arXiv subjects

Ziwei Wang

Publications and source records attributed to Ziwei Wang.

At least 73 records · Page 4Linked to original sources

arXiv2026

Topological Valley-Reshaped Device: Bifunctional Waveguiding and Single-Beam Leaky-Wave Radiation for Terahertz Communication

Topological photonics has emerged as a powerful platform for terahertz on-chip systems due to its robust waveguiding capabilities. However, directly extracting topological valley-locked edge states into directional free-space radiation without auxiliary couplers while preserving guided-wave functionality remains a fundamental challenge. In this work, we propose and experimentally demonstrate a bifunctional topological valley-reshaped device. By introducing an angular truncation and a spatial displacement to a complete topological waveguide (TW), the resulting structure inherently retains its waveguiding capabilities. Furthermore, when operated as an isolated section, it functions as a topological leaky-wave antenna (TLWA) that exhibits directional single-lobe radiation. The TW shows low-loss guided-wave performance with an 18 GHz operating bandwidth, supporting error-free transmission up to 60 Gbps. For the TLWA, by gradually reducing the number of protective lattices that are orthogonal to the propagation direction, the valley-locked edge state becomes momentum-matched to the free-space light line, generating leaky-wave radiation. Simultaneously, reshaping of the opposite valley-locked edge state suppresses far-field side lobes and reduces reflection, yielding a clean single-beam radiation pattern with a side-lobe suppression ratio (SLSR) exceeding 15 dB. The TLWA realizes a measured peak gain of 12.5 dBi and a 19 GHz operating bandwidth. Notably, the low-dispersion property of the K-valley radiation allows the main-lobe direction to vary by only 2 degrees across the entire operating band, enabling error-free free-space reception at 24 Gbps. This bifunctional design represents a key step toward highly integrated and modular terahertz on-chip systems.

physics.optics↗

arXiv2026

SIMART: Decomposing Monolithic Meshes into Sim-ready Articulated Assets via MLLM

High-quality articulated 3D assets are indispensable for embodied AI and physical simulation, yet 3D generation still focuses on static meshes, leaving a gap in "sim-ready" interactive objects. Most recent articulated object creation methods rely on multi-stage pipelines that accumulate errors across decoupled modules. Alternatively, unified MLLMs offer a single-stage path to joint static asset understanding and sim-ready asset generation. However dense voxel-based 3D tokenization yields long 3D token sequences and high memory overhead, limiting scalability to complex articulated objects. To address this, we propose SIMART, a unified MLLM framework that jointly performs part-level decomposition and kinematic prediction. By introducing a Sparse 3D VQ-VAE, SIMART reduces token counts by 70% vs. dense voxel tokens, enabling high-fidelity multi-part assemblies. SIMART achieves state-of-the-art performance on PartNet-Mobility and in-the-wild AIGC datasets, and enables physics-based robotic simulation.

cs.CV↗

arXiv2026

UniPR: Unified Object-level Real-to-Sim Perception and Reconstruction from a Single Stereo Pair

Perceiving and reconstructing objects from images are critical for real-to-sim transfer tasks, which are widely used in the robotics community. Existing methods rely on multiple submodules such as detection, segmentation, shape reconstruction, and pose estimation to complete the pipeline. However, such modular pipelines suffer from inefficiency and cumulative error, as each stage operates on only partial or locally refined information while discarding global context. To address these limitations, we propose UniPR, the first end-to-end object-level real-to-sim perception and reconstruction framework. Operating directly on a single stereo image pair, UniPR leverages geometric constraints to resolve the scale ambiguity. We introduce Pose-Aware Shape Representation to eliminate the need for per-category canonical definitions and to bridge the gap between reconstruction and pose estimation tasks. Furthermore, we construct a large-vocabulary stereo dataset, LVS6D, comprising over 6,300 objects, to facilitate large-scale research in this area. Extensive experiments demonstrate that UniPR reconstructs all objects in a scene in parallel within a single forward pass, achieving significant efficiency gains and preserves true physical proportions across diverse object types, highlighting its potential for practical robotic applications.

cs.CV↗

arXiv2026

RoCo Challenge at AAAI 2026: Benchmarking Robotic Collaborative Manipulation for Assembly Towards Industrial Automation

