arXiv subjects

Ziming Liu

Publications and source records attributed to Ziming Liu.

At least 19 recordsLinked to original sources

arXiv2026

Variational Continuation for Double Pendulum Periodic Orbits

We present a Hessian-based approach to numerically continue periodic orbits in dynamical systems. A loop (periodic orbit candidate) is parametrized as a Fourier series; a loss function is defined based on the deviation of the loop from the physical differential equations. Unlike previous work relying on hand-derived Jacobians, our method automates the process by leveraging automatic differentiation, a common machine learning technique. The continuation direction can be determined by the flat directions of the loss landscapes (directions with zero eigenvalues), making the search of periodic orbits efficient and guided. Our method is integrator-free, precisely initializes oscillations around unstable fixed points, and efficiently detects orbit family intersections and subharmonic bifurcations. As a demonstration, we present full continuations of periodic double pendulum oscillations from fixed points, showing bifurcations along orbit families and categorizing branches of periodic orbits. In particular, we find periodic orbits where both pendulum masses are never simultaneously at rest, which to our knowledge has been missing in the literature.

cs.LG↗

arXiv2026

Beyond Local Surprise: Grounded Dialogue as Selective Belief Revision under Referential Uncertainty

When a speaker refers to a scene that the listener cannot directly see, the listener must decide whether to preserve its current understanding or revise it as new utterances arrive. Many language systems treat local mismatch as a cue for updating: divergence from the current understanding encourages adjustment. Yet conversational understanding may be more conservative, interpreting mismatching evidence relative to prior understanding rather than immediately revising it. We introduce a controlled, data-driven framework for turn-by-turn preserve/revise decisions in dialogue, where competing revision policies are learned under otherwise identical conditions. We compare four theory-driven revision strategies, each reflecting a different assumption about when listeners should preserve or revise. Two findings stand out. First, a mismatch-driven policy that updates solely based on local divergence reacts strongly to mismatch but destabilizes grounding and degrades retrieval. Second, an uncertainty-sensitive policy extends mismatch-based updating with accumulated evidence, preserving coherent understanding while maintaining strong retrieval performance. Surprisingly, coherent understanding emerges from a counterintuitive pattern: local mismatch promotes preservation, whereas accumulated uncertainty promotes revision, suggesting that listeners maintain prior understanding despite local mismatch and revise only when uncertainty sufficiently accumulates. This pattern is consistent with conceptual pact theory.

cs.CL↗

arXiv2026

Clearing the Fog: Towards Installing and Refining Proactive Exploration Capabilities in LLM Agents

We study proactive exploration in LLM agents, i.e., the ability to explore an environment to acquire information that improves future decision-making. In this regard, we first identify two fundamental bottlenecks that hinder this capability and then propose \ours, a novel method designed to instill and refine proactive exploration. Specifically, \ours\ consists of two components: (1) Exploratory Data Construction, which synthesizes exploration-rich trajectories to mitigate the hindsight bias of standard demonstrations; and (2) RL Optimization with Contrastive Signal Guidance, which leverages contrastive trajectory pairs to distinguish productive exploration from redundant wandering. Extensive experiments demonstrate the effectiveness of \ours\ and provide insights into the characteristics of proactive exploration. Our code is available at: https://github.com/GuanZhizhao/SAFARI.

cs.AI↗

arXiv2026

HiFAST: An HI data calibration and imaging pipeline for the FAST IV: The stray-radiation correction

Stray radiation is a considerable challenge for radio telescopes, requiring careful assessment due to its effects. This is crucial when the strong background flux from side lobes significantly affects the total flux, especially for extended sources. In this study, we introduced the beam pattern of the L-band receiver on the Five-hundred-meter Aperture Spherical Telescope (FAST), covering various frequencies based on recent observations. We discovered that the main beam efficiency of all beams exceeds 90\% throughout the L band frequencies, with efficiency decreasing slowly as frequency increases. Subsequently, we developed a module to mitigate stray radiation effects, incorporating it into FAST's standard \HI data reduction process, referred to as \texttt{HiFAST}. Our analysis shows that side lobe flux's influence, particularly for extended sources with significant surface density gradients, necessitates detailed evaluation. Corrections for the extended M33 galaxy can reach up to 20\%. Moreover, the pattern data presented here is vital for studying HI intensity maps at high redshift. The module, along with HiFAST and beam pattern data across 15 frequency bins, can be accessed at \textrm{https://hifast.readthedocs.io}. The datasets of beam pattern presented in this paper, are openly available at \textrm{https://doi.org/10.57760/sciencedb.j00113.00266} (https://www.scidb.cn/s/bqQRNv).

