Searcharxiv⌕ Search

arXiv subjects

Fei Gao

Publications and source records attributed to Fei Gao.

At least 37 records · Page 2Linked to original sources
arXiv2026

Acting in Meters: Learning Metric Interactions for Precise Robotic Manipulation

Vision-Language-Action models and World-Action Models have advanced language-conditioned robotic manipulation, yet often leave metric relations among actions, objects, and scene geometry implicit. Human manipulation combines semantic understanding of task-relevant objects with spatial feedback that guides hand motion relative to objects and their surroundings. Inspired by this, we introduce a metric interaction framework that models object-level and scene-level interactions in physical Cartesian space at a shared metric scale. At the object level, Interaction-Centric Tokens (ICTs) explicitly represent end-effector pose trajectories relative to manipulated objects and are jointly denoised with actions, providing physically grounded interaction supervision. At the scene level, the Metric Action Interaction Field (MAIF) uses action and ICT queries to attend to metric scene point-cloud features and learns geometry-conditioned action corrections. Through two-stage adaptation, our framework improves diverse VLA and WAM baselines with a small number of additional parameters and training steps. Experiments demonstrate average success-rate gains of 0.80 and 3.59 percentage points on LIBERO and RoboTwin 2.0, respectively, alongside gains of 6.80 percentage points on real-world tasks and 7.45 percentage points on their out-of-distribution variants.

cs.RO↗
arXiv2026

TIO-Former: Ultra-Lightweight 6-Directional ToF-Inertial Odometry for Nano-UAVs via a Streaming Causal Transformer

Autonomous nano-UAV navigation requires accurate ego-motion estimation under stringent size, weight, power, and computing (SWaP-C) constraints, where visual sensors and LiDARs exceed payload limits, optical flow degrades in low-texture scenes, and inertial-only state estimation is susceptible to accumulated drift. While multi-zone time-of-flight (ToF) arrays provide a lightweight metric complement, 6-DoF estimation from merely 384 ranges per frame is challenged by invalid returns, anisotropic observability, and temporal computational scaling. We propose TIO-FORMER, a camera-free, optical-flow-free, and mapless range-inertial odometry framework driven by an IMU and an ultra-lightweight (15 g) payload of six orthogonal 8 x 8 ToF arrays. Our frontend pairs consecutive range grids with a bilateral gated difference, while IMU-guided cross-attention dynamically routes directional features conditioned on platform kinematics. A Streaming Causal Transformer couples an uncompressed Local KV cache with compressed Chunk-FIFO memory, maintaining bounded inference cost and memory footprint independent of flight duration. In real-flight evaluations, TIO-FORMER reduces open-loop position error by 54.4% compared to nano-UAV optical flow and by 66.4%-89.1% over learned inertial baselines. We also evaluate performance across multiple environments and robustness under severe sensing degradation. Deployed on an edge RISC-V companion computer, TIO-FORMER achieves a P95 latency of 10.466 ms and peak resident memory of 6.324 MiB (less than 5 percent system RAM), demonstrating that sparse range sensing provides practical geometric anchoring for resource-constrained micro-aerial robots. Code is available at https://github.com/Ly041021/TIO-Former.

cs.RO↗
arXiv2026

TADreamer: Zero-Shot Language-Guided 3D Navigation for Terrestrial-Aerial Bimodal Robots via Video Imagination

Language-guided navigation for terrestrial-aerial bimodal robots requires selecting routes and locomotion modes that match scene context and task intent. Generated videos can represent such motion sequences, but recovering metrically consistent navigation references from them is challenging because of scale ambiguity and axis-dependent geometric distortions. We present TADreamer, a zero-shot framework that grounds video-imagined navigation in measured geometry without task-specific training or fine-tuning. A vision-language model translates onboard observations and instructions into navigation prompts, selects valid generated videos, and provides corrective feedback when regeneration is needed. The selected video is reconstructed into 3D waypoints annotated with terrestrial or aerial modes. A two-stage calibration procedure uses field-of-view constraints to initialize scale estimation, then refines axis-dependent scales, rotation, and translation by registering the reconstructed point cloud to measured geometry. The calibrated waypoints and mode labels guide a planner that incorporates measured geometry for robot execution. Real-world experiments demonstrate navigation across seven indoor and outdoor scenarios. With five candidates per round, usable videos are obtained within two rounds in all seven scenarios. On the calibration observations, our method reduces mean absolute depth error by 87.7% and mean absolute relative depth error by 86.3% compared with NavDreamer.

