arXiv subjects

Zhuo Chen

Publications and source records attributed to Zhuo Chen.

At least 127 records · Page 7Linked to original sources

arXiv2025

SpeechJudge: Towards Human-Level Judgment for Speech Naturalness

Aligning large generative models with human feedback is a critical challenge. In speech synthesis, this is particularly pronounced due to the lack of a large-scale human preference dataset, which hinders the development of models that truly align with human perception. To address this, we introduce SpeechJudge, a comprehensive suite comprising a dataset, a benchmark, and a reward model centered on naturalness--one of the most fundamental subjective metrics for speech synthesis. First, we present SpeechJudge-Data, a large-scale human feedback corpus of 99K speech pairs. The dataset is constructed using a diverse set of advanced zero-shot text-to-speech (TTS) models across diverse speech styles and multiple languages, with human annotations for both intelligibility and naturalness preference. From this, we establish SpeechJudge-Eval, a challenging benchmark for speech naturalness judgment. Our evaluation reveals that existing metrics and AudioLLMs struggle with this task; the leading model, Gemini-2.5-Flash, achieves less than 70% agreement with human judgment, highlighting a significant gap for improvement. To bridge this gap, we develop SpeechJudge-GRM, a generative reward model (GRM) based on Qwen2.5-Omni-7B. It is trained on SpeechJudge-Data via a two-stage post-training process: Supervised Fine-Tuning (SFT) with Chain-of-Thought rationales followed by Reinforcement Learning (RL) with GRPO on challenging cases. On the SpeechJudge-Eval benchmark, the proposed SpeechJudge-GRM demonstrates superior performance, achieving 77.2% accuracy (and 79.4% after inference-time scaling @10) compared to a classic Bradley-Terry reward model (72.7%). Furthermore, SpeechJudge-GRM can be also employed as a reward function during the post-training of speech generation models to facilitate their alignment with human preferences.

cs.SD↗

arXiv2025

A Comprehensive Survey on Long Context Language Modeling

Efficient processing of long contexts has been a persistent pursuit in Natural Language Processing. With the growing number of long documents, dialogues, and other textual data, it is important to develop Long Context Language Models (LCLMs) that can process and analyze extensive inputs in an effective and efficient way. In this paper, we present a comprehensive survey on recent advances in long-context modeling for large language models. Our survey is structured around three key aspects: how to obtain effective and efficient LCLMs, how to train and deploy LCLMs efficiently, and how to evaluate and analyze LCLMs comprehensively. For the first aspect, we discuss data strategies, architectural designs, and workflow approaches oriented with long context processing. For the second aspect, we provide a detailed examination of the infrastructure required for LCLM training and inference. For the third aspect, we present evaluation paradigms for long-context comprehension and long-form generation, as well as behavioral analysis and mechanism interpretability of LCLMs. Beyond these three key aspects, we thoroughly explore the diverse application scenarios where existing LCLMs have been deployed and outline promising future development directions. This survey provides an up-to-date review of the literature on long-context LLMs, which we wish to serve as a valuable resource for both researchers and engineers. An associated GitHub repository collecting the latest papers and repos is available at: \href{https://github.com/LCLM-Horizon/A-Comprehensive-Survey-For-Long-Context-Language-Modeling}{\color[RGB]{175,36,67}{LCLM-Horizon}}.

cs.CL↗

arXiv2025

KnowCoder-A1: Incentivizing Agentic Reasoning Capability with Outcome Supervision for KBQA

