arXiv subjects

Chao Qin

Publications and source records attributed to Chao Qin.

At least 19 recordsLinked to original sources

arXiv2026

Sequentially-Rerandomized Switchback Experiments

Large-scale online platforms and marketplace systems often evaluate new policies through experiments that randomize treatment across operational units (e.g., geographies, regions, or clusters) over many time periods. In these settings, standard A/B testing can be inefficient or unreliable due to a limited number of units, substantial cross-unit heterogeneity, non-stationarity, and potential carryover across periods. We propose Sequentially-Rerandomized Switchback Experiments (SRSB), a new experimental design that helps mitigate these challenges. SRSB re-randomizes treatment at each time period such as to enforce balance on pre-specified prognostic variables constructed from past observations. In the absence of carryover, SRSB improves precision by leveraging temporal dependence through balancing lagged outcomes and covariates; we develop finite-sample randomization inference under a sharp null as well as asymptotic inference as the number of periods grows. We then extend SRSB to settings with first-order carryover and introduce a blocked SRSB variant that rerandomizes within strata defined by the previous treatment to form stable and comparable "stay" groups. Extensive simulations demonstrate the practical gains and robustness of SRSB relative to standard switchback designs.

stat.ME↗

arXiv2026

Perception-Aware Time-Optimal Planning for Quadrotor Waypoint Flight

Agile quadrotor flight pushes the limits of control, actuation, and onboard perception. While time-optimal trajectory planning has been extensively studied, existing approaches typically neglect the tight coupling between vehicle dynamics, environmental geometry, and the visual requirements of onboard state estimation. As a result, trajectories that are dynamically feasible may fail in closed-loop execution due to degraded visual quality. This paper introduces a unified time-optimal trajectory optimization framework for vision-based quadrotors that explicitly incorporates perception constraints alongside full nonlinear dynamics, rotor actuation limits, aerodynamic effects, camera field-of-view constraints, and convex geometric gate representations. The proposed formulation solves minimum-time lap trajectories for arbitrary racetracks with diverse gate shapes and orientations, while remaining numerically robust and computationally efficient. We derive an information-theoretic position uncertainty metric to quantify visual state-estimation quality and integrate it into the planner through three perception objectives: position uncertainty minimization, sequential field-of-view constraints, and look-ahead alignment. This enables systematic exploration of the trade-offs between speed and perceptual reliability. To accurately track the resulting perception-aware trajectories, we develop a model predictive contouring tracking controller that separates lateral and progress errors. Experiments demonstrate real-world flight speeds up to 9.8 m/s with 0.07 m average tracking error, and closed-loop success rates improved from 55% to 100% on a challenging Split-S course. The proposed system provides a scalable benchmark for studying the fundamental limits of perception-aware, time-optimal autonomous flight.

cs.RO↗

arXiv2026

Revisiting Global Token Mixing in Task-Dependent MRI Restoration: Insights from Minimal Gated CNN Baselines

Global token mixing, implemented via self-attention or state-space sequence models, has become a popular model design choice for MRI restoration. However, MRI restoration tasks differ substantially in how their degradations vary over image and k-space domains, and in the degree to which global coupling is already imposed by physics-driven data consistency terms. In this work, we ask the question whether global token mixing is actually beneficial in each individual task across three representative settings: accelerated MRI reconstruction with explicit data consistency, MRI super-resolution with k-space center cropping, and denoising of clinical carotid MRI data with spatially heteroscedastic noise. To reduce confounding factors, we establish a controlled testbed comparing a minimal local gated CNN and its large-field variant, benchmarking them directly against state-of-the-art global models under aligned training and evaluation protocols. For accelerated MRI reconstruction, the minimal unrolled gated-CNN baseline is already highly competitive compared to recent token-mixing approaches in public reconstruction benchmarks, suggesting limited additional benefits when the forward model and data-consistency steps provide strong global constraints. For super-resolution, where low-frequency k-space data are largely preserved by the controlled low-pass degradation, local gated models remain competitive, and a lightweight large-field variant yields only modest improvements. In contrast, for denoising with pronounced spatially heteroscedastic noise, token-mixing models achieve the strongest overall performance, consistent with the need to estimate spatially varying reliability. In conclusion, our results demonstrate that the utility of global token mixing in MRI restoration is task-dependent, and it should be tailored to the underlying imaging physics and degradation structure.

