arXiv subjects

Zhijun Li

Publications and source records attributed to Zhijun Li.

At least 37 records · Page 2Linked to original sources

arXiv2026

AEROS: A Single-Agent Operating Architecture with Embodied Capability Modules

Robotic systems lack a principled abstraction for organizing intelligence, capabilities, and execution in a unified manner. Existing approaches either couple skills within monolithic architectures or decompose functionality into loosely coordinated modules or multiple agents, often without a coherent model of identity and control authority. We argue that a robot should be modeled as a single persistent intelligent subject whose capabilities are extended through installable packages. We formalize this view as AEROS (Agent Execution Runtime Operating System), in which each robot corresponds to one persistent agent and capabilities are provided through Embodied Capability Modules (ECMs). Each ECM encapsulates executable skills, models, and tools, while execution constraints and safety guarantees are enforced by a policy-separated runtime. This separation enables modular extensibility, composable capability execution, and consistent system-level safety. We evaluate a reference implementation in PyBullet simulation with a Franka Panda 7-DOF manipulator across eight experiments covering re-planning, failure recovery, policy enforcement, baseline comparison, cross-task generality, ECM hot-swapping, ablation, and failure boundary analysis. Over 100 randomized trials per condition, AEROS achieves 100% task success across three tasks versus baselines (BehaviorTree.CPP-style and ProgPrompt-style at 92--93%, flat pipeline at 67--73%), the policy layer blocks all invalid actions with zero false acceptances, runtime benefits generalize across tasks without task-specific tuning, and ECMs load at runtime with 100% post-swap success.

cs.RO↗

arXiv2026

Federated Single-Agent Robotics: Multi-Robot Coordination Without Intra-Robot Multi-Agent Fragmentation

As embodied robots move toward fleet-scale operation, multi-robot coordination is becoming a central systems challenge. Existing approaches often treat this as motivation for increasing internal multi-agent decomposition within each robot. We argue for a different principle: multi-robot coordination does not require intra-robot multi-agent fragmentation. Each robot should remain a single embodied agent with its own persistent runtime, local policy scope, capability state, and recovery authority, while coordination emerges through federation across robots at the fleet level. We present Federated Single-Agent Robotics (FSAR), a runtime architecture for multi-robot coordination built on single-agent robot runtimes. Each robot exposes a governed capability surface rather than an internally fragmented agent society. Fleet coordination is achieved through shared capability registries, cross-robot task delegation, policy-aware authority assignment, trust-scoped interaction, and layered recovery protocols. We formalize key coordination relations including authority delegation, inter-robot capability requests, local-versus-fleet recovery boundaries, and hierarchical human supervision, and describe a fleet runtime architecture supporting shared Embodied Capability Module (ECM) discovery, contract-aware cross-robot coordination, and fleet-level governance. We evaluate FSAR on representative multi-robot coordination scenarios against decomposition-heavy baselines. Results show statistically significant gains in governance locality (d=2.91, p<.001 vs. centralized control) and recovery containment (d=4.88, p<.001 vs. decomposition-heavy), while reducing authority conflicts and policy violations across all scenarios. Our results support the view that the path from embodied agents to embodied fleets is better served by federation across coherent robot runtimes than by fragmentation within them.

cs.RO↗

arXiv2026

SkySeg: Collaborative Onboard Semantic Segmentation with Heterogeneous UAVs in the Wild

The demand for unmanned aerial vehicle (UAV)-based image acquisition and analysis has surged, with UAVs increasingly utilized for semantic segmentation tasks. To meet the real-time analysis requirements of UAV remote sensing missions, performing onboard computation and making decisions based on the results is a natural approach. However, deploying semantic segmentation on resource-constrained UAV platforms presents two significant challenges: 1) hardware constraints limit the ability of UAVs to perform real-time semantic segmentation, and 2) environmental variations during flight cause data distribution shifts, deviating from the original training data. To address these issues, this paper introduces SkySeg, a heterogeneous multi-UAV air-air cooperation framework that integrates computer vision and flight pattern to enable onboard semantic segmentation using low-cost sensors. SkySeg employs an efficient information fusion inference method, combining low-definition, wide-area images with high-definition, focused-area images. Additionally, it incorporates a cross-device test-time adaptation (TTA) strategy to enhance segmentation performance in dynamic environments by collaboratively addressing distribution shifts of test data streams across UAVs. Experimental results demonstrate that our SkySeg framework accelerates inference latency by approximately 3.6x, improves onboard segmentation accuracy by 5.91\%, and achieves a 10.91\% average accuracy gain in the wild.