Knowledge Base Question Answering (KBQA) aims to answer natural-language questions over a structured Knowledge Base (KB). Recent work improves KBQA by adopting an agentic reasoning paradigm, in which Large Language Models (LLMs) iteratively decompose a question, generate its corresponding logical queries, and interact with the KB to derive the answer. However, these methods typically fine-tune LLMs on reasoning trajectories synthesized via process supervision, which offers weak incentives for exploration and thus fails to strengthen the agentic reasoning ability. In this paper, we propose KnowCoder-A1, an LLM that can autonomously perform agentic reasoning on KBs to obtain answers. To incentivize autonomous exploration, KnowCoder-A1 trains the LLM under outcome-only supervision via a multi-stage curriculum reinforcement learning with an easy-to-hard curriculum. To establish foundational agentic capabilities, KnowCoder-A1 first fine-tunes the LLM on a small set of high-quality trajectories obtained through outcome-based rejection sampling. Then, to alleviate the reward sparsity inherent in outcome-only supervision, it applies multi-stage curriculum RL with reward schedules that progress from easy to hard. Trained with outcome-only supervision, KnowCoder-A1 exhibits powerful reasoning behaviors and consistently outperforms prior approaches across three mainstream datasets. Notably, on the zero-shot subset of GrailQA, KnowCoder-A1 achieves up to an 11.1% relative improvement while using only one-twelfth of the training data, demonstrating strong agentic reasoning capabilities.

cs.AI↗

arXiv2025

Esim: EVM Bytecode Similarity Detection Based on Stable-Semantic Graph

Decentralized finance (DeFi) is experiencing rapid expansion. However, prevalent code reuse and limited open-source contributions have introduced significant challenges to the blockchain ecosystem, including plagiarism and the propagation of vulnerable code. Consequently, an effective and accurate similarity detection method for EVM bytecode is urgently needed to identify similar contracts. Traditional binary similarity detection methods are typically based on instruction stream or control flow graph (CFG), which have limitations on EVM bytecode due to specific features like low-level EVM bytecode and heavily-reused basic blocks. Moreover, the highly-diverse Solidity Compiler (Solc) versions further complicate accurate similarity detection. Motivated by these challenges, we propose a novel EVM bytecode representation called Stable-Semantic Graph (SSG), which captures relationships between 'stable instructions' (special instructions identified by our study). Moreover, we implement a prototype, Esim, which embeds SSG into matrices for similarity detection using a heterogeneous graph neural network. Esim demonstrates high accuracy in SSG construction, achieving F1-scores of 100% for control flow and 95.16% for data flow, and its similarity detection performance reaches 96.3% AUC, surpassing traditional approaches. Our large-scale study, analyzing 2,675,573 smart contracts on six EVM-compatible chains over a one-year period, also demonstrates that Esim outperforms the SOTA tool Etherscan in vulnerability search.

cs.CR↗

arXiv2025

Force-Aware 3D Contact Modeling for Stable Grasp Generation

Contact-based grasp generation plays a crucial role in various applications. Recent methods typically focus on the geometric structure of objects, producing grasps with diverse hand poses and plausible contact points. However, these approaches often overlook the physical attributes of the grasp, specifically the contact force, leading to reduced stability of the grasp. In this paper, we focus on stable grasp generation using explicit contact force predictions. First, we define a force-aware contact representation by transforming the normal force value into discrete levels and encoding it using a one-hot vector. Next, we introduce force-aware stability constraints. We define the stability problem as an acceleration minimization task and explicitly relate stability with contact geometry by formulating the underlying physical constraints. Finally, we present a pose optimizer that systematically integrates our contact representation and stability constraints to enable stable grasp generation. We show that these constraints can help identify key contact points for stability which provide effective initialization and guidance for optimization towards a stable grasp. Experiments are carried out on two public benchmarks, showing that our method brings about 20% improvement in stability metrics and adapts well to novel objects.

