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Zhongyuan Wang

Publications and source records attributed to Zhongyuan Wang.

At least 19 recordsLinked to original sources
arXiv2026

ProLombard: Structured Multi-Scale Modeling for Normal-to-Lombard Speech Conversion

Normal-to-Lombard (N2L) speech conversion aims to improve speech intelligibility in noisy environments by transforming normal speech into Lombard-style speech while preserving linguistic content, speaker identity, and speech quality. Despite recent progress, existing methods typically model the Lombard effect at the utterance level or the frame level, overlooking its hierarchical nature and its entanglement with both speaker identity and phoneme-level content. This limitation leads to Lombard leakage in speaker representations and incomplete separation between Lombard characteristics and linguistic content. In this work, we propose ProLombard, a structured multi-scale N2L framework that explicitly models the Lombard effect across utterance-, phoneme-, and frame-level representations. To address Lombard-speaker entanglement, we introduce an aligned speaker encoder (ASE) that suppresses Lombard leakage by aligning Lombard-speech speaker embeddings with their normal-speech counterparts. To achieve more complete Lombard-content disentanglement, we develop a phoneme-aware disentanglement and injection mechanism that extends conventional frame-level modeling to the phoneme level. Furthermore, we design a vector quantization (VQ)-median module that provides robust phoneme-level representations through VQ-based segmentation and median-frame-based aggregation. Extensive experiments on Mandarin and English Lombard datasets demonstrate that the proposed approach consistently improves speech intelligibility, Lombard similarity, and perceptual quality over baselines while maintaining speaker identity. These results highlight the importance of structured multi-scale modeling for effective N2L speech conversion.

cs.SD↗
arXiv2026

DIDO: Distilling Interaction-Centric Dynamics into One-Step Denoising for World Action Models

World Action Models (WAMs) use video generation models to predict future visual dynamics for robotic manipulation, but iterative denoising introduces additional latency for closed-loop control. We empirically find that visual content converges at different rates during denoising. Static background structure forms early, whereas the gripper and manipulated object remain blurry after the first step, with their interaction dynamics emerging only through subsequent denoising. Consequently, naively truncating a multi-step video model to one step preserves scene structure but loses the interaction-centric dynamics most critical for manipulation. To address this issue, we propose DIDO, which distills the converged dynamics of a multi-step video model into a single denoising step. DIDO combines distribution matching distillation with interaction-centric representation guidance. Beyond compressing multi-step generation into one forward pass, DIDO explicitly models the gripper, manipulated object, and their interaction using supervised bounding-box visual reasoning tokens. Additionally, DIDO aligns the target object's representations across multiple model layers with features from a pretrained DINOv3 encoder. This interaction-centric guidance helps the distilled model preserve both the relevant entities and their future dynamics in a single step, while substantially reducing inference latency. DIDO achieves an average success rate of 99.0\% on LIBERO, 76.6\% on LIBERO-Plus, and 92.0\% on RoboTwin, while also demonstrating effective transfer to long-horizon and generalization tasks in real-world robotic manipulation.

cs.RO↗
arXiv2026

ROMA: LLM System for Real-World Object-Centric Multi-Sensory Active Perception

Humans inherently understand the physical world through an active process. When sensory evidence is insufficient to infer physical properties, we naturally interact with the environment by deciding what information is missing, how to acquire it, and when sufficient evidence has been obtained. In stark contrast, existing multi-sensory robot systems mainly integrate sensory inputs rather than actively acquiring missing evidence through interactions. In this work, we introduce ROMA, an LLM-based system for Real-World Object-Centric Multi-Sensory Active Perception. ROMA integrates vision, audio, tactile, and force sensing into a reasoning-interaction-feedback loop. The model identifies missing evidence and determines the target objects, interactions, and modalities, while a physical interface executes the selected interactions and collects the multi-sensory feedback. To support this capability, we construct ROMI-2K, a large-scale real-world multi-sensory object interaction dataset covering nearly 2,000 objects and 6 atomic interactions with synchronized sensory feedback. Building on these data, we develop a two-stage training framework that aligns sensory modalities and equips the LLM to assess evidence sufficiency, select informative interactions, and reason over the multi-sensory feedback. We further characterize active perception as perception chains, where acquired evidence guides subsequent interactions and reasoning, and establish ROMA Bench to evaluate single-attribute, long-horizon multi-attribute, and intent-driven active perception. Experiments show that ROMA can actively acquire missing evidence and solve complex, long-chain multi-sensory perception tasks that existing methods struggle to handle, laying a strong perceptual foundation for active multi-sensory embodied agents.

