Searcharxiv⌕ Search

arXiv subjects

Ziyu Zhao

Publications and source records attributed to Ziyu Zhao.

At least 19 recordsLinked to original sources
arXiv2026

TFTrack: A Template-Free Framework for Efficient 3D Point Cloud Tracking

LiDAR-based 3D Single Object Tracking (3D SOT) is critical for robotic perception and navigation and aims to localize dynamic objects across frames in sparse point clouds. Existing methods, rooted in the Siamese tracking paradigm from 2D vision, rely on costly dual-input designs and excessive motion modeling guided by template priors, hindering their efficiency. Our in-depth analysis reveals: (i) the template paradigm is redundant, as the previous bounding box center encodes sufficient historical context; (ii) complex motion modeling is unnecessary, as geometric alignment provides adequate motion priors. Based on the above findings, we propose the first Template-Free Tracking framework (TFTrack). The novel framework eliminates the need for template-search pairings and operates directly on the current frame guided solely by the prior bounding box center and size. We instantiate this paradigm into three variants: TFTrack-Voxel, TFTrack-Pillar, and TFTrack-Point, to explore different 3D representations under a unified framework, ensuring flexibility across sparse and dense scenes. Extensive experiments on KITTI and nuScenes benchmarks show that TFTrack is competitive with leading template-based trackers, while reducing FLOPs by approximately 50% and running at approximately 120 FPS. By simplifying overcomplicated motion-centric designs, TFTrack establishes a new minimalist paradigm for efficient 3D point cloud tracking, paving the way for real-time and resource-efficient deployment in embedded robotic systems, such as autonomous vehicles. The code is available at https://github.com/tftrack-anonymous/TFTrack/tree/main.

cs.CV↗
arXiv2026

Alignment Drift in Single-Model Speculative Decoding for ASR: Mechanism, Correction, and Cost

Speculative decoding speeds up generation by letting a cheap draft propose several tokens that a target model checks in one pass. In the single-model form, the draft is a lightweight module attached to the target rather than a separate model. Applying this design to Automatic Speech Recognition (ASR) introduces an extra problem. The draft can read the whole audio at every step, yet its proposals get worse as it runs on its own. Access is not localization. The accepted text keeps the transcript position explicit, but the draft must also track the changing audio position. In the primary matched comparison, per-step audio access changes the first proposal modestly but roughly doubles later-proposal acceptance. Fixed-width windows show that the audio position explains part of this gap. A correctly placed window recovers continuation, while an equally narrow window at the wrong position reduces it. Late-draft median error reaches 21 frames in the hardest reported condition, while target attention during verification stays within a 2-frame median. We test two ways to reduce this drift. The first reads the audio position from verification attention and uses it to guide the next draft round. It saves time only when the extra accepted tokens offset the readout cost. The second is AnchorDraft, which teaches the draft to track the audio position during training without changing the inference graph. The trained draft improves end-to-end speed at both tested target scales. These results show that ASR self-speculation depends on token prediction, audio-position tracking, and draft cost.

cs.SD↗
arXiv2026

TARQ: Tail-Aware Reconstruction Quantization for Rare-Word Robust Automatic Speech Recognition

Data-aware post-training quantization (PTQ) minimizes a per-token reconstruction loss on a small calibration corpus, implicitly weighting positions by their empirical frequency. For \textbf{A}utomatic \textbf{S}peech \textbf{R}ecognition (ASR), this misaligns with tail-sensitive risk: names, numerals, and domain-specific words receive proportionally little calibration mass. We propose \textbf{Tail-Aware Reconstruction Quantization} (\TARQ), a label-free PTQ framework that shifts calibration toward the lexical tail via \textbf{\rareBAL}, a closed-form per-Linear-layer rule equalizing common/tail mass, paired with a metric-consistent residual correction. \TARQ\ requires no entity labels, no curated calibration set, no validation decoding, and no additional training. Across eight ASR backbones and six datasets at W4G128, \TARQ\ improves mean rare-\textbf{W}ord \textbf{E}rror \textbf{R}ate (rare-WER) without an aggregate-WER regression, achieves the lowest cross-corpus rare-WER swing among compared methods, and transfers to entity-rich benchmarks (ProfASR, ContextASR-Speech-En) without entity supervision.

