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Zhihao He

Publications and source records attributed to Zhihao He.

7 recordsLinked to original sources

Multimodal Continuous Reasoning via Asymmetric Mutual Variational Learning

Multimodal Large Language Models (MLLMs) are often constrained by a language-space bottleneck, forcing complex visual reasoning into discrete tokens which can lose perceptual nuance. A promising alternative is continuous latent reasoning, where the goal is to discover implicit reasoning pathways that bridge the multimodal query and the final answer. However, this introduces a severe train-inference mismatch: a training-time posterior, conditioned on the ground-truth answer, can exploit answer-dependent shortcuts. Standard variational training then forces the inference-time prior to mimic a posterior that has access to information unavailable at test time, leading to poor performance. To address this, we propose Asymmetric Mutual Variational Learning (AMVL), a framework that resolves this mismatch via a bidirectional calibration objective. A forward KL divergence trains the target-agnostic prior to match the posterior, while a novel reverse KL divergence simultaneously regularizes the posterior, preventing it from collapsing into inference-incompatible regions and mitigating this ``answer leakage''. We provide theoretical analysis formalizing this leakage as prior contamination and prove that our dual-KL objective reduces it. We instantiate AMVL in a latent-integrated MLLM and show that it consistently outperforms strong discrete and latent-reasoning baselines, improving the average score on the complex BLINK benchmark by +10.83 and achieving gains of up to +32.00 on individual reasoning tasks, with analyses confirming improved latent-space stability.

cs.CV

Asymmetric physics enables efficient learning in quadrupedal robot swarms

Animal collectives navigate cluttered environments through local coordination, yet robot swarms still struggle to reproduce this capability in the physical world. End-to-end learning offers a route to such coordination, but scaling it to embodied swarms remains difficult: standard sampling-based reinforcement learning becomes inefficient when visual perception, dense robot-robot interaction, and contact-rich locomotion must be learned together. Here we show that asymmetric physics enables efficient end-to-end learning of vision-based, decentralized control in large swarms of quadrupedal robots. During training, quadrupeds interact in shared environments, where a high-fidelity, non-differentiable simulator generates realistic motion and contact dynamics, and differentiable surrogate models provide gradients for navigation and locomotion policies. This separation enables up to 512 quadrupeds to learn coordinated navigation policies in obstacle-rich environments. At deployment, each robot acts from a single forward-facing depth camera, without explicit communication, centralized planning, or global maps. The policies generalize across forests, bridges, enclosures, narrow passages, and mazes, and zero-shot transfer to six physical quadrupeds across five real-world scenarios. The resulting swarms exhibit predictive avoidance, right-side yielding, pausing before bottlenecks, and wall following, showing that asymmetric physics enables efficient training of scalable decentralized control policies for quadrupedal robot swarms.

cs.RO

VidLaDA: Bidirectional Diffusion Large Language Models for Efficient Video Understanding

Current Video Large Language Models (Video LLMs) typically encode frames via a vision encoder and employ an autoregressive (AR) LLM for understanding and generation. However, this AR paradigm inevitably faces a dual efficiency bottleneck: strictly unidirectional attention compromises understanding efficiency by hindering global spatiotemporal aggregation, while serial decoding restricts generation efficiency. To address this, we propose VidLaDA, a Video LLM based on Diffusion Language Models (DLMs) that leverages bidirectional attention to unlock comprehensive spatiotemporal modeling and decode tokens in parallel. To further mitigate the computational overhead of diffusion decoding, we introduce MARS-Cache, an acceleration strategy that prunes redundancy by combining asynchronous visual cache refreshing with frame-wise chunk attention. Experiments show VidLaDA rivals state-of-the-art AR baselines (e.g., Qwen2.5-VL and LLaVA-Video) and outperforms DLM baselines, with MARS-Cache delivering over 12x speedup without compromising accuracy. Code and checkpoints are open-sourced at https://github.com/ziHoHe/VidLaDA.

cs.CV

Enhancing Video Large Language Models with Structured Multi-Video Collaborative Reasoning

Despite the prosperity of the video language model, the current pursuit of comprehensive video reasoning is thwarted by the inherent spatio-temporal incompleteness within individual videos, resulting in hallucinations and inaccuracies. A promising solution is to augment the reasoning performance with multiple related videos. However, video tokens are numerous and contain redundant information, so directly feeding the relevant video data into a large language model to enhance responses could be counterproductive. To address this challenge, we propose a multi-video collaborative framework for video language models. For efficient and flexible video representation, we establish a Video Structuring Module to represent the video's knowledge as a spatio-temporal graph. Based on the structured video representation, we design the Graph Fusion Module to fuse the structured knowledge and valuable information from related videos into the augmented graph node tokens. Finally, we construct an elaborate multi-video structured prompt to integrate the graph, visual, and textual tokens as the input to the large language model. Extensive experiments substantiate the effectiveness of our framework, showcasing its potential as a promising avenue for advancing video language models. Code will be open-sourced at https://github.com/ziHoHe/SMV-CR.