cs.GR↗

arXiv2025

Part-X-MLLM: Part-aware 3D Multimodal Large Language Model

We introduce Part-X-MLLM, a native 3D multimodal large language model that unifies diverse 3D tasks by formulating them as programs in a structured, executable grammar. Given an RGB point cloud and a natural language prompt, our model autoregressively generates a single, coherent token sequence encoding part-level bounding boxes, semantic descriptions, and edit commands. This structured output serves as a versatile interface to drive downstream geometry-aware modules for part-based generation and editing. By decoupling the symbolic planning from the geometric synthesis, our approach allows any compatible geometry engine to be controlled through a single, language-native frontend. We pre-train a dual-encoder architecture to disentangle structure from semantics and instruction-tune the model on a large-scale, part-centric dataset. Experiments demonstrate that our model excels at producing high-quality, structured plans, enabling state-of-the-art performance in grounded Q\&A, compositional generation, and localized editing through one unified interface. Project page: https://chunshi.wang/Part-X-MLLM/

cs.CV↗

arXiv2025

AI-Driven Robotics for Optics

Optics is foundational to research in many areas of science and engineering, including nanophotonics, quantum information, materials science, biomedical imaging, and metrology. However, the design, assembly, and alignment of optical experiments remain predominantly manual, limiting throughput and reproducibility. Automating such experiments is challenging due to the strict, non-negotiable precision requirements and the diversity of optical configurations found in typical laboratories. Here, we introduce a platform that integrates generative artificial intelligence, computer vision, and robotics to automate free-space optical experiments. The platform translates user-defined goals into valid optical configurations, assembles them using a robotic arm, and performs micrometer-scale fine alignment using a robot-deployable tool. It then executes a range of automated measurements, including beam characterization, polarization mapping, and spectroscopy, with consistency surpassing that of human operators. This work demonstrates the first flexible, AI-driven automation platform for optics, offering a path towards remote operation, cloud labs, and high-throughput discovery in the optical sciences.

physics.optics↗

arXiv2025

Nonautonomous Dynamical Systems III: Symbolic and Expansive Systems

A nonautonomous dynamical system $(\boldsymbol{X},\boldsymbol{T})=\{(X_{k},T_{k})\}_{k=0}^{\infty}$ is a sequence of continuous mappings $T_{k}:X_{k} \to X_{k+1}$ along with a sequence of compact metric spaces $X_{k}$. In this paper, we study the nonautonomous symbolic dynamical systems and nonautonomous expansive dynamical systems. We first study the homogeneous properties of pressures in nonautonomous symbolic systems $(\boldsymbolΣ(\boldsymbol{m}),\boldsymbolσ)$, and we simplify the formulae of Bowen, packing, lower and upper topological pressures for potentials $\boldsymbol{f}=\{f_{k} \in C(Σ_{k}^{\infty}(\boldsymbol{m}),\mathbb{R})\}_{k=0}^{\infty}$ with strongly bounded variation. Then we apply a law of large numbers to obtain the formulae for the lower and upper measure-theoretic pressures with respect to nonautonomous Bernoulli measures and obtain Bowen equilibrium states and packing equilibrium states for potentials in nonautonomous symbolic systems. Finally, we study the generators in nonautonomous expansive systems $(\boldsymbol{X},\boldsymbol{T})$, and we obtain that $(\boldsymbol{X},\boldsymbol{T})$ is expansive if and only if it has a generator. Moreover, strongly uniformly expansive $(\boldsymbol{X},\boldsymbol{T})$ is equisemiconjugate to a subsystem of the nonautonomous symbolic dynamical system.

math.DS↗

arXiv2025

SimTac: A Physics-Based Simulator for Vision-Based Tactile Sensing with Biomorphic Structures

Tactile sensing in biological organisms is deeply intertwined with morphological form, such as human fingers, cat paws, and elephant trunks, which enables rich and adaptive interactions through a variety of geometrically complex structures. In contrast, vision-based tactile sensors in robotics have been limited to simple planar geometries, with biomorphic designs remaining underexplored. To address this gap, we present SimTac, a physics-based simulation framework for the design and validation of biomorphic tactile sensors. SimTac consists of particle-based deformation modeling, light-field rendering for photorealistic tactile image generation, and a neural network for predicting mechanical responses, enabling accurate and efficient simulation across a wide range of geometries and materials. We demonstrate the versatility of SimTac by designing and validating physical sensor prototypes inspired by biological tactile structures and further demonstrate its effectiveness across multiple Sim2Real tactile tasks, including object classification, slip detection, and contact safety assessment. Our framework bridges the gap between bio-inspired design and practical realisation, expanding the design space of tactile sensors and paving the way for tactile sensing systems that integrate morphology and sensing to enable robust interaction in unstructured environments.