cs.RO↗
arXiv2026

Neural-Primitive: An Efficient End-to-end Local Planner with Primitive-based Imitation Learning for Autonomous Flight

Autonomous flight in unknown cluttered environments is hindered by the computation-quality-memory trilemma of onboard trajectory generation. In this paper, we propose an efficient end-to-end local planner via imitation learning. A lightweight offline-primitive-based dataset collection framework is designed to produce safe and high-quality trajectory primitives in non-convex environments. A compact neural network directly maps sensory inputs to polynomial coefficients that inherently encode higher-order dynamical information. The learned policy generates smooth, empirically collision-free and dynamically feasible trajectories in real time without back-end solving. It achieves ultra-fast computation (below 1ms on a standard desktop and average 3.68ms during onboard flight), while maintaining low onboard memory requirements (less than 1.5MiB). Extensive simulation benchmarks demonstrate superiority in both planning latency and target-reaching progress quality. Zero-shot deployment in real-world experiments further validates the robust sim-to-real transfer capability of the proposed method.

cs.RO↗
arXiv2026

Cosmological Constrained Axion-Portal Inelastic Dark Matter for the LZ Event

The recent high-recoil candidate event reported by LUX-ZEPLIN (LZ) motivates dark-matter scenarios with nonstandard kinematics and momentum-dependent interactions. We study a two-state inelastic dark-matter model in which $χ_1$ and $χ_2$ couple off-diagonally to an axion-like particle (ALP) that also couples to gluons and photons. Unlike treatments that assume only one dark-matter state is present today, we track the cosmological evolution of both states. The excited state $χ_2$ is sufficiently long-lived to survive to the present, with its relic fraction determined by the dark-sector conversion process $χ_2χ_2\leftrightarrowχ_1χ_1$. We find that this fraction depends strongly on the Lorentz structure of the DM--ALP interaction: scalar transition couplings efficiently deplete $χ_2$, favoring endothermic $χ_1 N\toχ_2 N$ scattering, whereas pseudoscalar transition couplings preserve $f_2\simeq1/2$, yielding recoil spectra dominated by exothermic $χ_2 N\toχ_1 N$ down-scattering. Benchmark spectra in all four scenarios can peak near the observed recoil energy of $250\,\mathrm{keV}$. Our results demonstrate that the dominant direction of inelastic scattering in direct detection can be dynamically selected by the early-Universe evolution of the dark sector. With additional data, annual modulation measurements could distinguish these scenarios. We further show that the ALP portal can be directly probed at colliders.

hep-ph↗
arXiv2026

CREPES-X: Hierarchical Bearing-Distance-Inertial Direct Cooperative Relative Pose Estimation System

Relative localization is essential for cooperation in autonomous multi-robot systems. Existing approaches either rely on shared environmental features or inertial assumptions, or they degrade under pairwise non-line-of-sight conditions and outliers in complex environments. Robustly and efficiently fusing inter-robot bearings, distances, and inertial measurements for tens of robots remains challenging. We present CREPES-X (Cooperative RElative Pose Estimation System with multiple eXtended features), a hierarchical relative localization framework that enhances speed, accuracy, and robustness under challenging conditions, without requiring any global information. The hardware packs infrared (IR) LEDs, an IR camera, an ultra-wideband module, and an IMU into a cube no larger than $6\,\text{cm}$ on each side. On this hardware, a two-stage hierarchical estimator meets different latency, accuracy, and robustness requirements. The single-frame estimator returns instantaneous relative poses from a closed-form solution with bearing outlier rejection. The multi-frame estimator then refines these poses with IMU pre-integration under robocentric relative kinematics, using loosely- and tightly-coupled optimization. Extensive simulations and real-world experiments validate the effectiveness of CREPES-X, demonstrating robustness of up to $90\%$ bearing outliers, resilience in challenging conditions, and RMSE of $7.0\,\text{cm}$ and $2.2^\circ$ in real-world datasets.

cs.RO↗
arXiv2026

FLOAT Drone: A Fully-actuated Coaxial Aerial Robot for Close-Proximity Operations