Embodied Artificial Intelligence (EAI) is rapidly developing, gradually subverting previous autonomous systems' paradigms from isolated perception to integrated, continuous action. This transition is highly significant for industrial robotic manipulation, promising to free human workers from repetitive, dangerous daily labor. To benchmark and advance this capability, we introduce the Robotic Collaborative Assembly Assistance (RoCo) Challenge with a dataset towards simulation and real-world assembly manipulation. Set against the backdrop of human-centered manufacturing, this challenge focuses on a high-precision planetary gearbox assembly task, a demanding yet highly representative operation in modern industry. Built upon a self-developed data collection, training, and evaluation system in Isaac Sim, and utilizing a dual-arm robot for real-world deployment, the challenge operates in two phases. The Simulation Round defines fine-grained task phases for step-wise scoring to handle the long-horizon nature of the assembly. The Real-World Round mirrors this evaluation with physical gearbox components and high-quality teleoperated datasets. The core tasks require assembling an epicyclic gearbox from scratch, including mounting three planet gears, a sun gear, and a ring gear. Attracting over 60 teams and 170+ participants from more than 10 countries, the challenge yielded highly effective solutions, most notably ARC-VLA and RoboCola. Results demonstrate that a dual-model framework for long-horizon multi-task learning is highly effective, and the strategic utilization of recovery-from-failure curriculum data is a critical insight for successful deployment. This report outlines the competition setup, evaluation approach, key findings, and future directions for industrial EAI. Our dataset, CAD files, code, and evaluation results can be found at: https://rocochallenge.github.io/RoCo2026/.

cs.RO↗

arXiv2026

Meta-cavity Quantum Electrodynamics

Cavity quantum electrodynamics (cQED) harnesses light-matter interactions to produce nonclassical light states. However, a fundamental challenge lies in simultaneously achieving Purcell enhancement and tailored wavefront control within a single cavity, due to conflicting resonator requirements. Here, we overcome this limitation by demonstrating triggered single-photon emission with customizable wavefronts from semiconductor quantum dots embedded in geometric-phase metacavities. These monolithic devices - only 200 nm thick - deliver Purcell-enhanced emission alongside spin-momentum-locked radiation, vortex beams, and holographic patterns. The meta-atom lattice provides high-Q optical confinement, while spatially modulated orientations enable efficient outcoupling of photons with designed states. This work establishes a new paradigm for intrinsically multiplexing metasurface-based wavefront shaping with cQED, enabling high-performance quantum light sources from subwavelength-scale monolithic platforms.

physics.optics↗

arXiv2026

Learning Virtual Machine Scheduling in Cloud Computing through Language Agents

In cloud services, virtual machine (VM) scheduling is a typical Online Dynamic Multidimensional Bin Packing (ODMBP) problem, characterized by large-scale complexity and fluctuating demands. Traditional optimization methods struggle to adapt to real-time changes, domain-expert-designed heuristic approaches suffer from rigid strategies, and existing learning-based methods often lack generalizability and interpretability. To address these limitations, this paper proposes a hierarchical language agent framework named MiCo, which provides a large language model (LLM)-driven heuristic design paradigm for solving ODMBP. Specifically, ODMBP is formulated as a Semi-Markov Decision Process with Options (SMDP-Option), enabling dynamic scheduling through a two-stage architecture, i.e., Option Miner and Option Composer. Option Miner utilizes LLMs to discover diverse and useful non-context-aware strategies by interacting with constructed environments. Option Composer employs LLMs to discover a composing strategy that integrates the non-context-aware strategies with the contextual ones. Extensive experiments on real-world enterprise datasets demonstrate that MiCo achieves a 96.9\% competitive ratio in large-scale scenarios involving more than 10,000 virtual machines. It maintains high performance even under nonstationary request flows and diverse configurations, thus validating its effectiveness in complex and large-scale cloud environments.

cs.LG↗

arXiv2026

Influence of Solar Polar Magnetic Fields on the Propagation of Coronal Mass Ejection

Understanding the propagation of coronal mass ejections (CMEs) through interplanetary space is essential for space weather forecasting. Due to observational limitations, measurements of the photospheric polar magnetic fields remain highly uncertain, and their influence on CME propagation in the heliosphere is still poorly quantified. In this study, we systematically investigate how variations in the photospheric polar magnetic fields affect the Sun-Mars propagation of the 4 December 2021 CME using numerical simulations. The results show that stronger polar fields modify the background solar wind, producing higher plasma density, enhanced magnetic field strength, a flattened heliospheric current sheet, and weakened high-speed streams in the ecliptic plane. These changes markedly slow the CME's radial propagation and inhibit its lateral and radial expansion, leading to notably delayed arrivals at BepiColombo and MAVEN/Tianwen-1. Quantitatively, an enhancement of the polar magnetic fields with a peak value of 6 G at the pole decreases the mean propagation and expansion speeds by roughly 200 km s$^{-1}$ and halves the CME volume. Force analysis reveals that strengthening the polar fields produces only minor changes in the internal force balance of the CME, where the thermal pressure gradient force dominates over the Lorentz force, while it strongly affects the forces acting on the CME surface. At large heliocentric distances, the magnetic pressure of the background solar wind becomes comparable to or even exceeds the aerodynamic drag force, producing a strong confining effect that hinders the CME's motion.