cs.CL↗
arXiv2026

HoloQ-VLA: Uniform W4A4 Quantization of Vision-Language-Action Models

Vision-Language-Action (VLA) models unify perception, reasoning, and control in a single policy, but their multi-billion-parameter backbones and diffusion-based action heads make on-device deployment prohibitively expensive. Low-bit post-training quantization (PTQ) is the natural remedy, yet the diffusion action head that emits continuous control signals is highly sensitive to it: a few weight and activation outliers are enough to destabilize the head, so prior work leaves it at full precision or falls back to mixed-precision schemes, and uniformly quantizing the whole model to low bit-width remains an open challenge. We present HoloQ-VLA, the first training-free PTQ framework that compresses both the language backbone and the entire diffusion action head to uniform W4A4 precision without mixed-precision allocation. Instead of trading weight quality against activation quality, HoloQ-VLA targets the two outlier sources with complementary transforms: a weight-adapted rotation composed with an activation-dispersing Hadamard transform, together with per-step scaling that absorbs the dynamic-range drift exhibited by the action head across denoising steps. On LIBERO, HoloQ-VLA compresses Pi-0.5 and GR00T-N1.5 to W4A4 with 98.0% and 87.8% task success rates, matching or exceeding their FP16 references of 97.1% and 87.0%, while reducing the static memory footprint by 74.2%. Real-world manipulation experiments further demonstrate that HoloQ-VLA maintains smooth and accurate control across diverse real-world scenarios.

cs.CV↗
arXiv2026

SafeRx-Agent: A Knowledge-Grounded Multi-Agent Framework for Safe and Explainable Medication Recommendation

Medication recommendation predicts medications for patient visits, but existing methods still face two key challenges. At the model level, traditional drug recommendation methods only predict structured drug codes with limited evidence grounding, while LLM agents can use richer clinical context but may lack safety verification and traceability. At the task level, existing benchmarks often use broad medication categories, which ignore subgroup-level safety differences and can lead to risk overestimation. We introduce the first fine-grained medication recommendation setting based on fourth-level ATC code generation. We propose Safe Prescription Agent (SafeRx-Agent), a knowledge-grounded multi-agent framework that uses patient context, external clinical knowledge, and safety verification to recommend traceable medication sets. Experimental results on MIMIC-III and MIMIC-IV datasets show that SafeRx-Agent improves fine-grained medication prediction accuracy while controlling drug interactions, contraindications, and medication set size.

cs.CL↗
arXiv2026

FocusTrack: One-Stage Focus-and-Suppress Framework for 3D Point Cloud Object Tracking

In 3D point cloud object tracking, the motion-centric methods have emerged as a promising avenue due to its superior performance in modeling inter-frame motion. However, existing two-stage motion-based approaches suffer from fundamental limitations: (1) error accumulation due to decoupled optimization caused by explicit foreground segmentation prior to motion estimation, and (2) computational bottlenecks from sequential processing. To address these challenges, we propose FocusTrack, a novel one-stage paradigms tracking framework that unifies motion-semantics co-modeling through two core innovations: Inter-frame Motion Modeling (IMM) and Focus-and-Suppress Attention. The IMM module employs a temp-oral-difference siamese encoder to capture global motion patterns between adjacent frames. The Focus-and-Suppress attention that enhance the foreground semantics via motion-salient feature gating and suppress the background noise based on the temporal-aware motion context from IMM without explicit segmentation. Based on above two designs, FocusTrack enables end-to-end training with compact one-stage pipeline. Extensive experiments on prominent 3D tracking benchmarks, such as KITTI, nuScenes, and Waymo, demonstrate that the FocusTrack achieves new SOTA performance while running at a high speed with 105 FPS.

cs.CV↗
arXiv2026

Beyond Message Passing: A Symbolic Alternative for Expressive and Interpretable Graph Learning

Graph Neural Networks (GNNs) have become essential in high-stakes domains such as drug discovery, yet their black-box nature remains a significant barrier to trustworthiness. While self-explainable GNNs attempt to bridge this gap, they often rely on standard message-passing backbones that inherit fundamental limitations, including the 1-Weisfeiler-Lehman (1-WL) expressivity barrier and a lack of fine-grained interpretability. To address these challenges, we propose SymGraph, a symbolic framework designed to transcend these constraints. By replacing continuous message passing with discrete structural hashing and topological role-based aggregation, our architecture theoretically surpasses the 1-WL barrier, achieving superior expressiveness without the overhead of differentiable optimization. Extensive empirical evaluations demonstrate that SymGraph achieves state-of-the-art performance, outperforming existing self-explainable GNNs. Notably, SymGraph delivers 10x to 100x speedups in training time using only CPU execution. Furthermore, SymGraph generates rules with superior semantic granularity compared to existing rule-based methods, offering great potential for scientific discovery and explainable AI.

