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Chen Peng

Publications and source records attributed to Chen Peng.

At least 19 recordsLinked to original sources

Scaling Unmodified Multithreaded Applications with Elastic CXL-based Distributed Shared Memory

While CXL presents a promising hardware substrate for Distributed Shared Memory (DSM), seamlessly scaling multithreaded applications across multiple nodes remains a formidable challenge. Existing CXL-based DSMs fall short: they require manual code modifications to share non-heap data, employ rigid data placement policies that fail under diverse and dynamic workloads, and suffer from severe page-fault processing overheads in sub-microsecond ($\mu\mathrm{s}$) environments. We present xDSM, a full-space, elastic DSM system built over CXL that transparently scales unmodified multithreaded applications. To eliminate the burden of manual code rewrites, xDSM employs an OS-runtime co-design that establishes a globally coordinated address space, seamlessly sharing all memory segments. To mask CXL access penalties, xDSM abandons static placement rules in favor of a dynamic, latency-driven policy that actively balances data between local DRAM and CXL memory. Finally, to resolve the fundamental tension between high base-page fault overheads and severe huge-page false sharing, xDSM introduces spatial locality-aware elasticity, dynamically coalescing and splitting pages on the fly to amortize processing costs. Evaluated across diverse workloads using 15 system configurations, xDSM outperforms CXL-only baselines by 1.5$\times$ to 2.2$\times$ and state-of-the-art hybrid DSMs by 1.1$\times$ to 2.2$\times$, while achieving near-linear scalability.

cs.OS

EXACT-MPPI: Exact Signed-Distance Navigation for Arbitrary-Footprint Robots from Point Clouds via Path Integral Control

Ground robots often carry payloads, implements, or other attachments that turn their effective footprint into complex, non-convex shapes. Navigating safely through clutter then requires reasoning about this true geometry, yet most local planners simplify it with convex or inflated proxies and rasterize sensor data into occupancy grids or distance fields. Both choices eliminate feasible motions when clearance is comparable to the footprint geometry. We present EXACT-MPPI, a training-free local navigation framework that maps local point-cloud observations and sparse guidance directly to motion commands, without any intermediate map representation. The framework embeds an analytic, exact signed-distance evaluator into a Model Predictive Path Integral (MPPI) controller. The footprint is represented as a simple polygon for general convex or concave planar shapes, with a rectangle-cover specialization for faster evaluation of rectilinear footprints, enabling footprint-aware collision costs without convex decomposition, inflation, or learned encoders. During each MPPI rollout, observed obstacle points are transformed into the predicted body frame and evaluated against the footprint. All operations are batched in JAX, leveraging GPU parallelism for real-time receding-horizon control. Experiments show that EXACT-MPPI accelerates batched distance evaluation over a learned point-to-robot baseline, preserves feasible motion where convex-footprint planners fail, and remains robust under dense static and moving obstacles. The same framework deploys on differential-drive, Ackermann, omnidirectional, and hybrid-mode platforms by changing only the footprint description and motion model without per-platform training. Pairing exact footprint geometry with sampling-based predictive control thus offers a practical, training-free path to footprint-aware local navigation across diverse robots.

cs.RO

Neural Distance-Guided Path Integral Control for Tractor-Trailer Navigation

Autonomous and safe navigation of tractor-trailer systems requires accurate, real-time collision avoidance and dynamically feasible control, particularly in cluttered and complex agricultural environments. This is challenging due to their articulated, deformable geometries and nonlinear dynamics. Traditional methods oversimplify vehicle geometry or rely on precomputed distance fields that assume a known map, limiting their applicability in dynamic, partially unknown environments. To address these limitations, we propose a geometric neural encoder that provides fast and accurate distance estimates between the full tractor-trailer body and raw LiDAR perception, enabling real-time, map-free geometric reasoning. These learned distances are integrated into a Model Predictive Path Integral (MPPI) controller, allowing the system to incorporate true articulated geometry directly into its cost evaluation and enabling more responsive navigation in challenging agricultural settings. Simulation results demonstrate that the proposed framework generates dynamically feasible and safe trajectories for navigating tractor-trailer systems in cluttered and complex environments.

