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Cheng Xiang

Publications and source records attributed to Cheng Xiang.

At least 19 recordsLinked to original sources

REDSearcher: A Scalable and Cost-Efficient Framework for Long-Horizon Search Agents

Large language models are transitioning from generalpurpose knowledge engines to realworld problem solvers, yet optimizing them for deep search tasks remains challenging. The central bottleneck lies in the extreme sparsity of highquality search trajectories and reward signals, arising from the difficulty of scalable longhorizon task construction and the high cost of interactionheavy rollouts involving external tool calls. To address these challenges, we propose REDSearcher, a unified framework that codesigns complex task synthesis, midtraining, and posttraining for scalable searchagent optimization. Specifically, REDSearcher introduces the following improvements: (1) We frame task synthesis as a dualconstrained optimization, where task difficulty is precisely governed by graph topology and evidence dispersion, allowing scalable generation of complex, highquality tasks. (2) We introduce toolaugmented queries to encourage proactive tool use rather than passive recall.(3) During midtraining, we strengthen core atomic capabilities knowledge, planning, and function calling substantially reducing the cost of collecting highquality trajectories for downstream training. (4) We build a local simulated environment that enables rapid, lowcost algorithmic iteration for reinforcement learning experiments. Across both textonly and multimodal searchagent benchmarks, our approach achieves stateoftheart performance. To facilitate future research on longhorizon search agents, we will release 10K highquality complex text search trajectories, 5K multimodal trajectories and 1K text RL query set, and together with code and model checkpoints.

cs.AI

Dual AGNs on 100 kpc Scales from the Million Quasar Catalog

Research on dual active galactic nuclei (AGNs) is crucial for understanding the coevolution of galaxies and supermassive black holes. However, the current number of dual AGNs remains scarce. In this work, we selected 173 new dual AGNs, 4 AGN triplets, and 1 AGN quadruplet from the Million Quasars Catalog, all with low redshift ($z < 0.5$), a projected distance ($r_p$) of no more than 100 kpc, and a line-of-sight velocity difference ($|\Delta v|$) of less than 600 km s$^{-1}$, thus supplementing existing low-redshift dual AGNs demographics. Visual inspection of the optical images from the Dark Energy Spectroscopic Instrument Legacy Survey was performed for each pair, revealing that $\sim$16\% of pairs exhibit tidal features. Statistical analyses show an increasing number of dual AGNs with decreasing redshift, with velocity difference primarily at $|\Delta v| < $ 300 km s$^{-1}$, which is likely an artifact of our selection strategy. The tidal sample peaks as having 13 pairs at 5-20$h^{-1}_{70}$ kpc, but drops to 1 pair $> 55\,h^{-1}_{70}$ kpc. Our study also explores thewide separation ($r_p>10$ kpc) dual AGNs, finding 165 such systems, with 25 displaying clear tidal features. Furthermore, some extra galaxies, AGNs, and/or their candidates were found in the same regions of the pairs or multiplets forming interacting systems with these pairs or multiplets.

astro-ph.GA

Enhanced and directional light emission from two-dimensional excitons using Mie voids

Controlling light emission at the nanoscale has important applications in solid-state lighting, displays, and quantum light sources. Achieving this control requires both enhanced local electromagnetic fields to boost emission intensity and engineered radiation patterns to direct photons efficiently. Mie voids, consisting of an air cavity surrounded by a high-index semiconductor, are particularly suited for this purpose because they expose their strongest fields in an accessible region for nearby emitters while supporting resonances that shape directional emission through interference. Here, we demonstrate an all-van der Waals nanophotonic platform that couples excitons in atomically thin WS$_2$ to Mie void resonators formed in WSe$_2$. Guided by electromagnetic simulations, we identify void geometries that maximize photoluminescence through synergistic enhancement of excitation and emission processes. We also develop a two-step fabrication strategy that enables independent control of void diameter and depth, providing a route to systematically tune the optical response. Experimentally, we observe up to a 600-fold increase in photoluminescence intensity from monolayer WS$_2$ placed on individual voids compared to on an unstructured WSe$_2$, along with pronounced out-of-plane beaming of light that yields a forward-to-off-axis enhancement of 2.6 dB. Our results establish Mie voids in van der Waals semiconductors as a new platform for controlling light-matter interactions and realizing compact, directional, and efficient nanoscale light sources.