eess.IV↗

arXiv2025

Temporal Cascading of Planning and Control for Quadrotor MPC

Many aerial tasks involving quadrotors demand both instant reactivity and long-horizon planning for obstacle avoidance, energy efficiency, or trajectory tracking. High-fidelity models enable accurate control but are too slow for long horizons. Low-fidelity planners scale but cannot directly control the system, necessitating cascaded architectures. Prevailing hierarchical approaches plan with a simplified model and use a high-fidelity controller for tracking, yet this decomposition is inherently suboptimal. The controller is limited by the coarse plan, and conventional MPC alternatives shorten the horizon to stay real-time feasible. We present UNIQUE, an MPC architecture that replaces this hierarchical stacking with temporal cascading. The planning problem is formulated as the second-tail horizon of a single multi-phase MPC, rather than being solved separately. We align costs across horizons, derive feasibility constraints for the point-mass planning model, and introduce transition constraints that convert high-fidelity states into meaningful low-fidelity states. Parallel point-mass and mixed-integer solvers address nonconvexities while incorporating progressive 3D obstacle smoothing over the planning horizon. In simulations and real flights, under equal computational budgets, UNIQUE improves closed-loop tracking by up to 75% compared with standard MPC and hierarchical baselines. Ablations and Pareto analyses confirm performance gains across variations in horizon, constraint approximations, and smoothing schedules.

cs.RO↗

arXiv2025

Pure Exploration via Frank-Wolfe Self-Play

We study pure exploration in structured stochastic multi-armed bandits, aiming to efficiently identify the correct hypothesis from a finite set of alternatives. For a broad class of tasks, asymptotic analyses reduce to a maximin optimization that admits a two-player zero-sum game interpretation between an experimenter and a skeptic: the experimenter allocates measurements to rule out alternatives while the skeptic proposes alternatives. We reformulate the game by allowing the skeptic to adopt a mixed strategy, yielding a concave-convex saddle-point problem. This viewpoint leads to Frank-Wolfe Self-Play (FWSP): a projection-free, regularization-free, tuning-free method whose one-hot updates on both sides match the bandit sampling paradigm. However, structural constraints introduce sharp pathologies that complicate algorithm design and analysis: our linear-bandit case study exhibits nonunique optima, optimal designs with zero mass on the best arm, bilinear objectives, and nonsmoothness at the boundary. We address these challenges via a differential-inclusion argument, proving convergence of the game value for best-arm identification in linear bandits. Our analysis proceeds through a continuous-time limit: a differential inclusion with a Lyapunov function that decays exponentially, implying a vanishing duality gap and convergence to the optimal value. Although Lyapunov analysis requires differentiability of the objective, which is not guaranteed on the boundary, we show that along continuous trajectories the algorithm steers away from pathological nonsmooth points and achieves uniform global convergence to the optimal game value. We then embed the discrete-time updates into a perturbed flow and show that the discrete game value also converges. Building on FWSP, we further propose a learning algorithm based on posterior sampling. Numerical experiments demonstrate a vanishing duality gap.

cs.LG↗

arXiv2025

Agentic Aerial Cinematography: From Dialogue Cues to Cinematic Trajectories

We present Agentic Aerial Cinematography: From Dialogue Cues to Cinematic Trajectories (ACDC), an autonomous drone cinematography system driven by natural language communication between human directors and drones. The main limitation of previous drone cinematography workflows is that they require manual selection of waypoints and view angles based on predefined human intent, which is labor-intensive and yields inconsistent performance. In this paper, we propose employing large language models (LLMs) and vision foundation models (VFMs) to convert free-form natural language prompts directly into executable indoor UAV video tours. Specifically, our method comprises a vision-language retrieval pipeline for initial waypoint selection, a preference-based Bayesian optimization framework that refines poses using aesthetic feedback, and a motion planner that generates safe quadrotor trajectories. We validate ACDC through both simulation and hardware-in-the-loop experiments, demonstrating that it robustly produces professional-quality footage across diverse indoor scenes without requiring expertise in robotics or cinematography. These results highlight the potential of embodied AI agents to close the loop from open-vocabulary dialogue to real-world autonomous aerial cinematography.