cs.RO

DEKL 2.0: Trace-Indexed Knowledge Evolution in Dependent Type Theory

DEKL 2.0 is a dependent type-theoretic framework for trace-indexed knowledge evolution. Its central claim is that the proof calculus remains monotone under standard structural rules, while non-monotonic behavior arises semantically from trace extension. Finite and infinite traces are first-class objects in the computational universe; knowledge is interpreted as a presheaf over the finite-trace category; and proposition-level reasoning is handled categorically with fixed-point support. We establish trace--reachability correspondence and completeness, characterize non-monotonicity by non-surjective restriction maps, and present a semantic interpretation based on the free category generated by a transition system. The framework unifies executable traces, typed witnesses, and knowledge revision in one dependent language.

cs.LO

Unidirectional reflection lasing based on destructive interference and Bragg scattering modulation in defective atomic lattice

The novel and ingenious scheme we propose for achieving unidirectional reflection lasing (URL) involves integrating a one-dimensional (1D) defective atomic lattice with a coherent gain atomic system. Its physical essence lies in the fact that the right-side reflectivity is drastically reduced due to the destructive interference between primary and secondary reflections, whereas on the left-side primary reflection is effectively suppressed and the secondary reflection is efficiently enhanced, ultimately reaching the lasing threshold. Through numerical results and further analyses, we have elucidated how to precisely tailor the lattice parameters and coupling fields to control destructive interference point (DIP), thereby realizing URL and enabling its active modulation. Our scheme is experimentally feasible and not only effectively circumvents the stringent conditions faced in directly realizing URL, providing a new pathway, but also beneficial for integrating active photonic devices into compact quantum networks and may improve the efficiency of optical information transmission.

physics.optics

Unidirectional spectral singularity lasing in a defective atomic lattice

We propose an efficient scheme for achieving mode-tunable unidirectional reflection lasing (URL) by establishing a coherent gain atomic system to amplify the probe field and ingeniously designing the one-dimensional (1D) defective atomic lattice. This lattice not only replaces the resonant cavity to provide a distributed feedback mechanism but also breaks the spatial symmetry of the probe susceptibility. Correspondingly, the URL can be characterized by a non-Hermitian degenerate spectral singularity (NHDSS), where the two eigenvalues of the inverse scattering matrix are engineered to satisfy $\lambda _{{S^{-1}}}^{+}\simeq \lambda _{{S^{-1}}}^{-}\rightarrow 0$. This intriguing NHDSS depends on the probe susceptibility and the Bragg condition, both of which can be modulated by adjusting the external optical field and lattice structure, rendering the scheme experimentally feasible. Our approach achieves both nonreciprocity and lasing oscillation in a single system, significantly enhancing the efficiency of optical information transmission and facilitating the integration of active photonic devices into compact quantum networks.

physics.optics

Efficient Approximation Algorithms for Fair Influence Maximization under Maximin Constraint

Fair Influence Maximization (FIM) seeks to mitigate disparities in influence across different groups and has recently garnered increasing attention. A widely adopted notion of fairness in FIM is the maximin constraint, which directly requires maximizing the utility (influenced ratio within a group) of the worst-off group. Despite its intuitive formulation, designing efficient algorithms with strong theoretical guarantees remains challenging, as the maximin objective does not satisfy submodularity, a key property for designing approximate algorithms in traditional influence maximization settings. In this paper, we address this challenge by proposing a two-step optimization framework consisting of Inner-group Maximization (IGM) and Across-group Maximization (AGM). We first prove that the influence spread within any individual group remains submodular, enabling effective optimization within groups. Based on this, IGM applies a greedy approach to pick high-quality seeds for each group. In the second step, AGM coordinates seed selection across groups by introducing two strategies: Uniform Selection (US) and Greedy Selection (GS). We prove that AGM-GS holds a $(1-1/e-\varepsilon)$ approximation to the optimal solution when groups are completely disconnected, while AGM-US guarantees a roughly $\frac{1}{m}(1-1/e-\varepsilon)$ lower bound regardless of the group structure, with $m$ denoting the number of groups.