cs.LG↗
arXiv2026

Neural Proposals, Symbolic Guarantees: Neuro-Symbolic Graph Generation with Hard Constraints

We challenge black-box purely deep neural approaches for molecules and graph generation, which are limited in controllability and lack formal guarantees. We introduce Neuro-Symbolic Graph Generative Modeling (NSGGM), a neurosymbolic framework that reapproaches molecule generation as a scaffold and interaction learning task with symbolic assembly. An autoregressive neural model proposes scaffolds and refines interaction signals, and a CPU-efficient SMT solver constructs full graphs while enforcing chemical validity, structural rules, and user-specific constraints, yielding molecules that are correct by construction and interpretable control that pure neural methods cannot provide. NSGGM delivers strong performance on both unconstrained generation and constrained generation tasks, demonstrating that neuro-symbolic modeling can match state-of-the-art generative performance while offering explicit controllability and guarantees. To evaluate more nuanced controllability, we also introduce a Logical-Constraint Molecular Benchmark, designed to test strict hard-rule satisfaction in workflows that require explicit, interpretable specifications together with verifiable compliance.

cs.LG↗
arXiv2026

ExpertWeaver: Unlocking the Inherent MoE in Dense LLMs with GLU Activation Patterns

Mixture-of-Experts (MoE) effectively scales model capacity while preserving computational efficiency through sparse expert activation. However, training high-quality MoEs from scratch is prohibitively expensive. A promising alternative is to convert pretrained dense models into sparse MoEs. Existing dense-to-MoE methods fall into two categories: \textbf{dynamic structural pruning} that converts dense models into MoE architectures with moderate sparsity to balance performance and inference efficiency, and \textbf{downcycling} approaches that use pretrained dense models to initialize highly sparse MoE architectures. However, existing methods break the intrinsic activation patterns within dense models, leading to suboptimal expert construction. In this work, we argue that the Gated Linear Unit (GLU) mechanism provides a natural blueprint for dense-to-MoE conversion. We show that the fine-grained neural-wise activation patterns of GLU reveal a coarse-grained structure, uncovering an inherent MoE architecture composed of consistently activated universal neurons and dynamically activated specialized neurons. Leveraging this discovery, we introduce ExpertWeaver, a training-free framework that partitions neurons according to their activation patterns and constructs shared experts and specialized routed experts with layer-adaptive configurations. Our experiments demonstrate that ExpertWeaver significantly outperforms existing methods, both as a training-free dynamic structural pruning technique and as a downcycling strategy for superior MoE initialization.

cs.CL↗
arXiv2026

OJBKQ: Objective-Joint Babai-Klein Quantization

Post-training quantization (PTQ) is widely used to compress large language models without retraining. However, many existing weight-only methods rely on heuristic objectives and greedy rounding, thus leading to noticeable degradation under low-bit quantization. In this work, we introduce OJBKQ (Objective-Joint Babai-Klein Quantization with K-Best Sampling), a layer-wise PTQ method that formulates weight quantization as a joint optimization problem over activations and weights. This formulation results in a multiple-right-hand-side box-constrained integer least squares (BILS) problem in each layer, which is NP-hard. For each column of the weight matrix, we apply an extended Babai nearest-plane algorithm and an extended version of Klein's randomized Babai algorithm to find the minimum-residual Babai-Klein point, a sub-optimal solution to the BILS problem. Experimental results on large language models show that OJBKQ achieves lower perplexity at 3-4 bits compared to existing PTQ approaches, while maintaining comparable computational cost.

cs.LG↗
arXiv2026

Diagnostic-Driven Layer-Wise Compensation for Post-Training Quantization of Encoder-Decoder ASR Models

Layer-wise post-training quantization reconstructs each layer from inputs already altered by the quantized prefix. QEP compensates for this drift with one model-wide coefficient, conflating the model-level operating point with residual variation across layers. We present FADE, which constructs layer-specific coefficients from normalized round-to-nearest distortion and a heuristic calibrated-solver response. It requires no training or per-model coefficient search and adds no inference-time operation. We evaluate seven Whisper, Moonshine, and Qwen3-ASR models at 3 and 4 bits on four English ASR benchmarks. Across 38 settings, FADE lowers mean word error rate relative to fixed QEP-0.5 in 31, although a development-tuned global coefficient recovers much of this gap. The largest absolute reductions occur in 3-bit settings whose final error remains too high for practical use; these results measure collapse mitigation rather than deployable accuracy. In two lower-WER 3-bit cases, FADE reduces the tuned-global result from 3.67 to 3.10 and from 13.03 to 11.63. Most 4-bit differences from the tuned control are within a descriptive tolerance, and one reverses. Paired reruns and within-seed permutations on an outcome-informed subset support assignment sensitivity in selected cases, but do not estimate a matrix-wide success rate. FADE is therefore a layer-wise alternative when per-model coefficient search is unavailable, not a universal replacement for tuned global compensation.