astro-ph.IM↗

arXiv2026

The FAST Hundred-Deg$^2$ HI Deep (HD$^2$) Survey: Early Results from the Pilot Survey

The Hundred-deg$^2$ HI Deep (HD$^2$) survey carried out with the Five-hundred-meter Aperture Spherical Telescope (FAST) is planned to map a contiguous region within the DESI DR1 footprint, achieving an effective integration time of 20 minutes for each pointing and a uniform detection sensitivity of 0.28 mJy beam$^{-1}$ at 4.8 km s$^{-1}$ resolution. We present early results from the pilot HD$^2$ survey: a 10 deg$^2$ field overlapping with HSC-SSP and the DESI EDR SV3, observed with an integration time of 7.3 minutes per beam and the rms of 0.45 mJy beam$^{-1}$ at 4.8 km s$^{-1}$ resolution. We identify 339 HI sources at $z<0.09$, corresponding to $\sim$34 detections per deg$^2$, nearly six times higher than the detection rate of the wide-field surveys. Optical counterparts are primarily identified using DESI redshifts, yielding a matching rate and correctness exceeding 90% for galaxies with $r<19.5$ mag, a substantial improvement over SDSS. Under the constraint of $r < 17.8$ mag and $0.01 < z < 0.05$, nearly 50% of galaxies in the DESI BGS samples have HI detections in this pilot survey. The optical properties of these HI-detected galaxies span nearly the entire parameter range of the DESI sample. The gas fraction scaling relations versus stellar mass, stellar mass surface density, NUV-r, and specific star formation rate are consistent with previous surveys, e.g., ALFALFA, DINGO, and xGASS. These results justify the feasibility of the full HD$^2$ survey, which will build a high-completeness HI census over a contiguous area to probe the cold gas scaling relations of galaxies over different scales.

astro-ph.GA↗

arXiv2026

PlexRL: Cluster-Level Orchestration of Serviceized LLM Execution for RLVR

Reinforcement learning with verifiable rewards (RLVR) has recently unlocked strong reasoning capabilities in large language models (LLMs), triggering rapid exploration of new algorithms and data. However, RLVR training is notoriously inefficient: long-tailed rollouts, tool-induced stalls, and asymmetric resource requirements between rollout and training introduce substantial idle time that cannot be eliminated by job-local optimizations such as synchronous pipelining, asynchronous rollout, or colocated execution. We argue that this inefficiency is structural. While idle gaps are unavoidable within individual RLVR jobs, they are largely anti-correlated across jobs and therefore exploitable at the cluster level. Leveraging this observation, we present PlexRL, a cluster-level runtime for multiplexing unified LLM services across RLVR jobs. By centrally managing model placement, state transitions, and function-level scheduling under strict affinity constraints, PlexRL time-slices LLM execution across jobs to fill otherwise idle periods without expensive model migration. Our implementation and evaluations demonstrate that PlexRL significantly improves effective cluster capacity and reduces user GPU hour cost by maximum 37.58% while preserving algorithmic flexibility and introducing minimal per-job overhead.

cs.DC↗

arXiv2026

A Very Big Video Reasoning Suite

Rapid progress in video models has largely focused on visual quality, leaving their reasoning capabilities underexplored. Video reasoning grounds intelligence in spatiotemporally consistent visual environments that go beyond what text can naturally capture, enabling intuitive reasoning over spatiotemporal structure such as continuity, interaction, and causality. However, systematically studying video reasoning and its scaling behavior is hindered by the lack of large-scale training data. To address this gap, we introduce the Very Big Video Reasoning (VBVR) Dataset, an unprecedentedly large-scale resource spanning 200 curated reasoning tasks following a principled taxonomy and over one million video clips, approximately three orders of magnitude larger than existing datasets. We further present VBVR-Bench, a verifiable evaluation framework that moves beyond model-based judging by incorporating rule-based, human-aligned scorers, enabling reproducible and interpretable diagnosis of video reasoning capabilities. Leveraging the VBVR suite, we conduct one of the first large-scale scaling studies of video reasoning and observe early signs of emergent generalization to unseen reasoning tasks. Together, VBVR lays a foundation for the next stage of research in generalizable video reasoning. The data, benchmark toolkit, and models are publicly available at https://video-reason.com/?v=vbvr .

