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Chenyu Tang

Publications and source records attributed to Chenyu Tang.

At least 19 recordsLinked to original sources

Learning multistate kinetics with a variational multistate committor network

The long-time dynamics of complex molecular systems often involves rare transitions across networks of metastable states. Building on transition-path theory, which provides a rigorous framework for describing rare transitions between two metastable states, we introduce the variational multistate committor network (VMCN), a neural framework that learns the probabilities of reaching each metastable state directly from molecular simulation data. From this representation, VMCN identifies state-specific commitment, candidate transition regions and committor-consistent pathways between state pairs, and an effective kinetic network characterized by transition rates. The model is trained using finite time-lag trajectory data together with boundary conditions defined on conservative state cores. Applications to a triple-well potential, trialanine isomerization, and the $c$--ring rotation in the V$_{\rm o}$ domain of a vacuolar ATPase show that VMCN recovers metastable organization, provides committor-consistent descriptions of transition mechanisms, and estimates state-to-state kinetics. VMCN further provides diagnostics for incomplete state decompositions and enables adaptive exploration of candidate metastable states and their connecting regions. By integrating VMCN with generative committor-guided path sampling (Gen-COMPAS) for chignolin, we start from two end point structures, identify a misfolded state and a candidate folding intermediate, and we direct subsequent sampling toward the resulting multistate transition network.

physics.chem-ph

CheckVLA: Execution-Time Verification with Action-Conditioned World Model for Long-Horizon Mobile Manipulation

Vision-language-action (VLA) policies commonly execute long-horizon mobile manipulation through open-loop action chunks, issuing multiple actions without receiving new high-level visual input. A committed chunk therefore implies how observations should evolve, but accidental deviations can violate this expectation while the remaining actions continue to propagate the error: commit-time policy confidence cannot react to a deviation that occurs after dispatch, and observation-only anomaly scores lack an action-conditioned reference for separating expected effects from unexplained changes. We propose CheckVLA, which verifies execution with a separately trained, frozen action-conditioned world model. A conformally calibrated risk threshold bounds the episode-level probability of an unnecessary first intervention and determines when to intervene, its exceedance controls how strongly the rewritten suffix retains the superseded chunk, latency-aware hard prefixing restricts replacement to actions that remain deployable, and an event-driven keyframe bank preserves evidence of prior progress across repairs. On RoboCasa365, under a common training recipe and a matched invocation budget, CheckVLA attains a 36.1% average success rate against 27.6% for periodic replanning (+8.5 points). At a matched 5% episode-level false-alarm target, action conditioning raises timely recall to 77.9%, against 48.6% for an observation-only control and 37.9% for an action-shuffled control. These simulation results support action-conditioned verification as a way to restore feedback during chunked execution while keeping the repair consistent with inference latency.

cs.RO

A self-adaptive tube restraint for free-energy calculations along path collective variables

Path collective variables (PCVs) reduce a high-dimensional transition to a progress coordinate, s, and an orthogonal distance, z. Computing the free energy along s often requires restraining z, so that sampling embraces a tube centered on the reference path. However, a conventional fixed half-harmonic wall demands an a priori tube width that is both system dependent and s-dependent. Too tight a tube biases the path-projected free energy. Conversely, too loose a tube induces numerical instability and inter-channel leakage. We present an adaptive tube restraint the half-width of which evolves on the fly to track a fixed contour {\Delta}F* of the orthogonal free energy F(z|s), widening automatically in flat basins and narrowing at pinched saddles, with minimalist user intervention. We prove that, for a locally harmonic perpendicular well, a contour-following tube captures an s-independent fraction of the orthogonal partition function, so that in the hard-wall limit, its bias cancels out. In stark contrast, the bias of a fixed-width tube varies with s and distorts the free-energy landscape. We probe the algorithm on several model potentials, on N-Acetyl-N'-methylalanylamide isomerization, on the folding of the mini-protein chignolin, and on the folding-upon-binding of the ribose-binding protein. The method is implemented in the open-source Colvars library, and is, therefore, usable within popular MD engines, such as NAMD, LAMMPS, GROMACS, and Tinker-HP.

