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Zheng Wu

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Published work

15 published item(s)

preprint2026arXiv

Causal Probing for Internal Visual Representations in Multimodal Large Language Models

Despite the remarkable success of Multimodal Large Language Models (MLLMs) across diverse tasks, the internal mechanisms governing how they encode and ground distinct visual concepts remain poorly understood. To bridge this gap, we propose a causal framework based on activation steering to actively probe and manipulate internal visual representations. Through systematic intervention across four visual concept categories, our results reveal a divergence in concept encoding: entities exhibit distinct localized memorization, whereas abstract concepts are globally distributed across the network. Critically, this divergence uncovers a mechanistic driver of scaling laws: increasing model depth is indispensable for encoding distributed and complex abstract concepts, whereas entity localization remains remarkably invariant to scale. Furthermore, reverse steering uncovers that blocking explicit output triggers a surge in latent activations, exposing a compensatory mechanism between perception and generation. Finally, extending our analysis to visual reasoning, we expose a disconnect between perception and reasoning although MLLMs successfully recognize geometric relations, they treat them merely as static visual features, failing to trigger the procedural execution necessary for abstract problem-solving.

preprint2026arXiv

Faithful Mobile GUI Agents with Guided Advantage Estimator

Vision-language model based graphical user interface (GUI) agents have shown strong interaction capabilities. However, they often behave unfaithfully, relying on memorized shortcuts rather than grounding actions in displayed screen evidence or user instructions. To address this, we propose Faithful-Agent, a faithfulness-first framework that reformulates GUI interaction to prioritize evidence groundedness and internal consistency. Faithful-Agent employs a two-stage pipeline: (i) a faithfulness-oriented SFT stage to instill abstainment behaviors under evidence perturbations; (ii) an RFT stage that further amplifies faithfulness by introducing the guided advantage estimator (GuAE), an anchor-based and variance-adaptive advantage tempering mechanism built upon GRPO. GuAE prevents advantage collapse in low-variance rollout groups under sparse GUI rewards, and with a thought-action consistency reward, Faithful-Agent (Stage II) elevates the Trap SR from 13.88\% to 80.21\% relative to the baseline, while preserving robust general instruction-following performance.

preprint2022arXiv

Extreme-mass-ratio burst detection with TianQin

The capture of compact objects by massive black holes in galaxies or dwarf galaxies will generate short gravitational wave signals, called extreme-mass-ratio bursts (EMRBs), before evolving into extreme-mass-ratio inspirals. Their detection will provide an investigation of the black hole properties and shed light on astronomy and astrophysics. In this work, we investigate the detection number of the TianQin observatory on EMRBs. Our result shows that TianQin can detect tens of EMRBs events during its mission lifetime. For those detected events, we use the Fisher information matrix to quantify these uncertainties in the inference of their parameters. We consider the possible network of TianQin+LISA and study how a network can improve parameter estimation. The result shows that, for most sources, the CO mass, the MBH mass, and the MBH spin can be determined with an accuracy of the order $10^{-1}$ and the sky localization can be determined with an accuracy of 10 square degrees. We further explore the gravitational wave background generated by those unsolved EMRBs and conclude that it is about $10^6$ times weaker than TianQin's sensitivity and thus it can be ignored.

preprint2022arXiv

Offline-Online Learning of Deformation Model for Cable Manipulation with Graph Neural Networks

Manipulating deformable linear objects by robots has a wide range of applications, e.g., manufacturing and medical surgery. To complete such tasks, an accurate dynamics model for predicting the deformation is critical for robust control. In this work, we deal with this challenge by proposing a hybrid offline-online method to learn the dynamics of cables in a robust and data-efficient manner. In the offline phase, we adopt Graph Neural Network (GNN) to learn the deformation dynamics purely from the simulation data. Then a linear residual model is learned in real-time to bridge the sim-to-real gap. The learned model is then utilized as the dynamics constraint of a trust region based Model Predictive Controller (MPC) to calculate the optimal robot movements. The online learning and MPC run in a closed-loop manner to robustly accomplish the task. Finally, comparative results with existing methods are provided to quantitatively show the effectiveness and robustness.

preprint2020arXiv

Efficient Sampling-Based Maximum Entropy Inverse Reinforcement Learning with Application to Autonomous Driving

In the past decades, we have witnessed significant progress in the domain of autonomous driving. Advanced techniques based on optimization and reinforcement learning (RL) become increasingly powerful at solving the forward problem: given designed reward/cost functions, how should we optimize them and obtain driving policies that interact with the environment safely and efficiently. Such progress has raised another equally important question: \emph{what should we optimize}? Instead of manually specifying the reward functions, it is desired that we can extract what human drivers try to optimize from real traffic data and assign that to autonomous vehicles to enable more naturalistic and transparent interaction between humans and intelligent agents. To address this issue, we present an efficient sampling-based maximum-entropy inverse reinforcement learning (IRL) algorithm in this paper. Different from existing IRL algorithms, by introducing an efficient continuous-domain trajectory sampler, the proposed algorithm can directly learn the reward functions in the continuous domain while considering the uncertainties in demonstrated trajectories from human drivers. We evaluate the proposed algorithm on real driving data, including both non-interactive and interactive scenarios. The experimental results show that the proposed algorithm achieves more accurate prediction performance with faster convergence speed and better generalization compared to other baseline IRL algorithms.