cs.CV↗

arXiv2026

A Robust Two-Stage Protocol for STAR-RIS-Aided ISAC Networks: Joint Beamforming and Mode Optimization

This paper investigates the robust design of integrated sensing and communication (ISAC) systems assisted by simultaneously transmitting and reflecting reconfigurable intelligent surfaces (STAR-RISs), acting as programmable metasurfaces enabling concurrent sensing and communication over the full space. To exploit the dual transmission-reflection capability of STAR-RISs, we propose a two-stage ISAC protocol: a preparation phase jointly performs direction-of-arrival (DoA) estimation for outdoor users and downlink communication to all users, while a subsequent communication phase leverages the acquired angular information to enhance downlink transmission. To capture sensing uncertainty and imperfect channel knowledge, the DoAs of outdoor users are modeled as Gaussian random variables, and the non-line-of-sight (NLoS) channel components of outdoor links are characterized through their spatial covariance statistics, enabling a robust design that incorporates average communication performance into the optimization. We formulate a performance-balanced optimization problem that maximizes the communication sum-rate while guaranteeing sensing accuracy, jointly determining the beamforming vectors, the STAR-RIS transmission and reflection coefficients in both stages, and the metasurface partition between energy-splitting and transmit-only modes. To address the resulting non-convex mixed discrete-continuous problem, we develop a tailored alternating optimization framework with proven monotonic convergence. Numerical results demonstrate approximately 15% throughput gain over the most competitive benchmark neglecting NLoS statistical characterization, with robustness maintained under DoA estimation errors and imperfect NLoS channel knowledge.

eess.SP↗

arXiv2026

DM0: An Embodied-Native Vision-Language-Action Model towards Physical AI

Moving beyond the traditional paradigm of adapting internet-pretrained models to physical tasks, we present DM0, an Embodied-Native Vision-Language-Action (VLA) framework designed for Physical AI. Unlike approaches that treat physical grounding as a fine-tuning afterthought, DM0 unifies embodied manipulation and navigation by learning from heterogeneous data sources from the onset. Our methodology follows a comprehensive three-stage pipeline: Pretraining, Mid-Training, and Post-Training. First, we conduct large-scale unified pretraining on the Vision-Language Model (VLM) using diverse corpora--seamlessly integrating web text, autonomous driving scenarios, and embodied interaction logs-to jointly acquire semantic knowledge and physical priors. Subsequently, we build a flow-matching action expert atop the VLM. To reconcile high-level reasoning with low-level control, DM0 employs a hybrid training strategy: for embodied data, gradients from the action expert are not backpropagated to the VLM to preserve generalized representations, while the VLM remains trainable on non-embodied data. Furthermore, we introduce an Embodied Spatial Scaffolding strategy to construct spatial Chain-of-Thought (CoT) reasoning, effectively constraining the action solution space. Experiments on the RoboChallenge benchmark demonstrate that DM0 achieves state-of-the-art performance in both Specialist and Generalist settings on Table30.

cs.RO↗

arXiv2026

From Kepler to Newton: Inductive Biases Guide Learned World Models in Transformers