cs.DS

Learning to Pick: A Visuomotor Policy for Clustered Strawberry Picking

Strawberries naturally grow in clusters, interwoven with leaves, stems, and other fruits, which frequently leads to occlusion. This inherent growth habit presents a significant challenge for robotic picking, as traditional percept-plan-control systems struggle to reach fruits amid the clutter. Effectively picking an occluded strawberry demands dexterous manipulation to carefully bypass or gently move the surrounding soft objects and precisely access the ideal picking point located at the stem just above the calyx. To address this challenge, we introduce a strawberry-picking robotic system that learns from human demonstrations. Our system features a 4-DoF SCARA arm paired with a human teleoperation interface for efficient data collection and leverages an End Pose Assisted Action Chunking Transformer (ACT) to develop a fine-grained visuomotor picking policy. Experiments under various occlusion scenarios demonstrate that our modified approach significantly outperforms the direct implementation of ACT, underscoring its potential for practical application in occluded strawberry picking.

cs.RO

Unidirectional lasing via vacuum induced coherent in defective atomic lattice

We skillfully utilized vacuum induced coherence to amplify the probe light, and then successfully achieved both nonreciprocal reflection and lasing oscillation in a single physical system by leveraging the distributed feedback and spatial symmetry breaking effect of the one-dimensional defective atomic lattice. This innovative scheme for realizing unidirectional reflection lasing (URL) is based on both non-Hermitian degeneracy and spectral singularity (NHDSS, means $\lambda_{+}^{-1}\simeq\lambda_{-}^{-1}\rightarrow0$). Therefore, we analyze the modulation of parameters such as the lattice structure and external optical fields in this system to find NHDSS point, and further verified the conditions for its occurrence by solving the transcendental equation of susceptibility satisfying the NHDSS point, as well as analyzed its physical essence. Our mechanism is not only beneficial for the integration of photonic devices in quantum networks, but also greatly improves the efficiency of optical information transmission.

physics.optics

Emergent Symmetry and Phase Transitions on the Domain Wall of $\mathbb{Z}_{2}$ Topological Orders

The one-dimensional (1D) domain wall of 2D $\mathbb{Z}_{2}$ topological orders is studied theoretically. The Ising domain wall model is shown to have an emergent SU(2)$_{1}$ conformal symmetry because of a hidden nonsymmorphic octahedral symmetry. While a weak magnetic field is an irrelevant perturbation to the bulk topological orders, it induces a domain wall transition from the Tomonaga-Luttinger liquid to a ferromagnetic order, which spontaneously breaks the anomalous $\mathbb{Z}_{2}$ symmetry and the time-reversal symmetry on the domain wall. Moreover, the gapless domain wall state also realizes a 1D topological quantum critical point between a $\mathbb{Z}_{2}^{T}$-symmetry-protected topological phase and a trivial phase, thus demonstrating the holographic construction of topological transitions.

cond-mat.str-el

Optimal Scheduling of a Dual-Arm Robot for Efficient Strawberry Harvesting in Plant Factories

Plant factory cultivation is widely recognized for its ability to optimize resource use and boost crop yields. To further increase the efficiency in these environments, we propose a mixed-integer linear programming (MILP) framework that systematically schedules and coordinates dual-arm harvesting tasks, minimizing the overall harvesting makespan based on pre-mapped fruit locations. Specifically, we focus on a specialized dual-arm harvesting robot and employ pose coverage analysis of its end effector to maximize picking reachability. Additionally, we compare the performance of the dual-arm configuration with that of a single-arm vehicle, demonstrating that the dual-arm system can nearly double efficiency when fruit densities are roughly equal on both sides. Extensive simulations show a 10-20% increase in throughput and a significant reduction in the number of stops compared to non-optimized methods. These results underscore the advantages of an optimal scheduling approach in improving the scalability and efficiency of robotic harvesting in plant factories.