cs.SD↗
arXiv2025

C$^2$DLM: Causal Concept-Guided Diffusion Large Language Models

Autoregressive (AR) language models and Diffusion Language Models (DLMs) constitute the two principal paradigms of large language models. However, both paradigms suffer from insufficient reasoning capabilities. Human reasoning inherently relies on causal knowledge and thought, which are reflected in natural language. But in the AR paradigm, language is modeled as next token prediction (a strictly left-to-right, token-by-token order), whereas natural language itself exhibits more flexible causal structures. In the DLM paradigm, the attention mechanism is fully connected, which entirely disregards causal order. To fill this gap, we propose a \underline{\textbf{C}}ausal \underline{\textbf{C}}oncept-Guided \underline{\textbf{D}}iffusion \underline{\textbf{L}}anguage \underline{\textbf{M}}odel (C$^2$DLM). Starting from DLM's fully connected attention, C$^2$DLM first obtains a concept-level causal graph from the teacher model, and then explicitly guides attention to learn causal relationships between concepts. By focusing on causal relationships and avoiding interference from difficult subgoals involving causal inversion, C$^2$DLM improves 12\% with about 3.2 times training speedup in the COT-OrderPerturb task, and achieves an average gain of 1.31\% across six downstream reasoning tasks. More details in the repository ~\href{https://github.com/Kairong-Han/C-2-DLM}{here}.

cs.CL↗
arXiv2025

CompTrack: Information Bottleneck-Guided Low-Rank Dynamic Token Compression for Point Cloud Tracking

3D single object tracking (SOT) in LiDAR point clouds is a critical task in computer vision and autonomous driving. Despite great success having been achieved, the inherent sparsity of point clouds introduces a dual-redundancy challenge that limits existing trackers: (1) vast spatial redundancy from background noise impairs accuracy, and (2) informational redundancy within the foreground hinders efficiency. To tackle these issues, we propose CompTrack, a novel end-to-end framework that systematically eliminates both forms of redundancy in point clouds. First, CompTrack incorporates a Spatial Foreground Predictor (SFP) module to filter out irrelevant background noise based on information entropy, addressing spatial redundancy. Subsequently, its core is an Information Bottleneck-guided Dynamic Token Compression (IB-DTC) module that eliminates the informational redundancy within the foreground. Theoretically grounded in low-rank approximation, this module leverages an online SVD analysis to adaptively compress the redundant foreground into a compact and highly informative set of proxy tokens. Extensive experiments on KITTI, nuScenes and Waymo datasets demonstrate that CompTrack achieves top-performing tracking performance with superior efficiency, running at a real-time 90 FPS on a single RTX 3090 GPU.

cs.CV↗
arXiv2025

Noise Projection: Closing the Prompt-Agnostic Gap Behind Text-to-Image Misalignment in Diffusion Models

In text-to-image generation, different initial noises induce distinct denoising paths with a pretrained Stable Diffusion (SD) model. While this pattern could output diverse images, some of them may fail to align well with the prompt. Existing methods alleviate this issue either by altering the denoising dynamics or by drawing multiple noises and conducting post-selection. In this paper, we attribute the misalignment to a training-inference mismatch: during training, prompt-conditioned noises lie in a prompt-specific subset of the latent space, whereas at inference the noise is drawn from a prompt-agnostic Gaussian prior. To close this gap, we propose a noise projector that applies text-conditioned refinement to the initial noise before denoising. Conditioned on the prompt embedding, it maps the noise to a prompt-aware counterpart that better matches the distribution observed during SD training, without modifying the SD model. Our framework consists of these steps: we first sample some noises and obtain token-level feedback for their corresponding images from a vision-language model (VLM), then distill these signals into a reward model, and finally optimize the noise projector via a quasi-direct preference optimization. Our design has two benefits: (i) it requires no reference images or handcrafted priors, and (ii) it incurs small inference cost, replacing multi-sample selection with a single forward pass. Extensive experiments further show that our prompt-aware noise projection improves text-image alignment across diverse prompts.