Can general-purpose AI architectures go beyond prediction to discover the physical laws governing the universe? True intelligence relies on "world models" -- causal abstractions that allow an agent to not only predict future states but understand the underlying governing dynamics. While previous "AI Physicist" approaches have successfully recovered such laws, they typically rely on strong, domain-specific priors that effectively "bake in" the physics. Conversely, Vafa et al. recently showed that generic Transformers fail to acquire these world models, achieving high predictive accuracy without capturing the underlying physical laws. We bridge this gap by systematically introducing three minimal inductive biases. We show that ensuring spatial smoothness (by formulating prediction as continuous regression) and stability (by training with noisy contexts to mitigate error accumulation) enables generic Transformers to surpass prior failures and learn a coherent Keplerian world model, successfully fitting ellipses to planetary trajectories. However, true physical insight requires a third bias: temporal locality. By restricting the attention window to the immediate past -- imposing the simple assumption that future states depend only on the local state rather than a complex history -- we force the model to abandon curve-fitting and discover Newtonian force representations. Our results demonstrate that simple architectural choices determine whether an AI becomes a curve-fitter or a physicist, marking a critical step toward automated scientific discovery.

cs.LG↗

arXiv2026

Inverse Depth Scaling From Most Layers Being Similar

Neural scaling laws relate loss to model size in large language models (LLMs), yet depth and width may contribute to performance differently, requiring more detailed studies. Here, we quantify how depth affects loss via analysis of LLMs and toy residual networks. We find loss scales inversely proportional to depth in LLMs, probably due to functionally similar layers reducing error through ensemble averaging rather than compositional learning or discretizing smooth dynamics. This regime is inefficient yet robust and may arise from the architectural bias of residual networks and target functions incompatible with smooth dynamics. The findings suggest that improving LLM efficiency may require architectural innovations to encourage compositional use of depth.

cs.LG↗

arXiv2026

Universal One-third Time Scaling in Learning Peaked Distributions

Training large language models (LLMs) is computationally expensive, partly because the loss exhibits slow power-law convergence whose origin remains debatable. Through systematic analysis of toy models and empirical evaluation of LLMs, we show that this behavior can arise intrinsically from the use of softmax and cross-entropy. When learning peaked probability distributions, e.g., next-token distributions, these components generically yield power-law vanishing losses and gradients, regardless of many microscopic details, creating a fundamental optimization bottleneck. This ultimately leads to power-law time scaling of the loss with a universal exponent of $1/3$. Our results provide a mechanistic explanation for observed neural scaling and suggest new directions for improving LLM training efficiency.

cs.LG↗

arXiv2026

Gridless Full-Space DOA Estimation for STAR-RIS-Assisted Wireless Systems

Simultaneously transmitting and reflecting reconfigurable intelligent surfaces (STAR-RIS) enable full-space ($0^\circ$--$360^\circ$) signal coverage, making them a compelling platform for integrated sensing and communication in next-generation wireless networks. In this paper, we investigate gridless direction-of-arrival (DOA) estimation across the full spatial domain in STAR-RIS-assisted systems operating with a single RF sensing chain. We show that the coupled reflection-transmission mechanism of STAR-RIS induces a multichannel finite-rate-of-innovation (FRI) structure in the received signal, which enables casting DOA estimation as a structured low-rank recovery problem without angular grid discretization. Building on this observation, we develop a proximal gradient descent algorithm with alternating projections onto a block-Hankel matrix set, enabling robust angle retrieval from limited measurements. Two practically relevant STAR-RIS configurations are addressed: element-wise uniform and nonuniform energy-splitting designs, each handled through a dedicated lifting strategy that preserves the underlying algebraic structure. A Ziv-Zakai bound is derived for the coupled full-space sensing model as a performance benchmark across the full SNR range. Numerical results show that the proposed methods consistently outperform grid-based baselines, achieving sub-degree accuracy within $\pm 60^\circ$ of boresight at comparable or lower computational cost.

eess.SP↗

arXiv2026

Are Your Reasoning Models Reasoning or Guessing? A Mechanistic Analysis of Hierarchical Reasoning Models

Hierarchical reasoning model (HRM) achieves extraordinary performance on various reasoning tasks, significantly outperforming large language model-based reasoners. To understand the strengths and potential failure modes of HRM, we conduct a mechanistic study on its reasoning patterns and find three surprising facts: (a) Failure of extremely simple puzzles, e.g., HRM can fail on a puzzle with only one unknown cell. We attribute this failure to the violation of the fixed point property, a fundamental assumption of HRM. (b) "Grokking" dynamics in reasoning steps, i.e., the answer is not improved uniformly, but instead there is a critical reasoning step that suddenly makes the answer correct; (c) Existence of multiple fixed points. HRM "guesses" the first fixed point, which could be incorrect, and gets trapped there for a while or forever. All facts imply that HRM appears to be "guessing" instead of "reasoning". Leveraging this "guessing" picture, we propose three strategies to scale HRM's guesses: data augmentation (scaling the quality of guesses), input perturbation (scaling the number of guesses by leveraging inference randomness), and model bootstrapping (scaling the number of guesses by leveraging training randomness). On the practical side, by combining all methods, we develop Augmented HRM, boosting accuracy on Sudoku-Extreme from 54.5% to 96.9%. On the scientific side, our analysis provides new insights into how reasoning models "reason".