cs.RO↗

arXiv2025

On even $K$-groups of rings of integers of real abelian fields

We present approaches for calculating the precise orders of the algebraic $K$-groups $K_{4n-2}(\mathcal{O}_K)$ for a totally real abelian $K$. Along the way, we also establish a formula connecting the order of $K_{4n-2}(\mathcal{O}_E)$ of a totally real $p$-elementary field $E$ to its intermediate cyclic $p$-degree fields. Additionally, we provide a compiled list of values for these $K$-groups.

math.NT↗

arXiv2025

Explicit Hecke eigenform product identities for Hilbert modular forms

Let $F$ be a totally real number field, and $g,f,h$ be Hilbert modular forms over $F$ that are Hecke eigenforms satisfying $g=f\cdot h$. We characterize such product identities among all real quadratic fields of narrow class number one, proving they occur only for $F=\mathbb Q(\sqrt{5})$, with precisely two such identities. We also shed some light on the general totally real case by showing that no such identity exists when both $f$ and $h$ are Eisenstein series of distinct weights.

math.NT↗

arXiv2025

Admissibility of Completely Randomized Trials: A Large-Deviation Approach

When an experimenter has the option of running an adaptive trial, is it admissible to ignore this option and run a non-adaptive trial instead? We provide a negative answer to this question in the best-arm identification problem, where the experimenter aims to allocate measurement efforts judiciously to confidently deploy the most effective treatment arm. We find that, whenever there are at least three treatment arms, there exist simple adaptive designs that universally and strictly dominate non-adaptive completely randomized trials. This dominance is characterized by a notion called efficiency exponent, which quantifies a design's statistical efficiency when the experimental sample is large. Our analysis focuses on the class of batched arm elimination designs, which progressively eliminate underperforming arms at pre-specified batch intervals. We characterize simple sufficient conditions under which these designs universally and strictly dominate completely randomized trials. These results resolve the second open problem posed in Qin [2022].

stat.ML↗

arXiv2024

On characteristic elements modulo $p$ in non-commutative Iwasawa theory

Coates, Fukaya, Kato, Sujatha and Venjakob come up with a procedure of attaching suitable characteristic element to Selmer groups defined over a non-commutative $p$-adic Lie extension, which is subsequently refined by Burns and Venjakob. By their construction, these characteristic elements are realized as elements in an appropriate localized $K_1$-group. In this paper, we will introduce a notion of modulo $p$ for these elements and study some of their properties. As an application, we study the Greenberg Selmer group of a tensor product of modular forms, where $p$ is an Eisenstein prime for one of these forms.

math.NT↗

arXiv2024

All Languages Matter: Evaluating LMMs on Culturally Diverse 100 Languages

Existing Large Multimodal Models (LMMs) generally focus on only a few regions and languages. As LMMs continue to improve, it is increasingly important to ensure they understand cultural contexts, respect local sensitivities, and support low-resource languages, all while effectively integrating corresponding visual cues. In pursuit of culturally diverse global multimodal models, our proposed All Languages Matter Benchmark (ALM-bench) represents the largest and most comprehensive effort to date for evaluating LMMs across 100 languages. ALM-bench challenges existing models by testing their ability to understand and reason about culturally diverse images paired with text in various languages, including many low-resource languages traditionally underrepresented in LMM research. The benchmark offers a robust and nuanced evaluation framework featuring various question formats, including true/false, multiple choice, and open-ended questions, which are further divided into short and long-answer categories. ALM-bench design ensures a comprehensive assessment of a model's ability to handle varied levels of difficulty in visual and linguistic reasoning. To capture the rich tapestry of global cultures, ALM-bench carefully curates content from 13 distinct cultural aspects, ranging from traditions and rituals to famous personalities and celebrations. Through this, ALM-bench not only provides a rigorous testing ground for state-of-the-art open and closed-source LMMs but also highlights the importance of cultural and linguistic inclusivity, encouraging the development of models that can serve diverse global populations effectively. Our benchmark is publicly available.