physics.optics

EPSegFZ: Efficient Point Cloud Semantic Segmentation for Few- and Zero-Shot Scenarios with Language Guidance

Recent approaches for few-shot 3D point cloud semantic segmentation typically require a two-stage learning process, i.e., a pre-training stage followed by a few-shot training stage. While effective, these methods face overreliance on pre-training, which hinders model flexibility and adaptability. Some models tried to avoid pre-training yet failed to capture ample information. In addition, current approaches focus on visual information in the support set and neglect or do not fully exploit other useful data, such as textual annotations. This inadequate utilization of support information impairs the performance of the model and restricts its zero-shot ability. To address these limitations, we present a novel pre-training-free network, named Efficient Point Cloud Semantic Segmentation for Few- and Zero-shot scenarios. Our EPSegFZ incorporates three key components. A Prototype-Enhanced Registers Attention (ProERA) module and a Dual Relative Positional Encoding (DRPE)-based cross-attention mechanism for improved feature extraction and accurate query-prototype correspondence construction without pre-training. A Language-Guided Prototype Embedding (LGPE) module that effectively leverages textual information from the support set to improve few-shot performance and enable zero-shot inference. Extensive experiments show that our method outperforms the state-of-the-art method by 5.68% and 3.82% on the S3DIS and ScanNet benchmarks, respectively.

cs.CV

SAC-Loco: Safe and Adjustable Compliant Quadrupedal Locomotion

Quadruped robots are designed to achieve agile and robust locomotion by drawing inspiration from legged animals. However, most existing control methods for quadruped robots lack a key capacity observed in animals: the ability to exhibit diverse compliance behaviors while ensuring stability when experiencing external forces. In particular, achieving adjustable compliance while maintaining robust safety under force disturbances remains a significant challenge. In this work, we propose a safety aware compliant locomotion framework that integrates adjustable disturbance compliance with robust failure prevention. We first train a force compliant policy with adjustable compliance levels using a teacher student reinforcement learning framework, allowing deployment without explicit force sensing. To handle disturbances beyond the limits of compliant control, we develop a safety oriented policy for rapid recovery and stabilization. Finally, we introduce a learned safety critic that monitors the robot's safety in real time and coordinates between compliant locomotion and recovery behaviors. Together, this framework enables quadruped robots to achieve smooth force compliance and robust safety under a wide range of external force disturbances.

cs.RO

SingRef6D: Monocular Novel Object Pose Estimation with a Single RGB Reference

Recent 6D pose estimation methods demonstrate notable performance but still face some practical limitations. For instance, many of them rely heavily on sensor depth, which may fail with challenging surface conditions, such as transparent or highly reflective materials. In the meantime, RGB-based solutions provide less robust matching performance in low-light and texture-less scenes due to the lack of geometry information. Motivated by these, we propose SingRef6D, a lightweight pipeline requiring only a single RGB image as a reference, eliminating the need for costly depth sensors, multi-view image acquisition, or training view synthesis models and neural fields. This enables SingRef6D to remain robust and capable even under resource-limited settings where depth or dense templates are unavailable. Our framework incorporates two key innovations. First, we propose a token-scaler-based fine-tuning mechanism with a novel optimization loss on top of Depth-Anything v2 to enhance its ability to predict accurate depth, even for challenging surfaces. Our results show a 14.41% improvement (in $\delta_{1.05}$) on REAL275 depth prediction compared to Depth-Anything v2 (with fine-tuned head). Second, benefiting from depth availability, we introduce a depth-aware matching process that effectively integrates spatial relationships within LoFTR, enabling our system to handle matching for challenging materials and lighting conditions. Evaluations of pose estimation on the REAL275, ClearPose, and Toyota-Light datasets show that our approach surpasses state-of-the-art methods, achieving a 6.1% improvement in average recall.

cs.CV

GPS Denied IBVS-Based Navigation and Collision Avoidance of UAV Using a Low-Cost RGB Camera

This paper proposes an image-based visual servoing (IBVS) framework for UAV navigation and collision avoidance using only an RGB camera. While UAV navigation has been extensively studied, it remains challenging to apply IBVS in missions involving multiple visual targets and collision avoidance. The proposed method achieves navigation without explicit path planning, and collision avoidance is realized through AI-based monocular depth estimation from RGB images. Unlike approaches that rely on stereo cameras or external workstations, our framework runs fully onboard a Jetson platform, ensuring a self-contained and deployable system. Experimental results validate that the UAV can navigate across multiple AprilTags and avoid obstacles effectively in GPS-denied environments.