cs.RO↗

arXiv2025

Evidence for a hot galactic halo around the Andromeda Galaxy using fast radio bursts along two sightlines

Fast Radio Bursts (FRBs) are millisecond-duration radio transients that serve as unique probes of ionized extragalactic matter. We report the discovery and localization of two FRBs piercing the Andromeda galaxy (M31) with the realfast transient-detection system at the Very Large Array. These unique sightlines enable constraints on M31's electron density distribution. We localized FRB 20230930A to a host galaxy at redshift $z=0.0925$ and FRB 20230506C to a host galaxy at redshift $z=0.3896$. After accounting for the dispersion contributions from the Milky Way, the host galaxies, and the intergalactic medium, we estimate M31's contribution to be $26-239$ $\rm pc~cm^{-3}$ toward FRB 20230930A and $51-366$ $\rm pc~cm^{-3}$ toward FRB 20230506C, within the 90% credible interval (CI). By modeling the M31 disk's contribution, we isolate the halo component and find that M31's halo contributes $7-169$ $\rm pc~cm^{-3}$ along FRB 20230930A (90% CI). The inferred values of $\rm DM_{M31,halo}$ from the FRBs are consistent with predictions from a modified Navarro-Frenk-White (mNFW) profile at the corresponding impact parameter. The cool and warm phase gas is unlikely to account for the $\rm DM_{M31,halo}$ unless the ionization fraction is as high as 90%. While limited to two sightlines, these results offer tentative evidence for the existence of a hot halo surrounding M31. We also discuss the potential contribution of other foreground structures, particularly in explaining the DM excess observed in FRB 20230506C. This work demonstrates how FRBs can be used to probe the circumgalactic medium of intervening galaxies.

astro-ph.HE↗

arXiv2025

Search for light Dark Sectors with GeV Muon Beams

Sub-GeV light dark matter often requires new light mediators, such as a dark $Z$ boson in the $L_μ- L_τ$ gauge theory. We study the search potential for such a $Z^\prime$ boson via the process $μe^- \to μe^- X$, with $X$ decaying invisibly, in a muon on-target experiment using a high-intensity 1-10 GeV muon beam from facilities such as HIAF-HIRIBL. Events are identified by the scattered muon and electron from the target using silicon strip detectors in a single-station telescope system. Backgrounds are suppressed through a trained boosted decision tree (BDT) classifier, and activity in downstream subdetectors remains low. This approach can probe a $Z^\prime$ boson in the 10 MeV mass range with improved sensitivity. Nearly three orders of magnitude improvement is achievable with a full multi-telescope station system employing a 160 GeV muon beam at CERN, such as in the MUonE experiment.

hep-ph↗

arXiv2025

MoRE: 3D Visual Geometry Reconstruction Meets Mixture-of-Experts

Recent advances in language and vision have demonstrated that scaling up model capacity consistently improves performance across diverse tasks. In 3D visual geometry reconstruction, large-scale training has likewise proven effective for learning versatile representations. However, further scaling of 3D models is challenging due to the complexity of geometric supervision and the diversity of 3D data. To overcome these limitations, we propose MoRE, a dense 3D visual foundation model based on a Mixture-of-Experts (MoE) architecture that dynamically routes features to task-specific experts, allowing them to specialize in complementary data aspects and enhance both scalability and adaptability. Aiming to improve robustness under real-world conditions, MoRE incorporates a confidence-based depth refinement module that stabilizes and refines geometric estimation. In addition, it integrates dense semantic features with globally aligned 3D backbone representations for high-fidelity surface normal prediction. MoRE is further optimized with tailored loss functions to ensure robust learning across diverse inputs and multiple geometric tasks. Extensive experiments demonstrate that MoRE achieves state-of-the-art performance across multiple benchmarks and supports effective downstream applications without extra computation.