How to endow aerial robots with the ability to operate in close proximity remains an open problem. The core challenges lie in the propulsion system's dual-task requirement: generating manipulation forces while simultaneously counteracting gravity. These competing demands create dynamic coupling effects during physical interactions. Furthermore, rotor-induced airflow disturbances critically undermine operational reliability. Although fully-actuated unmanned aerial vehicles (UAVs) alleviate dynamic coupling effects via six-degree-of-freedom (6-DoF) force-torque decoupling, existing implementations fail to address the aerodynamic interference between drones and environments. They also suffer from oversized designs, which compromise maneuverability and limit their applications in various operational scenarios. To address these limitations, we present FLOAT Drone (FuLly-actuated cOaxial Aerial roboT), a novel fully-actuated UAV featuring two key structural innovations. By integrating control surfaces into fully-actuated systems for the first time, we significantly suppress lateral airflow disturbances during operations. Furthermore, a coaxial dual-rotor configuration enables a compact size while maintaining high hovering efficiency. Through dynamic modeling, we have developed hierarchical position and attitude controllers that support both fully-actuated and underactuated modes. Experimental validation through comprehensive real-world experiments confirms the system's functional capabilities in close-proximity operations.

cs.RO↗
arXiv2026

GIF: Agentic Generation of Interactive and Functional Object Compositions for Robot Learning

Robot manipulation foundation models require scalable evaluation and data generation across diverse scenarios, with simulation providing an environment for both. Automated scene generation offers a promising path, yet prior work has largely emphasized coarse-grained scene layouts rather than fine-grained functional object compositions. Motivated by this gap, we present GIF, an agentic Generation framework for Interactive and Functional object compositions. In this framework, we recast this problem as disentangled reconstruction followed by relative pose recovery. CoGen produces instance-disentangled meshes with coarse initial poses leveraging complementary strengths of 2D and 3D generative models. GPRM refines the relative pose under joint geometric and physical guidance, and a VLM verifier selects the candidate that best matches the structured specification. We further construct a benchmark spanning eight representative contact-geometry classes and compare with state-of-the-art generators; GIF improves both asset quality and relation matching, while reducing collision rate to below 1%. Finally, we synthesize data for policy learning, revealing diversity scaling in both simulation and real-world deployment.

cs.RO↗
arXiv2026

Controlling Hydrogen Isotope Retention at Helium Cavities through Radiation-Induced Segregation in Fusion Steels

Hydrogen isotope retention in plasma facing and structural alloys is a central materials challenge for deuterium-tritium fusion. Motivated by ion beam irradiation experiments and first principles calculations, we identify an irradiation-enabled mechanism whereby solute segregation to defect sinks enhances hydrogen isotope trapping. Triple-ion irradiation of reduced activation ferritic-martensitic steel F82H reveals pronounced segregation of Cr and Ta to cavity surfaces. Density functional theory shows that these segregants markedly increase H stability at cavities by strengthening binding energies and increasing migration barriers, leading to substantially higher attention. The effect originates from solute-tuned electronic structure: Ta promotes strong H 1s-metal d orbital hybridization, whereas Cr shifts the surface d-band toward a more favorable bonding configuration. These findings provide an atomistic link between irradiation-induced segregation and elevated-temperature hydrogen isotope retention and alloy chemistry routes to control tritium inventory in fusion environments.

cond-mat.mtrl-sci↗
arXiv2026

Quantum hot carrier spectra in plasmonic catalysis

Vibrational activation of admolecules on metal nanoparticles is an elementary step in plasmonic catalysis, yet the underlying dynamics driven by hot carriers is not fully understood in the quantum regime. Using an atomistic description of plasmonic hot carrier generation, we investigate vibrational excitation and dissociation of oxygen on silver nanoparticles as a function of diameter D. As D reduces from the classical to quantum-sized regime, quantized distribution of hot carriers emerges with increasing population in the high-energy regions. These highly energetic hot carriers deliver more efficient vibrational coupling and dissociation. The rate of vibrational excitation shows a linear 1/D scaling, which results from Landau damping. It turns nonlinear at elevated light intensities due to vibrational heating generated by multiple electron scattering. The finding of quantized distribution of hot carrier in plasmonic catalysis opens new avenues for selective control and nonthermal energy conversion.