cs.CV↗

arXiv2024

DB-SAM: Delving into High Quality Universal Medical Image Segmentation

Recently, the Segment Anything Model (SAM) has demonstrated promising segmentation capabilities in a variety of downstream segmentation tasks. However in the context of universal medical image segmentation there exists a notable performance discrepancy when directly applying SAM due to the domain gap between natural and 2D/3D medical data. In this work, we propose a dual-branch adapted SAM framework, named DB-SAM, that strives to effectively bridge this domain gap. Our dual-branch adapted SAM contains two branches in parallel: a ViT branch and a convolution branch. The ViT branch incorporates a learnable channel attention block after each frozen attention block, which captures domain-specific local features. On the other hand, the convolution branch employs a light-weight convolutional block to extract domain-specific shallow features from the input medical image. To perform cross-branch feature fusion, we design a bilateral cross-attention block and a ViT convolution fusion block, which dynamically combine diverse information of two branches for mask decoder. Extensive experiments on large-scale medical image dataset with various 3D and 2D medical segmentation tasks reveal the merits of our proposed contributions. On 21 3D medical image segmentation tasks, our proposed DB-SAM achieves an absolute gain of 8.8%, compared to a recent medical SAM adapter in the literature. The code and model are available at https://github.com/AlfredQin/DB-SAM.

eess.IV↗

arXiv2024

On pseudo-nullity of fine Mordell-Weil group

Let $E$ be an elliptic curve defined over $\mathbb{Q}$ with good ordinary reduction at a prime $p\geq 5$, and let $F$ be an imaginary quadratic field. Under appropriate assumptions, we show that the Pontryagin dual of the fine Mordell-Weil group of $E$ over the $\mathbb{Z}_p^2$-extension of $F$ is pseudo-null as a module over the Iwasawa algebra of the group $\mathbb{Z}_p^2$.

math.NT↗

arXiv2024

Optimizing Adaptive Experiments: A Unified Approach to Regret Minimization and Best-Arm Identification

Practitioners conducting adaptive experiments often encounter two competing priorities: maximizing total welfare (or `reward') through effective treatment assignment and swiftly concluding experiments to implement population-wide treatments. Current literature addresses these priorities separately, with regret minimization studies focusing on the former and best-arm identification research on the latter. This paper bridges this divide by proposing a unified model that simultaneously accounts for within-experiment performance and post-experiment outcomes. We provide a sharp theory of optimal performance in large populations that not only unifies canonical results in the literature but also uncovers novel insights. Our theory reveals that familiar algorithms, such as the recently proposed top-two Thompson sampling algorithm, can optimize a broad class of objectives if a single scalar parameter is appropriately adjusted. In addition, we demonstrate that substantial reductions in experiment duration can often be achieved with minimal impact on both within-experiment and post-experiment regret.

cs.LG↗

arXiv2024

Time-Optimal Planning for Long-Range Quadrotor Flights: An Automatic Optimal Synthesis Approach

Time-critical tasks such as drone racing typically cover large operation areas. However, it is difficult and computationally intensive for current time-optimal motion planners to accommodate long flight distances since a large yet unknown number of knot points is required to represent the trajectory. We present a polynomial-based automatic optimal synthesis (AOS) approach that can address this challenge. Our method not only achieves superior time optimality but also maintains a consistently low computational cost across different ranges while considering the full quadrotor dynamics. First, we analyze the properties of time-optimal quadrotor maneuvers to determine the minimal number of polynomial pieces required to capture the dominant structure of time-optimal trajectories. This enables us to represent substantially long minimum-time trajectories with a minimal set of variables. Then, a robust optimization scheme is developed to handle arbitrary start and end conditions as well as intermediate waypoints. Extensive comparisons show that our approach is faster than the state-of-the-art approach by orders of magnitude with comparable time optimality. Real-world experiments further validate the quality of the resulting trajectories, demonstrating aggressive time-optimal maneuvers with a peak velocity of 8.86 m/s.