astro-ph.SR↗

arXiv2026

VLA-Reasoner: Empowering Vision-Language-Action Models with Reasoning via Online Monte Carlo Tree Search

Vision-Language-Action models (VLAs) achieve strong performance in general robotic manipulation tasks by scaling imitation learning. However, existing VLAs are limited to predicting short-sighted next-action, which struggle with long-horizon trajectory tasks due to incremental deviations. To address this problem, we propose a plug-in framework named \method that effectively empowers off-the-shelf VLAs with the capability of foreseeing future states via test-time scaling. Specifically, \method samples and rolls out possible action trajectories where involved actions are rationales to generate future states via a world model, which enables \method to foresee and reason potential outcomes and search for the optimal actions. We further leverage Monte Carlo Tree Search (MCTS) to improve search efficiency in large action spaces, where step-wise VLA predictions seed the root. Meanwhile, we introduce a confidence sampling mechanism based on Kernel Density Estimation (KDE), to enable efficient exploration in MCTS without redundant VLA queries. We evaluate intermediate states in MCTS via an offline value estimation strategy, to score predicted futures and correct deviations with long-term feedback. We conducted extensive experiments in both simulators and the real world, demonstrating that our proposed VLA-Reasoner achieves significant improvements over the state-of-the-art VLAs. Our method highlights a potential pathway toward scalable test-time computation of robotic manipulation. The project website is available at: https://vla-reasoner.github.io/.

cs.RO↗

arXiv2026

UniManip: General-Purpose Zero-Shot Robotic Manipulation with Agentic Operational Graph

Achieving general-purpose robotic manipulation requires robots to seamlessly bridge high-level semantic intent with low-level physical interaction in unstructured environments. However, existing approaches falter in zero-shot generalization: end-to-end Vision-Language-Action (VLA) models often lack the precision required for long-horizon tasks, while traditional hierarchical planners suffer from semantic rigidity when facing open-world variations. To address this, we present UniManip, a framework grounded in a Bi-level Agentic Operational Graph (AOG) that unifies semantic reasoning and physical grounding. By coupling a high-level Agentic Layer for task orchestration with a low-level Scene Layer for dynamic state representation, the system continuously aligns abstract planning with geometric constraints, enabling robust zero-shot execution. Unlike static pipelines, UniManip operates as a dynamic agentic loop: it actively instantiates object-centric scene graphs from unstructured perception, parameterizes these representations into collision-free trajectories via a safety-aware local planner, and exploits structured memory to autonomously diagnose and recover from execution failures. Extensive experiments validate the system's robust zero-shot capability on unseen objects and tasks, demonstrating a 22.5% and 25.0% higher success rate compared to state-of-the-art VLA and hierarchical baselines, respectively. Notably, the system enables direct zero-shot transfer from fixed-base setups to mobile manipulation without fine-tuning or reconfiguration. Our open-source project page can be found at https://henryhcliu.github.io/unimanip.

cs.RO↗

arXiv2026

RECUR: Resource Exhaustion Attack via Recursive-Entropy Guided Counterfactual Utilization and Reflection

Large Reasoning Models (LRMs) employ reasoning to address complex tasks. Such explicit reasoning requires extended context lengths, resulting in substantially higher resource consumption. Prior work has shown that adversarially crafted inputs can trigger redundant reasoning processes, exposing LRMs to resource-exhaustion vulnerabilities. However, the reasoning process itself, especially its reflective component, has received limited attention, even though it can lead to over-reflection and consume excessive computing power. In this paper, we introduce Recursive Entropy to quantify the risk of resource consumption in reflection, thereby revealing the safety issues inherent in inference itself. Based on Recursive Entropy, we introduce RECUR, a resource exhaustion attack via Recursive Entropy guided Counterfactual Utilization and Reflection. It constructs counterfactual questions to verify the inherent flaws and risks of LRMs. Extensive experiments demonstrate that, under benign inference, recursive entropy exhibits a pronounced decreasing trend. RECUR disrupts this trend, increasing the output length by up to 11x and decreasing throughput by 90%. Our work provides a new perspective on robust reasoning.