cs.RO

Learning to Equalize: Data-Driven Frequency-Domain Signal Recovery in Molecular Communications

In molecular communications (MC), inter-symbol interference (ISI) and noise are key factors that degrade communication reliability. Although time-domain equalization can effectively mitigate these effects, it often entails high computational complexity concerning the channel memory. In contrast, frequency-domain equalization (FDE) offers greater computational efficiency but typically requires prior knowledge of the channel model. To address this limitation, this letter proposes FDE techniques based on long short-term memory (LSTM) neural networks, enabling temporal correlation modeling in MC channels to improve ISI and noise suppression. To eliminate the reliance on prior channel information in conventional FDE methods, a supervised training strategy is employed for channel-adaptive equalization. Simulation results demonstrate that the proposed LSTM-FDE significantly reduces the bit error rate compared to traditional FDE and feedforward neural network-based equalizers. This performance gain is attributed to the LSTM's temporal modeling capabilities, which enhance noise suppression and accelerate model convergence, while maintaining comparable computational efficiency.

q-bio.SC

Diffusion-Modeled Reinforcement Learning for Carbon and Risk-Aware Microgrid Optimization

This paper introduces DiffCarl, a diffusion-modeled carbon- and risk-aware reinforcement learning algorithm for intelligent operation of multi-microgrid systems. With the growing integration of renewables and increasing system complexity, microgrid communities face significant challenges in real-time energy scheduling and optimization under uncertainty. DiffCarl integrates a diffusion model into a deep reinforcement learning (DRL) framework to enable adaptive energy scheduling under uncertainty and explicitly account for carbon emissions and operational risk. By learning action distributions through a denoising generation process, DiffCarl enhances DRL policy expressiveness and enables carbon- and risk-aware scheduling in dynamic and uncertain microgrid environments. Extensive experimental studies demonstrate that it outperforms classic algorithms and state-of-the-art DRL solutions, with 2.3-30.1% lower operational cost. It also achieves 28.7% lower carbon emissions than those of its carbon-unaware variant and reduces performance variability. These results highlight DiffCarl as a practical and forward-looking solution. Its flexible design allows efficient adaptation to different system configurations and objectives to support real-world deployment in evolving energy systems.

cs.LG

Silicon Nitride Microresonator Raman Lasers

Silicon nitride (SiN) has emerged as a promising platform for integrated nonlinear photonics because of its low propagation loss, wide transparency window, and CMOS compatibility. Nonlinear processes arising from photon-electron interactions, such as Kerr frequency comb generation and second harmonic generation, have been extensively explored. In contrast, photon-phonon interaction-based nonlinearities, such as stimulated Raman scattering, remain largely unexplored in this integrated platform, despite their potential for broadband frequency conversion. Here, we demonstrate efficient Raman lasing in ultra-high-Q SiN microresonators by harnessing the strong intracavity field enhancement and engineering the optical mode to overlap with the Raman-active silica cladding. Through dispersion engineering and waveguide geometry optimization, we suppress competing Kerr nonlinearities while enhancing Raman gain, achieving lasing with sub-2 mW thresholds. We further investigate the trade-off between optical confinement and quality factor, revealing its impact on the overall nonlinear efficiency. Moreover, we also demonstrate broadband tunability of the Raman shift exceeding 120 inverse centimeters, enabled by the wide Raman gain spectrum of silica, offering new flexibility in designing integrated tunable Raman lasers. These results position SiN as a viable platform for chip-scale Raman lasers, expanding the nonlinear optics toolbox of the SiN platform and enabling compact, power-efficient light sources for applications in spectroscopy, optical communications, and quantum photonics.

physics.optics

Search for Quasar Pairs with ${\it Gaia}$ Astrometric Data. I. Method and Candidates

