arXiv subjects

Ziye Wang

Publications and source records attributed to Ziye Wang.

10 recordsLinked to original sources

arXiv2026

NativeMEM: Native Memory Compression for Long-Horizon Robotic Manipulation

How can pretrained Vision-Language-Action (VLA) models retain long-horizon visual histories with high-frequency updates without sacrificing efficiency? Existing approaches rely on external memory management, which restrains either the memory horizon or the reactiveness of pretrained policies. To this end, we present NativeMEM, a VLA policy that features long-term and real-time updated memory. At its core is an efficient memory encoding scheme, Native Memory Compression, which repurposes the VLA's own vision encoder to compress each historical frame from each camera view into a single token. Appended to the input sequence, these memory tokens enable the pretrained VLA to attend over long-term history with negligible latency overhead, requiring neither an external planner nor a freshly initialized memory module. To align the memory tokens with the pretrained policy, we first develop a generic memory tokenizer under the supervision of a frozen VLA on memory-demanding data, and then unfreeze the VLA for task-specific fine-tuning. NativeMEM consistently outperforms prior methods, boosting success rates from 32.4% to 84.0% in simulation and up to 98.7% on real robots, while maintaining low inference latency and GPU memory usage. Notably, NativeMEM exhibits high data efficiency by achieving competitive results with prior arts using only 20% of the training data.

cs.RO↗

arXiv2026

RefineRAG: Word-Level Poisoning Attacks via Retriever-Guided Text Refinement

Retrieval-Augmented Generation (RAG) significantly enhances Large Language Models (LLMs), but simultaneously exposes a critical vulnerability to knowledge poisoning attacks. Existing attack methods like PoisonedRAG remain detectable due to coarse-grained separate-and-concatenate strategies. To bridge this gap, we propose RefineRAG, a novel framework that treats poisoning as a holistic word-level refinement problem. It operates in two stages: Macro Generation produces toxic seeds guaranteed to induce target answers, while Micro Refinement employs a retriever-in-the-loop optimization to maximize retrieval priority without compromising naturalness. Evaluations on NQ and MSMARCO demonstrate that RefineRAG achieves state-of-the-art effectiveness, securing a 90% Attack Success Rate on NQ, while registering the lowest grammar errors and repetition rates among all baselines. Crucially, our proxy-optimized attacks successfully transfer to black-box victim systems, highlighting a severe practical threat.

cs.CR↗

arXiv2026

Advances and Innovations in the Multi-Agent Robotic System (MARS) Challenge

Recent advancements in multimodal large language models and vision-languageaction models have significantly driven progress in Embodied AI. As the field transitions toward more complex task scenarios, multi-agent system frameworks are becoming essential for achieving scalable, efficient, and collaborative solutions. This shift is fueled by three primary factors: increasing agent capabilities, enhancing system efficiency through task delegation, and enabling advanced human-agent interactions. To address the challenges posed by multi-agent collaboration, we propose the Multi-Agent Robotic System (MARS) Challenge, held at the NeurIPS 2025 Workshop on SpaVLE. The competition focuses on two critical areas: planning and control, where participants explore multi-agent embodied planning using vision-language models (VLMs) to coordinate tasks and policy execution to perform robotic manipulation in dynamic environments. By evaluating solutions submitted by participants, the challenge provides valuable insights into the design and coordination of embodied multi-agent systems, contributing to the future development of advanced collaborative AI systems.

cs.RO↗

arXiv2025

GauDP: Reinventing Multi-Agent Collaboration through Gaussian-Image Synergy in Diffusion Policies

Recently, effective coordination in embodied multi-agent systems has remained a fundamental challenge, particularly in scenarios where agents must balance individual perspectives with global environmental awareness. Existing approaches often struggle to balance fine-grained local control with comprehensive scene understanding, resulting in limited scalability and compromised collaboration quality. In this paper, we present GauDP, a novel Gaussian-image synergistic representation that facilitates scalable, perception-aware imitation learning in multi-agent collaborative systems. Specifically, GauDP constructs a globally consistent 3D Gaussian field from decentralized RGB observations, then dynamically redistributes 3D Gaussian attributes to each agent's local perspective. This enables all agents to adaptively query task-critical features from the shared scene representation while maintaining their individual viewpoints. This design facilitates both fine-grained control and globally coherent behavior without requiring additional sensing modalities (e.g., 3D point cloud). We evaluate GauDP on the RoboFactory benchmark, which includes diverse multi-arm manipulation tasks. Our method achieves superior performance over existing image-based methods and approaches the effectiveness of point-cloud-driven methods, while maintaining strong scalability as the number of agents increases.