cs.RO↗

arXiv2024

Time-Optimal Gate-Traversing Planner for Autonomous Drone Racing

In drone racing, the time-minimum trajectory is affected by the drone's capabilities, the layout of the race track, and the configurations of the gates (e.g., their shapes and sizes). However, previous studies neglect the configuration of the gates, simply rendering drone racing a waypoint-passing task. This formulation often leads to a conservative choice of paths through the gates, as the spatial potential of the gates is not fully utilized. To address this issue, we present a time-optimal planner that can faithfully model gate constraints with various configurations and thereby generate a more time-efficient trajectory while considering the single-rotor-thrust limits. Our approach excels in computational efficiency which only takes a few seconds to compute the full state and control trajectories of the drone through tracks with dozens of different gates. Extensive simulations and experiments confirm the effectiveness of the proposed methodology, showing that the lap time can be further reduced by taking into account the gate's configuration. We validate our planner in real-world flights and demonstrate super-extreme flight trajectory through race tracks.

cs.RO↗

arXiv2024

Immunogenic cell death triggered by pathogen ligands via host germ line-encoded receptors

The strategic induction of cell death serves as a crucial immune defense mechanism for the eradication of pathogenic infections within host cells. Investigating the molecular mechanisms underlying immunogenic cell pathways has significantly enhanced our understanding of the host's immunity. This review provides a comprehensive overview of the immunogenic cell death mechanisms triggered by pathogen infections, focusing on the critical role of pattern recognition receptors. In response to infections, host cells dictate a variety of cell death pathways, including apoptosis, pyroptosis, necrosis, and lysosomal cell death, which are essential for amplifying immune responses and controlling pathogen dissemination. Key components of these mechanisms are host cellular receptors that recognize pathogen-associated ligands. These receptors activate downstream signaling cascades, leading to the expression of immunoregulatory genes and the production of antimicrobial cytokines and chemokines. Particularly, the inflammasome, a multi-protein complex, plays a pivotal role in these responses by processing pro-inflammatory cytokines and inducing pyroptotic cell death. Pathogens, in turn, have evolved strategies to manipulate these cell death pathways, either by inhibiting them to facilitate their replication or by triggering them to evade host defenses. This dynamic interplay between host immune mechanisms and pathogen strategies highlights the intricate co-evolution of microbial virulence and host immunity.

q-bio.MN↗

arXiv2023

Dual-Directed Algorithm Design for Efficient Pure Exploration

While experimental design often focuses on selecting the single best alternative from a finite set (e.g., in ranking and selection or best-arm identification), many pure-exploration problems pursue richer goals. Given a specific goal, adaptive experimentation aims to achieve it by strategically allocating sampling effort, with the underlying sample complexity characterized by a maximin optimization problem. By introducing dual variables, we derive necessary and sufficient conditions for an optimal allocation, yielding a unified algorithm design principle that extends the top-two approach beyond best-arm identification. This principle gives rise to Information-Directed Selection, a hyperparameter-free rule that dynamically evaluates and chooses among candidates based on their current informational value. We prove that, when combined with Information-Directed Selection, top-two Thompson sampling attains asymptotic optimality for Gaussian best-arm identification, resolving a notable open question in the pure-exploration literature. Furthermore, our framework produces asymptotically optimal algorithms for pure-exploration thresholding bandits and $\varepsilon$-best-arm identification (i.e., ranking and selection with probability-of-good-selection guarantees), and more generally establishes a recipe for adapting Thompson sampling across a broad class of pure-exploration problems. Extensive numerical experiments highlight the efficiency of our proposed algorithms compared to existing methods.

stat.ML↗