Quasar pairs, a special subclass of galaxy pairs, are valuable in the investigation of quasar interaction, clustering, co-evolution between the two quasars' host galaxies, the growth of supermassive black holes, as well as the formation and evolution of galaxies. However, quasar pairs on kpc scales are observationally rare. The scarcity of available samples hindered the deeper exploration and statistics of these objects. In this work, we apply an astrometric method to systematically search for quasar candidates within a transverse distance of 100 kpc to known quasars in the Million Quasar Catalog. These candidates are \textit{Gaia} sources with proper motions and parallaxes that are consistent with zero. Visual inspection of the sample was performed to remove the contamination of crowded stellar fields and nearby galaxies. A total of 4\,112 quasar pair candidates were isolated, with a median member separation of 8.81{\arcsec}, a median \textit{Gaia} $G$-band magnitude of 20.52, and a median redshift of 1.61. Our catalog was compared with three major candidate quasar pair catalogs and identified 3\,984 new quasar pair candidates previously uncataloged in the three catalogs. Several interesting quasar pair candidates are highlighted and discussed. We also briefly discussed our quasar selection and several techniques for improving the success rate of quasar pair selection. Extensive spectroscopic follow-up campaigns are being carried out to validate their astrophysical nature.

astro-ph.GA

Evolving R2 to R2+: Optimal, Delayed Line-of-sight Vector-based Path Planning

A vector-based any-angle path planner, R2, is evolved in to R2+ in this paper. By delaying line-of-sight, R2 and R2+ search times are largely unaffected by the distance between the start and goal points, but are exponential in the worst case with respect to the number of collisions during searches. To improve search times, additional discarding conditions in the overlap rule are introduced in R2+. In addition, R2+ resolves interminable chases in R2 by replacing ad hoc points with limited occupied-sector traces from target nodes, and simplifies R2 by employing new abstract structures and ensuring target progression during a trace. R2+ preserves the speed of R2 when paths are expected to detour around few obstacles, and searches significantly faster than R2 in maps with many disjoint obstacles.

cs.RO

Practical Battery Health Monitoring using Uncertainty-Aware Bayesian Neural Network

Battery health monitoring and prediction are critically important in the era of electric mobility with a huge impact on safety, sustainability, and economic aspects. Existing research often focuses on prediction accuracy but tends to neglect practical factors that may hinder the technology's deployment in real-world applications. In this paper, we address these practical considerations and develop models based on the Bayesian neural network for predicting battery end-of-life. Our models use sensor data related to battery health and apply distributions, rather than single-point, for each parameter of the models. This allows the models to capture the inherent randomness and uncertainty of battery health, which leads to not only accurate predictions but also quantifiable uncertainty. We conducted an experimental study and demonstrated the effectiveness of our proposed models, with a prediction error rate averaging 13.9%, and as low as 2.9% for certain tested batteries. Additionally, all predictions include quantifiable certainty, which improved by 66% from the initial to the mid-life stage of the battery. This research has practical values for battery technologies and contributes to accelerating the technology adoption in the industry.

cs.LG

BatSort: Enhanced Battery Classification with Transfer Learning for Battery Sorting and Recycling

Battery recycling is a critical process for minimizing environmental harm and resource waste for used batteries. However, it is challenging, largely because sorting batteries is costly and hardly automated to group batteries based on battery types. In this paper, we introduce a machine learning-based approach for battery-type classification and address the daunting problem of data scarcity for the application. We propose BatSort which applies transfer learning to utilize the existing knowledge optimized with large-scale datasets and customizes ResNet to be specialized for classifying battery types. We collected our in-house battery-type dataset of small-scale to guide the knowledge transfer as a case study and evaluate the system performance. We conducted an experimental study and the results show that BatSort can achieve outstanding accuracy of 92.1% on average and up to 96.2% and the performance is stable for battery-type classification. Our solution helps realize fast and automated battery sorting with minimized cost and can be transferred to related industry applications with insufficient data.