cs.AI↗

arXiv2026

SA-VLA: Spatially-Aware Flow-Matching for Vision-Language-Action Reinforcement Learning

Vision-Language-Action (VLA) models exhibit strong generalization in robotic manipulation, yet reinforcement learning (RL) fine-tuning often degrades robustness under spatial distribution shifts. For flow-matching VLA policies, this degradation is closely associated with the erosion of spatial inductive bias during RL adaptation, as sparse rewards and spatially agnostic exploration increasingly favor short-horizon visual cues. To address this issue, we propose \textbf{SA-VLA}, a spatially-aware RL adaptation framework that preserves spatial grounding during policy optimization by aligning representation learning, reward design, and exploration with task geometry. SA-VLA fuses implicit spatial representations with visual tokens, provides dense rewards that reflect geometric progress, and employs \textbf{SCAN}, a spatially-conditioned annealed exploration strategy tailored to flow-matching dynamics. Across challenging multi-object and cluttered manipulation benchmarks, SA-VLA enables stable RL fine-tuning and improves zero-shot spatial generalization, yielding more robust and transferable behaviors. Code and project page are available at https://xupan.top/Projects/savla.

cs.RO↗

arXiv2026

RAICL: Retrieval-Augmented In-Context Learning for Vision-Language-Model Based EEG Seizure Detection

Electroencephalogram (EEG) decoding is a critical component of medical diagnostics, rehabilitation engineering, and brain-computer interfaces. However, contemporary decoding methodologies remain heavily dependent on task-specific datasets to train specialized neural network architectures. Consequently, limited data availability impedes the development of generalizable large brain decoding models. In this work, we propose a paradigm shift from conventional signal-based decoding by leveraging large-scale vision-language models (VLMs) to analyze EEG waveform plots. By converting multivariate EEG signals into stacked waveform images and integrating neuroscience domain expertise into textual prompts, we demonstrate that foundational VLMs can effectively differentiate between different patterns in the human brain. To address the inherent non-stationarity of EEG signals, we introduce a Retrieval-Augmented In-Context Learning (RAICL) approach, which dynamically selects the most representative and relevant few-shot examples to condition the autoregressive outputs of the VLM. Experiments on EEG-based seizure detection indicate that state-of-the-art VLMs under RAICL achieved better or comparable performance with traditional time series based approaches. These findings suggest a new direction in physiological signal processing that effectively bridges the modalities of vision, language, and neural activities. Furthermore, the utilization of off-the-shelf VLMs, without the need for retraining or downstream architecture construction, offers a readily deployable solution for clinical applications.

cs.HC↗

arXiv2026

Learning Visual Hierarchies in Hyperbolic Space for Image Retrieval

Structuring latent representations in a hierarchical manner enables models to learn patterns at multiple levels of abstraction. However, most prevalent image understanding models focus on visual similarity, and learning visual hierarchies is relatively unexplored. In this work, for the first time, we introduce a learning paradigm that can encode user-defined multi-level complex visual hierarchies in hyperbolic space without requiring explicit hierarchical labels. As a concrete example, first, we define a part-based image hierarchy using object-level annotations within and across images. Then, we introduce an approach to enforce the hierarchy using contrastive loss with pairwise entailment metrics. Finally, we discuss new evaluation metrics to effectively measure hierarchical image retrieval. Encoding these complex relationships ensures that the learned representations capture semantic and structural information that transcends mere visual similarity. Experiments in part-based image retrieval show significant improvements in hierarchical retrieval tasks, demonstrating the capability of our model in capturing visual hierarchies.

cs.CV↗

arXiv2026

Imprints of Dark Photons on Gravitational Wave Polarizations

We study conversion processes between gravitons and dark photons and reveal the effects of dark photons on the polarization of gravitational waves. Considering cosmological dark magnetic fields, we investigate the evolution of the intensity and polarization of gravitational waves through the conversion. Specifically, we demonstrate that for minimal coupling between gravitons and dark photons, the intensity, circular polarization, and linear polarization evolve separately. We derive explicit formulas for the statistical mean and variance of the intensity and polarization when the gravitational waves pass through magnetic fields with random orientation. The formulas capture how the initial polarization of dark photons will be imprinted on the observed gravitational wave background.

