arXiv subjects

Cheng-Yu Kuo

Publications and source records attributed to Cheng-Yu Kuo.

At least 19 recordsLinked to original sources

arXiv2026

VoxelDiffusionCut: Non-destructive Internal-part Extraction via Iterative Cutting and Structure Estimation

Non-destructive extraction of the target internal part, such as batteries and motors, by cutting surrounding structures is crucial at recycling and disposal sites. However, the diversity of products and the lack of information on disassembly procedures make it challenging to decide where to cut. This study explores a method for non-destructive extraction of a target internal part that iteratively estimates the internal structure from observed cutting surfaces and formulates cutting plans based on the estimation results. A key requirement is to estimate the probability of the target part's presence from partial observations. However, learning conditional generative models for this task is challenging: The high dimensionality of 3D shape representations makes learning difficult, and conventional models (e.g., conditional variational autoencoders) often fail to capture multi-modal predictive uncertainty due to mode collapse, resulting in overconfident predictions. To address these issues, we propose VoxelDiffusionCut, which iteratively estimates the internal structure represented as voxels using a diffusion model and plans cuts for non-destructive extraction of the target internal part based on the estimation results. Voxel representation allows the model to predict only attributes at fixed grid positions, i.e., types of constituent parts, making learning more tractable. The diffusion model completes the voxel representation conditioned on observed cutting surfaces, capturing uncertainty in unobserved regions to avoid erroneous cuts. Experimental results in simulation suggest that the proposed method can estimate internal structures from observed cutting surfaces and enable non-destructive extraction of the target internal part by leveraging the estimated uncertainty.

cs.CV↗

arXiv2025

Tracing Energy Flow: Learning Tactile-based Grasping Force Control to Reduce Slippage in Dynamic Object Interaction

Regulating grasping force to reduce slippage during dynamic object interaction remains a fundamental challenge in robotic manipulation, especially when objects are manipulated by multiple rolling contacts, have unknown properties (such as mass or surface conditions), and when external sensing is unreliable. In contrast, humans can quickly regulate grasping force by touch, even without visual cues. Inspired by this ability, we aim to enable robotic hands to rapidly explore objects and learn tactile-driven grasping force control under motion and limited sensing. We propose a physics-informed energy abstraction that models the object as a virtual energy container. The inconsistency between the fingers' applied power and the object's retained energy provides a physically grounded signal for inferring slip-aware stability. Building on this abstraction, we employ model-based learning and planning to efficiently model energy dynamics from tactile sensing and perform real-time grasping force optimization. Experiments in both simulation and hardware demonstrate that our method can learn grasping force control from scratch within minutes, effectively reduce slippage, and extend grasp duration across diverse motion-object pairs, all without relying on external sensing or prior object knowledge. (Video: https://youtu.be/l3TJV29Mo6w)

cs.RO↗

arXiv2025

Prolonging Tool Life: Learning Skillful Use of General-purpose Tools through Lifespan-guided Reinforcement Learning

In inaccessible environments with uncertain task demands, robots often rely on general-purpose tools that lack predefined usage strategies. These tools are not tailored for particular operations, making their longevity highly sensitive to how they are used. This creates a fundamental challenge: how can a robot learn a tool-use policy that both completes the task and prolongs the tool's lifespan? In this work, we address this challenge by introducing a reinforcement learning (RL) framework that incorporates tool lifespan as a factor during policy optimization. Our framework leverages Finite Element Analysis (FEA) and Miner's Rule to estimate Remaining Useful Life (RUL) based on accumulated stress, and integrates the RUL into the RL reward to guide policy learning toward lifespan-guided behavior. To handle the fact that RUL can only be estimated after task execution, we introduce an Adaptive Reward Normalization (ARN) mechanism that dynamically adjusts reward scaling based on estimated RULs, ensuring stable learning signals. We validate our method across simulated and real-world tool use tasks, including Object-Moving and Door-Opening with multiple general-purpose tools. The learned policies consistently prolong tool lifespan (up to 8.01x in simulation) and transfer effectively to real-world settings, demonstrating the practical value of learning lifespan-guided tool use strategies.

cs.RO↗

arXiv2025

The CosmoVerse White Paper: Addressing observational tensions in cosmology with systematics and fundamental physics

