arXiv subjects

Fei Gao

Publications and source records attributed to Fei Gao.

At least 181 records · Page 10Linked to original sources

arXiv2025

Primitive-Swarm: An Ultra-lightweight and Scalable Planner for Large-scale Aerial Swarms

Achieving large-scale aerial swarms is challenging due to the inherent contradictions in balancing computational efficiency and scalability. This paper introduces Primitive-Swarm, an ultra-lightweight and scalable planner designed specifically for large-scale autonomous aerial swarms. The proposed approach adopts a decentralized and asynchronous replanning strategy. Within it is a novel motion primitive library consisting of time-optimal and dynamically feasible trajectories. They are generated utlizing a novel time-optimial path parameterization algorithm based on reachability analysis (TOPP-RA). Then, a rapid collision checking mechanism is developed by associating the motion primitives with the discrete surrounding space according to conflicts. By considering both spatial and temporal conflicts, the mechanism handles robot-obstacle and robot-robot collisions simultaneously. Then, during a replanning process, each robot selects the safe and minimum cost trajectory from the library based on user-defined requirements. Both the time-optimal motion primitive library and the occupancy information are computed offline, turning a time-consuming optimization problem into a linear-complexity selection problem. This enables the planner to comprehensively explore the non-convex, discontinuous 3-D safe space filled with numerous obstacles and robots, effectively identifying the best hidden path. Benchmark comparisons demonstrate that our method achieves the shortest flight time and traveled distance with a computation time of less than 1 ms in dense environments. Super large-scale swarm simulations, involving up to 1000 robots, running in real-time, verify the scalability of our method. Real-world experiments validate the feasibility and robustness of our approach. The code will be released to foster community collaboration.

cs.RO↗

arXiv2025

Sce2DriveX: A Generalized MLLM Framework for Scene-to-Drive Learning

End-to-end autonomous driving, which directly maps raw sensor inputs to low-level vehicle controls, is an important part of Embodied AI. Despite successes in applying Multimodal Large Language Models (MLLMs) for high-level traffic scene semantic understanding, it remains challenging to effectively translate these conceptual semantics understandings into low-level motion control commands and achieve generalization and consensus in cross-scene driving. We introduce Sce2DriveX, a human-like driving chain-of-thought (CoT) reasoning MLLM framework. Sce2DriveX utilizes multimodal joint learning from local scene videos and global BEV maps to deeply understand long-range spatiotemporal relationships and road topology, enhancing its comprehensive perception and reasoning capabilities in 3D dynamic/static scenes and achieving driving generalization across scenes. Building on this, it reconstructs the implicit cognitive chain inherent in human driving, covering scene understanding, meta-action reasoning, behavior interpretation analysis, motion planning and control, thereby further bridging the gap between autonomous driving and human thought processes. To elevate model performance, we have developed the first extensive Visual Question Answering (VQA) driving instruction dataset tailored for 3D spatial understanding and long-axis task reasoning. Extensive experiments demonstrate that Sce2DriveX achieves state-of-the-art performance from scene understanding to end-to-end driving, as well as robust generalization on the CARLA Bench2Drive benchmark.

cs.CV↗

arXiv2025

A quantitative analysis of Gravitational Wave spectrum sourced from First-Order Chiral Phase Transition of QCD

We investigate the cosmological first-order chiral phase transition of QCD, and for the first time calculate its parameters which can fully determine the gravitational wave spectrum. With the state-of-the-art calculation from the functional QCD method, we found that the large chemical potential of QCD phase transition results in very weak and fast first-order phase transitions at the temperature lower than $\mathcal{O}(10^2)$ MeV. These results further suggest that the GW signals of NANOGrav are very unlikely sourced from the chiral phase transition of QCD.

hep-ph↗

arXiv2025

Non-Hermitian Dirac cones with valley-dependent lifetimes

Relativistic quasiparticles emerging from band degeneracies in crystals play crucial roles in the transport and topological properties of materials and metamaterials. Quasiparticles are commonly described by Hermitian Hamiltonians, with non-Hermiticity usually considered detrimental. In this work, we show that such an assumption of Hermiticity can be lifted to bring quasiparticles into non-Hermitian regime. We propose a concrete lattice model containing two Dirac cones with valley-dependent lifetimes. The lifetime contrast enables an ultra-strong valley selection rule: only one valley can survive in the long-time limit regardless of the excitation, lattice shape and other details. This property leads to an effective parity anomaly with a single Dirac cone and offers a simple way to generate vortex states. Additionally, extending non-Hermitian features to boundaries generates valley kink states with valley-locked lifetimes, making them effectively unidirectional and more resistant against inter-valley scattering. All these phenomena are experimentally demonstrated in a non-Hermitian electric circuit lattice.

