arXiv subjects

Chen Dai

Publications and source records attributed to Chen Dai.

7 recordsLinked to original sources

arXiv2026

GlanceWAM: Sparse Test-Time Imagination for World-Action Models

Video generative models provide rich physical priors for robot learning, yet existing world-action models (WAMs) face a fundamental trade-off: synchronous video generation at control rate is latency-prohibitive, while abandoning test-time visual imagination sacrifices task success. We show that visual imagination achieves both real-time inference and superior success rates when generated asynchronously off the critical path and consumed directly in latent space. We introduce GlanceWAM, which decouples imagination from control within a single video DiT: an asynchronous proposer glances ahead on a slow clock to imagine a single lookahead frame seconds into the future in the background, while an action head decodes action chunks at control rate (48 ms) purely in latent space without blocking. Enabled by a non-interfering attention mask that isolates video representations and staleness-robust horizon training that accommodates asynchronous lookahead aging, GlanceWAM breaks the speed-success dilemma. Trained purely on demonstrations, it attains 72.2% on the 24-task RoboCasa kitchen benchmark (surpassing synchronous Cosmos Policy at 67.1% and imagination-free co-training at 64.4%) and 99.0% on LIBERO, executing at 48 ms per chunk on an NVIDIA A100 GPU (24x faster than synchronous baselines). Code is available at https://github.com/linhanwang/GlanceWAM.

cs.CV↗

arXiv2026

RSC: Decentralized Rigid Formation Flocking for Large-Scale Swarms via Hybrid Predictive Control and Online Reconfiguration

Decentralized rigid formation flocking requires a swarm of autonomous agents to maintain a predetermined geometric configuration while moving, relying solely on local sensing and communication. However, existing decentralized control methods struggle to maintain strict inter-agent distance constraints in cluttered environments, often suffering from local minima deadlocks, high frequency control oscillations, or limited flexibility during obstacle navigation, resulting in low success rate. To address these limitations, we propose Rigid Swarm Control (RSC), a decentralized control framework for large-scale rigid formation flocking. To escape local minima via robust long-term planning while ensuring short-term safety, RSC integrates finite-horizon trajectory predictions with a reactive artificial potential field (APF) safety controller within a hybrid architecture. Furthermore, to accelerate formation reassembly after obstacle traversal without interrupting task execution, RSC introduces an online leader-follower reconfiguration mechanism based on stable role exchange. Extensive evaluations in challenging cluttered environments with 25 UAVs demonstrate that RSC reliably unifies rigid formation maintenance, obstacle avoidance, and target tracking. Under strict success criteria - collision-free operation with a maximum relative edge-length error below 10%, RSC achieves an 83% success rate, significantly outperforming existing heuristic and learning-based baselines that fall below 5%.

cs.RO↗

arXiv2025

Barycentric Coded Distributed Computing with Flexible Recovery Threshold for Collaborative Mobile Edge Computing

Collaborative mobile edge computing (MEC) has emerged as a promising paradigm to enable low-capability edge nodes to cooperatively execute computation-intensive tasks. However, straggling edge nodes (stragglers) significantly degrade the performance of MEC systems by prolonging computation latency. While coded distributed computing (CDC) as an effective technique is widely adopted to mitigate straggler effects, existing CDC schemes exhibit two critical limitations: (i) They cannot successfully decode the final result unless the number of received results reaches a fixed recovery threshold, which seriously restricts their flexibility; (ii) They suffer from inherent poles in their encoding/decoding functions, leading to decoding inaccuracies and numerical instability in the computational results. To address these limitations, this paper proposes an approximated CDC scheme based on barycentric rational interpolation. The proposed CDC scheme offers several outstanding advantages. Firstly, it can decode the final result leveraging any returned results from workers. Secondly, it supports computations over both finite and real fields while ensuring numerical stability. Thirdly, its encoding/decoding functions are free of poles, which not only enhances approximation accuracy but also achieves flexible accuracy tuning. Fourthly, it integrates a novel BRI-based gradient coding algorithm accelerating the training process while providing robustness against stragglers. Finally, experimental results reveal that the proposed scheme is superior to existing CDC schemes in both waiting time and approximate accuracy.