The standard model of cosmology has provided a good phenomenological description of a wide range of observations both at astrophysical and cosmological scales for several decades. This concordance model is constructed by a universal cosmological constant and supported by a matter sector described by the standard model of particle physics and a cold dark matter contribution, as well as very early-time inflationary physics, and underpinned by gravitation through general relativity. There have always been open questions about the soundness of the foundations of the standard model. However, recent years have shown that there may also be questions from the observational sector with the emergence of differences between certain cosmological probes. In this White Paper, we identify the key objectives that need to be addressed over the coming decade together with the core science projects that aim to meet these challenges. These discordances primarily rest on the divergence in the measurement of core cosmological parameters with varying levels of statistical confidence. These possible statistical tensions may be partially accounted for by systematics in various measurements or cosmological probes but there is also a growing indication of potential new physics beyond the standard model. After reviewing the principal probes used in the measurement of cosmological parameters, as well as potential systematics, we discuss the most promising array of potential new physics that may be observable in upcoming surveys. We also discuss the growing set of novel data analysis approaches that go beyond traditional methods to test physical models. [Abridged]

astro-ph.CO↗

arXiv2024

Demographics of black holes at $<$100 R$_{\rm g}$ scales: accretion flows, jets, and shadows

Using the Event Horizon Telescope (EHT), the gravitationally lensed rings around the supermassive black holes (SMBHs) in Messier 87 (M87) and Sagittarius A* (Sgr A*) have now been successfully imaged at a resolution under 10 gravitational radii (R$_{\rm g}$ $ = \rm{GM/c^2}$). To expand studies beyond M87 and Sgr A*, we have constructed the Event Horizon and Environs (ETHER) sample, a comprehensive database encompassing approximately 3.15 million SMBH mass estimates, $\sim$ 20,000 Very-Long Baseline Interferometry (VLBI) radio flux densities, and $\sim$ 36,000 hard X-ray flux densities. This database is designed to identify and optimize target selection for the EHT and its upgrades on the ground and in space. We have identified a Gold Sample (GS) of nearby low-luminosity Active Galactic Nuclei (AGNs) within it that are ideal for studying jet bases and potentially imaging black hole shadows. We observed 27 of these AGNs using the EHT from 2022 to 2024, providing an opportunity to resolve and image accretion flows and jets at resolutions of $\leq$ 100 R$_{\rm g}$. Only a few SMBHs have sufficiently high enough flux density to be imaged at scales of $\leq$ 50 R$_{\rm g}$ with the present EHT. Among these are M87, Sgr A*, NGC4594 (Sombrero/M104), NGC4261, and NGC4374 (Messier 84/M84). Of these, NGC4261, Sombrero, and M84 have been observed and/or are scheduled for deep imaging with EHT+ALMA from 2023 to 2025. Sombrero, NGC4261, M84, NGC4278, and NGC5232 are clearly detected in our EHT+ALMA observations in 2022, indicating that the 230 GHz flux density from the accretion flows is significantly high. Ongoing imaging of the ETHER GS will enable measurements of black hole mass and spin, help constrain General Relativity, and enrich our understanding of jet launching and accretion inflows across a broad multi-parameter space, including black hole mass, spin, accretion rate, and orientation.

astro-ph.GA↗

arXiv2023

The Greenland Telescope: Construction, Commissioning, and Operations in Pituffik

In 2018, the Greenland Telescope (GLT) started scientific observation in Greenland. Since then, we have completed several significant improvements and added new capabilities to the telescope system. This paper presents a full review of the GLT system, a summary of our observation activities since 2018, the lessons learned from the operations in the Arctic regions, and the prospect of the telescope.

astro-ph.IM↗

arXiv2023

A ring-like accretion structure in M87 connecting its black hole and jet

The nearby radio galaxy M87 is a prime target for studying black hole accretion and jet formation^{1,2}. Event Horizon Telescope observations of M87 in 2017, at a wavelength of 1.3 mm, revealed a ring-like structure, which was interpreted as gravitationally lensed emission around a central black hole^3. Here we report images of M87 obtained in 2018, at a wavelength of 3.5 mm, showing that the compact radio core is spatially resolved. High-resolution imaging shows a ring-like structure of 8.4_{-1.1}^{+0.5} Schwarzschild radii in diameter, approximately 50% larger than that seen at 1.3 mm. The outer edge at 3.5 mm is also larger than that at 1.3 mm. This larger and thicker ring indicates a substantial contribution from the accretion flow with absorption effects in addition to the gravitationally lensed ring-like emission. The images show that the edge-brightened jet connects to the accretion flow of the black hole. Close to the black hole, the emission profile of the jet-launching region is wider than the expected profile of a black-hole-driven jet, suggesting the possible presence of a wind associated with the accretion flow.