cs.CV↗

arXiv2026

PRAG: End-to-End Privacy-Preserving Retrieval-Augmented Generation

Retrieval-Augmented Generation (RAG) is essential for enhancing Large Language Models (LLMs) with external knowledge, but its reliance on cloud environments exposes sensitive data to privacy risks. Existing privacy-preserving solutions often sacrifice retrieval quality due to noise injection or only provide partial encryption. We propose PRAG, an end-to-end privacy-preserving RAG system that achieves end-to-end confidentiality for both documents and queries without sacrificing the scalability of cloud-hosted RAG. PRAG features a dual-mode architecture: a non-interactive PRAG-I utilizes homomorphic-friendly approximations for low-latency retrieval, while an interactive PRAG-II leverages client assistance to match the accuracy of non-private RAG. To ensure robust semantic ordering, we introduce Operation-Error Estimation (OEE), a mechanism that stabilizes ranking against homomorphic noise. Experiments on large-scale datasets demonstrate that PRAG achieves competitive recall (72.45%-74.45%), practical retrieval latency, and strong resilience against graph reconstruction attacks while maintaining end-to-end confidentiality. This work confirms the feasibility of secure, high-performance RAG at scale.

cs.CR↗

arXiv2026

Dark photon search status in $τ-c$ energy region

The dark photon plays an important role as a portal to dark matter and has been extensively studied on both experimental and theoretical frontiers. However, as no signals have been observed, the whereabouts of the dark photon remain a long-standing open question. With the proposal of a future $τ-c$ facility, this proceeding reviews and summarizes the current experimental status of the dark photon in the $τ-c$ energy region, which is expected to provide a reference for future searches. The experimental status indicates that the dark photon in the $τ-c$ energy region remains highly promising, highlighting the requirement for larger data samples or new methods to further investigate the benchmarks related to the observed cosmic dark matter.

hep-ph↗

arXiv2026

Genie Sim PanoRecon: Fast Immersive Scene Generation from Single-View Panorama

We present Genie Sim PanoRecon, a feed-forward Gaussian-splatting pipeline that delivers high-fidelity, low-cost 3D scenes for robotic manipulation simulation. The panorama input is decomposed into six non-overlapping cube-map faces, processed in parallel, and seamlessly reassembled. To guarantee geometric consistency across views, we devise a depth-aware fusion strategy coupled with a training-free depth-injection module that steers the monocular feed-forward network to generate coherent 3D Gaussians. The whole system reconstructs photo-realistic scenes in seconds and has been integrated into Genie Sim - a LLM-driven simulation platform for embodied synthetic data generation and evaluation - to provide scalable backgrounds for manipulation tasks. For code details, please refer to: https://github.com/AgibotTech/genie_sim/tree/main/source/geniesim_world.

cs.RO↗

arXiv2026

EmbodiedGovBench: A Benchmark for Governance, Recovery, and Upgrade Safety in Embodied Agent Systems

Recent progress in embodied AI has produced a growing ecosystem of robot policies, foundation models, and modular runtimes. However, current evaluation remains dominated by task success metrics such as completion rate or manipulation accuracy. These metrics leave a critical gap: they do not measure whether embodied systems are governable -- whether they respect capability boundaries, enforce policies, recover safely, maintain audit trails, and respond to human oversight. We present EmbodiedGovBench, a benchmark for governance-oriented evaluation of embodied agent systems. Rather than asking only whether a robot can complete a task, EmbodiedGovBench evaluates whether the system remains controllable, policy-bounded, recoverable, auditable, and evolution-safe under realistic perturbations. The benchmark covers seven governance dimensions: unauthorized capability invocation, runtime drift robustness, recovery success, policy portability, version upgrade safety, human override responsiveness, and audit completeness. We define a benchmark structure spanning single-robot and fleet settings, with scenario templates, perturbation operators, governance metrics, and baseline evaluation protocols. We describe how the benchmark can be instantiated over embodied capability runtimes with modular interfaces and contract-aware upgrade workflows. Our analysis suggests that embodied governance should become a first-class evaluation target. EmbodiedGovBench provides the initial measurement framework for that shift.