physics.chem-ph

Agentic World Modeling: Foundations, Capabilities, Laws, and Beyond

As AI systems move from generating text to accomplishing goals through sustained interaction, the ability to model environment dynamics becomes a central bottleneck. Agents that manipulate objects, navigate software, coordinate with others, or design experiments require predictive environment models, yet the term world model carries different meanings across research communities. We introduce a "levels x laws" taxonomy organized along two axes. The first defines three capability levels: L1 Predictor, which learns one-step local transition operators; L2 Simulator, which composes them into multi-step, action-conditioned rollouts that respect domain laws; and L3 Evolver, which autonomously revises its own model when predictions fail against new evidence. The second identifies four governing-law regimes: physical, digital, social, and scientific. These regimes determine what constraints a world model must satisfy and where it is most likely to fail. Using this framework, we synthesize over 400 works and summarize more than 100 representative systems spanning model-based reinforcement learning, video generation, web and GUI agents, multi-agent social simulation, and AI-driven scientific discovery. We analyze methods, failure modes, and evaluation practices across level-regime pairs, propose decision-centric evaluation principles and a minimal reproducible evaluation package, and outline architectural guidance, open problems, and governance challenges. The resulting roadmap connects previously isolated communities and charts a path from passive next-step prediction toward world models that can simulate, and ultimately reshape, the environments in which agents operate. Code and resources are available at: https://github.com/matrix-agent/awesome-agentic-world-modeling.

cs.AI

Wearable-informed generative digital avatars predict task-conditioned post-stroke locomotion

Dynamic prediction of locomotor capacity after stroke could enable more individualized rehabilitation, yet current assessments largely provide static impairment scores and do not indicate whether patients can perform specific tasks such as slope walking or stair climbing. Here, we present a wearable-informed data-physics hybrid generative framework that reconstructs a stroke survivor's locomotor control from wearable inertial sensing and predicts task-conditioned post-stroke locomotion in new environments. From a single 20 m level-ground walking trial recorded by five IMUs, the framework personalizes a physics-based digital avatar using a healthy-motion prior and hybrid imitation learning, generating dynamically feasible, patient-specific movements for inclined walking and stair negotiation. Across 11 stroke inpatients, predicted postures reached 82.2% similarity for slopes and 69.9% for stairs, substantially exceeding a physics-only baseline. In a multicentre pilot randomized study (n = 21; 28 days), access to scenario-specific locomotion predictions to support task selection and difficulty titration was associated with larger gains in Fugl-Meyer lower-extremity scores than standard care (mean change 6.0 vs 3.7 points; $p < 0.05$). These results suggest that wearable-informed generative digital avatars may augment individualized gait rehabilitation planning and provide a pathway toward dynamically personalized post-stroke motor recovery strategies.

cs.CE

Biomimetic Metamaterial-based Interface for Decoding Heterogeneous Mechanodermal Activity

Human skin acts as a dynamic biomechanical interface that conveys critical physiological and behavioural information through spatiotemporally distributed deformations. Due to the limited capabilities of current sensing technologies, the spatiotemporal diversity of its mechanical cues has remained underutilised to date, preventing these mechanisms from being used to capture and decode the full spectrum of underlying physiological states. In this work, we define this heterogeneous set of mechanical signals as mechanodermal activity (MDA) and introduce the biomimetic metamaterial-based interface (BMMI), an engineered auxetic metamaterial substrate that reproduces the microrelief and mechanoreceptor architecture of natural skin. The BMMI allows selective capture of diverse MDA signals from adjacent skin regions with simultaneous signal amplification and noise suppression, and permits straightforward modulation to accommodate various scenarios. Combined with bespoke algorithms, the wireless BMMI device decodes MDA accurately and robustly for multimodal communication interfaces, unleashing applications in healthcare monitoring and human-machine interaction.

q-bio.NC

Breaking the Timescale Barrier: Generative Discovery of Conformational Free-Energy Landscapes and Transition Pathways

Molecular transitions -- such as protein folding, allostery, and membrane transport -- are central to biology yet remain notoriously difficult to simulate. Their intrinsic rarity pushes them beyond reach of standard molecular dynamics, while enhanced-sampling methods are costly and often depend on arbitrary variables that bias outcomes. We introduce Gen-COMPAS, a generative committor-guided path sampling framework that reconstructs transition pathways without predefined variables and at a fraction of the cost. Gen-COMPAS couples a generative diffusion model, which produces physically realistic intermediates, with committor-based filtering to pinpoint transition states. Short unbiased simulations from these intermediates rapidly yield full transition-path ensembles that converge within nanoseconds, where conventional methods require orders of magnitude more sampling. Applied to systems from a miniprotein to a ribose-binding protein to a mitochondrial carrier, Gen-COMPAS retrieves committors, transition states, and free-energy landscapes efficiently, uniting machine learning and molecular dynamics for broad mechanistic and practical insight.