cond-mat.mes-hall↗

arXiv2025

Contact-Aware Motion Planning Among Movable Objects

Most existing methods for motion planning of mobile robots involve generating collision-free trajectories. However, these methods focusing solely on contact avoidance may limit the robots' locomotion and can not be applied to tasks where contact is inevitable or intentional. To address these issues, we propose a novel contact-aware motion planning (CAMP) paradigm for robotic systems. Our approach incorporates contact between robots and movable objects as complementarity constraints in optimization-based trajectory planning. By leveraging augmented Lagrangian methods (ALMs), we efficiently solve the optimization problem with complementarity constraints, producing spatial-temporal optimal trajectories of the robots. Simulations demonstrate that, compared to the state-of-the-art method, our proposed CAMP method expands the reachable space of mobile robots, resulting in a significant improvement in the success rate of two types of fundamental tasks: navigation among movable objects (NAMO) and rearrangement of movable objects (RAMO). Real-world experiments show that the trajectories generated by our proposed method are feasible and quickly deployed in different tasks.

cs.RO↗

arXiv2025

neuro2voc: Decoding Vocalizations from Neural Activity

Accurate decoding of neural spike trains and relating them to motor output is a challenging task due to the inherent sparsity and length in neural spikes and the complexity of brain circuits. This master project investigates experimental methods for decoding zebra finch motor outputs (in both discrete syllables and continuous spectrograms), from invasive neural recordings obtained from Neuropixels. There are three major achievements: (1) XGBoost with SHAP analysis trained on spike rates revealed neuronal interaction patterns crucial for syllable classification. (2) Novel method (tokenizing neural data with GPT2) and architecture (Mamba2) demonstrated potential for decoding of syllables using spikes. (3) A combined contrastive learning-VAE framework successfully generated spectrograms from binned neural data. This work establishes a promising foundation for neural decoding of complex motor outputs and offers several novel methodological approaches for processing sparse neural data.

q-bio.NC↗

arXiv2025

Safe and Agile Transportation of Cable-Suspended Payload via Multiple Aerial Robots

Transporting a heavy payload using multiple aerial robots (MARs) is an efficient manner to extend the load capacity of a single aerial robot. However, existing schemes for the multiple aerial robots transportation system (MARTS) still lack the capability to generate a collision-free and dynamically feasible trajectory in real-time and further track an agile trajectory especially when there are no sensors available to measure the states of payload and cable. Therefore, they are limited to low-agility transportation in simple environments. To bridge the gap, we propose complete planning and control schemes for the MARTS, achieving safe and agile aerial transportation (SAAT) of a cable-suspended payload in complex environments. Flatness maps for the aerial robot considering the complete kinematical constraint and the dynamical coupling between each aerial robot and payload are derived. To improve the responsiveness for the generation of the safe, dynamically feasible, and agile trajectory in complex environments, a real-time spatio-temporal trajectory planning scheme is proposed for the MARTS. Besides, we break away from the reliance on the state measurement for both the payload and cable, as well as the closed-loop control for the payload, and propose a fully distributed control scheme to track the agile trajectory that is robust against imprecise payload mass and non-point mass payload. The proposed schemes are extensively validated through benchmark comparisons, ablation studies, and simulations. Finally, extensive real-world experiments are conducted on a MARTS integrated by three aerial robots with onboard computers and sensors. The result validates the efficiency and robustness of our proposed schemes for SAAT in complex environments.

cs.RO↗

arXiv2025

Towards Aligned Data Forgetting via Twin Machine Unlearning

Modern privacy regulations have spurred the evolution of machine unlearning, a technique enabling a trained model to efficiently forget specific training data. In prior unlearning methods, the concept of "data forgetting" is often interpreted and implemented as achieving zero classification accuracy on such data. Nevertheless, the authentic aim of machine unlearning is to achieve alignment between the unlearned model and the gold model, i.e., encouraging them to have identical classification accuracy. On the other hand, the gold model often exhibits non-zero classification accuracy due to its generalization ability. To achieve aligned data forgetting, we propose a Twin Machine Unlearning (TMU) approach, where a twin unlearning problem is defined corresponding to the original unlearning problem. Consequently, the generalization-label predictor trained on the twin problem can be transferred to the original problem, facilitating aligned data forgetting. Comprehensive empirical experiments illustrate that our approach significantly enhances the alignment between the unlearned model and the gold model.

