arXiv subjects

Chao Yu

Publications and source records attributed to Chao Yu.

At least 91 records · Page 5Linked to original sources

arXiv2025

Silicon single-photon detector achieving over 84% photon detection efficiency with flexible operation modes

Silicon single-photon detectors (Si SPDs) play a crucial role in detecting single photons in the visible spectrum. For various applications, photon detection efficiency (PDE) is the most critical characteristic for effectively collecting photons. Here, we present a Si SPD with a remarkable PDE of up to 84.4% at 785 nm, supporting multiple operation modes. We design and fabricate a thick-junction Si single-photon avalanche diode (SPAD) that enhances the avalanche probability through a backside-illumination structure, while minimizing noise through the design of a doping-compensated avalanche region. To maximize PDE, we implement a readout circuit with a 50 V quenching voltage, enabling operation in free-running, gating, or hybrid modes. The SPAD, along with its readout circuits and affiliated circuits, is integrated into a compact SPD module. In free-running mode, the module achieves a maximum PDE of 84.4%, with a dark count rate of 260 cps, and an afterpulse probability of 2.9% at 268 K. This work provides a practical solution for applications requiring ultra-high-efficiency Si SPD with multiple operation modes.

quant-ph↗

arXiv2025

Hysteresis-Aware Neural Network Modeling and Whole-Body Reinforcement Learning Control of Soft Robots

Soft robots exhibit inherent compliance and safety, which makes them particularly suitable for applications requiring direct physical interaction with humans, such as surgical procedures. However, their nonlinear and hysteretic behavior, resulting from the properties of soft materials, presents substantial challenges for accurate modeling and control. In this study, we present a soft robotic system designed for surgical applications and propose a hysteresis-aware whole-body neural network model that accurately captures and predicts the soft robot's whole-body motion, including its hysteretic behavior. Building upon the high-precision dynamic model, we construct a highly parallel simulation environment for soft robot control and apply an on-policy reinforcement learning algorithm to efficiently train whole-body motion control strategies. Based on the trained control policy, we developed a soft robotic system for surgical applications and validated it through phantom-based laser ablation experiments in a physical environment. The results demonstrate that the hysteresis-aware modeling reduces the Mean Squared Error (MSE) by 84.95 percent compared to traditional modeling methods. The deployed control algorithm achieved a trajectory tracking error ranging from 0.126 to 0.250 mm on the real soft robot, highlighting its precision in real-world conditions. The proposed method showed strong performance in phantom-based surgical experiments and demonstrates its potential for complex scenarios, including future real-world clinical applications.

cs.RO↗

arXiv2025

Online Planning for Multi-UAV Pursuit-Evasion in Unknown Environments Using Deep Reinforcement Learning

Multi-UAV pursuit-evasion, where pursuers aim to capture evaders, poses a key challenge for UAV swarm intelligence. Multi-agent reinforcement learning (MARL) has demonstrated potential in modeling cooperative behaviors, but most RL-based approaches remain constrained to simplified simulations with limited dynamics or fixed scenarios. Previous attempts to deploy RL policy to real-world pursuit-evasion are largely restricted to two-dimensional scenarios, such as ground vehicles or UAVs at fixed altitudes. In this paper, we address multi-UAV pursuit-evasion by considering UAV dynamics and physical constraints. We introduce an evader prediction-enhanced network to tackle partial observability in cooperative strategy learning. Additionally, we propose an adaptive environment generator within MARL training, enabling higher exploration efficiency and better policy generalization across diverse scenarios. Simulations show our method significantly outperforms all baselines in challenging scenarios, generalizing to unseen scenarios with a 100% capture rate. Finally, we derive a feasible policy via a two-stage reward refinement and deploy the policy on real quadrotors in a zero-shot manner. To our knowledge, this is the first work to derive and deploy an RL-based policy using collective thrust and body rates control commands for multi-UAV pursuit-evasion in unknown environments. The open-source code and videos are available at https://sites.google.com/view/pursuit-evasion-rl.

cs.RO↗

arXiv2025

Learning Strategic Language Agents in the Werewolf Game with Iterative Latent Space Policy Optimization