physics.comp-ph

Physiology-informed layered sensing for intelligent human-exoskeleton interaction

Wearable exoskeletons hold transformative promise for restoring mobility across diverse users with muscular weakness or other impairments. However, their translation beyond laboratory environments remains limited by sensing systems that capture movement but not underlying physiology. Here, we present a soft, lightweight smart leg sleeve that achieves anatomically aligned, layered multimodal sensing by integrating textile-based surface electromyography (sEMG) electrodes, ultrasensitive textile strain sensors, and inertial measurement units (IMUs). Each sensing modality targets a distinct physiological layer: IMUs track joint kinematics at the skeletal level, sEMG monitors muscle activation at the muscular level, and strain sensors detect skin deformation at the cutaneous level. Together, these sensors provide real-time perception to support three core objectives: controlling personalized assistance, optimizing user effort, and safeguarding against injury risks. The system is skin-conformal, mechanically compliant, and seamlessly integrated with a custom exoskeleton ($<20$~g total sensor and electronics weight). We demonstrate: (1) accurate ankle joint moment estimation (RMSE = 0.13~Nm/kg), (2) real-time classification of metabolic trends (accuracy = 97.1\%), and (3) injury risk detection within 100~ms (recall = 0.96), all validated on unseen users using a leave-one-subject-out protocol. This work establishes a physiology-aligned sensing architecture that reframes exoskeleton perception from motion tracking to real-time physiological decoding, offering a pathway towards intelligent, adaptive, and personalized wearable robotics.

eess.SY

Following the Committor Flow: A Data-Driven Discovery of Transition Pathways

The discovery of transition pathways to unravel distinct reaction mechanisms and, in general, rare events that occur in molecular systems is still a challenge. Recent advances have focused on analyzing the transition path ensemble using the committor probability, widely regarded as the most informative one-dimensional reaction coordinate. Consistency between transition pathways and the committor function is essential for accurate mechanistic insight. In this work, we propose an iterative framework to infer the committor and, subsequently, to identify the most relevant transition pathways. Starting from an initial guess for the transition path, we generate biased sampling from which we train a neural network to approximate the committor probability. From this learned committor, we extract dominant transition channels as discretized strings lying on isocommittor surfaces. These pathways are then used to enhance sampling and iteratively refine both the committor and the transition paths until convergence. The resulting committor enables accurate estimation of the reaction rate constant. We demonstrate the effectiveness of our approach on benchmark systems, including a two-dimensional model potential, peptide conformational transitions, and a Diels--Alder reaction.

physics.comp-ph

From Atoms to Dynamics: Learning the Committor Without Collective Variables

This Brief Communication introduces a graph-neural-network architecture built on geometric vector perceptrons to predict the committor function directly from atomic coordinates, bypassing the need for hand-crafted collective variables (CVs). The method offers atom-level interpretability, pinpointing the key atomic players in complex transitions without relying on prior assumptions. Applied across diverse molecular systems, the method accurately infers the committor function and highlights the importance of each heavy atom in the transition mechanism. It also yields precise estimates of the rate constants for the underlying processes. The proposed approach opens new avenues for understanding and modeling complex dynamics, by enabling CV-free learning and automated identification of physically meaningful reaction coordinates of complex molecular processes.

physics.comp-ph

Generalised Label-free Artefact Cleaning for Real-time Medical Pulsatile Time Series

Artefacts compromise clinical decision-making in the use of medical time series. Pulsatile waveforms offer probabilities for accurate artefact detection, yet most approaches rely on supervised manners and overlook patient-level distribution shifts. To address these issues, we introduce a generalised label-free framework, GenClean, for real-time artefact cleaning and leverage an in-house dataset of 180,000 ten-second arterial blood pressure (ABP) samples for training. We first investigate patient-level generalisation, demonstrating robust performances under both intra- and inter-patient distribution shifts. We further validate its effectiveness through challenging cross-disease cohort experiments on the MIMIC-III database. Additionally, we extend our method to photoplethysmography (PPG), highlighting its applicability to diverse medical pulsatile signals. Finally, its integration into ICM+, a clinical research monitoring software, confirms the real-time feasibility of our framework, emphasising its practical utility in continuous physiological monitoring. This work provides a foundational step toward precision medicine in improving the reliability of high-resolution medical time series analysis

eess.SP

AI-Driven Smart Sportswear for Real-Time Fitness Monitoring Using Textile Strain Sensors

