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Wei Guo

Wei Guo contributes to research discovery and scholarly infrastructure.

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Artificial Intelligence Machine Learning Robotics Computation and Language Computer Vision Distributed, Parallel, and Cluster Computing math.NA Numerical Analysis

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preprint2026arXiv

Continuous Diffusion Scales Competitively with Discrete Diffusion for Language

While diffusion has drawn considerable recent attention from the language modeling community, continuous diffusion has appeared less scalable than discrete approaches. To challenge this belief we revisit Plaid, a likelihood-based continuous diffusion language model (DLM), and construct RePlaid by aligning the architecture of Plaid with modern discrete DLMs. In this unified setting, we establish the first scaling law for continuous DLMs that rivals discrete DLMs: RePlaid exhibits a compute gap of only $20\times$ compared to autoregressive models, outperforms Duo while using fewer parameters, and outperforms MDLM in the over-trained regime. We benchmark RePlaid against recent continuous DLMs: on OpenWebText, RePlaid achieves a new state-of-the-art PPL bound of $22.1$ among continuous DLMs and superior generation quality. These results suggest that continuous diffusion, when trained via likelihood, is a highly competitive and scalable alternative to discrete DLMs. Moreover, we offer theoretical insights to understand the advantage of likelihood-based training. We show that optimizing the noise schedule to minimize the ELBO's variance naturally yields linear cross-entropy (information loss) over time. This evenly distributes denoising difficulty without any case-specific time reparameterization. In addition, we find that optimizing embeddings via likelihood creates structured geometries and drives the most significant likelihood gain.

preprint2026arXiv

COSINT-Agent: A Knowledge-Driven Multimodal Agent for Chinese Open Source Intelligence

Open Source Intelligence (OSINT) requires the integration and reasoning of diverse multimodal data, presenting significant challenges in deriving actionable insights. Traditional approaches, including multimodal large language models (MLLMs), often struggle to infer complex contextual relationships or deliver comprehensive intelligence from unstructured data sources. In this paper, we introduce COSINT-Agent, a knowledge-driven multimodal agent tailored to address the challenges of OSINT in the Chinese domain. COSINT-Agent seamlessly integrates the perceptual capabilities of fine-tuned MLLMs with the structured reasoning power of the Entity-Event-Scene Knowledge Graph (EES-KG). Central to COSINT-Agent is the innovative EES-Match framework, which bridges COSINT-MLLM and EES-KG, enabling systematic extraction, reasoning, and contextualization of multimodal insights. This integration facilitates precise entity recognition, event interpretation, and context retrieval, effectively transforming raw multimodal data into actionable intelligence. Extensive experiments validate the superior performance of COSINT-Agent across core OSINT tasks, including entity recognition, EES generation, and context matching. These results underscore its potential as a robust and scalable solution for advancing automated multimodal reasoning and enhancing the effectiveness of OSINT methodologies.

preprint2026arXiv

OmniNav: A Unified Framework for Prospective Exploration and Visual-Language Navigation

Embodied navigation presents a core challenge for intelligent robots, requiring the comprehension of visual environments, natural language instructions, and autonomous exploration. Existing models often fall short in offering a unified solution across diverse navigation paradigms, resulting in low success rates and limited generalization. We introduce OmniNav, a unified framework addressing instruct-goal, object-goal, point-goal navigation, and frontier-based exploration within a single architecture. Our approach features a lightweight, low-latency policy that accurately predicts continuous-space waypoints (coordinates and orientations). This policy surpasses action-chunk methods in precision and supports real-world deployment at control frequencies up to 5 Hz. Architecturally, OmniNav employs a fast-slow system design: a fast module generates waypoints using short-horizon visual context and subtasks, while a slow module performs deliberative planning with long-horizon observations and candidate frontiers to select subsequent subgoals and subtasks. This collaboration enhances path efficiency and maintains trajectory coherence, particularly in exploration and memory-intensive scenarios. Crucially, we identify that the primary bottleneck isn't merely navigation policy learning, but a robust understanding of general instructions and objects. To boost generalization, OmniNav integrates large-scale, general-purpose training datasets, including those for image captioning and visual recognition, into a joint multi-task regimen. This significantly improves success rates and robustness. Extensive experiments confirm OmniNav's state-of-the-art performance across various navigation benchmarks, with real-world deployment further validating its efficacy. OmniNav provides practical insights for embodied navigation, charting a scalable path towards versatile, highly generalizable robotic intelligence.

preprint2026arXiv

Physics-informed machine learning for reconstruction of dynamical systems with invariant measure score matching

In this paper, we develop a novel mesh-free framework, termed physics-informed neural networks with invariant measure score matching (PINN-IMSM), for reconstructing dynamical systems from unlabeled point-cloud data that capture the system's invariant measure. The invariant density satisfies the steady-state Fokker-Planck (FP) equation. We reformulate this equation in terms of its score function (the gradient of the log-density), which is estimated directly from data via denoising score matching, thereby bypassing explicit density estimation. This learned score is then embedded into a physics-informed neural network (PINN) to reconstruct the drift velocity field under the resulting score-based FP equation. The mesh-free nature of PINNs allows the framework to scale to higher dimensions, avoiding the curse of dimensionality inherent in mesh-based methods. To address the ill-posedness of high-dimensional inverse problems, we recast the problem as a PDE-constrained optimization that seeks the minimal-energy velocity field. Under suitable conditions, we prove that this problem admits a unique solution that depends continuously on the score function. The constrained formulation is solved using a stochastic augmented Lagrangian method. Numerical experiments on representative dynamical systems, including the Van der Pol oscillator, an active swimmer in an anharmonic trap, and the chaotic Lorenz-63 and Lorenz-96 systems, demonstrate that PINN-IMSM accurately recovers invariant measures and reconstructs faithful dynamical behavior for problems in up to five dimensions.