cs.LG↗

arXiv2025

Cooperative Aerial Robot Inspection Challenge: A Benchmark for Heterogeneous Multi-UAV Planning and Lessons Learned

We propose the Cooperative Aerial Robot Inspection Challenge (CARIC), a simulation-based benchmark for motion planning algorithms in heterogeneous multi-UAV systems. CARIC features UAV teams with complementary sensors, realistic constraints, and evaluation metrics prioritizing inspection quality and efficiency. It offers a ready-to-use perception-control software stack and diverse scenarios to support the development and evaluation of task allocation and motion planning algorithms. Competitions using CARIC were held at IEEE CDC 2023 and the IROS 2024 Workshop on Multi-Robot Perception and Navigation, attracting innovative solutions from research teams worldwide. This paper examines the top three teams from CDC 2023, analyzing their exploration, inspection, and task allocation strategies while drawing insights into their performance across scenarios. The results highlight the task's complexity and suggest promising directions for future research in cooperative multi-UAV systems.

cs.RO↗

arXiv2024

Self-Testing Positive Operator-Valued Measurements and Certifying Randomness

In the device-independent scenario, positive operator-valued measurements (POVMs) can certify more randomness than projective measurements. This paper self-tests a three-outcome extremal qubit POVM in the X-Z plane of the Bloch sphere by achieving the maximal quantum violation of a newly constructed Bell expression C'3, adapted from the chained inequality C3. Using this POVM, approximately 1.58 bits of local randomness can be certified, which is the maximum amount of local randomness achievable by an extremal qubit POVM in this plane. Further modifications of C'3 produce C''3, enabling the self-testing of another three-outcome extremal qubit POVM. Together, these POVMs certify about 2.27 bits of global randomness. Both local and global randomness surpass the limitations certified from projective measurements. Additionally, the Navascués-Pironio-Acín hierarchy is employed to compare the lower bounds on global randomness certified by C3 and several other inequalities. As the extent of violation increases, C3 demonstrates superior performance in randomness certification.

quant-ph↗

arXiv2024

Estimating HIV Cross-sectional Incidence Using Recency Tests from a Non-representative Sample

Cross-sectional incidence estimation based on recency testing has become a widely used tool in HIV research. Recently, this method has gained prominence in HIV prevention trials to estimate the "placebo" incidence that participants might experience without preventive treatment. The application of this approach faces challenges due to non-representative sampling, as individuals aware of their HIV-positive status may be less likely to participate in screening for an HIV prevention trial. To address this, a recent phase 3 trial excluded individuals based on whether they have had a recent HIV test. To the best of our knowledge, the validity of this approach has yet to be studied. In our work, we investigate the performance of cross-sectional HIV incidence estimation when excluding individuals based on prior HIV tests in realistic trial settings. We develop a statistical framework that incorporates a testing-based criterion and possible non-representative sampling. We introduce a metric we call the effective mean duration of recent infection (MDRI) that mathematically quantifies bias in incidence estimation. We conduct an extensive simulation study to evaluate incidence estimator performance under various scenarios. Our findings reveal that when screening attendance is affected by knowledge of HIV status, incidence estimators become unreliable unless all individuals with recent HIV tests are excluded. Additionally, we identified a trade-off between bias and variability: excluding more individuals reduces bias from non-representative sampling but in many cases increases the variability of incidence estimates. These findings highlight the need for caution when applying testing-based criteria and emphasize the importance of refining incidence estimation methods to improve the design and evaluation of future HIV prevention trials.

stat.ME↗

arXiv2024

Tight upper bound of the maximal quantum violation of Gisin's elegant Bell inequality and its application in randomness certification

