arXiv subjects

Zuoyu Zhang

Publications and source records attributed to Zuoyu Zhang.

3 recordsLinked to original sources

arXiv2026

Globally Localizing Lunar Rover in Pixels via Graph Alignment

Precise rover localization is a prerequisite for autonomous lunar exploration, yet the absence of Global Navigation Satellite System (GNSS) signals and the cumulative drift of local localization methods severely constrain long-range missions. Cross-view localization provides a promising drift-free global solution by matching rover-view and satellite-view imagery. However, the lunar environment poses unique challenges for correspondence alignment, including inter-entity entanglement, inter-viewpoint divergence, and simulation-to-real domain shift. To address these challenges, we propose Warped Alignment of Reprojected Graphs (WARG), a framework that leverages unified graph learning and reprojected graph matching for robust cross-view alignment. Pretrained on the synthetic LuSNAR dataset, WARG achieves an average test error of 0.32 m and demonstrates robust zero-shot generalization to the synthetic lunar south pole region with an error of 3.63 m. More importantly, when validated on real-world data from the YuTu-2 rover, WARG achieves a localization error of 1.68 m within a 100 m x 100 m search area, corresponding to nearly one-pixel precision in low-resolution satellite imagery with a spatial resolution of 1.40 m/pixel. Beyond accuracy, WARG is computationally efficient, containing only 1.56M parameters, corresponding to 16.12% of previous lightweight models, and operating at 5.49 Hz on an NVIDIA RTX A6000 GPU, approaching GNSS-level update frequency. Finally, we observe that WARG naturally develops low-level spatial awareness, including semantic segmentation and structural reasoning, through cross-view localization learning, highlighting its potential as a promising paradigm for spatial intelligence with minimal annotation cost. The source code is available at https://github.com/maochen-casia/warg.

cs.CV↗

arXiv2026

Enhancing Agent Safety Judgment: Controlled Benchmark Rewriting and Analogical Reasoning for Deceptive Out-of-Distribution Scenarios

Tool-using agent systems powered by large language models (LLMs) are increasingly deployed across web, app, operating-system, and transactional environments. Yet existing safety benchmarks still emphasize explicit risks, potentially overstating a model's ability to judge deceptive or ambiguous trajectories. To address this gap, we introduce ROME (Red-team Orchestrated Multi-agent Evolution), a controlled benchmark-construction pipeline that rewrites known unsafe trajectories into more deceptive evaluation instances while preserving their underlying risk labels. Starting from 100 unsafe source trajectories, ROME produces 300 challenge instances spanning contextual ambiguity, implicit risks, and shortcut decision-making. Experiments show that these challenge sets substantially degrade safety-judgment performance, with hidden-risk cases remaining particularly non-trivial even for recent frontier models. We further study ARISE (Analogical Reasoning for Inference-time Safety Enhancement), a retrieval-guided inference-time enhancement that retrieves ReAct-style analogical safety trajectories from an external analogical base and injects them as structured reasoning exemplars. ARISE improves judgment quality without retraining, but is best viewed as a task-specific robustness enhancement rather than a standalone safety guarantee. Together, ROME and ARISE provide practical tools for stress-testing and improving agent safety judgment under deceptive distribution shifts.

cs.AI↗

arXiv2026

Enhancing Tool Calling in LLMs with the International Tool Calling Dataset

Tool calling allows large language models (LLMs) to interact with external systems like APIs, enabling applications in customer support, data analysis, and dynamic content generation. While recent benchmarks have advanced tool-use research, they suffer from key limitations, including reliance on simulated or restricted APIs, limited reproducibility, and a lack of cultural and geographic diversity. To address these gaps, we introduce International Tool Calling (ITC), a large-scale, multilingual benchmark designed for realistic, globally distributed tool-calling scenarios. ITC includes 3,571 real APIs and 17,540 tool calling tasks across 20 categories and 40 countries. Experiments reveal substantial performance gaps between open- and closed-source LLMs, while fine-tuning on ITC yields significant improvements, particularly for non-English queries, enhancing cross-lingual generalization, reasoning consistency, and robustness to out-of-domain tools. ITC provides a valuable benchmark for advancing LLM robustness and performance in complex, multi-tool, and international scenarios. Dataset: https://anonymous.4open.science/r/International-Tool-Calling-ITC-dataset-FAF4/.

cs.HC↗