representations or iterative refinement, LaRI achieves complete scene reconstruction in one feed-forward pass, enabling efficient and view-aligned geometric reasoning to underpin both object-level and scene-level tasks. We further propose to predict the ray stopping index, which identifies valid intersecting pixels and layers from LaRI's output. To better underpin and evaluate this task, we build an annotation pipeline using rendering engines, construct annotations for five public datasets, including synthetic and real-world data covering 3D objects and scenes. As a generic method, LaRI's performance is validated in object-level and scene-level reconstruction tasks.

cs.CV↗
arXiv2026

Towards On-Policy Data Evolution for Visual-Native Multimodal Deep Search Agents

Multimodal deep search requires an agent to solve open-world problems by chaining search, tool use, and visual reasoning over evolving textual and visual context. Two bottlenecks limit current systems. First, existing tool-use harnesses treat images returned by search, browsing, or transformation as transient outputs, so intermediate visual evidence cannot be re-consumed by later tools. Second, training data is usually built by fixed curation recipes that cannot track the target agent's evolving capability. To address these challenges, we first introduce a visual-native agent harness centered on an image bank reference protocol, which registers every tool-returned image as an addressable reference and makes intermediate visual evidence reusable by later tools. On top of this harness, On-policy Data Evolution (ODE) runs a closed-loop data generator that refines itself across rounds from rollouts of the policy being trained. This per-round refinement makes each round's data target what the current policy still needs to learn. The same framework supports both diverse supervised fine-tuning data and policy-aware reinforcement learning data curation, covering the full training lifecycle of the target agent. Across 8 multimodal deep search benchmarks, ODE improves the Qwen3-VL-8B agent from 24.9% to 39.0% on average, surpassing Gemini-2.5 Pro in standard agent-workflow setting (37.9%). At 30B, ODE raises the average score from 30.6% to 41.5%. Further analyses validate the effectiveness of image-bank reuse, especially on complex tasks requiring iterative visual refinement, while rollout-feedback evolution yields more grounded SFT traces and better policy-matched RL tasks than static synthesis.

cs.CL↗
arXiv2026

Adversarial Attacks on Robot Localization Systems via Deep Feature Perturbation

Robot localization systems are critical for autonomous navigation and safety. Adversarial perturbations can mislead these systems, resulting in mislocalization, navigation errors, or unsafe interactions, especially in mission-critical scenarios. This paper investigates the vulnerability of deep learning based localization pipelines to adversarial attacks. We propose a novel framework for generating adversarial queries that specifically target Product Quantization (PQ) in visual localization systems. Our method employs a Lightweight Product Quantization Network (LPQN) to perturb query feature encodings, misleading the retrieval process by returning semantically irrelevant database entries. Adversarial queries are generated via a two-phase procedure: a forward pass that perturbs feature distributions and a backward pass that refines the perturbation through optimization. The lightweight design of LPQN allows the creation of subtle yet highly effective perturbations with minimal computational overhead. Extensive experiments in both controlled and real-world robotic environments demonstrate that our approach substantially degrades PQN performance, exposing critical vulnerabilities in practical applications.

cs.CV↗
arXiv2026

RIS-Assisted Survivable Backhaul Recovery in Small-Cell Systems

The increasing densification of small-cell networks substantially expands cable-based backhaul infrastructure, creating heightened vulnerability to cable link failures. This paper proposes a reconfigurable intelligent surface (RIS)-assisted backup framework that exploits a key insight: during backhaul cable failures, base station (BS) radio components remain functional, enabling wireless backhaul traffic redistribution. Our framework maintains network connectivity by redistributing disconnected BS backhaul traffic to neighboring BSs through RIS-assisted wireless links. To maximize survivability across varying traffic conditions, we formulate a joint optimization problem that maximizes total resolvable backhaul traffic by jointly deciding BS selection, RIS phase shifts, and precoding vectors. The inherent non-convexity arising from coupling and quadratic fractional term is addressed through an alternating optimization algorithm that iteratively solves tractable convex subproblems via quadratic transformation. Comprehensive numerical evaluations demonstrate that the proposed RIS-enhanced framework significantly improves survivability from 58% to 72% under challenging high-intensity hotspot traffic conditions. Moreover, RIS provides the greatest gains for antenna-constrained systems by extending coverage to access more spare capacity of the distant BSs as well as enhancing the signal strength. Consequently, high survivability is achieved even with only two antennas per BS under moderate traffic intensity.