cs.RO

MCPWorld: A Unified Benchmarking Testbed for API, GUI, and Hybrid Computer Use Agents

(M)LLM-powered computer use agents (CUA) are emerging as a transformative technique to automate human-computer interaction. However, existing CUA benchmarks predominantly target GUI agents, whose evaluation methods are susceptible to UI changes and ignore function interactions exposed by application APIs, e.g., Model Context Protocol (MCP). To this end, we propose MCPWorld, the first automatic CUA testbed for API, GUI, and API-GUI hybrid agents. A key principle of MCPWorld is the use of "white-box apps", i.e., those with source code availability and can be revised/re-compiled as needed (e.g., adding MCP support), with two notable advantages: (1) It greatly broadens the design space of CUA, such as what and how the app features to be exposed/extracted as CUA-callable APIs. (2) It allows MCPWorld to programmatically verify task completion by directly monitoring application behavior through techniques like dynamic code instrumentation, offering robust, accurate CUA evaluation decoupled from specific agent implementations or UI states. Currently, MCPWorld includes 201 well curated and annotated user tasks, covering diversified use cases and difficulty levels. MCPWorld is also fully containerized with GPU acceleration support for flexible adoption on different OS/hardware environments. Our preliminary experiments, using a representative LLM-powered CUA framework, achieve 75.12% task completion accuracy, simultaneously providing initial evidence on the practical effectiveness of agent automation leveraging MCP. Overall, we anticipate MCPWorld to facilitate and standardize the benchmarking of next-generation computer use agents that can leverage rich external tools. Our code and dataset are publicly available at https://github.com/SAAgent/MCPWorld.

cs.AI

Resistive switching characteristics of Cu/MgO/MoS2/Cu structure

During the study of resistive switching devices, researchers have found that the influence of the insertion layer cannot be ignored. Many reports have confirmed that the appropriate insertion layer can significantly improve the performance of the resistive switching devices. Therefore, in this work, we use magnetron sputtering to fabricate three devices: Cu/MgO/Cu, Cu/MgO/MoS2/Cu and Cu/MoS2/MgO/Cu. Through the characterization test of each device and the measurement of the I-V curve, it is found that the resistive switching characteristics of the Cu/MgO/Cu device will change greatly after adding an MoS2 insertion layer. The analysis results show that the inserted MoS2 layer does not change the main transmission mechanism (space charge limited conduction) of the device, but affects the regulating function of interfacial potential barrier, the effect also is related to the location of MoS2 inserted into the layer. Among the Cu/MgO/Cu, Cu/MgO/MoS2/Cu and Cu/MoS2/MgO/Cu devices, the Cu/MgO/MoS2/Cu device exhibits a larger switching ratio (about 103) and a lower reset voltage (about 0.21 V), which can be attributed to the regulation of the interface barrier between MgO and MoS2. In addition, when the MoS2 layer is inserted between the bottom electrodes Cu and MgO, the leakage current of the device is significantly reduced. Therefore, Cu/MoS2/MgO/Cu device has the highest commercial value from the point of view of practical applications. Finally, according to the XPS results and XRD results, we establish the conductive filament models for the three devices, and analyze the reasons for the different resistive switching characteristics of the three devices.

physics.app-ph

Precision yield estimation and mapping in manual strawberry harvesting with instrumented picking carts and a robust data processing pipeline