cs.CV↗

arXiv2025

RoboOS-NeXT: A Unified Memory-based Framework for Lifelong, Scalable, and Robust Multi-Robot Collaboration

The proliferation of collaborative robots across diverse tasks and embodiments presents a central challenge: achieving lifelong adaptability, scalable coordination, and robust scheduling in multi-agent systems. Existing approaches, from vision-language-action (VLA) models to hierarchical frameworks, fall short due to their reliance on limited or dividual-agent memory. This fundamentally constrains their ability to learn over long horizons, scale to heterogeneous teams, or recover from failures, highlighting the need for a unified memory representation. To address these limitations, we introduce RoboOS-NeXT, a unified memory-based framework for lifelong, scalable, and robust multi-robot collaboration. At the core of RoboOS-NeXT is the novel Spatio-Temporal-Embodiment Memory (STEM), which integrates spatial scene geometry, temporal event history, and embodiment profiles into a shared representation. This memory-centric design is integrated into a brain-cerebellum framework, where a high-level brain model performs global planning by retrieving and updating STEM, while low-level controllers execute actions locally. This closed loop between cognition, memory, and execution enables dynamic task allocation, fault-tolerant collaboration, and consistent state synchronization. We conduct extensive experiments spanning complex coordination tasks in restaurants, supermarkets, and households. Our results demonstrate that RoboOS-NeXT achieves superior performance across heterogeneous embodiments, validating its effectiveness in enabling lifelong, scalable, and robust multi-robot collaboration. Project website: https://flagopen.github.io/RoboOS/

cs.RO↗

arXiv2025

Emu3.5: Native Multimodal Models are World Learners

We introduce Emu3.5, a large-scale multimodal world model that natively predicts the next state across vision and language. Emu3.5 is pre-trained end-to-end with a unified next-token prediction objective on a corpus of vision-language interleaved data containing over 10 trillion tokens, primarily derived from sequential frames and transcripts of internet videos. The model naturally accepts interleaved vision-language inputs and generates interleaved vision-language outputs. Emu3.5 is further post-trained with large-scale reinforcement learning to enhance multimodal reasoning and generation. To improve inference efficiency, we propose Discrete Diffusion Adaptation (DiDA), which converts token-by-token decoding into bidirectional parallel prediction, accelerating per-image inference by about 20x without sacrificing performance. Emu3.5 exhibits strong native multimodal capabilities, including long-horizon vision-language generation, any-to-image (X2I) generation, and complex text-rich image generation. It also exhibits generalizable world-modeling abilities, enabling spatiotemporally consistent world exploration and open-world embodied manipulation across diverse scenarios and tasks. For comparison, Emu3.5 achieves performance comparable to Gemini 2.5 Flash Image (Nano Banana) on image generation and editing tasks and demonstrates superior results on a suite of interleaved generation tasks. We open-source Emu3.5 at https://github.com/baaivision/Emu3.5 to support community research.

cs.CV↗

arXiv2025

L$^2$M: Mutual Information Scaling Law for Long-Context Language Modeling

We present a universal theoretical framework for understanding long-context language modeling based on a bipartite mutual information scaling law that we rigorously verify in natural language. We demonstrate that bipartite mutual information captures multi-token interactions distinct from and scaling independently of conventional two-point mutual information, and show that this provides a more complete characterization of the dependencies needed for accurately modeling long sequences. Leveraging this scaling law, we formulate the Long-context Language Modeling (L$^2$M) condition, which lower bounds the necessary scaling of a model's history state -- the latent variables responsible for storing past information -- for effective long-context modeling. We validate the framework and its predictions on transformer and state-space models. Our work provides a principled foundation to understand long-context modeling and to design more efficient architectures with stronger long-context capabilities, with potential applications beyond natural language.