cs.IT↗
arXiv2026

Transformer refined quantum sampling for strongly correlated electronic structure

Although quantum computing offers a promising solution for strongly correlated system simulation, existing algorithms face significant bottlenecks on current noisy intermediate-scale quantum (NISQ) devices. Here, we introduce QiankunNet-QSCI, a hybrid quantum-classical framework that addresses this challenge by combining efficient quantum-sampling with a transformer neural network. An efficient unitary selected configuration Interaction (USCI) ansatz especially designed for quantum sampling is proposed to identify the most chemically significant electronic configurations on the Zuchongzhi 3.1 quantum processor. Subsequently, the transformer model QiankunNet learns from these sparse yet critical quantum data to infer and reconstruct the complete electronic wavefunction with high fidelity. Simulation of the challenging 40-qubit [2Fe-2S] ferredoxin active center achieves chemical accuracy. Simulation of the nitrogenase P-cluster in a 114-electron 73-orbital active space also reaches 12 milli-Hartree-level agreement with the best density matrix renormalization group (DMRG) result. QiankunNet-QSCI thus offers a practical route to accurate quantum-assisted electronic structure calculations on current devices.

quant-ph↗
arXiv2026

DissolveStereo: Coarse Depth Injection for Zero-Shot Stereo Video Generation

Generating high-quality stereo videos requires consistent depth perception and temporal coherence across frames. Despite advances in image and video synthesis using diffusion models, producing high-quality stereo videos remains a challenging task due to the difficulty of maintaining consistent temporal and spatial coherence between left and right views. We introduce DissolveStereo, a novel framework for zero-shot stereo video generation that leverages video diffusion priors without requiring paired training data. Our key innovations include a noisy restart strategy to initialize stereo-aware latent representations and an iterative refinement process that progressively harmonizes the latent space, addressing issues like temporal flickering and view inconsistencies. Importantly, we propose the use of dissolved depth maps to streamline latent space operations by reducing high-frequency depth information. Our comprehensive evaluations, including quantitative metrics and user studies, demonstrate that DissolveStereo produces high-quality stereo videos with enhanced depth consistency and temporal smoothness. In terms of epipolar consistency, our method achieves an 11.7% improvement in MEt3R score over the current state-of-the-art. Furthermore, user studies indicate strong perceptual gains over the previous arts, with an 8.0% higher perceived frame quality and 10.9% higher perceived temporal coherence. Our code is in https://github.com/shijianjian/DissolveStereo.

cs.CV↗
arXiv2026

A Fully GPU-Accelerated Framework for High-Performance Configuration Interaction Selection with Neural Network Quantum States

AI-driven methods have demonstrated considerable success in tackling the central challenge of accurately solving the Schrödinger equation for complex many-body systems. Among neural network quantum state (NNQS) approaches, the NNQS-SCI (Selected Configuration Interaction) method stands out as a state-of-the-art technique, recognized for its high accuracy and scalability. However, its application to larger systems is severely constrained by a hybrid CPU-GPU architecture. Specifically, centralized CPU-based global de-duplication creates a severe scalability barrier due to communication bottlenecks, while host-resident coupled-configuration generation induces prohibitive computational overheads. We introduce QiankunNet-cuSCI, a fully GPU-accelerated SCI framework designed to overcome these bottlenecks. It first integrates a distributed, load-balanced global de-duplication algorithm to minimize redundancy and communication overhead at scale. To address compute limitations, it employs specialized, fine-grained CUDA kernels for exact coupled configuration generation. Finally, to break the single-GPU memory barrier exposed by this full acceleration, it incorporates a GPU memory-centric runtime featuring GPU-side pooling, streaming mini-batches, and overlapped offloading. This design enables much larger configuration spaces and shifts the bottleneck from host-side limitations back to on-device inference. Our evaluation demonstrates that our work fundamentally expands the scale of solvable problems. On an NVIDIA A100 cluster with 64 GPUs, our work achieves up to 2.32X end-to-end speedup over the highly-optimized NNQS-SCI baseline while preserving the same chemical accuracy. Furthermore, it demonstrates excellent distributed performance, maintaining over 90% parallel efficiency in strong scaling tests.

cs.DC↗
arXiv2026

Agent-World: Scaling Real-World Environment Synthesis for Evolving General Agent Intelligence