cs.RO↗

arXiv2026

PD-VLA: Accelerating Vision-Language-Action Model Integrated with Action Chunking via Parallel Decoding

Vision-Language-Action (VLA) models demonstrate remarkable potential for generalizable robotic manipulation. The performance of VLA models can be improved by integrating with action chunking, a critical technique for effective control. However, action chunking linearly scales up action dimensions in VLA models with increased chunking sizes. This reduces the inference efficiency. To tackle this problem, we propose PD-VLA, the first parallel decoding framework for VLA models integrated with action chunking. Our framework reformulates autoregressive decoding as a nonlinear system solved by parallel fixed-point iterations. This approach preserves model performance with mathematical guarantees while significantly improving decoding speed. In addition, it enables training-free acceleration without architectural changes, as well as seamless synergy with existing acceleration techniques. Extensive simulations validate that our PD-VLA maintains competitive success rates while achieving 2.52 times execution frequency on manipulators (with 7 degrees of freedom) compared with the fundamental VLA model. Furthermore, we experimentally identify the most effective settings for acceleration. Finally, real-world experiments validate its high applicability across different tasks.

cs.RO↗

arXiv2025

Safe Path Planning and Observation Quality Enhancement Strategy for Unmanned Aerial Vehicles in Water Quality Monitoring Tasks

Unmanned Aerial Vehicle (UAV) spectral remote sensing technology is widely used in water quality monitoring. However, in dynamic environments, varying illumination conditions, such as shadows and specular reflection (sun glint), can cause severe spectral distortion, thereby reducing data availability. To maximize the acquisition of high-quality data while ensuring flight safety, this paper proposes an active path planning method for dynamic light and shadow disturbance avoidance. First, a dynamic prediction model is constructed to transform the time-varying light and shadow disturbance areas into three-dimensional virtual obstacles. Second, an improved Interfered Fluid Dynamical System (IFDS) algorithm is introduced, which generates a smooth initial obstacle avoidance path by building a repulsive force field. Subsequently, a Model Predictive Control (MPC) framework is employed for rolling-horizon path optimization to handle flight dynamics constraints and achieve real-time trajectory tracking. Furthermore, a Dynamic Flight Altitude Adjustment (DFAA) mechanism is designed to actively reduce the flight altitude when the observable area is narrow, thereby enhancing spatial resolution. Simulation results show that, compared with traditional PID and single obstacle avoidance algorithms, the proposed method achieves an obstacle avoidance success rate of 98% in densely disturbed scenarios, significantly improves path smoothness, and increases the volume of effective observation data by approximately 27%. This research provides an effective engineering solution for precise UAV water quality monitoring in complex illumination environments.

cs.RO↗

arXiv2025

Image2Net: Datasets, Benchmark and Hybrid Framework to Convert Analog Circuit Diagrams into Netlists

Large Language Model (LLM) exhibits great potential in designing of analog integrated circuits (IC) because of its excellence in abstraction and generalization for knowledge. However, further development of LLM-based analog ICs heavily relies on textual description of analog ICs, while existing analog ICs are mostly illustrated in image-based circuit diagrams rather than text-based netlists. Converting circuit diagrams to netlists help LLMs to enrich the knowledge of analog IC. Nevertheless, previously proposed conversion frameworks face challenges in further application because of limited support of image styles and circuit elements. Up to now, it still remains a challenging task to effectively convert complex circuit diagrams into netlists. To this end, this paper constructs and opensources a new dataset with rich styles of circuit diagrams as well as balanced distribution of simple and complex analog ICs. And a hybrid framework, named Image2Net, is proposed for practical conversion from circuit diagrams to netlists. The netlist edit distance (NED) is also introduced to precisely assess the difference between the converted netlists and ground truth. Based on our benchmark, Image2Net achieves 80.77% successful rate, which is 34.62%-45.19% higher than previous works. Specifically, the proposed work shows 0.116 averaged NED, which is 62.1%-69.6% lower than state-of-the-arts. Our datasets and benchmark are available at https://github.com/LAD021/ci2n_datasets.

