RadioVIL: Anomaly-Aware Diffusion Models for Radio Map Inpainting and Zero-Shot Vehicle Localization

High-precision radio map construction is essential for emerging 6G Integrated Sensing and Communication (ISAC) applications, including digital twins and intelligent transportation. However, existing deep learning methods predominantly treat this as a pure image completion task, resulting in over-smoothed reconstructions that fundamentally erase high-frequency scattering signatures of dynamic physical entities such as hidden vehicles. To overcome this, we propose RadioVIL, an efficient two-stage framework that reformulates joint radio map inpainting and zero-shot vehicle localization as a prior-guided physical inverse problem. Specifically, we first train a Denoising Diffusion Probabilistic Model (DDPM) to capture the structural generative prior of the environment. During inference from highly sparse measurements, we employ a Diffusion-based Mediating Intermediate Layer Optimization (DMILO) algorithm. By optimizing an L1-regularized sparse deviation term, DMILO mathematically isolates vehicle scattering anomalies layer-by-layer without unfolding the entire denoising chain. Extensive experiments demonstrate that while conventional reconstruction baselines fail to detect hidden vehicles, and the zero-shot diffusion baseline achieves only limited detection ability due to forced semantic harmonization, RadioVIL preserves authentic physical textures, yielding the best LPIPS of 0.0587 in our evaluation. Uniquely, it unlocks accurate zero-shot vehicle localization directly from sparse radio maps, securing a 75.20% Recall and a 3.31-meter average error, paving a robust way for ISAC at the 6G edge.

World-to-Wrist: Task-Conditioned Future Wrist Modeling for Fine-Grained Robot Manipulation

Vision-language-action (VLA) models often treat main-view and wrist-view observations as parallel visual inputs, overlooking their distinct roles in robot manipulation. Fine-grained manipulation, however, benefits from anticipating how wrist-local interactions may evolve under the global task context. To address this limitation, we present World-to-Wrist VLA (W2-VLA), a VLA model for fine-grained robot manipulation with task-conditioned future wrist modeling. Given current multi-view observations and a task instruction, W2-VLA contextualizes a set of latent modeling tokens as a compact interface between the vision-language model and the wrist predictor. Conditioned on this interface and the observed wrist history, the predictor forecasts future wrist latents, which are transformed into future-aware context for action prediction. In addition, we introduce W2-CoT, a synthesis pipeline that produces structured annotations describing manipulation progress, physical transition cues, and wrist-local evidence. These annotations provide auxiliary supervision that shapes the task-conditioned latent interface. Experiments on LIBERO, RoboTwin 2.0, and real-world manipulation tasks demonstrate improved fine-grained and contact-sensitive manipulation across both single-arm and bimanual settings, while maintaining action-generation rates above 80 Hz.

RadioDiff-v2: Generative Angular Radio Maps for Multi-Beam Selection and Localization

Angular radio maps describe the received-power distribution over the angle of arrival and underpin beam selection and receiver localization in sixth-generation (6G) networks. Predicting the angular power spectrum (APS) from geometry is difficult, because the mapping is ill-posed in non-line-of-sight (NLOS) conditions and must generalize to unseen environments. Distortion-minimizing regressors return the conditional mean, which over-smooths the spectrum and erases the multipath structure that downstream tasks need. We cast the task as a perception-distortion problem and propose RadioDiff-v2, a dual-branch one-dimensional diffusion transformer trained with flow matching. It couples periodic angular encoding, adaptive layer-normalization conditioning, a Fourier angular mixer, and joint velocity and clean-signal heads. A per-metric estimator portfolio reads every deployment quantity from this single model, so that samples carry the distribution, the clean-signal head supplies a regression-grade point estimate, Bayes-optimal rules select beams, and the conditional likelihood localizes the receiver. We prove that a concentrated conditional yields a straight probability-flow trajectory that one step integrates exactly, identifying deterministic transport as the correct inductive bias. On a zero-shot test of 99 environments and one million links, RadioDiff-v2 leads every baseline on every metric, with a 0.39 dB Wasserstein-1 distance, per-bin error below the regression baseline, a 2.43 dB eight-beam NLOS sweep loss, and a 20.6-pixel localization error with four base stations. Code is available at https://github.com/UNIC-Lab/RadioDiff-v2.