Large language models are increasingly expected to serve as general-purpose agents that interact with external, stateful tool environments. The Model Context Protocol (MCP) and broader agent skills offer a unified interface for connecting agents with scalable real-world services, but training robust agents remains limited by the lack of realistic environments and principled mechanisms for life-long learning. In this paper, we present \textbf{Agent-World}, a self-evolving training arena for advancing general agent intelligence through scalable environments. Agent-World has two main components: (1) Agentic Environment-Task Discovery, which autonomously explores topic-aligned databases and executable tool ecosystems from thousands of real-world environment themes and synthesizes verifiable tasks with controllable difficulty; and (2) Continuous Self-Evolving Agent Training, which combines multi-environment reinforcement learning with a self-evolving agent arena that automatically identifies capability gaps through dynamic task synthesis and drives targeted learning, enabling the co-evolution of agent policies and environments. Across 23 challenging agent benchmarks, Agent-World-8B and 14B consistently outperforms strong proprietary models and environment scaling baselines. Further analyses reveal scaling trends in relation to environment diversity and self-evolution rounds, offering insights for building general agent intelligence.

cs.AI↗
arXiv2026

Riemannian and Symplectic Geometry for Hierarchical Text-Driven Place Recognition

Text-to-point-cloud localization enables robots to understand spatial positions through natural language descriptions, which is crucial for human-robot collaboration in applications such as autonomous driving and last-mile delivery. However, existing methods employ pooled global descriptors for similarity retrieval, which suffer from severe information loss and fail to capture discriminative scene structures. To address these issues, we propose SympLoc, a novel coarse-to-fine localization framework with multi-level alignment in the coarse stage. Different from previous methods that rely solely on global descriptors, our coarse stage consists of three complementary alignment levels: 1) Instance-level alignment establishes direct correspondence between individual object instances in point clouds and textual hints through Riemannian self-attention in hyperbolic space; 2) Relation-level alignment explicitly models pairwise spatial relationships between objects using the Information-Symplectic Relation Encoder (ISRE), which reformulates relation features through Fisher-Rao metric and Hamiltonian dynamics for uncertainty-aware geometrically consistent propagation; 3) Global-level alignment synthesizes discriminative global descriptors via the Spectral Manifold Transform (SMT) that extracts structural invariants through graph spectral analysis. This hierarchical alignment strategy progressively captures fine-grained to coarse-grained scene semantics, enabling robust cross-modal retrieval. Extensive experiments on the KITTI360Pose dataset demonstrate that SympLoc achieves a 19% improvement in Top-1 recall@10m compared to existing state-of-the-art approaches.

cs.CV↗
arXiv2026

Owl-AuraID 1.0: An Intelligent System for Autonomous Scientific Instrumentation and Scientific Data Analysis

Scientific discovery increasingly depends on high-throughput characterization, yet automation is hindered by proprietary GUIs and the limited generalizability of existing API-based systems. We present Owl-AuraID, a software-hardware collaborative embodied agent system that adopts a GUI-native paradigm to operate instruments through the same interfaces as human experts. Its skill-centric framework integrates Type-1 (GUI operation) and Type-2 (data analysis) skills into end-to-end workflows, connecting physical sample handling with scientific interpretation. Owl-AuraID demonstrates broad coverage across ten categories of precision instruments and diverse workflows, including multimodal spectral analysis, microscopic imaging, and crystallographic analysis, supporting modalities such as FTIR, NMR, AFM, and TGA. Overall, Owl-AuraID provides a practical, extensible foundation for autonomous laboratories and illustrates a path toward evolving laboratory intelligence through reusable operational and analytical skills. The code are available at https://github.com/OpenOwlab/AuraID.

cs.AI↗
arXiv2026

V2Rho-FNO: Fourier Neural Operator for Electronic Density Prediction

Density functional theory (DFT) is a cornerstone of computational chemistry and materials science, but its computational cost limits its use in large-scale and high-throughput applications. While machine learning has accelerated energy prediction for specific molecular classes, transferable prediction of electron density across diverse chemical spaces remains challenging. Here, we present a universal framework based on Fourier Neural Operators (FNOs) that directly learns the mapping from external potentials to electron density distributions. Unlike conventional approaches that rely on explicit atomic orbitals, basis sets, or handcrafted descriptors, the proposed method captures global electronic interactions and long-range correlations through operator learning in the spatial-frequency domain. Trained on datasets spanning multiple elements and molecular geometries, the model achieves zero-shot generalization to entirely unseen molecular systems and accurately predicts their electron densities without retraining. This transferability arises from the intrinsic ability of FNOs to represent global structure in continuous fields. Our work establishes neural operator learning as a promising route for fast, accurate, and transferable electronic structure prediction, with potential applications in high-throughput screening and chemical space exploration.