cs.RO↗

arXiv2025

Role of the short-range dynamics in simultaneous interpretation of $P_{cs}$ pentaqurks via $Ξ_c^{(\prime,)}\bar{D}^{()}$ molecules

We investigate hidden-charm molecular states in $Ξ_c^{(\prime,*)}\bar{D}^{(*)}$ systems using the one-boson exchange model. By regulating the short-range interactions with parameter $a$ and cutoff $Λ$, we found ten bound states in isoscalar systems. Our analysis reveals that if the LHCb Collaboration's $P_{cs}(4459)$ and Belle Collaboration's $P_{cs}(4472)$ pentaqurks are indeed distinct states, their mass splitting can be resolved through $Ξ_c^{\prime}\bar{D}$-$Ξ_c\bar{D}^*$ coupled channel dynamics using consistent model parameters. This framework assigns $3/2^-$ and $1/2^-$ spin-parity quantum numbers to $P_{cs}(4459)$ and $P_{cs}(4472)$, respectively. With this consistent model parameter, we predict several new molecular candidates in the $4.3-4.7$ GeV mass region, demonstrating the crucial interplay between coupled channel effects and short-range dynamics in understanding hidden-charm pentaquarks as hadronic molecules. Additionally, we investigate the effects of $Λη_c$ and $ΛJ/ψ$ decay channels on the predicted molecular states, showing how these channels influence pole positions and provide insights into the detectability of these states through different production mechanisms.

hep-ph↗

arXiv2025

A $Z_4$ symmetric inverse seesaw model for neutrino masses and FIMP dark matter

A theoretical framework based on a spontaneously broken $Z_4$ symmetry is proposed to simultaneously explain neutrino mass generation via the inverse seesaw mechanism and dark matter (DM) production through a freeze-in scenario. This work extends the standard model with right-handed neutrinos $N_i$, additional fermions $χ_i$, and a complex scalar $S$. An unbroken $Z_2$ subgroup ensures the stability of the DM candidate, whose relic abundance is dominantly produced via decay and scattering processes involving heavy singlet fermions. Phenomenological analyses show that this relatively minimal construction accommodates the observed neutrino oscillation parameters, consistent with the latest global fit data. Furthermore, the model successfully reproduces the observed DM relic density within the parameter space relevant to neutrino phenomenology, establishing a connection between neutrino properties and DM production.

hep-ph↗

arXiv2025

Semantic Discrepancy-aware Detector for Image Forgery Identification

With the rapid advancement of image generation techniques, robust forgery detection has become increasingly imperative to ensure the trustworthiness of digital media. Recent research indicates that the learned semantic concepts of pre-trained models are critical for identifying fake images. However, the misalignment between the forgery and semantic concept spaces hinders the model's forgery detection performance. To address this problem, we propose a novel Semantic Discrepancy-aware Detector (SDD) that leverages reconstruction learning to align the two spaces at a fine-grained visual level. By exploiting the conceptual knowledge embedded in the pre-trained vision language model, we specifically design a semantic token sampling module to mitigate the space shifts caused by features irrelevant to both forgery traces and semantic concepts. A concept-level forgery discrepancy learning module, built upon a visual reconstruction paradigm, is proposed to strengthen the interaction between visual semantic concepts and forgery traces, effectively capturing discrepancies under the concepts' guidance. Finally, the low-level forgery feature enhancemer integrates the learned concept level forgery discrepancies to minimize redundant forgery information. Experiments conducted on two standard image forgery datasets demonstrate the efficacy of the proposed SDD, which achieves superior results compared to existing methods. The code is available at https://github.com/wzy1111111/SSD.

cs.CV↗

arXiv2025

High-Dynamic Radar Sequence Prediction for Weather Nowcasting Using Spatiotemporal Coherent Gaussian Representation

