Jiamin Wang

Yunpeng Mei, Jiakai He, Hongjie Cao et al.

Large vision-language-action (VLA) policies are increasingly trained as conditional generative models over action chunks. Yet deployment produces mixed-quality experience-successful demonstrations, partial completions, recoverable mistakes, and failures-that is difficult to use with standard imitation. Full behavior cloning (BC) imitates failures, filtered BC discards useful sub-trajectories, and offline reinforcement learning adds a large critic. We introduce ForesightFlow, a self-guided flow-matching policy that augments each generated action chunk with a learned success-potential trajectory. The same flow proposes and scores candidate actions, enabling best-of-$K$ inference without an external critic. The key issue is that policy improvement and value calibration require different supervision: advantage weighting should emphasize high-quality actions, but applying the same weights to potential coordinates suppresses failure gradients and creates overconfident scores. We address this with decoupled advantage-weighted flow matching, applying exponentiated advantage weights only to action velocities while training potential velocities uniformly. We further derive a one-step boundary estimator for conditional flow matching, allowing advantage computation with a single stop-gradient forward pass. Across five BEHAVIOR-1K simulation tasks and five real-world bimanual tasks, ForesightFlow improves over imitation baselines, matches the strongest separate-critic baseline in simulation success, improves real-world success, and reduces training compute by $38\%$. Ablations show that decoupling prevents value hallucination, the one-step estimator preserves candidate-ranking fidelity, and self-guided sampling improves long-horizon execution.

Jiamin Wang, Jian Liu, Feng Xiao et al.

Understanding what governs collective robustness and how it can be enhanced remains a central pursuit in network science. This paper investigates the robustness of multi-agent consensus networks, quantified by the $H_2$ performance metric, and delves into the enhancing effect of agents' local memory on it. Inspired by the hierarchical temporal structure of memory observed in neuroscience, we focus on the role of memory depth, which reflects the temporal features of memory from recent to remote. Building on linear extrapolation, we propose a consensus protocol with single-step memory and tunable memory depth, derive the necessary and sufficient condition for achieving consensus, and show that the protocol exhibits an inheritable consensus property across memory depths. Furthermore, analytical expressions for the $H_2$ performance metric, which depend on the memory factor, memory depth, coupling gain, and Laplacian spectrum, are established. Under balanced usage of real-time and memory information, we demonstrate that memory at any accessible depth enhances $H_2$ performance, and the optimal memory depth occurs at either the most recent or the most remote memory, contingent upon certain parameter regions. Further detailed discussions are provided to clarify the broader implications of our findings.

Xiangxu Zhang, Jiamin Wang, Qinlin Zhao et al.

As LLMs become increasingly integrated into human society, evaluating their orientations on human values from social science has drawn growing attention. Nevertheless, it is still unclear why human values matter for LLMs, especially in LLM-based multi-agent systems, where group-level failures may accumulate from individually misaligned actions. We ask whether misalignment with human values alters the collective behavior of LLM agents and what changes it induces? In this work, we introduce CIVA, a controlled multi-agent environment grounded in social science theories, where LLM agents form a community and autonomously communicate, explore, and compete for resources, enabling systematic manipulation of value prevalence and behavioral analysis. Through comprehensive simulation experiments, we reveal three key findings. (1) We identify several structurally critical values that substantially shape the community's collective dynamics, including those diverging from LLMs' original orientations. Triggered by the misspecification of these values, we (2) detect system failure modes, e.g., catastrophic collapse, at the macro level, and (3) observe emergent behaviors like deception and power-seeking at the micro level. These results offer quantitative evidence that human values are essential for collective outcomes in LLMs and motivate future multi-agent value alignment.

Caiyi Sun, Yujing Sun, Xiangyu Li et al.

Deepface generation has traditionally followed a task-driven paradigm, where distinct tasks (e.g., face transfer and hair transfer) are addressed by task-specific models. Nevertheless, this single-task setting severely limits model generalization and scalability. A unified model capable of solving multiple deepface generation tasks in a single pass represents a promising and practical direction, yet remains challenging due to data scarcity and cross-task conflicts arising from heterogeneous attribute transformations. To this end, we propose UniBioTransfer, the first unified framework capable of handling both conventional deepface tasks (e.g., face transfer and face reenactment) and shape-varying transformations (e.g., hair transfer and head transfer). Besides, UniBioTransfer naturally generalizes to unseen tasks, like lip, eye, and glasses transfer, with minimal fine-tuning. Generally, UniBioTransfer addresses data insufficiency in multi-task generation through a unified data construction strategy, including a swapping-based corruption mechanism designed for spatially dynamic attributes like hair. It further mitigates cross-task interference via an innovative BioMoE, a mixture-of-experts based model coupled with a novel two-stage training strategy that effectively disentangles task-specific knowledge. Extensive experiments demonstrate the effectiveness, generalization, and scalability of UniBioTransfer, outperforming both existing unified models and task-specific methods across a wide range of deepface generation tasks. Project page is at https://scy639.github.io/UniBioTransfer.github.io/