cs.CV

Rodimus*: Breaking the Accuracy-Efficiency Trade-Off with Efficient Attentions

Recent advancements in Transformer-based large language models (LLMs) have set new standards in natural language processing. However, the classical softmax attention incurs significant computational costs, leading to a $O(T)$ complexity for per-token generation, where $T$ represents the context length. This work explores reducing LLMs' complexity while maintaining performance by introducing Rodimus and its enhanced version, Rodimus$+$. Rodimus employs an innovative data-dependent tempered selection (DDTS) mechanism within a linear attention-based, purely recurrent framework, achieving significant accuracy while drastically reducing the memory usage typically associated with recurrent models. This method exemplifies semantic compression by maintaining essential input information with fixed-size hidden states. Building on this, Rodimus$+$ combines Rodimus with the innovative Sliding Window Shared-Key Attention (SW-SKA) in a hybrid approach, effectively leveraging the complementary semantic, token, and head compression techniques. Our experiments demonstrate that Rodimus$+$-1.6B, trained on 1 trillion tokens, achieves superior downstream performance against models trained on more tokens, including Qwen2-1.5B and RWKV6-1.6B, underscoring its potential to redefine the accuracy-efficiency balance in LLMs. Model code and pre-trained checkpoints are open-sourced at https://github.com/codefuse-ai/rodimus.

cs.CL

In-situ Formation of Superconducting FeTe/layered-MnTe heterostructures

Manganese telluride (MnTe) has garnered strong interest recently for its antiferromagnetic semiconductor properties, which are promising for applications in spintronics, data storage, and quantum computing. In this study, we discovered that the deposition of FeTe at 300oC onto zinc-blende MnTe (ZB-MnTe) via molecular beam epitaxy (MBE) results in a phase transition from ZB-MnTe to a layered MnTe (l-MnTe) phase with van der Waals (vdW) gaps, which is a previously unreported phase of MnTe. The l-MnTe phase was characterized using cross-sectional high-angle annular dark-field (HAADF) imaging, energy-dispersive X-ray spectroscopy (EDS) mapping, and X-ray photoelectron spectroscopy (XPS). The Fe/Te flux ratio during FeTe deposition was found to be critical to the phase transition, an increased Fe/Te flux ratio used for the FeTe growth leads to localized formation of layered Mn4Te3 (l-Mn4Te3), while a decreased Fe/Te flux ratio only generates a single monolayer of l-MnTe at the interface and the rest turns into a distorted ZB-MnTe (dZB-MnTe) phase. It was also found that FT-MT heterostructures grown at a lower substrate temperature of 250oC, as the Fe/Te flux ratio decreases, the ZB-MnTe layer was first transformed to dZB-MnTe and then to wurtzite MnTe (WZ-MnTe). The FeTe/l-MnTe heterostructure exhibits high-quality superconducting properties with a three-dimensional nature as demonstrated by its magneto-transport properties and there is evidence that l-MnTe seems to play a key role in inducing the observed superconductivity. Most importantly, this study reports the realization of layered structures of MnTe by an in-situ approach via chemical interactions, which might be further applied to generating unprecedented phases of materials under certain conditions.

cond-mat.supr-con

Intra-Family Transformation of The Bi-Te Family via in-situ Chemical Interactions

The Bi-Te binary system, characterized by the homologous series of the (Bi2)m(Bi2Te3)n, has always attracted research interest for its layered structures and potential in advanced materials applications. Despite Bi2Te3 has been extensively studied, exploration of other compounds has been constrained by synthesis challenges. This study reports the molecular beam epitaxy (MBE) growth of FeTe on Bi2Te3, demonstrating that varying growth conditions can turn the Bi2Te3 layer into different Bi-Te phases and form corresponding FeTe/Bi-Te heterostructures. Our combined analysis using reflection high-energy electron diffraction (RHEED), high-resolution X-ray diffraction (HRXRD), and high-resolution scanning transmission electron microscopy (HR-STEM), indicates that specific growth conditions used for the growth of the FeTe layer can facilitate the extraction of Te from Bi2Te3, leading to the formation of Bi4Te3 and Bi6Te3. Additionally, by lowering the FeTe growth temperature to 230 oC, Te extraction from the Bi2Te3 layer could be avoided, preserving the Bi2Te3 structure. Notably, all the three FeTe/Bi-Te structures exhibit superconductivity with the FeTe/Bi2Te3 heterostructure enjoying the highest superconductivity quality. These findings introduce a novel method for realizing Bi4Te3 and Bi6Te3 through Te extraction by growing FeTe on Bi2Te3, driven by the high reactivity between Fe and Te. This approach holds promise for synthesizing other members of the Bi-Te series, expanding the functional potential of these materials.

cond-mat.supr-con