arXiv subjects

Zhichao You

Publications and source records attributed to Zhichao You.

6 recordsLinked to original sources

arXiv2026

PaCo-VLA: Passivity-Shielded Compliance Prior for Contact-Rich Vision-Language-Action Manipulation

Contact-rich manipulation demands both high-level semantic reasoning and the safe regulation of high-frequency contact dynamics. While Vision-Language-Action (VLA) models provide unprecedented semantic generalization, their low-rate outputs lack the reliability required for direct plant authority in force-sensitive tasks. To bridge this semantic-to-control gap, we introduce PaCo-VLA, a passivity-shielded compliance prior that recasts the VLA interface. Rather than trusting VLAs with direct motor commands, PaCo-VLA treats network outputs as task-level compliance proposals: semantic bindings, task stages, and admittance schedules. A high-frequency, proposal-independent passivity shield governs these proposals through energy-tank accounting and boundary checks, preventing invalid, stale, or unverified model predictions from bypassing low-level contact physics. This decoupled architecture also enables causal evaluation, isolating semantic contributions from geometric shortcuts. Extensive simulated and real-world connector-insertion experiments demonstrate that PaCo-VLA achieves superior precision over unshielded VLA baselines, sustaining zero passivity violations even under adversarial compliance shifts. This framework establishes a provably sampled-passive runtime contract at the admittance port and provides a runtime interface for deploying foundation models in contact-rich domains.

cs.RO↗

arXiv2026

Déjà Cue: Localizing States in Object Histories via Vocabulary-Relative Coordinates

Tracking links observations of the same object through visual change, yet cannot by itself determine when the object is empty or filled, intact or cut. We formulate identity-conditioned state-moment retrieval: given a tracked-object history and alternative state descriptions, localize an interval in which each described state holds. Absolute image-text similarity scores descriptions independently; because every visible frame depicts the same target, shared object compatibility can obscure the state evidence needed to identify the target interval. The alternatives provide the missing reference: evidence for one state should be measured against the others. We introduce Déjà Cue, a training-free framework that turns these alternatives into a vocabulary-relative coordinate system. It subtracts their state-balanced centroid from each description, calibrates frame scores, and scans multiple durations within contiguous visible runs using a frozen encoder. On 78 VOST histories, holding the temporal scan fixed and changing only the query reference nearly doubles R@1 at tIoU 0.5 from 10.3\% to 20.5\% and raises Top-1 tIoU from 16.0\% to 21.5\%. Candidate-rank analyses show that vocabulary-relative queries rank useful intervals higher within the same candidate set. Related state descriptions can therefore serve as an object-specific, query-time coordinate system for reading frozen visual representations.

cs.CV↗

arXiv2026

SplAttN: Bridging 2D and 3D with Gaussian Soft Splatting and Attention for Point Cloud Completion

Although multi-modal learning has advanced point cloud completion, the theoretical mechanisms remain unclear. Recent works attribute success to the connection between modalities, yet we identify that standard hard projection severs this connection: projecting a sparse point cloud onto the image plane yields an extremely sparse support, which hinders visual prior propagation, a failure mode we term Cross-Modal Entropy Collapse. To address this practical limitation, we propose SplAttN, which replaces hard projection with Differentiable Gaussian Splatting to produce a dense, continuous image-plane representation. By reformulating projection as continuous density estimation, SplAttN avoids collapsed sparse support, facilitates gradient flow, and improves cross-modal connection learnability. Extensive experiments show that SplAttN achieves state-of-the-art performance on PCN and ShapeNet-55/34. Crucially, we utilize the real-world KITTI benchmark as a stress test for multi-modal reliance. Counter-factual evaluation reveals that while baselines degenerate into unimodal template retrievers insensitive to visual removal, SplAttN maintains a robust dependency on visual cues, validating that our method establishes an effective cross-modal connection. Code is available at https://github.com/zay002/SplAttN.

cs.CV↗

arXiv2025

PriFFT: Privacy-preserving Federated Fine-tuning of Large Language Models via Hybrid Secret Sharing