cs.RO↗
arXiv2026

EMBER-Bench: Benchmarking Cross-Event Causal Memory in Long-Horizon Embodied Tasks

Lifelong physical agents must reason over extended interactions where past events continue to shape the world long after they disappear from view. Beyond recalling what happened, agents must infer how history changes the current state and constrains future actions. Yet existing embodied and video-memory benchmarks largely focus on historical retrieval and summary, leaving such history-dependent causal reasoning underexplored. We introduce EMBER-Bench, an egocentric benchmark for cross-event causal reasoning in long-horizon embodied tasks, for which we newly created the task design, video recording, and data annotation. It contains 189 household tasks and 699 QA pairs, spanning task progress, failure recovery, external interventions, and compound long-horizon tasks with distant dependencies and prerequisites, with fine-grained event and causal-chain annotations. EMBER-Bench evaluates reasoning in both directions: next-action prediction selects the next action from history, and causal traceback, given that action, identifies the historical event that makes it necessary. Input ablations that add action logs or privileged cause-and-consequence annotations to the video indicate which kind of historical information models fail to use. Among the 16 evaluated models, the highest overall accuracy is 61.2%, compared with a mean of 98.3% across two human evaluators. At paired decision points, correct traceback is not associated with correct next-action prediction. Adding action logs yields a gain of 1.6 points, whereas cause-and-consequence annotations yield an additional gain of 13.0 points on top of that. These results suggest that extracting causal information from past events and converting it into constraints on current actions remains a key difficulty for long-horizon embodied agents. Project Page: https://zhaoalexgoat.github.io/EMBER-Bench/

cs.CV↗
arXiv2026

LiMA: Bridging Long-term Imagination to Real-time Dexterous Manipulation via Asynchronous Diffusion

Dexterous manipulation demands long-term foresight and rapid reactive control. Vision-Language-Action (VLA) models, while proficient in high-level reasoning, often lack a fine-grained understanding of physical dynamics and spatial perception. Conversely, World-Action Models (WAMs) typically suffer from high inference latency due to iterative generation. These deficiencies result in a critical temporal misalignment where the model's intent fails to adapt to rapid physical contact changes. To overcome this fundamental bottleneck, we propose LiMA, an asynchronous dual-system generative framework that systematically decouples intent planning from reactive execution. LiMA organizes computation into a multi-scale hierarchy: a slow system handles sparse long-horizon spatiotemporal intent generation, while a fast system focuses on dense high-frequency motion refinement. To align sparse intent predictions with dense action trajectories, we introduce a Latent Schrödinger Bridge Coupling mechanism that formulates refinement as an entropy-regularized probabilistic transport process. LiMA reduces inference latency by 45.8% compared with Cosmos-Policy via asynchronous decoupling. Evaluated across six bimanual dexterous manipulation tasks spanning multiple horizons, LiMA achieves an overall success rate of 70.8% and an average subtask success rate of 78.9%, while maintaining performance in unseen scenarios. The project website is available at https://ccdcs.github.io/LiMA_repo/

cs.RO↗
arXiv2026

Thor: Towards Human-Inspired Whole-Body Reactions for Intense Contact-Rich Environments