cs.AR↗

arXiv2025

Search for dark sector at BESIII

BESIII experiment has collected a large data sample of charmonium, charm mesons, hyperons, and other light mesons. These data provide a unique opportunity to explore the dark sector beyond the Standard Model, particularly for dark sectors that couple to charm quarks or other light quarks, and for dark sectors with masses in the $τ-c$ energy region. We present recent dark sector search results from the BESIII experiment, including the search for massless dark photons in $D^0\toωγ'$ and $D^0\toγγ'$, the search for invisible decays of $K^0_S$, the search for dark baryon particles in $Ξ^-\toπ^-χ$, the search for massless particles in $Σ^+\to p + \rm{invisible}$, and the search for axion-like particles in $J/ψ\toγa$ with $a\toγγ$.

hep-ex↗

arXiv2025

Observation of the decay $η_c\toγγ$ at BESIII

In the decays of $η_c\toγγ$ and $J/ψ\toγη_c$, there are discrepancies between the theoretical calculations and the PDG experimental values, referred to as the charmonium QCD puzzle. We observe the decay $η_c\toγγ$ in $J/ψ\toγη_c$ using $(2712.4\pm14.3)\times10^{6}$ $ψ(3686)$ events collected with the BESIII detector, and determine the product branching fraction $\mathcal{B}(J/ψ\toγη_c)\times\mathcal{B}(η_c\toγγ)=(5.23\pm0.26_{\rm{stat.}}\pm0.30_{\rm{syst.}})\times10^{-6}$. This measurement is consistent with the two most recent lattice QCD calculations, providing significant input toward resolving the charmonium QCD puzzle.

hep-ex↗

arXiv2025

Dark sector search at BESIII

The Standard Model has achieved significant success in particle physics; however, there are still some unresolved puzzles beyond it. This motivates the exploration of the dark sector. We present the recent dark sector search results from BESIII experiment, which include the search for axion-like particles in the $J/ψ$ data set, the search for muon-philic particles in muon radiation, the search for massless dark photons in $D^0\toωγ'$ and $D^0\toγγ'$, and the search for invisible decays of $K^0_S$.

hep-ex↗

arXiv2025

RCDN: Towards Robust Camera-Insensitivity Collaborative Perception via Dynamic Feature-based 3D Neural Modeling

Collaborative perception is dedicated to tackling the constraints of single-agent perception, such as occlusions, based on the multiple agents' multi-view sensor inputs. However, most existing works assume an ideal condition that all agents' multi-view cameras are continuously available. In reality, cameras may be highly noisy, obscured or even failed during the collaboration. In this work, we introduce a new robust camera-insensitivity problem: how to overcome the issues caused by the failed camera perspectives, while stabilizing high collaborative performance with low calibration cost? To address above problems, we propose RCDN, a Robust Camera-insensitivity collaborative perception with a novel Dynamic feature-based 3D Neural modeling mechanism. The key intuition of RCDN is to construct collaborative neural rendering field representations to recover failed perceptual messages sent by multiple agents. To better model collaborative neural rendering field, RCDN first establishes a geometry BEV feature based time-invariant static field with other agents via fast hash grid modeling. Based on the static background field, the proposed time-varying dynamic field can model corresponding motion vectors for foregrounds with appropriate positions. To validate RCDN, we create OPV2V-N, a new large-scale dataset with manual labelling under different camera failed scenarios. Extensive experiments conducted on OPV2V-N show that RCDN can be ported to other baselines and improve their robustness in extreme camera-insensitivity settings.