Fine-tuning large language models (LLMs) raises privacy concerns due to the risk of exposing sensitive training data. Federated learning (FL) mitigates this risk by keeping training samples on local devices, while facing the following problems in privacy-preserving federated fine-tuning. (i) Recent studies show that adversaries can still infer private information in FL. (ii) LLM parameters are shared publicly during federated fine-tuning, while developers are often reluctant to disclose these parameters, posing further security challenges. (iii) Existing works focus on secure inference of LLMs but do not consider privacy-preserving fine-tuning. Inspired by the above problems, we propose PriFFT, a privacy-preserving federated fine-tuning mechanism, to protect both the model parameters and users' privacy. Due to considerable LLM parameters, we present hybrid secret sharing combining arithmetic secret sharing (ASS) and function secret sharing (FSS) to build secure operations and implement secure layers and activation for privacy-preserving fine-tuning. To improve the efficiency of privacy-preserving federated fine-tuning of LLMs, we optimize several secure computation protocols based on FSS, including reciprocal calculation, tensor products, natural exponentiation, softmax, sigmoid, hyperbolic tangent, and dropout. The hybrid secret sharing enables PriFFT to apply our optimized FSS protocols while combining ASS protocols to support complex computation without extra communication. The optimized protocols reduce execution time up to 62.5% and communication overhead up to 70.7% compared to existing protocols. Besides, PriFFT reduces execution time and communication overhead in privacy-preserving fine-tuning up to 59.1%$ and 77.0%$ without accuracy drop compared to the existing secret sharing methods.

cs.CR↗

arXiv2025

Adaptive Backdoor Attacks with Reasonable Constraints on Graph Neural Networks

Recent studies show that graph neural networks (GNNs) are vulnerable to backdoor attacks. Existing backdoor attacks against GNNs use fixed-pattern triggers and lack reasonable trigger constraints, overlooking individual graph characteristics and rendering insufficient evasiveness. To tackle the above issues, we propose ABARC, the first Adaptive Backdoor Attack with Reasonable Constraints, applying to both graph-level and node-level tasks in GNNs. For graph-level tasks, we propose a subgraph backdoor attack independent of the graph's topology. It dynamically selects trigger nodes for each target graph and modifies node features with constraints based on graph similarity, feature range, and feature type. For node-level tasks, our attack begins with an analysis of node features, followed by selecting and modifying trigger features, which are then constrained by node similarity, feature range, and feature type. Furthermore, an adaptive edge-pruning mechanism is designed to reduce the impact of neighbors on target nodes, ensuring a high attack success rate (ASR). Experimental results show that even with reasonable constraints for attack evasiveness, our attack achieves a high ASR while incurring a marginal clean accuracy drop (CAD). When combined with the state-of-the-art defense randomized smoothing (RS) method, our attack maintains an ASR over 94%, surpassing existing attacks by more than 7%.

cs.LG↗

arXiv2025

Local Differential Privacy is Not Enough: A Sample Reconstruction Attack against Federated Learning with Local Differential Privacy

Reconstruction attacks against federated learning (FL) aim to reconstruct users' samples through users' uploaded gradients. Local differential privacy (LDP) is regarded as an effective defense against various attacks, including sample reconstruction in FL, where gradients are clipped and perturbed. Existing attacks are ineffective in FL with LDP since clipped and perturbed gradients obliterate most sample information for reconstruction. Besides, existing attacks embed additional sample information into gradients to improve the attack effect and cause gradient expansion, leading to a more severe gradient clipping in FL with LDP. In this paper, we propose a sample reconstruction attack against LDP-based FL with any target models to reconstruct victims' sensitive samples to illustrate that FL with LDP is not flawless. Considering gradient expansion in reconstruction attacks and noise in LDP, the core of the proposed attack is gradient compression and reconstructed sample denoising. For gradient compression, an inference structure based on sample characteristics is presented to reduce redundant gradients against LDP. For reconstructed sample denoising, we artificially introduce zero gradients to observe noise distribution and scale confidence interval to filter the noise. Theoretical proof guarantees the effectiveness of the proposed attack. Evaluations show that the proposed attack is the only attack that reconstructs victims' training samples in LDP-based FL and has little impact on the target model's accuracy. We conclude that LDP-based FL needs further improvements to defend against sample reconstruction attacks effectively.

cs.CR↗