cs.DC↗

arXiv2024

Fluid Antenna for Mobile Edge Computing

In the evolving environment of mobile edge computing (MEC), optimizing system performance to meet the growing demand for low-latency computing services is a top priority. Integrating fluidic antenna (FA) technology into MEC networks provides a new approach to address this challenge. This letter proposes an FA-enabled MEC scheme that aims to minimize the total system delay by leveraging the mobility of FA to enhance channel conditions and improve computational offloading efficiency. By establishing an optimization problem focusing on the joint optimization of computation offloading and antenna positioning, we introduce an alternating iterative algorithm based on the interior point method and particle swarm optimization (IPPSO). Numerical results demonstrate the advantages of our proposed scheme compared to traditional fixed antenna positions, showing significant improvements in transmission rates and reductions in delays. The proposed IPPSO algorithm exhibits robust convergence properties, further validating the effectiveness of our method.

cs.IT↗

arXiv2024

Miniaturized time-correlated single-photon counting module for time-of-flight non-line-of-sight imaging applications

Single-photon time-of-flight (TOF) non-line-of-sight (NLOS) imaging enables the high-resolution reconstruction of objects outside the field of view. The compactness of TOF NLOS imaging systems, entailing the miniaturization of key components within such systems is crucial for practical applications. Here, we present a miniaturized four-channel time-correlated single-photon counting module dedicated to TOF NLOS imaging applications. The module achieves excellent performance with a 10 ps bin size and 27.4 ps minimum root-mean-square time resolution. We present the results of TOF NLOS imaging experiment using an InGaAs/InP single-photon detector and the time-correlated single-photon counting module, and show that a 6.3 cm lateral resolution and 2.3 cm depth resolution can be achieved under the conditions of 5 m imaging distance and 1 ms pixel dwell time.

physics.ins-det↗

arXiv2023

Deep Fusion of Multi-Object Densities Using Transformer

In this paper, we demonstrate that deep learning based method can be used to fuse multi-object densities. Given a scenario with several sensors with possibly different field-of-views, tracking is performed locally in each sensor by a tracker, which produces random finite set multi-object densities. To fuse outputs from different trackers, we adapt a recently proposed transformer-based multi-object tracker, where the fusion result is a global multi-object density, describing the set of all alive objects at the current time. We compare the performance of the transformer-based fusion method with a well-performing model-based Bayesian fusion method in several simulated scenarios with different parameter settings using synthetic data. The simulation results show that the transformer-based fusion method outperforms the model-based Bayesian method in our experimental scenarios.

cs.LG↗

arXiv2018

Quantitative and functional post-translational modification proteomics reveals that TREPH1 plays a role in plant thigmomorphogenesis

Plants can sense both intracellular and extracellular mechanical forces and can respond through morphological changes. The signaling components responsible for mechanotransduction of the touch response are largely unknown. Here, we performed a high-throughput SILIA (stable isotope labeling in Arabidopsis)-based quantitative phosphoproteomics analysis to profile changes in protein phosphorylation resulting from 40 seconds of force stimulation in Arabidopsis thaliana. Of the 24 touch-responsive phosphopeptides identified, many were derived from kinases, phosphatases, cytoskeleton proteins, membrane proteins and ion transporters. TOUCH-REGULATED PHOSPHOPROTEIN1 (TREPH1) and MAP KINASE KINASE 2 (MKK2) and/or MKK1 became rapidly phosphorylated in touch-stimulated plants. Both TREPH1 and MKK2 are required for touch-induced delayed flowering, a major component of thigmomorphogenesis. The treph1-1 and mkk2 mutants also exhibited defects in touch-inducible gene expression. A non-phosphorylatable site-specific isoform of TREPH1 (S625A) failed to restore touch-induced flowering delay of treph1-1, indicating the necessity of S625 for TREPH1 function and providing evidence consistent with the possible functional relevance of the touch-regulated TREPH1 phosphorylation. Bioinformatic analysis and biochemical subcellular fractionation of TREPH1 protein indicate that it is a soluble protein. Altogether, these findings identify new protein players in Arabidopsis thigmomorphogenesis regulation, suggesting that protein phosphorylation may play a critical role in plant force responses.

q-bio.GN↗