preprint2020arXiv

Expressing Diverse Human Driving Behavior with Probabilistic Rewards and Online Inference

In human-robot interaction (HRI) systems, such as autonomous vehicles, understanding and representing human behavior are important. Human behavior is naturally rich and diverse. Cost/reward learning, as an efficient way to learn and represent human behavior, has been successfully applied in many domains. Most of traditional inverse reinforcement learning (IRL) algorithms, however, cannot adequately capture the diversity of human behavior since they assume that all behavior in a given dataset is generated by a single cost function.In this paper, we propose a probabilistic IRL framework that directly learns a distribution of cost functions in continuous domain. Evaluations on both synthetic data and real human driving data are conducted. Both the quantitative and subjective results show that our proposed framework can better express diverse human driving behaviors, as well as extracting different driving styles that match what human participants interpret in our user study.

preprint2020arXiv

Novel polymorphic phase of BaCu2As2: impact of flux for new phase formation in crystal growth

In this work, we have thoroughly studied the effects of flux composition and temperature on the crystal growth of the BaCu2As2 compound. While Pb and CuAs self-flux produce the well-known α-phase ThCr2Si2-type structure (Z=2), a new polymorphic phase of BaCu2As2 (\b{eta} phase) with a much larger c lattice parameter (Z=10), which could be considered an intergrowth of the ThCr2Si2- and CaBe2Ge2-type structures, has been discovered via Sn flux growth. We have characterized this structure through single-crystal X-ray diffraction, transmission electron microscopy (TEM), and scanning transmission electron microscopy (STEM) studies. Furthermore, we compare this new polymorphic intergrowth structure with the α-phase BaCu2As2 (ThCr2Si2 type with Z=2) and the \b{eta}-phase BaCu2Sb2 (intergrowth of ThCr2Si2 and CaBe2Ge2 types with Z=6), both with the same space group I4/mmm. Electrical transport studies reveal p-type carriers and magnetoresistivity up to 22% at 5 K and under a magnetic field of 7 T. Our work suggests a new route for the discovery of new polymorphic structures through flux and temperature control during material synthesis.

preprint2020arXiv

Orbital selectivity of layer resolved tunneling on iron superconductor Ba0.6K0.4Fe2As2

We use scanning tunneling microscopy/spectroscopy (STM/S) to elucidate the Cooper pairing of the iron pnictide superconductor Ba0.6K0.4Fe2As2. By a cold-cleaving technique, we obtain atomically resolved termination surfaces with different layer identities. Remarkably, we observe that the low-energy tunneling spectrum related to superconductivity has an unprecedented dependence on the layer-identity. By cross-referencing with the angle-revolved photoemission results and the tunneling data of LiFeAs, we find that tunneling on each termination surface probes superconductivity through selecting distinct Fe-3d orbitals. These findings imply the real-space orbital features of the Cooper pairing in the iron pnictide superconductors, and propose a new and general concept that, for complex multi-orbital material, tunneling on different terminating layers can feature orbital selectivity.

preprint2016arXiv

Class Probability Estimation via Differential Geometric Regularization

We study the problem of supervised learning for both binary and multiclass classification from a unified geometric perspective. In particular, we propose a geometric regularization technique to find the submanifold corresponding to a robust estimator of the class probability $P(y|\pmb{x})$. The regularization term measures the volume of this submanifold, based on the intuition that overfitting produces rapid local oscillations and hence large volume of the estimator. This technique can be applied to regularize any classification function that satisfies two requirements: firstly, an estimator of the class probability can be obtained; secondly, first and second derivatives of the class probability estimator can be calculated. In experiments, we apply our regularization technique to standard loss functions for classification, our RBF-based implementation compares favorably to widely used regularization methods for both binary and multiclass classification.

preprint2016arXiv

Cooper Pairing and Phase Coherence in Iron Superconductor Fe1+x(Te,Se)

The Cooper pairing and phase coherence are two fundamental aspects of superconductivity. Due to breaking time reversal symmetry, magnetic impurities are detrimental to superconductivity, yet microscopically how they affect the pairing strength and phase coherence in a real material is less understood. Recently we observed a robust zero-energy bound state at an interstitial Fe impurity (IFI) in superconducting Fe1+x(Te,Se), signifying intense impurity scattering. Here we report a comprehensive study, using scanning tunnelling microscopy/spectroscopy (STM/S) technique, of the global effects of IFIs on the ground state of Fe1+x(Te,Se) over a wide range of IFI concentration x. Our high resolution tunnelling spectroscopy and quasi-particle interference data at very low temperature demonstrate that IFIs hardly affect the electron pairing strength, while they cause significant decoherence of Cooper pairs in precedence of the Coulomb correlation, eventually driving the ground state of the system from strong-coupling-superconductor to diffusive-metal with incoherent electron pairs.