Jiamin Wang, Zhijing Ye, Xiaodong Yu

Collective communication is a major bottleneck for multi-node GPU workloads in scientific computing and distributed deep learning, especially when inter-node bandwidth is limited. Although NCCL provides optimized GPU-centric collectives, large messages can still dominate end-to-end performance. Existing compression-enabled collective libraries either rely on MPI-based stacks that cannot fully exploit NCCL, omit entropy coding, or tightly couple full compressors with communication primitives, limiting compression ratio, flexibility, and communication-computation overlap. This paper presents NCCLZ, a compression-enabled GPU collectives that decouples quantization and entropy coding and integrates them at different layers of the stack. NCCLZ places quantization at the interface, embeds entropy coding into NCCL primitives, uses a lightweight device-side selector to choose coding strategies, and overlaps compression with communication to reduce exposed overhead. Experiments on scientific datasets, training gradients, and synthetic workloads show up to 9.65x speedup over NCCL and up to 3.34x improvement over prior compression-assisted collective libraries.

Hanqing Wang, Shaoyang Wang, Yiming Zhong et al.

Affordance grounding focuses on predicting the specific regions of objects that are associated with the actions to be performed by robots. It plays a vital role in the fields of human-robot interaction, human-object interaction, embodied manipulation, and embodied perception. Existing models often neglect the affordance shared among different objects because they lack the Chain-of-Thought(CoT) reasoning abilities, limiting their out-of-domain (OOD) generalization and explicit reasoning capabilities. To address these challenges, we propose Affordance-R1, the first unified affordance grounding framework that integrates cognitive CoT guided Group Relative Policy Optimization (GRPO) within a reinforcement learning paradigm. Specifically, we designed a sophisticated affordance function, which contains format, perception, and cognition rewards to effectively guide optimization directions. Furthermore, we constructed a high-quality affordance-centric reasoning dataset, ReasonAff, to support training. Trained exclusively via reinforcement learning with GRPO and without explicit reasoning data, Affordance-R1 achieves robust zero-shot generalization and exhibits emergent test-time reasoning capabilities. Comprehensive experiments demonstrate that our model outperforms well-established methods and exhibits open-world generalization. To the best of our knowledge, Affordance-R1 is the first to integrate GRPO-based RL with reasoning into affordance reasoning. The code of our method and our dataset is released on https://github.com/hq-King/Affordance-R1.

Zhiqing Zhong, Zhijing Ye, Jiamin Wang et al.

Closed-loop tool-using agents are increasingly evaluated in executable web, code, and micro-task environments, but benchmark reports often conflate workloads, action-generating drivers, and the evidence admitted for systems-facing claims. We present an executable benchmarking suite that makes these objects explicit under a shared evidence-admission contract. The suite connects WebArena Verified, a SWE-Gym slice with SWE-bench-compatible verification, and MiniWoB++ through common workload adapters, task manifests, event schemas, replay/freeze policy, declared drivers, and reporting pipelines. In the canonical release, the gate separates paper-facing evidence from preflight, fixture, smoke, and diagnostic rows while preserving non-admitted artifacts for audit and onboarding. The admitted evidence records latency, invalid-action behavior, patch-generation cost, verifier metadata, replay bindings, and provenance under one auditable contract. The gate is decision-relevant rather than merely clerical: in a separate WebArena Verified controller study, clean-baseline and medium live-stressed evaluation select different fixed controller variants under the same workload and admission contract. The release is scoped as a benchmarking suite and admitted evidence, not a new agent policy, model leaderboard, backend comparison, or autonomous SWE-bench solver.

Xiaoru Dong, Ruiqin Li, Xiao Han et al.

Human driving behavior is inherently diverse, yet most end-to-end autonomous driving (E2E-AD) systems learn a single average driving style, neglecting individual differences. Achieving personalized E2E-AD faces challenges across three levels: limited real-world datasets with individual-level annotations, a lack of quantitative metrics for evaluating personal driving styles, and the absence of algorithms that can learn stylized representations from users' trajectories. To address these gaps, we propose Person2Drive, a comprehensive personalized E2E-AD platform and benchmark. It includes an open-source, flexible data collection system that simulates realistic scenarios to generate scalable and diverse personalized driving datasets; style vector-based evaluation metrics with Maximum Mean Discrepancy and KL divergence to comprehensively quantify individual driving behaviors; and a personalized E2E-AD framework with a style reward model that efficiently adapts E2E models for safe and individualized driving. Extensive experiments demonstrate that Person2Drive enables fine-grained analysis, reproducible evaluation, and effective personalization in end-to-end autonomous driving. Our dataset and code will be released after acceptance.

Yumeng Liu, Yaxun Yang, Youzhuo Wang et al.