astro-ph.HE↗

arXiv2023

183 GHz water megamasers in active galactic nuclei: a new accretion disk tracer

We present the results of an ALMA survey to identify 183 GHz H$_2$O maser emission from AGN already known to host 22 GHz megamaser systems. Out of 20 sources observed, we detect significant 183 GHz maser emission from 13; this survey thus increases the number of AGN known to host (sub)millimeter megamasers by a factor of 5. We find that the 183 GHz emission is systematically fainter than the 22 GHz emission from the same targets, with typical flux densities being roughly an order of magnitude lower at 183 GHz than at 22 GHz. However, the isotropic luminosities of the detected 183 GHz sources are comparable to their 22 GHz values. For two of our sources -- ESO 269-G012 and the Circinus galaxy -- we detect rich 183 GHz spectral structure containing multiple line complexes. The 183 GHz spectrum of ESO 269-G012 exhibits the triple-peaked structure characteristic of an edge-on AGN disk system. The Circinus galaxy contains the strongest 183 GHz emission detected in our sample, peaking at a flux density of nearly 5 Jy. The high signal-to-noise ratios achieved by these strong lines enable a coarse mapping of the 183 GHz maser system, in which the masers appear to be distributed similarly to those seen in VLBI maps of the 22 GHz system in the same galaxy and may be tracing the circumnuclear accretion disk at larger orbital radii than are occupied by the 22 GHz masers. This newly identified population of AGN disk megamasers presents a motivation for developing VLBI capabilities at 183 GHz.

astro-ph.GA↗

arXiv2022

BURSTT: Bustling Universe Radio Survey Telescope in Taiwan

Fast Radio Bursts (FRBs) are bright millisecond-duration radio transients that appear about 1,000 times per day, all-sky, for a fluence threshold 5 Jy ms at 600 MHz. The FRB radio-emission physics and the compact objects involved in these events are subjects of intense active debate. To better constrain source models, the Bustling Universe Radio Survey Telescope in Taiwan (BURSTT) is optimized to discover and localize a large sample of rare, high-fluence, nearby FRBs. This is the population most amenable to multi-messenger, multi-wavelength follow-up, allowing deeper understanding of source mechanisms. BURSTT will provide horizon-to-horizon sky coverage with a half power field-of-view (FoV) of $\sim$10$^{4}$ deg$^{2}$, a 400 MHz effective bandwidth between 300-800 MHz, and sub-arcsecond localization, made possible using outrigger stations hundreds to thousands of km from the main array. Initially, BURSTT will employ 256 antennas. After tests of various antenna designs and optimization of system performance we plan to expand to 2048 antennas. We estimate that BURSTT-256 will detect and localize $\sim$100 bright ($\geq$100 Jy ms) FRBs per year. Another advantage of BURSTT's large FoV and continuous operation will be greatly enhanced monitoring of FRBs for repetition. The current lack of sensitive all-sky observations likely means that many repeating FRBs are currently cataloged as single-event FRBs.

astro-ph.IM↗

arXiv2021

Uncertainty-aware Contact-safe Model-based Reinforcement Learning

This letter presents contact-safe Model-based Reinforcement Learning (MBRL) for robot applications that achieves contact-safe behaviors in the learning process. In typical MBRL, we cannot expect the data-driven model to generate accurate and reliable policies to the intended robotic tasks during the learning process due to sample scarcity. Operating these unreliable policies in a contact-rich environment could cause damage to the robot and its surroundings. To alleviate the risk of causing damage through unexpected intensive physical contacts, we present the contact-safe MBRL that associates the probabilistic Model Predictive Control's (pMPC) control limits with the model uncertainty so that the allowed acceleration of controlled behavior is adjusted according to learning progress. Control planning with such uncertainty-aware control limits is formulated as a deterministic MPC problem using a computation-efficient approximated GP dynamics and an approximated inference technique. Our approach's effectiveness is evaluated through bowl mixing tasks with simulated and real robots, scooping tasks with a real robot as examples of contact-rich manipulation skills. (video: https://youtu.be/sdhHP3NhYi0)

cs.RO↗

arXiv2020

Gravitational Test Beyond the First Post-Newtonian Order with the Shadow of the M87 Black Hole