Maintaining whole-body stability and motion tracking under large interaction forces remains challenging for humanoids. We present Thor, a reinforcement learning framework for forceful humanoid loco-manipulation. Thor jointly trains lower-body, waist, and upper-body policies with shared whole-body observations and body-specific rewards to coordinate locomotion and force adaptation, waist posture regulation, and upper-body motion tracking. We further introduce a force-adaptive torso-tilt (FAT2) objective that derives a load-dependent horizontal center-of-mass offset reference from quasi-static moment balance. Capacity-matched simulation blations show that the three-policy architecture improves tracking under large external force disturbances, while real-world ablations demonstrate that FAT2 increases peak pulling capability. On the Unitree G1, Thor achieves mean peak dual-hand pulling forces of 167.7 N and 145.5 N during backward and forward locomotion, exceeding the best-performing baseline by 68.9% and 74.7%, respectively. Real-world demonstrations include opening a fire door with one hand using approximately 60 N of pulling force and towing a 1.7-ton passenger car.

cs.RO↗
arXiv2026

RobustSGPO: Search-Space Control for Agent Harness Evolution

Semantic-gradient-based prompt optimization (SGPO) improves agent harnesses using execution feedback, but its local update rule leaves the choice of edit scope and operation unresolved. We introduce RobustSGPO, which specifies the requested edit, constructs and checks the patch, and continues search from either the incumbent or retained snapshots. We evaluate permission scheduling, cumulative controls, and task-family transfer in the AgentX brainstorming workflow using 120 tasks, 95 runs, and 7,350 candidate attempts. Periodic $1\to2\to3$ scheduling exceeds fixed maximum permission by 0.28 test-score points. RobustSGPO increases completion on 30 held-out tasks from 60.0% to 80.0% and improves test quality from 3.77 to 4.14 under a 20-million-token budget. Category retention reduces source-task degradation after a shift, whereas random retention reaches a higher destination endpoint. Search-space control benefits quality through executable edits and alternative starting points, with measurable retention overhead.

cs.AI↗
arXiv2026

From $τ$-tilting to $τ_2$-tilting via splitting tilting triples

Let $(A,T,B)$ be a splitting tilting triple. We provide a construction of $τ_2$-tilting $B$-modules from $τ$-tilting $A$-modules. On the other hand, if $A$ is hereditary, by considering the mutation of a certain two-term silting complex of $A$ and its image under the derived equivalence $\mathbf{R}{\rm Hom}_A(T,-):D^b(A)\to D^b(B)$, we get a three-term silting complex ${\bf W}$ of $B$. Under an explicit non-vanishing condition on the cones of morphisms between the two summands, we prove that ${\rm H}^0\boldsymbol{W}$ is a basic $2$-tilting $B$-module and that it coincides with the module obtained from the first construction. As an application, we generalize the construction of Peng from tilting modules to $τ$-tilting modules. We also determine the endomorphism algebra of the constructed module as an explicit triangular matrix algebra, which is derived equivalent to $A$ and $B$ whenever the constructed module is $2$-tilting, and give a full semi-orthogonal decomposition of $K^b(\operatorname{proj}A)$.

math.RT↗
arXiv2026

Do You Have Freestyle? Expressive Humanoid Locomotion via Audio Control

Humans intuitively move to sound, but current humanoid robots lack expressive improvisational capabilities, confined to predefined motions or sparse commands. Generating motion from audio and then retargeting it to robots relies on explicit motion reconstruction, leading to cascaded errors, high latency, and disjointed acoustic-actuation mapping. We propose RoboPerform, the first unified audio-to-locomotion framework that can directly generate music-driven dance and speech-driven co-speech gestures from audio. Guided by the core principle of "motion = content + style", the framework treats audio as implicit style signals and eliminates the need for explicit motion reconstruction. RoboPerform integrates a ResMoE teacher policy for adapting to diverse motion patterns and a diffusion-based student policy for audio style injection. This retargeting-free design ensures low latency and high fidelity. Experimental validation shows that RoboPerform achieves promising results in physical plausibility and audio alignment, successfully transforming robots into responsive performers capable of reacting to audio.