Large language model (LLM) agents have recently demonstrated impressive capabilities in various domains like open-ended conversation and multi-step decision-making. However, it remains challenging for these agents to solve strategic language games, such as Werewolf, which demand both strategic decision-making and free-form language interactions. Existing LLM agents often suffer from intrinsic bias in their action distributions and limited exploration of the unbounded text action space, resulting in suboptimal performance. To address these challenges, we propose Latent Space Policy Optimization (LSPO), an iterative framework that combines game-theoretic methods with LLM fine-tuning to build strategic language agents. LSPO leverages the observation that while the language space is combinatorially large, the underlying strategy space is relatively compact. We first map free-form utterances into a finite latent strategy space, yielding an abstracted extensive-form game. Then we apply game-theoretic methods like Counterfactual Regret Minimization (CFR) to optimize the policy in the latent space. Finally, we fine-tune the LLM via Direct Preference Optimization (DPO) to align with the learned policy. By iteratively alternating between these steps, our LSPO agents progressively enhance both strategic reasoning and language communication. Experiment on the Werewolf game shows that our agents iteratively expand the strategy space with improving performance and outperform existing Werewolf agents, underscoring their effectiveness in free-form language games with strategic interactions.

cs.AI↗

arXiv2025

PubMed knowledge graph 2.0: Connecting papers, patents, and clinical trials in biomedical science

Papers, patents, and clinical trials are essential scientific resources in biomedicine, crucial for knowledge sharing and dissemination. However, these documents are often stored in disparate databases with varying management standards and data formats, making it challenging to form systematic and fine-grained connections among them. To address this issue, we construct PKG 2.0, a comprehensive knowledge graph dataset encompassing over 36 million papers, 1.3 million patents, and 0.48 million clinical trials in the biomedical field. PKG 2.0 integrates these dispersed resources through 482 million biomedical entity linkages, 19 million citation linkages, and 7 million project linkages. The construction of PKG 2.0 wove together fine-grained biomedical entity extraction, high-performance author name disambiguation, multi-source citation integration, and high-quality project data from the NIH Exporter. Data validation demonstrates that PKG 2.0 excels in key tasks such as author disambiguation and biomedical entity recognition. This dataset provides valuable resources for biomedical researchers, bibliometric scholars, and those engaged in literature mining.

cs.DL↗

arXiv2025

Language Agents with Reinforcement Learning for Strategic Play in the Werewolf Game

Agents built with large language models (LLMs) have shown great potential across a wide range of domains. However, in complex decision-making tasks, pure LLM-based agents tend to exhibit intrinsic bias in their choice of actions, which is inherited from the model's training data and results in suboptimal performance. To develop strategic language agents, i.e., agents that generate flexible language actions and possess strong decision-making abilities, we propose a novel framework that powers LLM-based agents with reinforcement learning (RL). We consider Werewolf, a popular social deduction game, as a challenging testbed that emphasizes versatile communication and strategic gameplay. To mitigate the intrinsic bias in language actions, our agents use an LLM to perform deductive reasoning and generate a diverse set of action candidates. Then an RL policy trained to optimize the decision-making ability chooses an action from the candidates to play in the game. Extensive experiments show that our agents overcome the intrinsic bias and outperform existing LLM-based agents in the Werewolf game. We also conduct human-agent experiments and find that our agents achieve human-level performance and demonstrate strong strategic play.

cs.AI↗

arXiv2025

Learning from Suboptimal Data in Continuous Control via Auto-Regressive Soft Q-Network

Reinforcement learning (RL) for continuous control often requires large amounts of online interaction data. Value-based RL methods can mitigate this burden by offering relatively high sample efficiency. Some studies further enhance sample efficiency by incorporating offline demonstration data to "kick-start" training, achieving promising results in continuous control. However, they typically compute the Q-function independently for each action dimension, neglecting interdependencies and making it harder to identify optimal actions when learning from suboptimal data, such as non-expert demonstration and online-collected data during the training process. To address these issues, we propose Auto-Regressive Soft Q-learning (ARSQ), a value-based RL algorithm that models Q-values in a coarse-to-fine, auto-regressive manner. First, ARSQ decomposes the continuous action space into discrete spaces in a coarse-to-fine hierarchy, enhancing sample efficiency for fine-grained continuous control tasks. Next, it auto-regressively predicts dimensional action advantages within each decision step, enabling more effective decision-making in continuous control tasks. We evaluate ARSQ on two continuous control benchmarks, RLBench and D4RL, integrating demonstration data into online training. On D4RL, which includes non-expert demonstrations, ARSQ achieves an average $1.62\times$ performance improvement over SOTA value-based baseline. On RLBench, which incorporates expert demonstrations, ARSQ surpasses various baselines, demonstrating its effectiveness in learning from suboptimal online-collected data. Project page is at https://sites.google.com/view/ar-soft-q

cs.LG↗

arXiv2025

Neural Internal Model Control: Learning a Robust Control Policy via Predictive Error Feedback