Wearable biosensors have revolutionized human performance monitoring by enabling real-time assessment of physiological and biomechanical parameters. However, existing solutions lack the ability to simultaneously capture breath-force coordination and muscle activation symmetry in a seamless and non-invasive manner, limiting their applicability in strength training and rehabilitation. This work presents a wearable smart sportswear system that integrates screen-printed graphene-based strain sensors with compact electronics for wireless data transfer and a deep learning framework for real-time classification of exercise execution quality. By leveraging 1D ResNet-18 for feature extraction, the system achieves 92.1% classification accuracy across six exercise conditions, distinguishing between breathing irregularities and asymmetric muscle exertion. Additionally, t-SNE analysis and Grad-CAM-based explainability visualization confirm that the network accurately captures biomechanically relevant features, ensuring robust interpretability. The proposed system establishes a foundation for next-generation AI-powered sportswear, with applications in fitness optimization, injury prevention, and adaptive rehabilitation training.

eess.SP

Wireless Silent Speech Interface Using Multi-Channel Textile EMG Sensors Integrated into Headphones

This paper presents a novel wireless silent speech interface (SSI) integrating multi-channel textile-based EMG electrodes into headphone earmuff for real-time, hands-free communication. Unlike conventional patch-based EMG systems, which require large-area electrodes on the face or neck, our approach ensures comfort, discretion, and wearability while maintaining robust silent speech decoding. The system utilizes four graphene/PEDOT:PSS-coated textile electrodes to capture speech-related neuromuscular activity, with signals processed via a compact ESP32-S3-based wireless readout module. To address the challenge of variable skin-electrode coupling, we propose a 1D SE-ResNet architecture incorporating squeeze-and-excitation (SE) blocks to dynamically adjust per-channel attention weights, enhancing robustness against motion-induced impedance variations. The proposed system achieves 96% accuracy on 10 commonly used voice-free control words, outperforming conventional single-channel and non-adaptive baselines. Experimental validation, including XAI-based attention analysis and t-SNE feature visualization, confirms the adaptive channel selection capability and effective feature extraction of the model. This work advances wearable EMG-based SSIs, demonstrating a scalable, low-power, and user-friendly platform for silent communication, assistive technologies, and human-computer interaction.

cs.HC

Iterative variational learning of committor-consistent transition pathways using artificial neural networks

This contribution introduces a neural-network-based approach to discover meaningful transition pathways underlying complex biomolecular transformations in coherence with the committor function. The proposed path-committor-consistent artificial neural network (PCCANN) iteratively refines the transition pathway by aligning it to the gradient of the committor. This method addresses the challenges of sampling in molecular dynamics simulations rare events in high-dimensional spaces, which is often limited computationally. Applied to various benchmark potentials and biological processes such as peptide isomerization and protein-model folding, PCCANN successfully reproduces established dynamics and rate constants, while revealing bifurcations and alternate pathways. By enabling precise estimation of transition states and free-energy barriers, this approach provides a robust framework for enhanced-sampling simulations of rare events in complex biomolecular systems.

physics.comp-ph

An AI-Driven Multimodal Smart Home Platform for Continuous Monitoring and Assistance in Post-Stroke Motor Impairment

At-home rehabilitation for post-stroke patients presents significant challenges, as continuous, personalized care is often limited outside clinical settings. Moreover, the lack of integrated solutions capable of simultaneously monitoring motor recovery and providing intelligent assistance in home environments hampers rehabilitation outcomes. Here, we present a multimodal smart home platform designed for continuous, at-home rehabilitation of post-stroke patients, integrating wearable sensing, ambient monitoring, and adaptive automation. A plantar pressure insole equipped with a machine learning pipeline classifies users into motor recovery stages with up to 94\% accuracy, enabling quantitative tracking of walking patterns during daily activities. An optional head-mounted eye-tracking module, together with ambient sensors such as cameras and microphones, supports seamless hands-free control of household devices with a 100\% success rate and sub-second response time. These data streams are fused locally via a hierarchical Internet of Things (IoT) architecture, ensuring low latency and data privacy. An embedded large language model (LLM) agent, Auto-Care, continuously interprets multimodal data to provide real-time interventions -- issuing personalized reminders, adjusting environmental conditions, and notifying caregivers. Implemented in a post-stroke context, this integrated smart home platform increased mean user satisfaction from 3.9 $\pm$ 0.8 in conventional home environments to 8.4 $\pm$ 0.6 with the full system ($n=20$). Beyond stroke, the system offers a scalable, patient-centered framework with potential for long-term use in broader neurorehabilitation and aging-in-place applications.