cs.CV↗
arXiv2025

NEUROLOGIC: From Neural Representations to Interpretable Logic Rules

Rule-based explanation methods offer rigorous and globally interpretable insights into neural network behavior. However, existing approaches are mostly limited to small fully connected networks and depend on costly layerwise rule extraction and substitution processes. These limitations hinder their generalization to more complex architectures such as Transformers. Moreover, existing methods produce shallow, decision-tree-like rules that fail to capture rich, high-level abstractions in complex domains like computer vision and natural language processing. To address these challenges, we propose NEUROLOGIC, a novel framework that extracts interpretable logical rules directly from deep neural networks. Unlike previous methods, NEUROLOGIC can construct logic rules over hidden predicates derived from neural representations at any chosen layer, in contrast to costly layerwise extraction and rewriting. This flexibility enables broader architectural compatibility and improved scalability. Furthermore, NEUROLOGIC supports richer logical constructs and can incorporate human prior knowledge to ground hidden predicates back to the input space, enhancing interpretability. We validate NEUROLOGIC on Transformer-based sentiment analysis, demonstrating its ability to extract meaningful, interpretable logic rules and provide deeper insights-tasks where existing methods struggle to scale.

cs.LG↗
arXiv2025

SocioBench: Modeling Human Behavior in Sociological Surveys with Large Language Models

Large language models (LLMs) show strong potential for simulating human social behaviors and interactions, yet lack large-scale, systematically constructed benchmarks for evaluating their alignment with real-world social attitudes. To bridge this gap, we introduce SocioBench-a comprehensive benchmark derived from the annually collected, standardized survey data of the International Social Survey Programme (ISSP). The benchmark aggregates over 480,000 real respondent records from more than 30 countries, spanning 10 sociological domains and over 40 demographic attributes. Our experiments indicate that LLMs achieve only 30-40% accuracy when simulating individuals in complex survey scenarios, with statistically significant differences across domains and demographic subgroups. These findings highlight several limitations of current LLMs in survey scenarios, including insufficient individual-level data coverage, inadequate scenario diversity, and missing group-level modeling.

cs.SI↗
arXiv2025

Dropping Experts, Recombining Neurons: Retraining-Free Pruning for Sparse Mixture-of-Experts LLMs

Sparse Mixture-of-Experts (SMoE) architectures are widely used in large language models (LLMs) due to their computational efficiency. However, though only a few experts are activated for each token, SMoE still requires loading all expert parameters, leading to high memory usage and challenges in deployment. Previous work has tried to reduce the overhead by pruning and merging experts, but primarily focused on expert-level operations, leaving neuron-level structure underexplored. We propose DERN (Dropping Experts, Recombining Neurons), a task-agnostic and retraining-free framework for expert pruning and reconstruction. We observe that experts are often misaligned and contain semantic conflicts at the neuron level, which poses challenges for direct merging. To solve this, DERN works in three steps: it first prunes redundant experts using router statistics; then it decomposes them into neuron-level expert segments, assigning each segment to its most compatible retained expert; and finally, it merges segments within each retained expert to build a compact representation. Experiments on Mixtral, Qwen, and DeepSeek SMoE models show that DERN improves performance by more than 5% on commonsense reasoning and MMLU benchmarks under 50% expert sparsity, without extra training. It also greatly reduces the number of experts and memory usage, making SMoE LLMs easier to deploy in practice.

cs.CL↗
arXiv2025

CAT: Causal Attention Tuning For Injecting Fine-grained Causal Knowledge into Large Language Models

Large Language Models (LLMs) have achieved remarkable success across various domains. However, a fundamental question remains: Can LLMs effectively utilize causal knowledge for prediction and generation? Through empirical studies, we find that LLMs trained directly on large-scale data often capture spurious correlations rather than true causal relationships, leading to suboptimal performance, especially in out-of-distribution (OOD) scenarios. To address this challenge, we propose Causal Attention Tuning (CAT), a novel approach that injects fine-grained causal knowledge into the attention mechanism. We propose an automated pipeline that leverages human priors to automatically generate token-level causal signals and introduce the Re-Attention mechanism to guide training, helping the model focus on causal structures while mitigating noise and biases in attention scores. Experimental results on our proposed Spurious Token Game (STG) benchmark and multiple downstream tasks demonstrate that our approach effectively leverages causal knowledge for prediction and remains robust in OOD scenarios. The CAT achieves an average improvement of 5.76% on the STG dataset and 1.56% on downstream tasks. Notably, the OOD performance of the Llama-3.1-8B model on STG_M increased from 64.5% to 90.5%, and Qwen's OOD performance on the STG_H dataset improved from 25.4% to 55.9%. Implementation details can be found at https://github.com/Kairong-Han/CAT.

cs.CL↗