arXiv subjects

Chengyuan Qian

Publications and source records attributed to Chengyuan Qian.

6 recordsLinked to original sources

arXiv2026

A Universal Space of Brain Dynamics for Unveiling Cognitive Transitions and Individual Differences

Representing dynamical systems through data-driven universal spaces has proven effective; however, achieving this universality for human brain activity remains a significant challenge, further aggravated by diverse cognitive states and individual subjects. Recognizing that spatial properties reflect physical wiring while temporal properties reflect brain function, we develop Universal Brain Dynamics (UBD) to construct a universal space tailored to brain activity and quantify corresponding dynamics using a model-derived Jacobian matrix. Crucially, we validate UBD's universality by accurately predicting functional magnetic resonance imaging (fMRI) signals (Pearson's r > 0.9) across eight states and 963 subjects in the Human Connectome Project (HCP). Through evaluating resting-state fMRI represented within UBD, we gain insight into how infra-slow fluctuation (ISF) underpins brain activity. Furthermore, we reveal a new perspective on structure-function coupling (SFC) by analyzing the temporal sequence of brain dynamics. Extending UBD to task-evoked states, we derive brain dynamics across various cognitive conditions, elucidating the neural mechanisms driving cognitive transitions at a finer granularity. For individual differences, we compare brain dynamics across subjects to identify the neural underpinnings of these variations. Our findings suggest that synergistically integrating spatial and temporal properties of brain activity establishes a universal space for its unfolding, enabling the precise numerical analysis of underlying neural mechanisms across varying conditions.

q-bio.QM↗

arXiv2026

Multi-Agent Reinforcement Learning with Submodular Reward

In this paper, we study cooperative multi-agent reinforcement learning (MARL) where the joint reward exhibits submodularity, which is a natural property capturing diminishing marginal returns when adding agents to a team. Unlike standard MARL with additive rewards, submodular rewards model realistic scenarios where agent contributions overlap (e.g., multi-drone surveillance, collaborative exploration). We provide the first formal framework for this setting and develop algorithms with provable guarantees on sample efficiency and regret bound. For known dynamics, our greedy policy optimization achieves a $1/2$-approximation with polynomial complexity in the number of agents $K$, overcoming the exponential curse of dimensionality inherent in joint policy optimization. For unknown dynamics, we propose a UCB-based learning algorithm achieving a $1/2$-regret of $O(H^2KS\sqrt{AT})$ over $T$ episodes.

cs.LG↗

arXiv2025

LAVQA: A Latency-Aware Visual Question Answering Framework for Shared Autonomy in Self-Driving Vehicles

When uncertainty is high, self-driving vehicles may halt for safety and benefit from the access to remote human operators who can provide high-level guidance. This paradigm, known as {shared autonomy}, enables autonomous vehicle and remote human operators to jointly formulate appropriate responses. To address critical decision timing with variable latency due to wireless network delays and human response time, we present LAVQA, a latency-aware shared autonomy framework that integrates Visual Question Answering (VQA) and spatiotemporal risk visualization. LAVQA augments visual queries with Latency-Induced COllision Map (LICOM), a dynamically evolving map that represents both temporal latency and spatial uncertainty. It enables remote operator to observe as the vehicle safety regions vary over time in the presence of dynamic obstacles and delayed responses. Closed-loop simulations in CARLA, the de-facto standard for autonomous vehicle simulator, suggest that that LAVQA can reduce collision rates by over 8x compared to latency-agnostic baselines.

cs.RO↗

arXiv2025

Dark Signals in the Brain: Augment Brain Network Dynamics to the Complex-valued Field

Recordings of brain activity, such as functional MRI (fMRI), provide low-dimensional, indirect observations of neural dynamics evolving in high-dimensional, unobservable spaces. Embedding observed brain dynamics into a higher-dimensional representation may help reveal functional organization, but precisely how remains unclear. Hamiltonian mechanics suggests that, by introducing an additional dimension of conjugate momenta, the dynamical behaviour of a conservative system can be formulated in a more compact and mathematically elegant manner. Here we develop a physics-informed, data-driven framework that lifts whole-brain activity to the complex-valued field. Specifically, we augment observed signals (generalized coordinates) with latent ``dark signals'' that play the role of conjugate momenta in a whole-brain Hamiltonian system. We show that the Hilbert transform provides an augmentation approach with optimal fitting accuracy within this framework, yielding a Schrödinger-like equation governing complex-valued, augmented brain dynamics. Empirically, this complex-valued model consistently outperforms its real-valued counterpart, improving short-horizon prediction in the linear regime (correlation 0.12$\to$0.82) and achieving superior fits under nonlinear, nonequilibrium dynamics (0.47$\to$0.88). The framework strengthens structure-function coupling, recovers hierarchical intrinsic timescales, and yields biologically plausible directed effective connectivity that varies systematically with age and reconfigures from rest to task via global rescaling plus targeted rewiring. Together, these results establish a principled, testable paradigm for network neuroscience and offer transformative insight into the spatiotemporal organization and functional roles of large-scale brain dynamics.

q-bio.NC↗

arXiv2025

OpenEMMA: Open-Source Multimodal Model for End-to-End Autonomous Driving

Since the advent of Multimodal Large Language Models (MLLMs), they have made a significant impact across a wide range of real-world applications, particularly in Autonomous Driving (AD). Their ability to process complex visual data and reason about intricate driving scenarios has paved the way for a new paradigm in end-to-end AD systems. However, the progress of developing end-to-end models for AD has been slow, as existing fine-tuning methods demand substantial resources, including extensive computational power, large-scale datasets, and significant funding. Drawing inspiration from recent advancements in inference computing, we propose OpenEMMA, an open-source end-to-end framework based on MLLMs. By incorporating the Chain-of-Thought reasoning process, OpenEMMA achieves significant improvements compared to the baseline when leveraging a diverse range of MLLMs. Furthermore, OpenEMMA demonstrates effectiveness, generalizability, and robustness across a variety of challenging driving scenarios, offering a more efficient and effective approach to autonomous driving. We release all the codes in https://github.com/taco-group/OpenEMMA.

cs.CV↗

arXiv2022

Improved Weakly Private Information Retrieval Codes

We study the problem of weakly private information retrieval (W-PIR), where a user wishes to retrieve a desired message from $N$ non-colluding servers in a way that the privacy leakage regarding the desired message's identity is less than or equal to a threshold. We propose a new code construction which significantly improves upon the best known result in the literature, based on the following critical observation. In previous constructions, for the extreme case of minimum download, the retrieval pattern is to download the message directly from $N-1$ servers; however this causes leakage to all these $N-1$ servers, and a better retrieval pattern for this extreme case is to download the message directly from a single server. The proposed code construction allows a natural transition to such a pattern, and for both the maximal leakage metric and the mutual information leakage metric, significant improvements can be obtained. We provide explicit solutions, in contrast to a previous work by Lin et al., where only numerical solutions were obtained.

cs.IT↗