Accurate motion control in the face of disturbances within complex environments remains a major challenge in robotics. Classical model-based approaches often struggle with nonlinearities and unstructured disturbances, while RL-based methods can be fragile when encountering unseen scenarios. In this paper, we propose a novel framework, Neural Internal Model Control, which integrates model-based control with RL-based control to enhance robustness. Our framework streamlines the predictive model by applying Newton-Euler equations for rigid-body dynamics, eliminating the need to capture complex high-dimensional nonlinearities. This internal model combines model-free RL algorithms with predictive error feedback. Such a design enables a closed-loop control structure to enhance the robustness and generalizability of the control system. We demonstrate the effectiveness of our framework on both quadrotors and quadrupedal robots, achieving superior performance compared to state-of-the-art methods. Furthermore, real-world deployment on a quadrotor with rope-suspended payloads highlights the framework's robustness in sim-to-real transfer. Our code is released at https://github.com/thu-uav/NeuralIMC.

cs.RO↗

arXiv2025

What Matters in Learning A Zero-Shot Sim-to-Real RL Policy for Quadrotor Control? A Comprehensive Study

Executing precise and agile flight maneuvers is critical for quadrotors in various applications. Traditional quadrotor control approaches are limited by their reliance on flat trajectories or time-consuming optimization, which restricts their flexibility. Recently, RL-based policy has emerged as a promising alternative due to its ability to directly map observations to actions, reducing the need for detailed system knowledge and actuation constraints. However, a significant challenge remains in bridging the sim-to-real gap, where RL-based policies often experience instability when deployed in real world. In this paper, we investigate key factors for learning robust RL-based control policies that are capable of zero-shot deployment in real-world quadrotors. We identify five critical factors and we develop a PPO-based training framework named SimpleFlight, which integrates these five techniques. We validate the efficacy of SimpleFlight on Crazyflie quadrotor, demonstrating that it achieves more than a 50% reduction in trajectory tracking error compared to state-of-the-art RL baselines. The policy derived by SimpleFlight consistently excels across both smooth polynominal trajectories and challenging infeasible zigzag trajectories on small thrust-to-weight quadrotors. In contrast, baseline methods struggle with high-speed or infeasible trajectories. To support further research and reproducibility, we integrate SimpleFlight into a GPU-based simulator Omnidrones and provide open-source access to the code and model checkpoints. We hope SimpleFlight will offer valuable insights for advancing RL-based quadrotor control. For more details, visit our project website at https://sites.google.com/view/simpleflight/.

cs.RO↗

arXiv2025

Multi-Robot System for Cooperative Exploration in Unknown Environments: A Survey

With the real need of field exploration in large-scale and extreme outdoor environments, cooperative exploration tasks have garnered increasing attention. This paper presents a comprehensive review of multi-robot cooperative exploration systems. First, we review the evolution of robotic exploration and introduce a modular research framework tailored for multi-robot cooperative exploration. Based on this framework, we systematically categorize and summarize key system components. As a foundational module for multi-robot exploration, the localization and mapping module is primarily introduced by focusing on global and relative pose estimation, as well as multi-robot map merging techniques. The cooperative motion module is further divided into learning-based approaches and multi-stage planning, with the latter encompassing target generation, task allocation, and motion planning strategies. Given the communication constraints of real-world environments, we also analyze the communication module, emphasizing how robots exchange information within local communication ranges and under limited transmission capabilities. In addition, we introduce the actual application of multi-robot cooperative exploration systems in DARPA SubT Challenge. Finally, we discuss the challenges and future research directions for multi-robot cooperative exploration in light of real-world trends. This review aims to serve as a valuable reference for researchers and practitioners in the field.

cs.RO↗

arXiv2025

FlightBench: Benchmarking Learning-based Methods for Ego-vision-based Quadrotors Navigation