The violation of a Bell inequality implies the existence of nonlocality, making device-independent randomness certification possible. This paper derives a tight upper bound for the maximal quantum violation of Gisin's elegant Bell inequality (EBI) for arbitrary two-qubit states, along with the constraints required to achieve this bound. This method provides the necessary and sufficient conditions for violating the EBI for several quantum states, including pure two-qubit states and the Werner states. The lower bound of certifiable global randomness is analyzed based on the tight upper bound of the EBI for pure two-qubit states, with a comparison to the Clauser-Horne-Shimony-Holt (CHSH) inequality. The relationship between the noise level and the lower bound of certifiable global randomness with respect to the Werner states is also explored, and the comparisons with both the CHSH inequality and the chained inequality are given. The results indicate that when the state approaches a maximally entangled state within specific quantified ranges, the EBI demonstrates advantages over both the CHSH inequality and the chained inequality, potentially enhancing practical device-independent randomness generation rates.

quant-ph↗

arXiv2024

Enhanced MRI Representation via Cross-series Masking

Magnetic resonance imaging (MRI) is indispensable for diagnosing and planning treatment in various medical conditions due to its ability to produce multi-series images that reveal different tissue characteristics. However, integrating these diverse series to form a coherent analysis presents significant challenges, such as differing spatial resolutions and contrast patterns meanwhile requiring extensive annotated data, which is scarce in clinical practice. Due to these issues, we introduce a novel Cross-Series Masking (CSM) Strategy for effectively learning MRI representation in a self-supervised manner. Specifically, CSM commences by randomly sampling a subset of regions and series, which are then strategically masked. In the training process, the cross-series representation is learned by utilizing the unmasked data to reconstruct the masked portions. This process not only integrates information across different series but also facilitates the ability to model both intra-series and inter-series correlations and complementarities. With the learned representation, the downstream tasks like segmentation and classification are also enhanced. Taking brain tissue segmentation, breast tumor benign/malignant classification, and prostate cancer diagnosis as examples, our method achieves state-of-the-art performance on both public and in-house datasets.

eess.IV↗

arXiv2024

NebulaFL: Effective Asynchronous Federated Learning for JointCloud Computing

With advancements in AI infrastructure and Trusted Execution Environment (TEE) technology, Federated Learning as a Service (FLaaS) through JointCloud Computing (JCC) is promising to break through the resource constraints caused by heterogeneous edge devices in the traditional Federated Learning (FL) paradigm. Specifically, with the protection from TEE, data owners can achieve efficient model training with high-performance AI services in the cloud. By providing additional FL services, cloud service providers can achieve collaborative learning among data owners. However, FLaaS still faces three challenges, i.e., i) low training performance caused by heterogeneous data among data owners, ii) high communication overhead among different clouds (i.e., data centers), and iii) lack of efficient resource scheduling strategies to balance training time and cost. To address these challenges, this paper presents a novel asynchronous FL approach named NebulaFL for collaborative model training among multiple clouds. To address data heterogeneity issues, NebulaFL adopts a version control-based asynchronous FL training scheme in each data center to balance training time among data owners. To reduce communication overhead, NebulaFL adopts a decentralized model rotation mechanism to achieve effective knowledge sharing among data centers. To balance training time and cost, NebulaFL integrates a reward-guided strategy for data owners selection and resource scheduling. The experimental results demonstrate that, compared to the state-of-the-art FL methods, NebulaFL can achieve up to 5.71\% accuracy improvement. In addition, NebulaFL can reduce up to 50% communication overhead and 61.94% costs under a target accuracy.

cs.DC↗

arXiv2024

AI-Generated Image Quality Assessment Based on Task-Specific Prompt and Multi-Granularity Similarity

Recently, AI-generated images (AIGIs) created by given prompts (initial prompts) have garnered widespread attention. Nevertheless, due to technical nonproficiency, they often suffer from poor perception quality and Text-to-Image misalignment. Therefore, assessing the perception quality and alignment quality of AIGIs is crucial to improving the generative model's performance. Existing assessment methods overly rely on the initial prompts in the task prompt design and use the same prompts to guide both perceptual and alignment quality evaluation, overlooking the distinctions between the two tasks. To address this limitation, we propose a novel quality assessment method for AIGIs named TSP-MGS, which designs task-specific prompts and measures multi-granularity similarity between AIGIs and the prompts. Specifically, task-specific prompts are first constructed to describe perception and alignment quality degrees separately, and the initial prompt is introduced for detailed quality perception. Then, the coarse-grained similarity between AIGIs and task-specific prompts is calculated, which facilitates holistic quality awareness. In addition, to improve the understanding of AIGI details, the fine-grained similarity between the image and the initial prompt is measured. Finally, precise quality prediction is acquired by integrating the multi-granularity similarities. Experiments on the commonly used AGIQA-1K and AGIQA-3K benchmarks demonstrate the superiority of the proposed TSP-MGS.

