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Wenyuan Zhang

Wenyuan Zhang contributes to research discovery and scholarly infrastructure.

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Computer Vision Artificial Intelligence cond-mat.supr-con Information Retrieval Machine Learning quant-ph Robotics

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preprint2026arXiv

Alpamayo-R1: Bridging Reasoning and Action Prediction for Generalizable Autonomous Driving in the Long Tail

End-to-end architectures trained via imitation learning have advanced autonomous driving by scaling model size and data, yet performance remains brittle in safety-critical long-tail scenarios where supervision is sparse and causal understanding is limited. We introduce Alpamayo-R1 (AR1), a vision-language-action model (VLA) that integrates Chain of Causation reasoning with trajectory planning for complex driving scenarios. Our approach features three key innovations: (1) the Chain of Causation (CoC) dataset, built through a hybrid auto-labeling and human-in-the-loop pipeline producing decision-grounded, causally linked reasoning traces aligned with driving behaviors; (2) a modular VLA architecture combining Cosmos-Reason, a vision-language model pre-trained for Physical AI, with a diffusion-based trajectory decoder that generates dynamically feasible trajectories in real time; (3) a multi-stage training strategy using supervised fine-tuning to elicit reasoning and reinforcement learning (RL) to enforce reasoning-action consistency and optimize reasoning quality. AR1 achieves up to a 12% improvement in planning accuracy on challenging cases compared to a trajectory-only baseline, with a 35% reduction in close encounter rate in closed-loop simulation. RL post-training improves reasoning quality by 45% and reasoning-action consistency by 37%. Model scaling from 0.5B to 7B parameters shows consistent improvements. On-vehicle road tests confirm real-time performance (99 ms latency) and successful urban deployment. By bridging interpretable reasoning with precise control, AR1 demonstrates a practical path towards Level 4 autonomous driving. Model weights are available at https://huggingface.co/nvidia/Alpamayo-R1-10B with inference code at https://github.com/NVlabs/alpamayo.

preprint2026arXiv

Personalized Multi-Interest Modeling for Cross-Domain Recommendation to Cold-Start Users

Cross-domain recommendation (CDR) has demonstrated to be an effective solution for alleviating the user cold-start issue. By leveraging rich user-item interactions available in a richly informative source domain, CDR could improve the recommendation performance for cold-start users in the target domain. Previous CDR approaches mostly adhere the Embedding and Mapping (EMCDR) paradigm, which learns a user-shared mapping function to transfer users' preference from the source domain to the target domain, neglecting users' personalized preference. Recent CDR approaches further leverage the meta-learning paradigm, considering the CDR task for each user independently and learning user-specific mapping functions for each user. However, they mostly learn representations for each user individually, which ignores the common preference between different users, neglecting valuable information for CDR. In addition, all these approaches usually summarize the user's preference into an overall representation, which can hardly capture the user's multi-interest preference. To this end, we propose a personalized multi-interest modeling framework for CDR to cold-start users, termed as NF-NPCDR. Specifically, we propose a personalized preference encoder that enhances the neural process (NP) with the normalizing flow (NF) to convert the Gaussian (unimodal) distribution to a multimodal distribution, providing a novel way to capture the user's personalized multi-interest preference. Then, we propose a common preference encoder with a preference pool to capture the common preference between different users. Furthermore, we introduce a stochastic adaptive decoder to incorporate both the personalized and common preference for cold-start users, adaptively modulating both preference for better recommendation.

preprint2026arXiv

VidSplat: Gaussian Splatting Reconstruction with Geometry-Guided Video Diffusion Priors

Gaussian Splatting has achieved remarkable progress in multi-view surface reconstruction, yet it exhibits notable degradation when only few views are available. Although recent efforts alleviate this issue by enhancing multi-view consistency to produce plausible surfaces, they struggle to infer unseen, occluded, or weakly constrained regions beyond the input coverage. To address this limitation, we present VidSplat, a training-free generative reconstruction framework that leverages powerful video diffusion priors to iteratively synthesize novel views that compensate for missing input coverage, and thereby recover complete 3D scenes from sparse inputs. Specifically, we tackle two key challenges that enable the effective integration of generation and reconstruction. First, for 3D consistent generation, we elaborate a training-free, stage-wise denoising strategy that adaptively guides the denoising direction toward the underlying geometry using the rendered RGB and mask images. Second, to enhance the reconstruction, we develop an iterative mechanism that samples camera trajectories, explores unobserved regions, synthesizes novel views, and supplements training through confidence weighted refinement. VidSplat performs robustly to sparse input and even a single image. Extensive experiments on widely used benchmarks demonstrate our superior performance in sparse-view scene reconstruction.