cs.RO↗
arXiv2026

DeCAL: Towards Physically-Grounded Dexterous Vision-Language-Action Models via Contact-Aware Latent Co-Imagination

Dexterous manipulation involves contact-rich and fine-grained interactions with the physical world, posing significant challenges for existing vision-language-action (VLA) models due to severe visual occlusions and complex contact dynamics. While recent works have incorporated tactile sensing into robotic manipulation, most approaches still rely on homogeneous multimodal fusion, lacking adaptive tactile integration and explicit modeling of physical dynamics. In this work, we present DeCAL, a physically-grounded dexterous vision-language-action model that unifies understanding, imagination and action generation for contact-rich dexterous manipulation. Built upon a Mixture-of-Transformers (MoT) architecture, DeCAL leverages specialized experts for each capability while enabling efficient information flow among them. To effectively leverage tactile information, we introduce Adaptive Visuo-Tactile Fusion that dynamically regulates tactile interactions via a contact-aware gating strategy. Furthermore, we propose Visuo-Tactile Latent Co-Imagination to jointly model visual and tactile dynamics, equipping the policy with implicit physical world knowledge. Experimental results show that DeCAL consistently achieves state-of-the-art performance across all tasks, attaining a 71% average success rate and an 83.4% progress success rate, while also demonstrating strong generalization to unseen scenarios. The website is available at https://aureleopku.github.io/DeCAL.

cs.RO↗
arXiv2026

AREX: Towards a Recursively Self-Improving Agent for Deep Research

Deep research requires agents to find answers that jointly satisfy multiple constraints. Discovering such answers is costly, whereas verifying a candidate can often be decomposed into tractable constraint-wise checks. This discovery--verification asymmetry suggests that a research agent should do more than simply search longer: it should recursively improve its current answer by verifying intermediate results and using the partially verified state to guide subsequent refinement. We introduce AREX, a family of Recursively Self-Improving (RSI) deep research agents. AREX alternates between an inner research loop that gathers evidence and constructs a provisional answer, and an outer self-improvement loop that audits the answer constraint-wise, identifies unresolved claims, and launches targeted follow-up research. To sustain RSI over long horizons, AREX learns an autonomous context-update tool that compresses growing interaction history into a compact improvement state preserving verified evidence and unresolved constraints, without relying on an external model. We train AREX on verified synthetic tasks and high-quality trajectories through agentic mid-training and long-horizon reinforcement learning. To mitigate sparse final rewards during long horizon learning, we emphasize key steps where decisive evidence is acquired or erroneous research directions are corrected. We instantiate a dense 4B model and a 122B-A10B Mixture-of-Experts model. Across BrowseComp, WideSearch, DeepSearchQA, Humanity's Last Exam (HLE), and other reasoning and tool-use benchmarks, AREX substantially outperforms comparable-scale baselines and remains competitive with models using substantially more activated parameters.

cs.AI↗
arXiv2026

RoboMirror: Understand Before You Imitate for Video to Humanoid Locomotion

Humans learn locomotion through visual observation, interpreting visual content first before imitating actions. However, state-of-the-art humanoid locomotion systems rely on either curated motion capture trajectories or sparse text commands, leaving a critical gap between visual understanding and control. Text-to-motion methods suffer from semantic sparsity and staged pipeline errors, while video-based approaches only perform mechanical pose mimicry without genuine visual understanding. We propose RoboMirror, the first retargeting-free video-to-locomotion framework embodying "understand before you imitate". Leveraging VLMs, it distills raw egocentric/third-person videos into visual motion intents, which directly condition a diffusion-based policy to generate physically plausible, semantically aligned locomotion without explicit pose reconstruction or retargeting. Extensive experiments validate the effectiveness of RoboMirror, it enables telepresence via egocentric videos, drastically reduces third-person control latency by 80%, and achieves a 3.7% higher task success rate than baselines. By reframing humanoid control around video understanding, we bridge the visual understanding and action gap.