Ego-vision-based navigation in cluttered environments is crucial for mobile systems, particularly agile quadrotors. While learning-based methods have shown promise recently, head-to-head comparisons with cutting-edge optimization-based approaches are scarce, leaving open the question of where and to what extent they truly excel. In this paper, we introduce FlightBench, the first comprehensive benchmark that implements various learning-based methods for ego-vision-based navigation and evaluates them against mainstream optimization-based baselines using a broad set of performance metrics. More importantly, we develop a suite of criteria to assess scenario difficulty and design test cases that span different levels of difficulty based on these criteria. Our results show that while learning-based methods excel in high-speed flight and faster inference, they struggle with challenging scenarios like sharp corners or view occlusion. Analytical experiments validate the correlation between our difficulty criteria and flight performance. Moreover, we verify the trend in flight performance within real-world environments through full-pipeline and hardware-in-the-loop experiments. We hope this benchmark and these criteria will drive future advancements in learning-based navigation for ego-vision quadrotors. Code and documentation are available at https://github.com/thu-uav/FlightBench.

cs.RO↗

arXiv2025

CPGD: Toward Stable Rule-based Reinforcement Learning for Language Models

Recent advances in rule-based reinforcement learning (RL) have significantly improved the reasoning capability of language models (LMs) with rule-based rewards. However, existing RL methods -- such as GRPO, REINFORCE++, and RLOO -- often suffer from training instability, where large policy updates and improper clipping can lead to training collapse. To address this issue, we propose Clipped Policy Gradient Optimization with Policy Drift (CPGD), a novel algorithm designed to stabilize policy learning in LMs. CPGD introduces a policy drift constraint based on KL divergence to dynamically regularize policy updates, and leverages a clip mechanism on the logarithm of the ratio to prevent excessive policy updates. We provide theoretical justification for CPGD and demonstrate through empirical analysis that it mitigates the instability observed in prior approaches. Furthermore, we show that CPGD significantly improves performance while maintaining training stability. Our implementation balances theoretical rigor with practical usability, offering a robust alternative for RL in the post-training of LMs. We release our code at https://github.com/ModalMinds/MM-EUREKA.

cs.LG↗

arXiv2025

ICPL: Few-shot In-context Preference Learning via LLMs

Preference-based reinforcement learning is an effective way to handle tasks where rewards are hard to specify but can be exceedingly inefficient as preference learning is often tabula rasa. We demonstrate that Large Language Models (LLMs) have native preference-learning capabilities that allow them to achieve sample-efficient preference learning, addressing this challenge. We propose In-Context Preference Learning (ICPL), which uses in-context learning capabilities of LLMs to reduce human query inefficiency. ICPL uses the task description and basic environment code to create sets of reward functions which are iteratively refined by placing human feedback over videos of the resultant policies into the context of an LLM and then requesting better rewards. We first demonstrate ICPL's effectiveness through a synthetic preference study, providing quantitative evidence that it significantly outperforms baseline preference-based methods with much higher performance and orders of magnitude greater efficiency. We observe that these improvements are not solely coming from LLM grounding in the task but that the quality of the rewards improves over time, indicating preference learning capabilities. Additionally, we perform a series of real human preference-learning trials and observe that ICPL extends beyond synthetic settings and can work effectively with humans-in-the-loop.

cs.AI↗

arXiv2025

mmTracking: Trajectory Tracking for Uplink mmWave Devices with Multi-Path Doppler Difference of Arrival

This paper presents a method, namely mmTracking, for device trajectory tracking in a millimeter wave (mmWave) communication system. In mmTracking, the base station (BS) relies on one line-of-sight (LoS) path and at least two non-line-of-sight (NLoS) paths, which are reflected off two walls respectively, of the uplink channel to track the location of a mobile device versus time. There are at least three radio frequency (RF) chains at the BS. Analog phased array with narrow and adjustable receive beam is connected to each RF chain to capture one signal path, where the angle of arrival (AoA) can be roughly estimated. Due to the carrier frequency offset between the transmitter and the BS, the Doppler frequency of each path could hardly be estimated accurately. Instead, the differences of Doppler frequencies of the three paths can be estimated with much better accuracy. Therefore, a trajectory tracking method based on the Doppler difference and AoA estimations is proposed in mmTracking. Experimental results in a typical indoor environment demonstrate that the average error of transmitter localization and trajectory tracking is less than 20 cm.

eess.SP↗

arXiv2025

Long-horizon Locomotion and Manipulation on a Quadrupedal Robot with Large Language Models