cond-mat.mtrl-sci↗
arXiv2026

An improved quantum algorithm for ridge regression

Ridge regression (RR) is an important machine learning technique which introduces a regularization hyperparameter $α$ to ordinary multiple linear regression for analyzing data suffering from multicollinearity. In this paper, we present a quantum algorithm for RR, where the technique of parallel Hamiltonian simulation to simulate a number of Hermitian matrices in parallel is proposed and used to develop a quantum version of $K$-fold cross-validation approach, which can efficiently estimate the predictive performance of RR. Our algorithm consists of two phases: (1) using quantum $K$-fold cross-validation to efficiently determine a good $α$ with which RR can achieve good predictive performance, and then (2) generating a quantum state encoding the optimal fitting parameters of RR with such $α$, which can be further utilized to predict new data. Since indefinite dense Hamiltonian simulation has been adopted as a key subroutine, our algorithm can efficiently handle non-sparse data matrices. It is shown that our algorithm can achieve exponential speedup over the classical counterpart for (low-rank) data matrices with low condition numbers. But when the condition numbers of data matrices is large to be amenable to full or approximately full ranks of data matrices, only polynomial speedup can be achieved.

quant-ph↗
arXiv2026

HyperSketch: Controllable Video Sketching in a Style Hyperspace

Vector sketch animation offers tremendous advantages for multimedia and creative design through concise line expressions and flexible editing. Learning-based generation methods of sketch animation have made significant progress in the last decade, but still suffer from limited style diversity and controllability. This paper presents a controllable video sketching method that automatically converts videos into multi-style vector sketch animations. A continuous style hyperspace is constructed by multi-dimensional sketch styles (fidelity, simplicity, text guidance strength) and the timeline. With this hyperspace, stroke control points are parameterized as 4-variable Bernstein polynomials, ensuring smooth and differentiable style transitions. A multi-task, multi-stage optimization framework is designed to learn stroke hyperparameters accurately and efficiently. We further developed a web-based interactive interface that allows real-time style manipulation via editable curves. Experiments show the style controllability, high-quality, and user-friendliness of our method, which outperforms SOTA methods.

cs.GR↗
arXiv2026

DPNet: Efficient Dead-End Prediction and Avoidance for Vision-Based UAV Navigation

Vision-based Unmanned Aerial Vehicles (UAVs) often suffer from navigation failures in dead ends due to limited sensing accuracy and range. To address this challenge, this paper proposes a systematic solution for efficient dead-end prediction and avoidance. The proposed method introduces a lightweight neural network to predict the relative distance and bearing of potential dead ends within the current field of view using RGB-D inputs. These predictions prune a predefined, compact trajectory library, enabling the planner to proactively avoid dead ends while maintaining navigational smoothness. Notably, our approach transfers across real-world scenarios without manual annotation or fine-tuning on real-world data. The system achieves high-frequency replanning at 50 Hz onboard. Extensive simulation benchmarks demonstrate superior performance in success rate, flight time, and trajectory length, and real-world experiments further validate its effectiveness in complex scenarios.

cs.RO↗
arXiv2026

Self-Synchronized Terahertz and X-Ray Free-Electron Lasers from a Single Pre-Bunched Electron Beam

Ultrafast pump-probe spectroscopy combining intense terahertz (THz) and X-ray pulses is a critical tool for investigating complex structural and electronic dynamics in materials. However, current setups combining THz sources and X-ray free-electron lasers (FELs) often suffer from high system complexity, inherent timing jitter, or limited THz pulse properties. Here, we experimentally demonstrate the generation of intrinsically synchronized, strong-field, narrow-band THz and X-ray FELs from a single pre-bunched electron beam. Sequentially passing the beam through X-ray and THz amplifiers reveals a highly synergistic process: the initial periodic THz density modulation notably boosts the X-ray FEL pulse energy, while robustly surviving the intense X-ray emission to drive high-power, narrow-band THz radiation. Originating from the same electron bunch, the two pulses inherently maintain a precise, constant time delay. This jitter-free scheme establishes a highly reliable platform tailored for both X-ray-pump/THz-probe and THz-pump/X-ray-probe experiments.