cs.RO↗
arXiv2026

ReproAgent: Contract-Guided Paper-to-Code Reproduction

Paper-to-code reproduction asks scientific AI agents to turn research papers into executable repositories that preserve the paper's method, protocol and artifacts. This is difficult because the specification is split: explicit paper content such as algorithms, metrics and artifacts is often lost across long agent trajectories, while implicit details such as framework defaults and conventions inherited from related work are absent from the paper. We introduce ReproAgent, a four-stage Prepare--Plan--Generate--Repair pipeline built around a persistent implementation contract with two channels: an implementation-requirement channel that turns paper snippets into code obligations, and a reference-evidence channel that retrieves content and structure evidence from related repositories. Both are bound to work packages, projected into file-level contracts, and consumed across generation and repair. On PaperBench Code-Dev, ReproAgent reaches the highest mean score among same-backbone scaffolds under both Claude-Sonnet-4.5 and Gemini-3-Flash. End-to-end channel ablations and per-paper cases support the contribution of both channels. Code and experimental artifacts are publicly available.

cs.AI↗
arXiv2026

PRM-as-a-Judge 1.5: A Toolkit for Robot Process Assessment

Fine-grained robotic evaluation matters for understanding embodied models, going beyond binary success rates and rule-based process scores. We present PRM-as-a-Judge 1.5, a toolkit for robot process assessment that turns rollout videos into dense progress curves and derives multiple fine metrics. PRM-as-a-Judge 1.5 introduces three metrics, building on version 1.0, that characterize failure-side progress, post-drawdown recovery, and success-side execution quality, helping users understand embodied model capability. Based on the rollout videos from benchmarks, we perform a comprehensive assessment of the embodied models, providing some fine-grained metric results and key findings. We further introduce RoboPulse++ to evaluate the reliability of process reward models (PRM), providing evaluators with a more accurate testing platform. Moreover, we release a user-friendly assessment suite, including the benchmark, metric implementation, and visualization tools, to support reproducible manipulation process evaluation. We call on the community to rethink how robots are evaluated and establish transparent, procedural, and reproducible assessment as a foundation for the next generation of embodied intelligence.

cs.RO↗
arXiv2026

MHRGait: Gait Recognition from Momentum Human Rig Pose

Gait recognition is shaped by its input representation. Silhouettes encode projected body shape, skeletons encode sparse joint coordinates, and 3D meshes encode dense surface geometry. In each case, identity-bearing articulation is observed through geometric carriers that also vary with clothing, skeletal scale, or body shape. We investigate whether gait can instead be recognized from compact articulated controls. We introduce Momentum Human Rig (MHR) pose as a gait representation, describing each frame using 184 semantically organized body and hand parameters estimated from monocular video. MHRGait groups these heterogeneous controls by anatomy, models their intra-frame coordination and temporal evolution, and produces compact body and hand descriptors. We further introduce MHRGait++, which combines MHR pose with silhouettes through modality-balanced distance fusion, preventing descriptor count from determining modality importance. Experiments on four benchmarks show that MHRGait attains the best overall performance among compared model-based methods on CCPG and SUSTech1K and transfers effectively across datasets, while its recognition network requires only 2.76M parameters and 0.69 GFLOPs for a 30-frame input. MHRGait++ consistently improves silhouette recognizers with a favorable accuracy-efficiency trade-off. These results establish rig-space articulation as an effective standalone gait representation and a complementary cue to projected body shape. Our code is available at https://github.com/duanhuiran/MHRGait.

cs.CV↗
arXiv2026

When Generative Replay Meets Evolving Deepfakes: Dual Confusion-Aware Regularization for Incremental Face Forgery Detection