physics.chem-ph↗
arXiv2026

Limited Reasoning Space: The cage of long-horizon reasoning in LLMs

The test-time compute strategy, such as Chain-of-Thought (CoT), has significantly enhanced the ability of large language models to solve complex tasks like logical reasoning. However, empirical studies indicate that simply increasing the compute budget can sometimes lead to a collapse in test-time performance when employing typical task decomposition strategies such as CoT. This work hypothesizes that reasoning failures with larger compute budgets stem from static planning methods, which hardly perceive the intrinsic boundaries of LLM reasoning. We term it as the Limited Reasoning Space hypothesis and perform theoretical analysis through the lens of a non-autonomous stochastic dynamical system. This insight suggests that there is an optimal range for compute budgets; over-planning can lead to redundant feedback and may even impair reasoning capabilities. To exploit the compute-scaling benefits and suppress over-planning, this work proposes Halo, a model predictive control framework for LLM planning. Halo is designed for long-horizon tasks with reason-based planning and crafts an entropy-driven dual controller, which adopts a Measure-then-Plan strategy to achieve controllable reasoning. Experimental results demonstrate that Halo outperforms static baselines on complex long-horizon tasks by dynamically regulating planning at the reasoning boundary.

cs.AI↗
arXiv2026

EgoPoseFormer v2: Accurate Egocentric Human Motion Estimation for AR/VR

Egocentric human motion estimation is essential for AR/VR experiences, yet remains challenging due to limited body coverage from the egocentric viewpoint, frequent occlusions, and scarce labeled data. We present EgoPoseFormer v2, a method that addresses these challenges through two key contributions: (1) a transformer-based model for temporally consistent and spatially grounded body pose estimation, and (2) an auto-labeling system that enables the use of large unlabeled datasets for training. Our model is fully differentiable, introduces identity-conditioned queries, multi-view spatial refinement, causal temporal attention, and supports both keypoints and parametric body representations under a constant compute budget. The auto-labeling system scales learning to tens of millions of unlabeled frames via uncertainty-aware semi-supervised training. The system follows a teacher-student schema to generate pseudo-labels and guide training with uncertainty distillation, enabling the model to generalize to different environments. On the EgoBody3M benchmark, with a 0.8 ms latency on GPU, our model outperforms two state-of-the-art methods by 12.2% and 19.4% in accuracy, and reduces temporal jitter by 22.2% and 51.7%. Furthermore, our auto-labeling system further improves the wrist MPJPE by 13.1%.

cs.CV↗
arXiv2026

Any Resolution Any Geometry: From Multi-View To Multi-Patch

Joint estimation of surface normals and depth is essential for holistic 3D scene understanding, yet high-resolution prediction remains difficult due to the trade-off between preserving fine local detail and maintaining global consistency. To address this challenge, we propose the Ultra Resolution Geometry Transformer (URGT), which adapts the Visual Geometry Grounded Transformer (VGGT) into a unified multi-patch transformer for monocular high-resolution depth--normal estimation. A single high-resolution image is partitioned into patches that are augmented with coarse depth and normal priors from pre-trained models, and jointly processed in a single forward pass to predict refined geometric outputs. Global coherence is enforced through cross-patch attention, which enables long-range geometric reasoning and seamless propagation of information across patches within a shared backbone. To further enhance spatial robustness, we introduce a GridMix patch sampling strategy that probabilistically samples grid configurations during training, improving inter-patch consistency and generalization. Our method achieves state-of-the-art results on UnrealStereo4K, jointly improving depth and normal estimation, reducing AbsRel from 0.0582 to 0.0291, RMSE from 2.17 to 1.31, and lowering mean angular error from 23.36 degrees to 18.51 degrees, while producing sharper and more stable geometry. The proposed multi-patch framework also demonstrates strong zero-shot and cross-domain generalization and scales effectively to very high resolutions, offering an efficient and extensible solution for high-quality geometry refinement.