High-resolution yield maps for manually harvested crops are impractical to generate on commercial scales because yield monitors are available only for mechanical harvesters. However, precision crop management relies on accurately determining spatial and temporal yield variability. This study presents the development of an integrated system for precision yield estimation and mapping for manually harvested strawberries. Conventional strawberry picking carts were instrumented with a Global Positioning System (GPS) receiver, an Inertial Measurement Unit (IMU), and load cells to record real-time geo-tagged harvest data and cart motion. Extensive data were collected in two strawberry fields in California, USA, during a harvest season. To address the inconsistencies and errors caused by the sensors and the manual harvesting process, a robust data processing pipeline was developed by integrating supervised deep learning models with unsupervised algorithms. The pipeline was used to estimate the yield distribution and generate yield maps for season-long harvests at the desired grid resolution. The estimated yield distributions were used to calculate two metrics: the total mass harvested over specific row segments and the total mass of trays harvested. The metrics were compared to ground truth and achieved accuracies of 90.48% and 94.05%, respectively. Additionally, the accuracy of the estimated yield based on the number of trays harvested per cart for season-long harvest was better than 94%. It showed a strong correlation (Pearson r = 0.99) with the actual number of counted trays in both fields. The proposed system provides a scalable and practical solution for specialty crops, assisting in efficient yield estimation and mapping, field management, and labor management for sustainable crop production.

eess.SP

A Navigation System for ROV's inspection on Fish Net Cage

Autonomous Remotely Operated Vehicles (ROVs) offer a promising solution for automating fishnet inspection, reducing labor dependency, and improving operational efficiency. In this paper, we modify an off-the-shelf ROV, the BlueROV2, into a ROS-based framework and develop a localization module, a path planning system, and a control framework. For real-time, local localization, we employ the open-source TagSLAM library. Additionally, we propose a control strategy based on a Nominal Feedback Controller (NFC) to achieve precise trajectory tracking. The proposed system has been implemented and validated through experiments in a controlled laboratory environment, demonstrating its effectiveness for real-world applications.

cs.RO

Strawberry Robotic Operation Interface: An Open-Source Device for Collecting Dexterous Manipulation Data in Robotic Strawberry Farming

The strawberry farming is labor-intensive, particularly in tasks requiring dexterous manipulation such as picking occluded strawberries. To address this challenge, we present the Strawberry Robotic Operation Interface (SROI), an open-source device designed for collecting dexterous manipulation data in robotic strawberry farming. The SROI features a handheld unit with a modular end effector, a stereo robotic camera, enabling the easy collection of demonstration data in field environments. A data post-processing pipeline is introduced to extract spatial trajectories and gripper states from the collected data. Additionally, we release an open-source dataset of strawberry picking demonstrations to facilitate research in dexterous robotic manipulation. The SROI represents a step toward automating complex strawberry farming tasks, reducing reliance on manual labor.

cs.RO

Efficient and Safe Trajectory Planning for Autonomous Agricultural Vehicle Headland Turning in Cluttered Orchard Environments

Autonomous agricultural vehicles (AAVs), including field robots and autonomous tractors, are becoming essential in modern farming by improving efficiency and reducing labor costs. A critical task in AAV operations is headland turning between crop rows. This task is challenging in orchards with limited headland space, irregular boundaries, operational constraints, and static obstacles. While traditional trajectory planning methods work well in arable farming, they often fail in cluttered orchard environments. This letter presents a novel trajectory planner that enhances the safety and efficiency of AAV headland maneuvers, leveraging advancements in autonomous driving. Our approach includes an efficient front-end algorithm and a high-performance back-end optimization. Applied to vehicles with various implements, it outperforms state-of-the-art methods in both standard and challenging orchard fields. This work bridges agricultural and autonomous driving technologies, facilitating a broader adoption of AAVs in complex orchards.

cs.RO

Recall: Empowering Multimodal Embedding for Edge Devices

Human memory is inherently prone to forgetting. To address this, multimodal embedding models have been introduced, which transform diverse real-world data into a unified embedding space. These embeddings can be retrieved efficiently, aiding mobile users in recalling past information. However, as model complexity grows, so do its resource demands, leading to reduced throughput and heavy computational requirements that limit mobile device implementation. In this paper, we introduce RECALL, a novel on-device multimodal embedding system optimized for resource-limited mobile environments. RECALL achieves high-throughput, accurate retrieval by generating coarse-grained embeddings and leveraging query-based filtering for refined retrieval. Experimental results demonstrate that RECALL delivers high-quality embeddings with superior throughput, all while operating unobtrusively with minimal memory and energy consumption.

cs.IR