cs.CV↗

arXiv2024

Disposable Opto-Acoustic Window Enabled Cost-effective Photoacoustic-Ultrasound Dual-modal Imaging

Photoacoustic imaging (PAI) and ultrasound imaging (USI) are important biomedical imaging techniques, due to their unique and complementary advantages in tissue's structure and function visualization. In this Letter, we proposed a coaxial photoacoustic-ultrasound dual-modal imaging system (coPAUS) with disposable opto-acoustic window. This opto-acoustic window allows part of light to go through it, and another part of light to be converted to ultrasound transmission signal by photoacoustic effect. By single laser pulse illumination, both PA signals and reflected US signals can be generated. Then, a linear array probe receives both PA and US signals, enabling simultaneous dual-modal PA and US imaging. Ex vivo experiments were conducted involving pencil lead, hair, and plastic tube with black spot, as well as in vivo experiment on human finger. The system's resolutions for PA and US imaging are 215 um and 91.125 um, with signal-to-noise ratios for PA and US signals reached up to 37.48 dB and 29.75 dB, respectively, proving the feasibility of the coPAUS dual-modal imaging. The proposed coPAUS system with disposable opto-acoustic window provides an immediate and cost-effective approach to enable US imaging capability based on an existing PA imaging system.

physics.med-ph↗

arXiv2024

Characterizing the set of quantum correlations in prepare-and-measure quantum chain-shaped networks

We introduce a hierarchy of tests satisfied by any probability distribution $P$ that represents the quantum correlations generated in prepare-and-measure (P\&M) quantum chain-shaped networks, assuming only the inner-product information of the non-orthogonal quantum states. The P\&M quantum chain-shaped networks involve multiple measurement parties, each measurement party potentially having multiple sequential receivers. Specifically, we adapt the original NPA-hierarchy by incorporating a finite number of linear and positive semi-definite constraints to characterize the quantum correlations in P\&M quantum chain-shaped networks. These constraints in each hierarchy are derived from sequential measurement operators and the inner-product matrix of the non-orthogonal quantum states. We apply the adapted NPA-hierarchy to tackle some quantum information tasks, including sequential quantum random access codes (QRACs) and randomness certification. First, we derive the optimal trade-off between the two sequential receivers in the $2 \to 1$ sequential QRACs. Furthermore, we have investigated semi-device-independent randomness certification in the double violation region of $2 \to 1$ sequential QRACs. Second, considering the presence of eavesdropper (Eve) in actual communication, we show how much global and local randomness can be certified using the optimal trade-off of $2 \to 1$ sequential QRACs. Additionally, we quantify the amount of local and global randomness that can be certified from the complete probabilities generated by the two sequential receivers. We conclude that utilizing the complete set of probabilities certifies more local and global randomness than relying solely on the optimal trade-off relationship.

quant-ph↗

arXiv2024

Reactor neutrino liquid xenon coherent elastic scattering experiment

Coherent elastic neutrino-nucleus scattering (CEvNS) provides a unique probe for neutrino properties Beyond the Standard Model (BSM) physics. REactor neutrino LIquid xenon Coherent Scattering experiment (RELICS), a proposed reactor neutrino program using liquid xenon time projection chamber (LXeTPC) technology, aims to investigate the CEvNS process of antineutrinos off xenon atomic nuclei. In this work, the design of the experiment is studied and optimized based on Monte Carlo (MC) simulations. To achieve a sufficiently low energy threshold for CEvNS detection, an ionization-only analysis channel is adopted for RELICS. A high emission rate of delayed electrons after a big ionization signal is the major background, leading to an analysis threshold of 120 photo-electrons in the CEvNS search. The second largest background, nuclear recoils induced by cosmic-ray neutrons, is suppressed via a passive water shield. The physics potential of RELICS is explored with a 32 kg*yr exposure at a baseline of 25 m from a reactor core with a 3 GW thermal power. In an energy range of 120 to 300 PE, corresponding to an average nuclear recoil from 0.63 to 1.36 keV considering the liquid xenon response and detector-related effect, we expect 4639.7 CEvNS and 1687.8 background events. The sensitivity of RELICS to the weak mixing angle is investigated at a low momentum transfer. Our study shows that RELICS can further improve the constraints on the non-standard neutrino interaction (NSI) compared to the current best results.

hep-ex↗