The rapid advancement of face generation techniques has introduced an increasing variety of forgery methods, making incremental deepfake detection essential for maintaining robust detectors. While generative replay provides a promising solution to alleviate catastrophic forgetting without storing historical data, its effectiveness is hindered by \textbf{domain confusion} between generated samples and real data. We observe that replay samples fall into two categories: when the replay generator closely resembles the newly introduced forgery model, generated real samples overlap with the fake domain and become \textbf{domain-risky}; when the generator differs significantly, generated samples maintain clearer domain separation and can be treated as \textbf{domain-safe}. To address this challenge, we propose a Dual \textbf{C}onfusion-\textbf{A}ware \textbf{RE}gularization strategy, termed \textbf{Dual-CARE}. A Domain-aware Confusion Score (DC Score) is introduced to quantify domain confusion and \textbf{dual-modulate} the optimization of both replay generators and the incremental detector. Guided by DC Score, replay generators are updated to better approximate previous-task distributions, while the detector adopts different supervision strategies: domain-safe samples are directly supervised, whereas domain-risky samples are regulated using a Relative Separation Loss to balance supervision and confusion. Extensive experiments demonstrate that Dual-CARE effectively exploits generative replay and improves incremental deepfake detection under evolving forgery scenarios.

cs.CV↗
arXiv2026

InfoDense: Density-Aware Regional Decisive Replay for Memory-Efficient Incremental Face Forgery Detection

The rapid evolution of face forgery techniques has introduced an increasing variety of manipulations. Incremental Face Forgery Detection (IFFD), which incrementally adds new forgery data to fine-tune previously trained models, has emerged as a promising approach to handle evolving forgery threats. However, conventional replay-based IFFD methods suffer from catastrophic forgetting. Storing full historical images under limited memory often either fails to preserve subtle forgery cues or introduces domain bias, reducing the model's ability to learn intrinsic and transferable manipulation characteristics. In this paper, we propose a Density-Aware Regional Decisive replay strategy, termed InfoDense, to address these challenges. InfoDense prioritizes artifact-dense and forgery-critical regions, significantly reducing storage requirements while maintaining high-fidelity forgery evidence. We first introduce InfoDense Cut to localize decisive patches using CLIP-based embeddings. Then, InfoDense Select ranks candidate segments by combining latent-space representativeness and decisive patch counts, ensuring both diversity and information density in the replay buffer. Finally, InfoDense Fuse reconstructs unbiased training inputs by adaptively merging stored segments with current-task samples, enhancing knowledge retention and generalization. Extensive experiments on challenging incremental deepfake benchmarks demonstrate that InfoDense effectively mitigates catastrophic forgetting while improving cross-domain generalization.

cs.CV↗
arXiv2026

Orca: The World is in Your Mind

We introduce Orca, an initial instantiation of a general world foundation model. Orca learns a unified world latent space from multimodal world signals and exposes it through multimodal readout interfaces. Rather than optimizing isolated next-token, next-frame, or next-action prediction, we are centered on Next-State-Prediction modeling, offering a unified state-transition modeling route toward understanding, predicting, and acting upon the world. Orca learns through two complementary paradigms: unconscious learning captures dense natural state transitions from continuous videos, and conscious learning models sparse meaningful state transitions by language-described events and VQA supervision. For pre-training, we construct a large-scale world-learning inventory data, including 125K hours of video data and 160M event annotations. After pre-training, Orca learns a unified world latent space. To examine whether the learned latent supports downstream, we evaluate it by three representative downstream readouts: text generation, image prediction, and embodied action generation. Orca's backbone is frozen, and only the lightweight modality-specific decoders are trainable. Experiments show the scalability of the proposed paradigm and verify that stronger world latent enables stronger downstream readouts. Orca outperforms similar-sized specialized baselines. These results show that Orca, as a general world foundation model, presents a promising approach to understanding, predicting, and acting upon the world. Finally, we discuss the current limitations, aiming to provide useful insights and inspiration for the community.

cs.CV↗