cs.CE

A High-Performance Quasi-1D MoS$_2$ Nanoribbon Photodetector

Molybdenum disulfide (MoS$_2$) nanoribbons have attracted increased interest due to their properties which can be tailored by tuning their dimensions. Herein, we demonstrate the growth of highly crystalline quasi-one-dimensional (1D)MoS$_2$ nanoribbons and aligned 3D triangular crystals with predominantly 3R or 2H stacking orientation. The synthesis method relies on the reaction between an ultra-thin MoO3-x film grown by Pulsed Laser Deposition (PLD) and NaF in a sulfur-rich environment. The quasi-1D MoS$_2$ nanoribbons can reach several micrometres in length, and feature single-layer (1L) edges aligned with the nanoribbon core, thereby forming a 1L-multilayer (ML) homojunction due to abrupt discontinuity in thickness. The 1L edges of the nanostructures show a pronounced second harmonic generation (SHG) due to the symmetry breaking, in contrast to the centrosymmetric ML structure, which is unsusceptible to the second-order nonlinear process. A pronounced splitting of the Raman spectra was observed in quasi-1D MoS$_2$ nanoribbons arising from distinct contributions from the 2D edges and a multilayer core. Nanoscale imaging reveals the blue-shifted exciton emission of the monolayer nanoribbon compared to the triangular MoS$_2$ counterpart due to built-in local strain and disorder. We further report on a versatile and ultrasensitive photodetector made of a single quasi-1D MoS$_2$ nanoribbon with a maximum responsivity of 872 A/W at the wavelength of 532 nm. The optoelectronic performance of the MoS$_2$ nanoribbon is superior to the previously reported single-nanoribbon photodetectors. Our findings can inspire the design of TMD semiconductors with tunable geometries for efficient optoelectronic devices.

cond-mat.mtrl-sci

Few-Shot Point Cloud Semantic Segmentation via Contrastive Self-Supervision and Multi-Resolution Attention

This paper presents an effective few-shot point cloud semantic segmentation approach for real-world applications. Existing few-shot segmentation methods on point cloud heavily rely on the fully-supervised pretrain with large annotated datasets, which causes the learned feature extraction bias to those pretrained classes. However, as the purpose of few-shot learning is to handle unknown/unseen classes, such class-specific feature extraction in pretrain is not ideal to generalize into new classes for few-shot learning. Moreover, point cloud datasets hardly have a large number of classes due to the annotation difficulty. To address these issues, we propose a contrastive self-supervision framework for few-shot learning pretrain, which aims to eliminate the feature extraction bias through class-agnostic contrastive supervision. Specifically, we implement a novel contrastive learning approach with a learnable augmentor for a 3D point cloud to achieve point-wise differentiation, so that to enhance the pretrain with managed overfitting through the self-supervision. Furthermore, we develop a multi-resolution attention module using both the nearest and farthest points to extract the local and global point information more effectively, and a center-concentrated multi-prototype is adopted to mitigate the intra-class sparsity. Comprehensive experiments are conducted to evaluate the proposed approach, which shows our approach achieves state-of-the-art performance. Moreover, a case study on practical CAM/CAD segmentation is presented to demonstrate the effectiveness of our approach for real-world applications.

cs.CV

Fermi Level Depinning in Two-Dimensional Materials Using a Fluorinated Bilayer Graphene Barrier

Strong Fermi level pinning (FLP) - often attributed to metal-induced gap states at the interfacial contacts - severely reduces the tunability of the Schottky barrier height of the junction and limits applications of the 2D materials in electronics and optoelectronics. Here, we show that fluorinated bilayer graphene (FBLG) can be used as a barrier to effectively prevent FLP at metal/2D materials interfaces. FLBG can be produced via short exposure (1-3 min) to SF6 plasma that fluorinates only the top layer of a bilayer graphene with covalent C-F bonding, while the bottom layer remains intrinsic, resulting in a band gap opening of about 75 meV. Inserting FBLG between the metallic contacts and a layer of MoS2 reduces the Schottky barrier height dramatically for the low-work function metals (313 and 260 meV for Ti and Cr, respectively) while it increases for the high-work function one ( 160 meV for Pd), corresponding to an improved pinning factor. Our results provide a straightforward method to generate atomically thin dielectrics with applications not only for depinning the Fermi level at metal/transition metal dichalcogenide (TMD) interfaces but also for solving many other problems in electronics and optoelectronics

physics.app-ph

R2: Heuristic Bug-Based Any-angle Path-Planning using Lazy Searches

R2 is a novel online any-angle path planner that uses heuristic bug-based or ray casting approaches to find optimal paths in 2D maps with non-convex, polygonal obstacles. R2 is competitive to traditional free-space planners, finding paths quickly if queries have direct line-of-sight. On large sparse maps with few obstacle contours, which are likely to occur in practice, R2 outperforms free-space planners, and can be much faster than state-of-the-art free-space expansion planner Anya. On maps with many contours, Anya performs faster than R2. R2 is built on RayScan, introducing lazy-searches and a source-pledge counter to find successors optimistically on contiguous contours. The novel approach bypasses most successors on jagged contours to reduce expensive line-of-sight checks, therefore requiring no pre-processing to be a competitive online any-angle planner.

cs.RO