cs.CV↗

arXiv2025

FoCTTA: Low-Memory Continual Test-Time Adaptation with Focus

Continual adaptation to domain shifts at test time (CTTA) is crucial for enhancing the intelligence of deep learning enabled IoT applications. However, prevailing TTA methods, which typically update all batch normalization (BN) layers, exhibit two memory inefficiencies. First, the reliance on BN layers for adaptation necessitates large batch sizes, leading to high memory usage. Second, updating all BN layers requires storing the activations of all BN layers for backpropagation, exacerbating the memory demand. Both factors lead to substantial memory costs, making existing solutions impractical for IoT devices. In this paper, we present FoCTTA, a low-memory CTTA strategy. The key is to automatically identify and adapt a few drift-sensitive representation layers, rather than blindly update all BN layers. The shift from BN to representation layers eliminates the need for large batch sizes. Also, by updating adaptation-critical layers only, FoCTTA avoids storing excessive activations. This focused adaptation approach ensures that FoCTTA is not only memory-efficient but also maintains effective adaptation. Evaluations show that FoCTTA improves the adaptation accuracy over the state-of-the-arts by 4.5%, 4.9%, and 14.8% on CIFAR10-C, CIFAR100-C, and ImageNet-C under the same memory constraints. Across various batch sizes, FoCTTA reduces the memory usage by 3-fold on average, while improving the accuracy by 8.1%, 3.6%, and 0.2%, respectively, on the three datasets.

cs.LG↗

arXiv2025

SAC-ViT: Semantic-Aware Clustering Vision Transformer with Early Exit

The Vision Transformer (ViT) excels in global modeling but faces deployment challenges on resource-constrained devices due to the quadratic computational complexity of its attention mechanism. To address this, we propose the Semantic-Aware Clustering Vision Transformer (SAC-ViT), a non-iterative approach to enhance ViT's computational efficiency. SAC-ViT operates in two stages: Early Exit (EE) and Semantic-Aware Clustering (SAC). In the EE stage, downsampled input images are processed to extract global semantic information and generate initial inference results. If these results do not meet the EE termination criteria, the information is clustered into target and non-target tokens. In the SAC stage, target tokens are mapped back to the original image, cropped, and embedded. These target tokens are then combined with reused non-target tokens from the EE stage, and the attention mechanism is applied within each cluster. This two-stage design, with end-to-end optimization, reduces spatial redundancy and enhances computational efficiency, significantly boosting overall ViT performance. Extensive experiments demonstrate the efficacy of SAC-ViT, reducing 62% of the FLOPs of DeiT and achieving 1.98 times throughput without compromising performance.

cs.CV↗

arXiv2025

Skew odd orthogonal characters and interpolating Schur polynomials

We introduce two vertex operators to realize skew odd orthogonal characters $so_{λ/μ}(x^{\pm})$ and derive the Cauchy identity for the skew characters via Toeplitz-Hankel-type determinant similar to the Schur functions. The method also gives new proofs of the Jacobi--Trudi identity and Gelfand--Tsetlin patterns for $so_{λ/μ}(x^{\pm})$. Moreover, combining the vertex operators related to characters of types $C,D$ (\cite{Ba1996,JN2015}) and the new vertex operators related to $B$-type characters, we obtain three families of symmetric polynomials that interpolate among characters of $SO_{2n+1}(\mathbb{C})$, $SO_{2n}(\mathbb{C})$ and $Sp_{2n}(\mathbb{C})$, Their transition formulas are also explicitly given among symplectic and/or orthogonal characters and odd orthogonal characters.

math.RT↗

arXiv2025

Trinity: A Scalable and Forward-Secure DSSE for Spatio-Temporal Range Query

Cloud-based outsourced Location-based services have profound impacts on various aspects of people's lives but bring security concerns. Existing spatio-temporal data secure retrieval schemes have significant shortcomings regarding dynamic updates, either compromising privacy through leakage during updates (forward insecurity) or incurring excessively high update costs that hinder practical application. Under these circumstances, we first propose a basic filter-based spatio-temporal range query scheme \TrinityI that supports low-cost dynamic updates and automatic expansion. Furthermore, to improve security, reduce storage cost, and false positives, we propose a forward secure and verifiable scheme \TrinityII that simultaneously minimizes storage overhead. A formal security analysis proves that \TrinityI and \TrinityII are Indistinguishable under Selective Chosen-Plaintext Attack (IND-SCPA). Finally, extensive experiments demonstrate that our design \TrinityII significantly reduces storage requirements by 80\%, enables data retrieval at the 1 million-record level in just 0.01 seconds, and achieves 10 $\times$ update efficiency than state-of-art.

cs.CR↗