PALM: Single-Station Super-Resolved Small-Scale Radio-Map Localization by Path-Atom Matching

Localizing from a single base station is a longstanding goal, since it removes the synchronized anchors that geometric methods require. A radio map (RM) answers a position query from this one-station survey, yet classical RMs store coarse received power and match it by correlation, ignoring the small-scale path structure a ray tracer provides. We instead build a small-scale RM and show that cell identification, rather than candidate generation, is its information-limited bottleneck. We propose path-atom localization by matching (PALM), which super-resolves a coarse angle-delay observation into scored atoms and matches them to a ray-traced RM by an exact marginal likelihood. The score marginalizes atom reality inside the logarithm, and we prove that the common posterior-scaled surrogate is a Jensen lower bound whose deficit grows with the number of strong paths. We match on the absolute delay axis under a clock nuisance, since relative delays jump across shadowing boundaries, and we prove a unit-gradient law, a capped miss cost, a minimum-mean-square local centroid, and finite-sample conformal coverage. On the real DeepMIMO campus scenario, PALM localizes to a 1.7 meter median from a single base station, cuts the ninetieth-percentile error of received-power RM matching by 34 to 62 percent, and halves the single-snapshot median to 7 meters.

RMPrior: Bridging Propagation Priors and Diffusion Refinement for Efficient Radio Map Construction

Diffusion models achieve high-fidelity radio map construction through iterative denoising, yet their sampling cost limits practicality in dynamic wireless systems where radio maps must be refreshed repeatedly. Meanwhile, classical propagation models encode valuable scene-level knowledge that standard diffusion inference discards entirely by initializing from pure Gaussian noise. This paper bridges propagation priors and diffusion refinement through a mid-start sampling strategy. A matched propagation prior is perturbed to an intermediate diffusion timestep, and the pretrained diffusion backbone executes only the remaining reverse steps, focusing computation on multipath-aware refinement rather than full reconstruction from noise. We provide theoretical analysis establishing an upper bound on the initialization gap, a sufficient condition under which truncation improves reconstruction fidelity, and a formal characterization of prior-quality sensitivity under aggressive truncation. Experiments on IRT4HighRes show that, at $P_{\text{start}}=0.5$, the proposed method achieves a $2.01\times$ speedup while simultaneously improving NMSE, RMSE, SSIM, and PSNR over the full-step baseline. A prior-quality ablation across three propagation models of different fidelity confirms that reconstruction quality tracks prior quality, with the sensitivity amplified under shorter reverse trajectories, consistent with the theoretical predictions. These results also suggest that mid-start reconstruction quality can serve as a proxy for ranking the scene-level fidelity of different propagation models.

Learning to Think in Physics: Breaking Shortcut Learning in Scientific Diffusion via Representation Alignment

Physics-informed diffusion models typically enforce PDE constraints only on final outputs, leaving intermediate representations unconstrained and prone to shortcut learning under shifted boundary conditions. We introduce **REPA-P**, a teacher-free, architecture-agnostic framework that aligns intermediate features with physical states using first-principles residuals. REPA-P attaches lightweight $1{\times}1$ projection heads to selected layers, decodes hidden activations into physical quantities, and applies PDE residual losses during training. These heads are discarded at inference, introducing **zero overhead**. Across four PDE tasks, including Darcy flow, topology optimization, electrostatic potential, and turbulent channel flow, REPA-P accelerates convergence by up to $2{\times}$, reduces physics residuals by up to $66.4\%$, and improves out-of-distribution robustness by up to $49.3\%$, with consistent gains on both U-Net and Diffusion Transformer backbones. Ablations show that supervising a small set of intermediate layers captures most benefits and complements output-level physics losses. Code is available at [https://github.com/Hxxxz0/REPA-P](https://github.com/Hxxxz0/REPA-P).

Map2APS: A Physically Grounded Benchmark for Direct Angle Power Spectrum Prediction from Urban Geometry

Angle power spectrum (APS) characterizes the directional distribution of received signal power and is directly relevant to beam management and MIMO processing. While environment-aware learning has been widely studied for radio maps and path loss, direct map-to-APS prediction still lacks a standardized large-scale benchmark. This paper presents Map2APS, a physically grounded benchmark constructed from intelligent ray-tracing (IRT) path-level propagation records. Map2APS covers 51 equal-height urban maps and approximately 2.55 million Tx--Rx samples, with a strict cross-map split for evaluating generalization to unseen urban layouts. We benchmark representative model families and introduce MS-AReg as a strong reference baseline. On the full held-out test set of 249{,}993 samples, MS-AReg achieves a cosine similarity of 0.948, a peak location error of 1.20$^\circ$, and an inference latency of 0.101 ms/sample. We further report dominant-direction metrics, including Top-1 dominant peak hit rate and dominant peak recall, to evaluate whether predicted spectra preserve decision-relevant arrival directions. The benchmark, code, and evaluation scripts are released at https://github.com/UNIC-Lab/aps-data.