In this paper, we introduce RealDex, a pioneering dataset capturing authentic dexterous hand grasping motions infused with human behavioral patterns, enriched by multi-view and multimodal visual data. Utilizing a teleoperation system, we seamlessly synchronize human-robot hand poses in real time. This collection of human-like motions is crucial for training dexterous hands to mimic human movements more naturally and precisely. RealDex holds immense promise in advancing humanoid robot for automated perception, cognition, and manipulation in real-world scenarios. Moreover, we introduce a cutting-edge dexterous grasping motion generation framework, which aligns with human experience and enhances real-world applicability through effectively utilizing Multimodal Large Language Models. Extensive experiments have demonstrated the superior performance of our method on RealDex and other open datasets. The complete dataset and code will be made available upon the publication of this work.

Hongwei Du, Jiamin Wang, Jian Hui et al.

Generative models generate vast numbers of hypothetical materials, necessitating fast, accurate models for property prediction. Graph Neural Networks (GNNs) excel in this domain but face challenges like high training costs, domain adaptation issues, and over-smoothing. We introduce DenseGNN, which employs Dense Connectivity Network (DCN), Hierarchical Node-Edge-Graph Residual Networks (HRN), and Local Structure Order Parameters Embedding (LOPE) to address these challenges. DenseGNN achieves state-of-the-art performance on datasets such as JARVIS-DFT, Materials Project, and QM9, improving the performance of models like GIN, Schnet, and Hamnet on materials datasets. By optimizing atomic embeddings and reducing computational costs, DenseGNN enables deeper architectures and surpasses other GNNs in crystal structure distinction, approaching X-ray diffraction method accuracy. This advances materials discovery and design.

Jiamin Wang, Yichen Yao, Xiang Feng et al.

The generation of temporally consistent, high-fidelity driving videos over extended horizons presents a fundamental challenge in autonomous driving world modeling. Existing approaches often suffer from error accumulation and feature misalignment due to inadequate decoupling of spatio-temporal dynamics and limited cross-frame feature propagation mechanisms. To address these limitations, we present STAGE (Streaming Temporal Attention Generative Engine), a novel auto-regressive framework that pioneers hierarchical feature coordination and multi-phase optimization for sustainable video synthesis. To achieve high-quality long-horizon driving video generation, we introduce Hierarchical Temporal Feature Transfer (HTFT) and a novel multi-stage training strategy. HTFT enhances temporal consistency between video frames throughout the video generation process by modeling the temporal and denoising process separately and transferring denoising features between frames. The multi-stage training strategy is to divide the training into three stages, through model decoupling and auto-regressive inference process simulation, thereby accelerating model convergence and reducing error accumulation. Experiments on the Nuscenes dataset show that STAGE has significantly surpassed existing methods in the long-horizon driving video generation task. In addition, we also explored STAGE's ability to generate unlimited-length driving videos. We generated 600 frames of high-quality driving videos on the Nuscenes dataset, which far exceeds the maximum length achievable by existing methods.

Yaguan Qian, Jiamin Wang, Bin Wang et al.

The vulnerability of deep neural networks (DNNs) to adversarial examples has attracted more attention. Many algorithms have been proposed to craft powerful adversarial examples. However, most of these algorithms modified the global or local region of pixels without taking network explanations into account. Hence, the perturbations are redundant, which are easily detected by human eyes. In this paper, we propose a novel method to generate local region perturbations. The main idea is to find a contributing feature region (CFR) of an image by simulating the human attention mechanism and then add perturbations to CFR. Furthermore, a soft mask matrix is designed on the basis of an activation map to finely represent the contributions of each pixel in CFR. With this soft mask, we develop a new loss function with inverse temperature to search for optimal perturbations in CFR. Due to the network explanations, the perturbations added to CFR are more effective than those added to other regions. Extensive experiments conducted on CIFAR-10 and ILSVRC2012 demonstrate the effectiveness of the proposed method, including attack success rate, imperceptibility, and transferability.

Yaguan Qian, Qiqi Shao, Jiamin Wang et al.

With the boom of edge intelligence, its vulnerability to adversarial attacks becomes an urgent problem. The so-called adversarial example can fool a deep learning model on the edge node to misclassify. Due to the property of transferability, the adversary can easily make a black-box attack using a local substitute model. Nevertheless, the limitation of resource of edge nodes cannot afford a complicated defense mechanism as doing on the cloud data center. To overcome the challenge, we propose a dynamic defense mechanism, namely EI-MTD. It first obtains robust member models with small size through differential knowledge distillation from a complicated teacher model on the cloud data center. Then, a dynamic scheduling policy based on a Bayesian Stackelberg game is applied to the choice of a target model for service. This dynamic defense can prohibit the adversary from selecting an optimal substitute model for black-box attacks. Our experimental result shows that this dynamic scheduling can effectively protect edge intelligence against adversarial attacks under the black-box setting.