The 2017 Event Horizon Telescope (EHT) observations of the central source in M87 have led to the first measurement of the size of a black-hole shadow. This observation offers a new and clean gravitational test of the black-hole metric in the strong-field regime. We show analytically that spacetimes that deviate from the Kerr metric but satisfy weak-field tests can lead to large deviations in the predicted black-hole shadows that are inconsistent with even the current EHT measurements. We use numerical calculations of regular, parametric, non-Kerr metrics to identify the common characteristic among these different parametrizations that control the predicted shadow size. We show that the shadow-size measurements place significant constraints on deviation parameters that control the second post-Newtonian and higher orders of each metric and are, therefore, inaccessible to weak-field tests. The new constraints are complementary to those imposed by observations of gravitational waves from stellar-mass sources.

gr-qc↗

arXiv2016

Accurate Polarization Calibration at 800 MHz with the Green Bank Telescope

Polarization leakage of foreground synchrotron emission is a critical issue in HI intensity mapping experiments. While the sought-after HI emission is unpolarized, polarized foregrounds such as Galactic and extragalactic synchrotron radiation, if coupled with instrumental impurity, can mimic or overwhelm the HI signals. In this paper we present the methodology for polarization calibration at 700-900 MHz, applied on data obtained from the Green Bank Telescope (GBT). We use astrophysical sources, both polarized and unpolarized sources including quasars and pulsars, as calibrators to characterize the polarization leakage and control systematic effects in our GBT HI intensity mapping project. The resulting fractional errors on polarization measurements on boresight are well controlled to within 0.6%-0.8% of their total intensity. The polarized beam patterns are measured by performing spider scans across both polarized quasars and pulsars. A dominant Stokes I to V leakage feature and secondary features of Stokes I to Q and I to U leakages in the 700-900 MHz frequency range are identified. These characterizations are important for separating foreground polarization leakage from the HI 21 cm signal.

astro-ph.IM↗

arXiv2016

Towards Precision Supermassive Black Hole Masses using Megamaser Disks

Megamaser disks provide the most precise and accurate extragalactic supermassive black hole masses. Here we describe a search for megamasers in nearby galaxies using the Green Bank Telescope (GBT). We focus on galaxies where we believe that we can resolve the gravitational sphere of influence of the black hole and derive a stellar or gas dynamical measurement with optical or NIR observations. Since there are only a handful of super massive black holes (SMBH) that have direct black hole mass measurements from more than one method, even a single galaxy with a megamaser disk and a stellar dynamical black hole mass would provide necessary checks on the stellar dynamical methods. We targeted 87 objects from the Hobby-Eberly Telescope Massive Galaxy Survey, and detected no new maser disks. Most of the targeted objects are elliptical galaxies with typical stellar velocity dispersions of 250 km/s and distances within 130 Mpc. We discuss the implications of our non-detections, whether they imply a threshold X-ray luminosity required for masing, or possibly reflect the difficulty of maintaining a masing disk around much more massive (>10^8 Msun) black holes at low Eddington ratio. Given the power of maser disks at probing black hole accretion and demographics, we suggest that future maser searches should endeavour to remove remaining sample biases, in order to sort out the importance of these covariant effects.

astro-ph.GA↗

arXiv2015

Dense magnetized plasma associated with a fast radio burst

Fast Radio Bursts are bright, unresolved, non-repeating, broadband, millisecond flashes, found primarily at high Galactic latitudes, with dispersion measures much larger than expected for a Galactic source. The inferred all-sky burst rate is comparable to the core-collapse supernova rate out to redshift 0.5. If the observed dispersion measures are assumed to be dominated by the intergalactic medium, the sources are at cosmological distances with redshifts of 0.2 to 1. These parameters are consistent with a wide range of source models. One fast radio burst showed circular polarization [21(7)%] of the radio emission, but no linear polarization was detected, and hence no Faraday rotation measure could be determined. Here we report the examination of archival data revealing Faraday rotation in a newly detected burst - FRB 110523. It has radio flux at least 0.6 Jy and dispersion measure 623.30(5) pc cm$^{-3}$. Using Galactic contribution 45 pc cm$^{-3}$ and a model of intergalactic electron density, we place the source at a maximum redshift of 0.5. The burst has rotation measure -186.1(1.4) rad m$^{-2}$, much higher than expected for this line of sight through the Milky Way and the intergalactic medium, indicating magnetization in the vicinity of the source itself or within a host galaxy. The pulse was scattered by two distinct plasma screens during propagation, which requires either a dense nebula associated with the source or a location within the central region of its host galaxy. Keeping in mind that there may be more than one type of fast radio burst source, the detection in this instance of source-local magnetization and scattering favours models involving young stellar populations such as magnetars over models involving the mergers of older neutron stars, which are more likely to be located in low density regions of the host galaxy.