Learn for Variation: Variationally Guided AAV Trajectory Learning in Differentiable Environments

Autonomous aerial vehicles (AAVs) empower sixth-generation (6G) Internet-of-Things (IoT) networks through mobility-driven data collection. However, conventional reward-driven reinforcement learning for AAV trajectory planning suffers from severe credit assignment issues and training instability, because sparse scalar rewards fail to capture the long-term and nonlinear effects of sequential movements. To address these challenges, this paper proposes Learn for Variation (L4V), a gradient-informed trajectory learning framework that replaces high-variance scalar reward signals with dense and analytically grounded policy gradients. Particularly, the coupled evolution of AAV kinematics, distance-dependent channel gains, and per-user data-collection progress is first unrolled into an end-to-end differentiable computational graph. Backpropagation through time then serves as a discrete adjoint solver, which propagates exact sensitivities from the cumulative mission objective to every control action and policy parameter. These structured gradients are used to train a deterministic neural policy with temporal smoothness regularization and gradient clipping. Extensive simulations demonstrate that L4V consistently outperforms representative baselines, including a genetic algorithm, DQN, A2C, and DDPG, in mission completion time, average transmission rate, and training cost

RadioDiff-FS: Physics-Informed Manifold Alignment in Few-Shot Diffusion Models for High-Fidelity Radio Map Construction

Radio maps (RMs) provide spatially continuous propagation characterizations essential for 6G network planning, but high-fidelity RM construction remains challenging. Rigorous electromagnetic solvers incur prohibitive computational latency, while data-driven models demand massive labeled datasets and generalize poorly from simplified simulations to complex multipath environments. This paper proposes RadioDiff-FS, a few-shot diffusion framework that adapts a pre-trained main-path generator to multipath-rich target domains with only a small number of high-fidelity samples. The adaptation is grounded in a theoretical decomposition of the multipath RM into a dominant main-path component and a directionally sparse residual. This decomposition shows that the cross-domain shift corresponds to a bounded and geometrically structured feature translation rather than an arbitrary distribution change. A Direction-Consistency Loss (DCL) is then introduced to constrain diffusion score updates along physically plausible propagation directions, suppressing phase-inconsistent artifacts that arise in the low-data regime. Experiments show that RadioDiff-FS reduces NMSE by 59.5% on static RMs and by 74.0% on dynamic RMs relative to the vanilla diffusion baseline, achieving an SSIM of 0.9752 and a PSNR of 36.37 dB under severely limited supervision.

BeamAgent: LLM-Aided MIMO Beamforming with Decoupled Intent Parsing and Alternating Optimization for Joint Site Selection and Precoding

Integrating large language models (LLMs) into wireless communication optimization is a promising yet challenging direction. Existing approaches either use LLMs as black-box solvers or code generators, tightly coupling them with numerical computation. However, LLMs lack the precision required for physical-layer optimization, and the scarcity of wireless training data makes domain-specific fine-tuning impractical. We propose BeamAgent, an LLM-aided MIMO beamforming framework that explicitly decouples semantic intent parsing from numerical optimization. The LLM serves solely as a semantic translator that converts natural language descriptions into structured spatial constraints. A dedicated gradient-based optimizer then jointly solves the discrete base station site selection and continuous precoding design through an alternating optimization algorithm. A scene-aware prompt enables grounded spatial reasoning without fine-tuning, and a multi-round interaction mechanism with dual-layer intent classification ensures robust constraint verification. A penalty-based loss function enforces dark-zone power constraints while releasing optimization degrees of freedom for bright-zone gain maximization. Experiments on a ray-tracing-based urban MIMO scenario show that BeamAgent achieves a bright-zone power of 84.0\,dB, outperforming exhaustive zero-forcing by 7.1 dB under the same dark-zone constraint. The end-to-end system reaches within 3.3 dB of the expert upper bound, with the full optimization completing in under 2 s on a laptop.