preprint2016arXiv

Role of Arsenic in Iron-based Superconductivity at Atomic Scale

In iron-based superconductors, a unique tri-layer Fe-As (Se, Te, P) plays an essential role in controlling the electronic properties, especially the Cooper pairing interaction. Here we use scanning tunneling microscopy/spectroscopy (STM/S) to investigate the role of arsenic atom in superconducting Ba0.4K0.6Fe2As2 by directly breaking and restoring the Fe-As structure at atomic scale. After the up-As-layer peeled away, the tunneling spectrum of the exposed iron surface reveals a shallow incoherent gap, indicating a severe suppression of superconductivity without arsenic covering. When a pair of arsenic atoms is placed on such iron surface, a localized topographic feature is formed due to Fe-As orbital hybridization, and the superconducting coherent peaks recover locally with the gap magnitude the same as that on the iron-layer fully covered by arsenic. These observations unravel the Fe-As interactions on an atomic scale and imply its essential roles in the iron-based superconductivity.

preprint2015arXiv

Chemical doping and high pressure studies of layered beta-PdBi2 single crystals

We have systematically grown large single crystals of layered compound beta-PdBi2, both the hole-doped PdBi2-xPbx and the electron-doped NaxPdBi2, and studied their magnetic and transport properties. Hall-effect measurement on PdBi2, PdBi1.8Pb0.2, and Na0.057PdBi2 shows that the charge transport is dominated by electrons in all of the samples. The electron concentration is substantially reduced upon Pb-doping in PdBi2-xPbx and increased upon Na-intercalation in NaxPdBi2, indicating the effective hole-doping by Pb and electron-doping by Na. We observed a monotonic decrease of superconducting transition temperature (Tc) from 5.4K in undoped PdBi2 to less than 2K for x > 0.35 in hole-doped PdBi2-xPbx. Meanwhile, a rapid decrease of Tc with the Na intercalation is also observed in the electron-doped NaxPdBi2, which is in disagreement with the theoretical expectation. In addition, both the magnetoresistance and Hall resistance further reveal evidence for a possible spin density wave (SDW)-like transition below 50K in the Na-intercalated PdBi2 sample. The complete phase diagram is thus established from hole-doping to electron-doping. Meanwhile, high pressure study of the undoped PdBi2 shows that the Tc is linearly suppressed under pressure with a dTc/dP coefficient of -0.28K/GPa.

preprint2014arXiv

Observation of a Robust Zero-energy Bound State in Iron-based Superconductor Fe(Te,Se)

A robust zero-energy bound state (ZBS) in a superconductor, such as a Majorana or Andreev bound state, is often a consequence of non-trivial topological or symmetry related properties, and can provide indispensable information about the superconducting state. Here we use scanning tunneling microscopy/spectroscopy to demonstrate, on the atomic scale, that an isotropic ZBS emerges at the randomly distributed interstitial excess Fe sites in the superconducting Fe(Te,Se). This ZBS is localized with a short decay length of ~ 10 Å, and surprisingly robust against a magnetic field up to 8 Tesla, as well as perturbations by neighboring impurities. We find no natural explanation for the observation of such a robust zero-energy bound state, indicating a novel mechanism of impurities or an exotic pairing symmetry of the iron-based superconductivity.

preprint2013arXiv

Optical Flow Sensing and the Inverse Perception Problem for Flying Bats

The movements of birds, bats, and other flying species are governed by complex sensorimotor systems that allow the animals to react to stationary environmental features as well as to wind disturbances, other animals in nearby airspace, and a wide variety of unexpected challenges. The paper and talk will describe research that analyzes the three-dimensional trajectories of bats flying in a habitat in Texas. The trajectories are computed with stereoscopic methods using data from synchronous thermal videos that were recorded with high temporal and spatial resolution from three viewpoints. Following our previously reported work, we examine the possibility that bat trajectories in this habitat are governed by optical flow sensing that interpolates periodic distance measurements from echolocation. Using an idealized geometry of bat eyes, we introduce the concept of time-to-transit, and recall some research that suggests that this quantity is computed by the animals' visual cortex. Several steering control laws based on time-to-transit are proposed for an idealized flight model, and it is shown that these can be used to replicate the observed flight of what we identify as typical bats. Although the vision-based motion control laws we propose and the protocols for switching between them are quite simple, some of the trajectories that have been synthesized are qualitatively bat-like. Examination of the control protocols that generate these trajectories suggests that bat motions are governed both by their reactions to a subset of key feature points as well by their memories of where these feature points are located.

preprint2012arXiv

Observation of multiple superconducting gaps in Fe1+yTe1-xSex via a nano-scale approach to point-contact spectroscopy

We report a distinct experimental approach to point-contact Andreev reflection spectroscopy with diagnostic capability via a unique design of nano-scale normal metal/superconductor devices with excellent thermo-mechanical stability, and have employed this method to unveil the existence of two superconducting energy gaps in iron chalcogenide Fe1+yTe1-xSex which is crucial for understanding its pairing mechanism. This work opens up new opportunities to study gap structures in superconductors and elemental excitations in solids.