astro-ph.HE↗

arXiv2015

Foreground Subtraction in Intensity Mapping with the SKA

21cm intensity mapping experiments aim to observe the diffuse neutral hydrogen (HI) distribution on large scales which traces the Cosmic structure. The Square Kilometre Array (SKA) will have the capacity to measure the 21cm signal over a large fraction of the sky. However, the redshifted 21cm signal in the respective frequencies is faint compared to the Galactic foregrounds produced by synchrotron and free-free electron emission. In this article, we review selected foreground subtraction methods suggested to effectively separate the 21cm signal from the foregrounds with intensity mapping simulations or data. We simulate an intensity mapping experiment feasible with SKA phase 1 including extragalactic and Galactic foregrounds. We give an example of the residuals of the foreground subtraction with a independent component analysis and show that the angular power spectrum is recovered within the statistical errors on most scales. Additionally, the scale of the Baryon Acoustic Oscillations is shown to be unaffected by foreground subtraction.

astro-ph.CO↗

arXiv2013

Refining the M_BH-V_c scaling relation with HI rotation curves of water megamaser galaxies

Black hole - galaxy scaling relations provide information about the coevolution of supermassive black holes and their host galaxies. We compare the black hole mass - circular velocity (MBH - Vc) relation with the black hole mass - bulge stellar velocity dispersion (MBH - sigma) relation, to see whether the scaling relations can passively emerge from a large number of mergers, or require a physical mechanism, such as feedback from an active nucleus. We present VLA H I observations of five galaxies, including three water megamaser galaxies, to measure the circular velocity. Using twenty-two galaxies with dynamical MBH measurements and Vc measurements extending to large radius, our best-fit MBH - Vc relation, log MBH = alpha + beta log(Vc /200 km s^-1), yields alpha = 7.43+/-0.13, beta = 3.68+1.23/-1.20, and intrinsic scatter epsilon_int = 0.51+0.11/-0.09. The intrinsic scatter may well be higher than 0.51, as we take great care to ascribe conservatively large observational errors. We find comparable scatter in the MBH - sigma relations, epsilon_int = 0.48+0.10/-0.08, while pure merging scenarios would likely result in a tighter scaling with the dark halo (as traced by Vc) than baryonic (sigma) properties. Instead, feedback from the active nucleus may act on bulge scales to tighten the MBH - sigma relation with respect to the MBH - Vc relation, as observed.

astro-ph.CO↗

arXiv2013

Using Megamaser Disks to Probe Black Hole Accretion

We examine the alignment between H_2O megamaser disks on sub-pc scales with circumnuclear disks and bars on <500 pc scales observed with HST/WFC3. The HST imaging reveals young stars, indicating the presence of gas. The megamaser disks are not well aligned with the circumnuclear bars or disks as traced by stars in the HST images. We speculate on the implications of the observed misalignments for fueling supermassive black holes in gas-rich spiral galaxies. In contrast, we find a strong preference for the rotation axes of the megamaser disks to align with radio continuum jets observed on >50 pc scales, in those galaxies for which radio continuum detections are available. Sub-arcsecond observations of molecular gas with ALMA will enable a more complete understanding of the interplay between circumnuclear structures.

astro-ph.CO↗

arXiv2012

Mrk 1419 - a new distance determination

Water vapor megamasers from the center of active galaxies provide a powerful tool to trace accretion disks at sub-parsec resolution and, through an entirely geometrical method, measure direct distances to galaxies up to 200 Mpc. The Megamaser Cosmology Project (MCP) is formed by a team of astronomers with the aim of identifying new maser systems, and mapping their emission at high angular resolution to determine their distance. Two types of observations are necessary to measure a distance: single-dish monitoring to measure the acceleration of gas in the disk, and sensitive VLBI imaging to measure the angular size of the disk, measure the rotation curve, and model radial displacement of the maser feature. The ultimate goal of the MCP is to make a precise measurement of H0 by measuring such distances to at least 10 maser galaxies in the Hubble flow. We present here the preliminary results from a new maser system, Mrk 1419. Through a model of the rotation from the systemic masers assuming a narrow ring, and combining these results with the acceleration measurement from the Green Bank Telescope, we determine a distance to Mrk 1419 of 81\pm10 Mpc. Given that the disk shows a significant warp that may not be entirely traced by our current observations, more sensitive observations and more sophisticated disk modeling will be essential to improve our distance estimation to this galaxy.

astro-ph.CO↗