cs.CV↗
arXiv2026

Efficient Attention Mechanisms for Large Language Models: A Survey

Transformer-based architectures have become the prevailing backbone of large language models. However, the quadratic time and memory complexity of self-attention remains a fundamental obstacle to efficient long-context modeling. To address this limitation, recent research has introduced two principal categories of efficient attention mechanisms. Linear attention methods achieve linear complexity through kernel approximations, recurrent formulations, or fastweight dynamics, thereby enabling scalable inference with reduced computational overhead. Sparse attention techniques, in contrast, limit attention computation to selected subsets of tokens based on fixed patterns, block-wise routing, or clustering strategies, enhancing efficiency while preserving contextual coverage. This survey provides a systematic and comprehensive overview of these developments, integrating both algorithmic innovations and hardware-level considerations. In addition, we analyze the incorporation of efficient attention into largescale pre-trained language models, including both architectures built entirely on efficient attention and hybrid designs that combine local and global components. By aligning theoretical foundations with practical deployment strategies, this work aims to serve as a foundational reference for advancing the design of scalable and efficient language models.

cs.CL↗
arXiv2026

A2GC: Asymmetric Aggregation with Geometric Constraints for Locally Aggregated Descriptors

Visual Place Recognition (VPR) aims to match query images against a database using visual cues. State-of-the-art methods aggregate features from deep backbones to form global descriptors. Optimal transport-based aggregation methods reformulate feature-to-cluster assignment as a transport problem, but the standard Sinkhorn algorithm symmetrically treats source and target marginals, limiting effectiveness when image features and cluster centers exhibit substantially different distributions. We propose an asymmetric aggregation VPR method with geometric constraints for locally aggregated descriptors, called $A^2$GC-VPR. Our method employs row-column normalization averaging with separate marginal calibration, enabling asymmetric matching that adapts to distributional discrepancies in visual place recognition. Geometric constraints are incorporated through learnable coordinate embeddings, computing compatibility scores fused with feature similarities, thereby promoting spatially proximal features to the same cluster and enhancing spatial awareness. Experimental results on MSLS, NordLand, and Pittsburgh datasets demonstrate superior performance, validating the effectiveness of our approach in improving matching accuracy and robustness.

cs.CV↗
arXiv2026

Geometry without Position? When Positional Embeddings Help and Hurt Spatial Reasoning

This paper revisits the role of positional embeddings (PEs) within vision transformers (ViTs) from a geometric perspective. We show that PEs are not mere token indices but effectively function as geometric priors that shape the spatial structure of the representation. We introduce token-level diagnostics that measure how multi-view geometric consistency in ViT representation depends on consitent PEs. Through extensive experiments on 14 foundation ViT models, we reveal how PEs influence multi-view geometry and spatial reasoning. Our findings clarify the role of PEs as a causal mechanism that governs spatial structure in ViT representations. Our code is provided in https://github.com/shijianjian/vit-geometry-probes

cs.CV↗
arXiv2026

Feasibility Study Regarding Self-sustainable Reconfigurable Intelligent Surfaces

Without requiring operational costs such as cabling and powering while maintaining reconfigurable phase-shift capability, self-sustainable reconfigurable intelligent surfaces (ssRISs) can be deployed in locations inaccessible to conventional relays or base stations, offering a novel approach to enhance wireless coverage. This study assesses the feasibility of ssRIS deployment by analyzing two harvest-and-reflect (HaR) schemes: element-splitting (ES) and time-splitting (TS). We examine how element requirements scale with key system parameters, transmit power, data rate demands, and outage constraints under both line-of-sight (LOS) and non-line-of-sight (NLOS) ssRIS-to-user equipment (UE) channels. Analytical and numerical results reveal distinct feasibility characteristics. The TS scheme demonstrates better channel hardening gain, maintaining stable element requirements across varying outage margins, making it advantageous for indoor deployments with favorable harvesting conditions and moderate data rates. However, TS exhibits an element requirement that exponentially scales to harvesting difficulty and data rate. Conversely, the ES scheme shows only linear growth with harvesting difficulty, providing better feasibility under challenging outdoor scenarios. These findings establish that TS excels in benign environments, prioritizing reliability, while ES is preferable for demanding conditions requiring operational robustness.

cs.IT↗