preprint2026arXiv

VRP-UDF: Towards Unbiased Learning of Unsigned Distance Functions from Multi-view Images with Volume Rendering Priors

Unsigned distance functions (UDFs) have been a vital representation for open surfaces. With different differentiable renderers, current methods are able to train neural networks to infer a UDF by minimizing the rendering errors with the UDF to the multi-view ground truth. However, these differentiable renderers are mainly handcrafted, which makes them either biased on ray-surface intersections, or sensitive to unsigned distance outliers, or not scalable to large scenes. To resolve these issues, we present a novel differentiable renderer to infer UDFs more accurately. Instead of using handcrafted equations, our differentiable renderer is a neural network which is pre-trained in a data-driven manner. It learns how to render unsigned distances into depth images, leading to a prior knowledge, dubbed volume rendering priors. To infer a UDF for an unseen scene from multiple RGB images, we generalize the learned volume rendering priors to map inferred unsigned distances in alpha blending for RGB image rendering. To reduce the bias of sampling in UDF inference, we utilize an auxiliary point sampling prior as an indicator of ray-surface intersection, and propose novel schemes towards more accurate and uniform sampling near the zero-level sets. We also propose a new strategy that leverages our pretrained volume rendering prior to serve as a general surface refiner, which can be integrated with various Gaussian reconstruction methods to optimize the Gaussian distributions and refine geometric details. Our results show that the learned volume rendering prior is unbiased, robust, scalable, 3D aware, and more importantly, easy to learn. Further experiments show that the volume rendering prior is also a general strategy to enhance other neural implicit representations such as signed distance function and occupancy.

preprint2022arXiv

Symmetric Network with Spatial Relationship Modeling for Natural Language-based Vehicle Retrieval

Natural language (NL) based vehicle retrieval aims to search specific vehicle given text description. Different from the image-based vehicle retrieval, NL-based vehicle retrieval requires considering not only vehicle appearance, but also surrounding environment and temporal relations. In this paper, we propose a Symmetric Network with Spatial Relationship Modeling (SSM) method for NL-based vehicle retrieval. Specifically, we design a symmetric network to learn the unified cross-modal representations between text descriptions and vehicle images, where vehicle appearance details and vehicle trajectory global information are preserved. Besides, to make better use of location information, we propose a spatial relationship modeling methods to take surrounding environment and mutual relationship between vehicles into consideration. The qualitative and quantitative experiments verify the effectiveness of the proposed method. We achieve 43.92% MRR accuracy on the test set of the 6th AI City Challenge on natural language-based vehicle retrieval track, yielding the 1st place among all valid submissions on the public leaderboard. The code is available at https://github.com/hbchen121/AICITY2022_Track2_SSM.

preprint2019arXiv

Bifluxon: Fluxon-Parity-Protected Superconducting Qubit

We have developed and characterized a symmetry-protected superconducting qubit that offers simultaneous exponential suppression of energy decay from charge and flux noise, and dephasing from flux noise. The qubit consists of a Cooper-pair box (CPB) shunted by a superinductor, thus forming a superconducting loop. Provided the offset charge on the CPB island is an odd number of electrons, the qubit potential corresponds to that of a $\cos ϕ/ 2$ Josephson element, preserving the parity of fluxons in the loop via Aharonov-Casher interference. In this regime, the logical-state wavefunctions reside in disjoint regions of phase space, thereby ensuring the protection against energy decay. By switching the protection on, we observed a ten-fold increase of the decay time, reaching up to $100 μ\mathrm{s}$. Though the qubit is sensitive to charge noise, the sensitivity is much reduced in comparison with the charge qubit, and the charge-noise-induced dephasing time of the current device exceeds $1 μ\mathrm{s}$. Implementation of the full dephasing protection can be achieved in the next-generation devices by combining several $\cos ϕ/ 2$ Josephson elements in a small array.

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