We present a large language model (LLM) based system to empower quadrupedal robots with problem-solving abilities for long-horizon tasks beyond short-term motions. Long-horizon tasks for quadrupeds are challenging since they require both a high-level understanding of the semantics of the problem for task planning and a broad range of locomotion and manipulation skills to interact with the environment. Our system builds a high-level reasoning layer with large language models, which generates hybrid discrete-continuous plans as robot code from task descriptions. It comprises multiple LLM agents: a semantic planner that sketches a plan, a parameter calculator that predicts arguments in the plan, a code generator that converts the plan into executable robot code, and a replanner that handles execution failures or human interventions. At the low level, we adopt reinforcement learning to train a set of motion planning and control skills to unleash the flexibility of quadrupeds for rich environment interactions. Our system is tested on long-horizon tasks that are infeasible to complete with one single skill. Simulation and real-world experiments show that it successfully figures out multi-step strategies and demonstrates non-trivial behaviors, including building tools or notifying a human for help. Demos are available on our project page: https://sites.google.com/view/long-horizon-robot.

cs.RO↗

arXiv2025

Human-Robot Cooperative Distribution Coupling for Hamiltonian-Constrained Social Navigation

Navigating in human-filled public spaces is a critical challenge for deploying autonomous robots in real-world environments. This paper introduces NaviDIFF, a novel Hamiltonian-constrained socially-aware navigation framework designed to address the complexities of human-robot interaction and socially-aware path planning. NaviDIFF integrates a port-Hamiltonian framework to model dynamic physical interactions and a diffusion model to manage uncertainty in human-robot cooperation. The framework leverages a spatial-temporal transformer to capture social and temporal dependencies, enabling more accurate spatial-temporal environmental dynamics understanding and port-Hamiltonian physical interactive process construction. Additionally, reinforcement learning from human feedback is employed to fine-tune robot policies, ensuring adaptation to human preferences and social norms. Extensive experiments demonstrate that NaviDIFF outperforms state-of-the-art methods in social navigation tasks, offering improved stability, efficiency, and adaptability.

cs.RO↗

arXiv2025

Differential absorption ozone Lidar with 4H-SiC single-photon detectors

Differential absorption Lidar (DIAL) in the ultraviolet (UV) region is an effective approach for monitoring tropospheric ozone. 4H-SiC single-photon detectors (SPDs) are emergent devices for UV single-photon detection. Here, we demonstrate a 4H-SiC SPD-based ozone DIAL. We design and fabricate the 4H-SiC single-photon avalanche diode with a beveled mesa structure and optimized layer thickness. An active quenching circuit with a quenching time of 1.03 ns is developed to significantly mitigate the afterpulsing effect while enhancing the maximum count rate. After characterization, the SPD exhibits excellent performance with a photon detection efficiency of 16.6% at 266 nm, a dark count rate of 138 kcps, a maximum count rate of 13 Mcps, and an afterpulse probability of 2.7% at room temperature. Then, we apply two 4H-SiC SPDs in an ozone DIAL. The measured ozone concentrations at altitudes of 1-3.5 km agree well with the results of a commercial ozone DIAL. Our work provides an alternative solution for general UV Lidar applications.

physics.optics↗

arXiv2025

Compact and fully functional high-frequency sine wave gating InGaAs/InP single-photon detector module

High-frequency sine wave gating (SWG) InGaAs/InP single-photon detectors (SPDs) are widely used for synchronous near-infrared single-photon detection. For practical use, the size of SPD is one of the most concerning features for system integration. Here we present, to the best of our knowledge, the most compact and fully functional high-frequency SWG InGaAs/InP SPD. We develop a sine wave gating integrated circuit (SWGIC) using system-in-package technology that supports functions including large amplitude sine wave gate generation, coincidence gate generation, phase regulation, amplitude monitoring, and amplitude modulation. Moreover, we design and fabricate a high-performance multi-mode fiber coupled InGaAs/InP single-photon avalanche diode (SPAD) with a compact butterfly package. Furthermore, we implement a monolithically integrated readout circuit (MIRC) to extract the weak avalanche signal from large capacitance response of SWG. Finally, the SWGIC, SPAD, MIRC, and the affiliated circuits are integrated into a single module with a size of 6 cm x 5.7 cm x 1.7 cm. After characterization, the SPD module exhibits a photon detection efficiency of 40%, a dark count rate of 9 kcps, and an afterpulse probability of 4.6% at an operation temperature of 238 K and a hold-off time of 160 ns. Our work provides a practical solution for applications necessitating highly integrated near-infrared single-photon detection.

physics.optics↗