preprint2026arXiv

RelayGR: Scaling Long-Sequence Generative Recommendation via Cross-Stage Relay-Race Inference

Real-time recommender systems execute multi-stage cascades (retrieval, pre-processing, fine-grained ranking) under strict tail-latency SLOs, leaving only tens of milliseconds for ranking. Generative recommendation (GR) models can improve quality by consuming long user-behavior sequences, but in production their online sequence length is tightly capped by the ranking-stage P99 budget. We observe that the majority of GR tokens encode user behaviors that are independent of the item candidates, suggesting an opportunity to pre-infer a user-behavior prefix once and reuse it during ranking rather than recomputing it on the critical path. Realizing this idea at industrial scale is non-trivial: the prefix cache must survive across multiple pipeline stages before the final ranking instance is determined, the user population implies cache footprints far beyond a single device, and indiscriminate pre-inference would overload shared resources under high QPS. We present RelayGR, a production system that enables in-HBM relay-race inference for GR. RelayGR selectively pre-infers long-term user prefixes, keeps their KV caches resident in HBM over the request lifecycle, and ensures the subsequent ranking can consume them without remote fetches. RelayGR combines three techniques: 1) a sequence-aware trigger that admits only at-risk requests under a bounded cache footprint and pre-inference load, 2) an affinity-aware router that co-locates cache production and consumption by routing both the auxiliary pre-infer signal and the ranking request to the same instance, and 3) a memory-aware expander that uses server-local DRAM to capture short-term cross-request reuse while avoiding redundant reloads. We implement RelayGR on Huawei Ascend NPUs and evaluate it with real queries. Under a fixed P99 SLO, RelayGR supports up to 1.5$\times$ longer sequences and improves SLO-compliant throughput by up to 3.6$\times$.

preprint2026arXiv

SatSurfGS: Generalizable 2D Gaussian Splatting for Sparse-View Satellite Surface Reconstruction

Sparse-view satellite image surface reconstruction remains highly challenging, fundamentally because the reliability of multi-view matching under satellite imaging conditions is strongly spatially heterogeneous. Affected by large photometric differences, weak textures, and repetitive textures, multi-view geometric constraints are often sparse, unevenly distributed, and locally unreliable. Although 2D Gaussian Splatting (2DGS) is more suitable than 3D Gaussian Splatting (3DGS) for the explicit representation of continuous surfaces, research on generalizable feed-forward 2DGS frameworks for sparse-view satellite surface reconstruction is still lacking. To address this issue, we propose SatSurfGS, a generalizable sparse-view surface reconstruction method for satellite imagery based on 2DGS. The proposed method builds a coarse-to-fine Gaussian attribute prediction framework and explicitly models local geometric reliability at three levels: feature learning, Gaussian parameter estimation, and training optimization. Specifically, we propose a confidence-aware monocular multi-view feature fusion module to adaptively integrate monocular priors and multi-view matching features according to local confidence; a cross-stage self-consistency residual guidance module to stabilize stage-wise Gaussian parameter refinement using the residual between the rendered height map from the previous stage and the current-stage MVS height map, together with confidence information; and a confidence bidirectional routing loss to achieve differentiated allocation of geometric and appearance supervision. Experiments on satellite datasets show that the proposed method achieves improved rendering quality, surface reconstruction accuracy, cross-dataset generalization, and inference efficiency compared with representative generalizable baselines and competitive per-scene optimization methods.

preprint2025arXiv

PCF-Grasp: Converting Point Completion to Geometry Feature to Enhance 6-DoF Grasp

The 6-Degree of Freedom (DoF) grasp method based on point clouds has shown significant potential in enabling robots to grasp target objects. However, most existing methods are based on the point clouds (2.5D points) generated from single-view depth images. These point clouds only have one surface side of the object providing incomplete geometry information, which mislead the grasping algorithm to judge the shape of the target object, resulting in low grasping accuracy. Humans can accurately grasp objects from a single view by leveraging their geometry experience to estimate object shapes. Inspired by humans, we propose a novel 6-DoF grasping framework that converts the point completion results as object shape features to train the 6-DoF grasp network. Here, point completion can generate approximate complete points from the 2.5D points similar to the human geometry experience, and converting it as shape features is the way to utilize it to improve grasp efficiency. Furthermore, due to the gap between the network generation and actual execution, we integrate a score filter into our framework to select more executable grasp proposals for the real robot. This enables our method to maintain a high grasp quality in any camera viewpoint. Extensive experiments demonstrate that utilizing complete point features enables the generation of significantly more accurate grasp proposals and the inclusion of a score filter greatly enhances the credibility of real-world robot grasping. Our method achieves a 17.8\% success rate higher than the state-of-the-art method in real-world experiments.

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