cs.CL↗

arXiv2025

Mesh-RFT: Enhancing Mesh Generation via Fine-grained Reinforcement Fine-Tuning

Existing pretrained models for 3D mesh generation often suffer from data biases and produce low-quality results, while global reinforcement learning (RL) methods rely on object-level rewards that struggle to capture local structure details. To address these challenges, we present Mesh-RFT, a novel fine-grained reinforcement fine-tuning framework that employs Masked Direct Preference Optimization (M-DPO) to enable localized refinement via quality-aware face masking. To facilitate efficient quality evaluation, we introduce an objective topology-aware scoring system to evaluate geometric integrity and topological regularity at both object and face levels through two metrics: Boundary Edge Ratio (BER) and Topology Score (TS). By integrating these metrics into a fine-grained RL strategy, Mesh-RFT becomes the first method to optimize mesh quality at the granularity of individual faces, resolving localized errors while preserving global coherence. Experiment results show that our M-DPO approach reduces Hausdorff Distance (HD) by 24.6% and improves Topology Score (TS) by 3.8% over pre-trained models, while outperforming global DPO methods with a 17.4% HD reduction and 4.9% TS gain. These results demonstrate Mesh-RFT's ability to improve geometric integrity and topological regularity, achieving new state-of-the-art performance in production-ready mesh generation. Project Page: https://hitcslj.github.io/mesh-rft/.

cs.CV↗

arXiv2025

ViTacGen: Robotic Pushing with Vision-to-Touch Generation

Robotic pushing is a fundamental manipulation task that requires tactile feedback to capture subtle contact forces and dynamics between the end-effector and the object. However, real tactile sensors often face hardware limitations such as high costs and fragility, and deployment challenges involving calibration and variations between different sensors, while vision-only policies struggle with satisfactory performance. Inspired by humans' ability to infer tactile states from vision, we propose ViTacGen, a novel robot manipulation framework designed for visual robotic pushing with vision-to-touch generation in reinforcement learning to eliminate the reliance on high-resolution real tactile sensors, enabling effective zero-shot deployment on visual-only robotic systems. Specifically, ViTacGen consists of an encoder-decoder vision-to-touch generation network that generates contact depth images, a standardized tactile representation, directly from visual image sequence, followed by a reinforcement learning policy that fuses visual-tactile data with contrastive learning based on visual and generated tactile observations. We validate the effectiveness of our approach in both simulation and real world experiments, demonstrating its superior performance and achieving a success rate of up to 86\%.

cs.RO↗

arXiv2025

Auto-Connect: Connectivity-Preserving RigFormer with Direct Preference Optimization

We introduce Auto-Connect, a novel approach for automatic rigging that explicitly preserves skeletal connectivity through a connectivity-preserving tokenization scheme. Unlike previous methods that predict bone positions represented as two joints or first predict points before determining connectivity, our method employs special tokens to define endpoints for each joint's children and for each hierarchical layer, effectively automating connectivity relationships. This approach significantly enhances topological accuracy by integrating connectivity information directly into the prediction framework. To further guarantee high-quality topology, we implement a topology-aware reward function that quantifies topological correctness, which is then utilized in a post-training phase through reward-guided Direct Preference Optimization. Additionally, we incorporate implicit geodesic features for latent top-k bone selection, which substantially improves skinning quality. By leveraging geodesic distance information within the model's latent space, our approach intelligently determines the most influential bones for each vertex, effectively mitigating common skinning artifacts. This combination of connectivity-preserving tokenization, reward-guided fine-tuning, and geodesic-aware bone selection enables our model to consistently generate more anatomically plausible skeletal structures with superior deformation properties.

cs.CV↗