gr-qc↗

arXiv2025

Dual radar-guided glide path error correction based on the Izhikevich neuron model

Aiming at the ranging and angle measurement errors caused by target reflection characteristics and system noise in dual radar tracking, this paper proposes a dual radar track error correction method based on the Izhikevich neural model. The network uses the dynamic differential equation of the Izhikevich model to simulate the discharge characteristics of biological neurons. Its input layer integrates the coordinate measurement data of the dual radar, and the output layer represents the error compensation amount through the pulse emission frequency. The spike-timing-dependent plasticity (STDP) is used to adjust the neuron connection weights dynamically, and the trajectory distortion caused by system noise and radar ranging and angle measurement errors can be effectively suppressed.

eess.SP↗

arXiv2025

RaX-Crash: A Resource Efficient and Explainable Small Model Pipeline with an Application to City Scale Injury Severity Prediction

New York City reports over one hundred thousand motor vehicle collisions each year, creating substantial injury and public health burden. We present RaX-Crash, a resource efficient and explainable small model pipeline for structured injury severity prediction on the official NYC Motor Vehicle Collisions dataset. RaX-Crash integrates three linked tables with tens of millions of records, builds a unified feature schema in partitioned storage, and trains compact tree based ensembles (Random Forest and XGBoost) on engineered tabular features, which are compared against locally deployed small language models (SLMs) prompted with textual summaries. On a temporally held out test set, XGBoost and Random Forest achieve accuracies of 0.7828 and 0.7794, clearly outperforming SLMs (0.594 and 0.496); class imbalance analysis shows that simple class weighting improves fatal recall with modest accuracy trade offs, and SHAP attribution highlights human vulnerability factors, timing, and location as dominant drivers of predicted severity. Overall, RaX-Crash indicates that interpretable small model ensembles remain strong baselines for city scale injury analytics, while hybrid pipelines that pair tabular predictors with SLM generated narratives improve communication without sacrificing scalability.

cs.LG↗

arXiv2025

Mean-field Modelling of Moiré Materials: A User's Guide with Selected Applications to Twisted Bilayer Graphene

We review the theoretical modelling of moiré materials, focusing on various aspects of magic-angle twisted bilayer graphene (MA-TBG) viewed through the lens of Hartree-Fock mean-field theory. We first provide an elementary introduction to the continuum modelling of moiré bandstructures, and explain how interactions are incorporated to study correlated states. We then discuss how to implement mean-field simulations of ground state structure and collective excitations in this setting. With this background established, we rationalize the power of mean-field approximations in MA-TBG, by discussing the idealized "chiral-flat" strong-coupling limit, in which ground states at electron densities commensurate with the moiré superlattice are exactly captured by mean-field ansätze. We then illustrate the phenomenological shortcomings of this limit, leading us naturally into a discussion of the intermediate-coupling incommensurate Kekulé spiral (IKS) order and its origins in ever-present heterostrain. IKS and its placement within an expanded Hartree-Fock manifold form our first "case study". Our second case study involves time-dependence, and focuses on the collective modes of various broken-symmetry insulators in MA-TBG. As a third and final case study, we return to the strong-coupling picture, which can be stabilized by aligning MA-TBG to an hBN substrate. In this limit, we show how mean field theory can be adapted to the translationally non-invariant setting in order to quantitatively study the energetics of domain walls in orbital Chern insulating states. We close with a discussion of extensions and further applications. Used either as a standalone reference or alongside the accompanying open-source code, this review should enable readers with a basic knowledge of band theory and many-body physics to systematically build and analyze detailed models of generic moiré systems.

cond-mat.str-el↗

arXiv2025

SLOFetch: Compressed-Hierarchical Instruction Prefetching for Cloud Microservices

Large-scale networked services rely on deep soft-ware stacks and microservice orchestration, which increase instruction footprints and create frontend stalls that inflate tail latency and energy. We revisit instruction prefetching for these cloud workloads and present a design that aligns with SLO driven and self optimizing systems. Building on the Entangling Instruction Prefetcher (EIP), we introduce a Compressed Entry that captures up to eight destinations around a base using 36 bits by exploiting spatial clustering, and a Hierarchical Metadata Storage scheme that keeps only L1 resident and frequently queried entries on chip while virtualizing bulk metadata into lower levels. We further add a lightweight Online ML Controller that scores prefetch profitability using context features and a bandit adjusted threshold. On data center applications, our approach preserves EIP like speedups with smaller on chip state and improves efficiency for networked services in the ML era.

cs.LG↗