Weather nowcasting is an essential task that involves predicting future radar echo sequences based on current observations, offering significant benefits for disaster management, transportation, and urban planning. Current prediction methods are limited by training and storage efficiency, mainly focusing on 2D spatial predictions at specific altitudes. Meanwhile, 3D volumetric predictions at each timestamp remain largely unexplored. To address such a challenge, we introduce a comprehensive framework for 3D radar sequence prediction in weather nowcasting, using the newly proposed SpatioTemporal Coherent Gaussian Splatting (STC-GS) for dynamic radar representation and GauMamba for efficient and accurate forecasting. Specifically, rather than relying on a 4D Gaussian for dynamic scene reconstruction, STC-GS optimizes 3D scenes at each frame by employing a group of Gaussians while effectively capturing their movements across consecutive frames. It ensures consistent tracking of each Gaussian over time, making it particularly effective for prediction tasks. With the temporally correlated Gaussian groups established, we utilize them to train GauMamba, which integrates a memory mechanism into the Mamba framework. This allows the model to learn the temporal evolution of Gaussian groups while efficiently handling a large volume of Gaussian tokens. As a result, it achieves both efficiency and accuracy in forecasting a wide range of dynamic meteorological radar signals. The experimental results demonstrate that our STC-GS can efficiently represent 3D radar sequences with over $16\times$ higher spatial resolution compared with the existing 3D representation methods, while GauMamba outperforms state-of-the-art methods in forecasting a broad spectrum of high-dynamic weather conditions.

cs.CV↗

arXiv2023

Data and Knowledge Co-driving for Cancer Subtype Classification on Multi-Scale Histopathological Slides

Artificial intelligence-enabled histopathological data analysis has become a valuable assistant to the pathologist. However, existing models lack representation and inference abilities compared with those of pathologists, especially in cancer subtype diagnosis, which is unconvincing in clinical practice. For instance, pathologists typically observe the lesions of a slide from global to local, and then can give a diagnosis based on their knowledge and experience. In this paper, we propose a Data and Knowledge Co-driving (D&K) model to replicate the process of cancer subtype classification on a histopathological slide like a pathologist. Specifically, in the data-driven module, the bagging mechanism in ensemble learning is leveraged to integrate the histological features from various bags extracted by the embedding representation unit. Furthermore, a knowledge-driven module is established based on the Gestalt principle in psychology to build the three-dimensional (3D) expert knowledge space and map histological features into this space for metric. Then, the diagnosis can be made according to the Euclidean distance between them. Extensive experimental results on both public and in-house datasets demonstrate that the D&K model has a high performance and credible results compared with the state-of-the-art methods for diagnosing histopathological subtypes. Code: https://github.com/Dennis-YB/Data-and-Knowledge-Co-driving-for-Cancer-Subtypes-Classification

cs.CV↗

arXiv2019

AttentionXML: Label Tree-based Attention-Aware Deep Model for High-Performance Extreme Multi-Label Text Classification

Extreme multi-label text classification (XMTC) is an important problem in the era of big data, for tagging a given text with the most relevant multiple labels from an extremely large-scale label set. XMTC can be found in many applications, such as item categorization, web page tagging, and news annotation. Traditionally most methods used bag-of-words (BOW) as inputs, ignoring word context as well as deep semantic information. Recent attempts to overcome the problems of BOW by deep learning still suffer from 1) failing to capture the important subtext for each label and 2) lack of scalability against the huge number of labels. We propose a new label tree-based deep learning model for XMTC, called AttentionXML, with two unique features: 1) a multi-label attention mechanism with raw text as input, which allows to capture the most relevant part of text to each label; and 2) a shallow and wide probabilistic label tree (PLT), which allows to handle millions of labels, especially for "tail labels". We empirically compared the performance of AttentionXML with those of eight state-of-the-art methods over six benchmark datasets, including Amazon-3M with around 3 million labels. AttentionXML outperformed all competing methods under all experimental settings. Experimental results also show that AttentionXML achieved the best performance against tail labels among label tree-based methods. The code and datasets are available at http://github.com/yourh/AttentionXML .

cs.CL↗