cs.HC

Wearable intelligent throat enables natural speech in stroke patients with dysarthria

Wearable silent speech systems hold significant potential for restoring communication in patients with speech impairments. However, seamless, coherent speech remains elusive, and clinical efficacy is still unproven. Here, we present an AI-driven intelligent throat (IT) system that integrates throat muscle vibrations and carotid pulse signal sensors with large language model (LLM) processing to enable fluent, emotionally expressive communication. The system utilizes ultrasensitive textile strain sensors to capture high-quality signals from the neck area and supports token-level processing for real-time, continuous speech decoding, enabling seamless, delay-free communication. In tests with five stroke patients with dysarthria, IT's LLM agents intelligently corrected token errors and enriched sentence-level emotional and logical coherence, achieving low error rates (4.2% word error rate, 2.9% sentence error rate) and a 55% increase in user satisfaction. This work establishes a portable, intuitive communication platform for patients with dysarthria with the potential to be applied broadly across different neurological conditions and in multi-language support systems.

eess.AS

Deep Learning for Motion Classification in Ankle Exoskeletons Using Surface EMG and IMU Signals

Ankle exoskeletons have garnered considerable interest for their potential to enhance mobility and reduce fall risks, particularly among the aging population. The efficacy of these devices relies on accurate real-time prediction of the user's intended movements through sensor-based inputs. This paper presents a novel motion prediction framework that integrates three Inertial Measurement Units (IMUs) and eight surface Electromyography (sEMG) sensors to capture both kinematic and muscular activity data. A comprehensive set of activities, representative of everyday movements in barrier-free environments, was recorded for the purpose. Our findings reveal that Convolutional Neural Networks (CNNs) slightly outperform Long Short-Term Memory (LSTM) networks on a dataset of five motion tasks, achieving classification accuracies of $96.5 \pm 0.8 \%$ and $87.5 \pm 2.9 \%$, respectively. Furthermore, we demonstrate the system's proficiency in transfer learning, enabling accurate motion classification for new subjects using just ten samples per class for finetuning. The robustness of the model is demonstrated by its resilience to sensor failures resulting in absent signals, maintaining reliable performance in real-world scenarios. These results underscore the potential of deep learning algorithms to enhance the functionality and safety of ankle exoskeletons, ultimately improving their usability in daily life.

eess.SY

Neuromorphic spatiotemporal optical flow: Enabling ultrafast visual perception beyond human capabilities

Optical flow, inspired by the mechanisms of biological visual systems, calculates spatial motion vectors within visual scenes that are necessary for enabling robotics to excel in complex and dynamic working environments. However, current optical flow algorithms, despite human-competitive task performance on benchmark datasets, remain constrained by unacceptable time delays (~0.6 seconds per inference, 4X human processing speed) in practical deployment. Here, we introduce a neuromorphic optical flow approach that addresses delay bottlenecks by encoding temporal information directly in a synaptic transistor array to assist spatial motion analysis. Compared to conventional spatial-only optical flow methods, our spatiotemporal neuromorphic optical flow offers the spatial-temporal consistency of motion information, rapidly identifying regions of interest in as little as 1-2 ms using the temporal motion cues derived from the embedded temporal information in the two-dimensional floating gate synaptic transistors. Thus, the visual input can be selectively filtered to achieve faster velocity calculations and various task execution. At the hardware level, due to the atomically sharp interfaces between distinct functional layers in two-dimensional van der Waals heterostructures, the synaptic transistor offers high-frequency response (~100 {\mu}s), robust non-volatility (>10000 s), and excellent endurance (>8000 cycles), enabling robust visual processing. In software benchmarks, our system outperforms state-of-the-art algorithms with a 400% speedup, frequently surpassing human-level performance while maintaining or enhancing accuracy by utilizing the temporal priors provided by the embedded temporal information.

cs.CV