cs.AI↗

arXiv2025

Nex-N1: Agentic Models Trained via a Unified Ecosystem for Large-Scale Environment Construction

The evolution of Large Language Models (LLMs) from passive responders to autonomous agents necessitates a fundamental shift in learning paradigms -- from static imitation to incentive-driven decision making. However, this transition is significantly impeded by the lack of scalable infrastructure capable of constructing high-quality interaction signals for effective policy learning. To address this, we introduce a comprehensive method designed to systematically scale the diversity and complexity of interactive environments. Our method realizes this scaling by addressing three orthogonal dimensions: (1) Complexity: NexAU, a flexible agent framework that supports building complex agent hierarchies via simple configurations; (2) Diversity: NexA4A automatically generates diverse agent hierarchies from natural language to cover infinite domains; and (3) Fidelity: NexGAP bridges the simulation-reality gap by integrating dynamic real-world environment for grounded trajectories synthesis. We train Nex-N1 upon the diverse and complex interactive environments established by our infrastructure. Empirical results on benchmarks such as SWE-bench and tau2 demonstrate that Nex-N1 consistently outperforms SOTA open-source models and achieves competitive performance against frontier proprietary models on complex agentic tasks. We open-source the Nex ecosystem and model weights to facilitate further research.

cs.CL↗

arXiv2025

ReSpec: Towards Optimizing Speculative Decoding in Reinforcement Learning Systems

Adapting large language models (LLMs) via reinforcement learning (RL) is often bottlenecked by the generation stage, which can consume over 75\% of the training time. Speculative decoding (SD) accelerates autoregressive generation in serving systems, but its behavior under RL training remains largely unexplored. We identify three critical gaps that hinder the naive integration of SD into RL systems: diminishing speedups at large batch sizes, drafter staleness under continual actor updates, and drafter-induced policy degradation. To address these gaps, we present ReSpec, a system that adapts SD to RL through three complementary mechanisms: dynamically tuning SD configurations, evolving the drafter via knowledge distillation, and weighting updates by rollout rewards. On Qwen models (3B--14B), ReSpec achieves up to 4.5x speedup while preserving reward convergence and training stability, providing a practical solution for efficient RL-based LLM adaptation.

cs.LG↗

arXiv2025

Dexbotic: Open-Source Vision-Language-Action Toolbox

In this paper, we present Dexbotic, an open-source Vision-Language-Action (VLA) model toolbox based on PyTorch. It aims to provide a one-stop VLA research service for professionals in the field of embodied intelligence. It offers a codebase that supports multiple mainstream VLA policies simultaneously, allowing users to reproduce various VLA methods with just a single environment setup. The toolbox is experiment-centric, where the users can quickly develop new VLA experiments by simply modifying the Exp script. Moreover, we provide much stronger pretrained models to achieve great performance improvements for state-of-the-art VLA policies. Dexbotic will continuously update to include more of the latest pre-trained foundation models and cutting-edge VLA models in the industry.

cs.RO↗

arXiv2025

RoboChallenge: Large-scale Real-robot Evaluation of Embodied Policies

Testing on real machines is indispensable for robotic control algorithms. In the context of learning-based algorithms, especially VLA models, demand for large-scale evaluation, i.e. testing a large number of models on a large number of tasks, is becoming increasingly urgent. However, doing this right is highly non-trivial, especially when scalability and reproducibility is taken into account. In this report, we describe our methodology for constructing RoboChallenge, an online evaluation system to test robotic control algorithms, and our survey of recent state-of-the-art VLA models using our initial benchmark Table30.

cs.RO↗