physics.acc-ph↗
arXiv2026

AgilePE: Autonomous UAV Pursuit-Evasion via Self-Play Reinforcement Learning

Autonomous pursuit-evasion is a fundamental challenge for Unmanned Aerial Vehicles (UAVs), requiring rapid decision-making under tightly coupled dynamics and continuously changing opponent behaviors. Traditional rule-based or differential-game approaches often struggle with high-dimensional aerial interactions and agile maneuvering. We present AgilePE, a complete system for autonomous UAV pursuit-evasion via self-play reinforcement learning. AgilePE integrates agile low-level control, competitive policy optimization, and sim-to-real deployment in a unified framework. The policy directly maps onboard state observations to Collective Thrust and Body Rates (CTBR) commands, enabling end-to-end agile maneuvering without intermediate trajectory planners or waypoint controllers. For training, we use competitive self-play with Prioritized Fictitious Self-Play (PFSP) and a diversified opponent pool, enabling agents to improve against historical policies while stabilizing optimization and reducing policy oscillation. This process leads to the emergence of sophisticated pursuit and evasion strategies. For real-world deployment, we develop a hardware-aligned simulation pipeline that models actuator-response dynamics, communication latency, and domain randomization. The learned policies transfer zero-shot to real quadrotors without task-specific tuning. Real-world experiments reproduce pursuit-evasion tactics observed in simulation, including rapid dodging and flanking, and demonstrate interactive two-agent zero-shot deployment.

cs.RO↗
arXiv2026

D-VLC: Decentralized Vision-Language Collaboration for Heterogeneous Embodied Multi-Robot Systems in Unknown Environments

Multi-robot systems, particularly heterogeneous robot swarms, can improve the efficiency of complex task execution through parallel collaboration and complementary capabilities. However, conventional rule-based methods rely on predefined task models and specialized decision making programs, making it difficult to understand complex semantic instructions and coordinate heterogeneous robots. LLMs introduce strong language understanding and task reasoning capabilities, allowing multi-robot systems to interpret instructions, decompose tasks, and assign roles according to task semantics. VLMs further incorporate visual perception, enabling robots to reason about objects, regions, and spatial relationships in physical environments. Nevertheless, existing LLM/VLM based methods often depend on known maps, centralized and synchronized decision making, limiting their generalization to heterogeneous robots and unseen tasks. We therefore propose a framework that combines decentralized asynchronous reasoning, lightweight information sharing, capability aware collaboration, and a unified action interface, enabling general purpose VLMs to generate robot specific actions executed by learning free experts without task or robot specific training. Experiments across diverse scenarios and multiple VLMs show success rates above 70\%, with completion time reduced by up to 55.8\% relative to the geometric greedy baseline.

cs.RO↗
arXiv2026

The effect of charm quark on the QCD chiral phase diagram

We study the influence of charm-quark dynamics on the chiral phase structure of Quantum Chromodynamics (QCD) using the recently developed miniDSE scheme for the Dyson-Schwinger equations. By comparing the quark and gluon propagators in the $2+1$- and $2+1+1$-flavor setups within the same truncation scheme, we qualify the impact of the charm-quark loop on the QCD phase diagram. Our results show that the charm quark has only a mild effect on the crossover boundary, which remains almost unchanged within the present setup. The most visible effect is a small shift of the critical endpoint (CEP) toward lower baryon chemical potential, by approximately $3\%$. The present result provides a controlled estimate of the charm-loop effect within the same miniDSE truncation. It indicates that heavy-flavor contributions may become relevant when aiming at precision studies of the CEP location.

hep-ph↗
arXiv2026

Robust Activation Map Rectification for Weakly Supervised Volumetric Segmentation: Temporal Coherence as a Free Lunch

Weakly supervised segmentation relies heavily on class activation maps (CAMs) to initially localize target regions. However, CAMs are often noisy and prone to catastrophic failures. Existing remedies typically introduce additional training stages or prototype learning, increasing computational cost and reducing robustness. In this paper, we propose a training-free prototype-free framework that rectifies unreliable CAMs by exploiting temporal and structural coherence in volumetric data as a free lunch. Our approach is built on two key components. First, we introduce Variance-Reduced Activation Aggregation (VRAA) which suppresses noise and amplify coherent semantic signals. We provide a theoretical justification by modeling CAMs as high-dimensional random vectors and show that aggregation yields provable variance reduction. Second, we design a Bidirectional Extremity Rectification (BER) mechanism that detects and rectifies implausible activations through bidirectional extremity checks, effectively mitigating extreme-value failures without learning additional parameters. Our method is model-agnostic and can be seamlessly integrated with existing pipelines. Extensive experiments on multiple public benchmarks demonstrate substantial improvements over state-of-the-art weakly supervised methods, achieving up to 20% Dice and 40% mIoU gains while reducing inference time by more than 5 times. These results indicate that leveraging coherence as an implicit inductive bias yields a principled and efficient approach to stabilizing weakly supervised volumetric segmentation. Our code will be available.

cs.CV↗