arXiv subjects

Fei Gao

Publications and source records attributed to Fei Gao.

At least 145 records · Page 8Linked to original sources

arXiv2025

Choosing Coordinate Forms for Solving ECDLP Using Shor's Algorithm

Shor's algorithm is well-known for its capability to address the elliptic curve discrete logarithm problem (ECDLP) in polynomial time. The enhancement of its quantum resources continues to be a crucial focus of research. Nevertheless, the application of projective coordinates for quantum resource optimization remains an unresolved issue, mainly because the representation of projective coordinates lacks uniqueness without employing modular division operations. Our study reveals that projective coordinates do not provide the same advantages as affine coordinates when utilizing Shor's method to tackle the ECDLP.

cs.CR↗

arXiv2025

ACME: Adaptive Customization of Large Models via Distributed Systems

Pre-trained Transformer-based large models have revolutionized personal virtual assistants, but their deployment in cloud environments faces challenges related to data privacy and response latency. Deploying large models closer to the data and users has become a key research area to address these issues. However, applying these models directly often entails significant difficulties, such as model mismatching, resource constraints, and energy inefficiency. Automated design of customized models is necessary, but it faces three key challenges, namely, the high cost of centralized model customization, imbalanced performance from user heterogeneity, and suboptimal performance from data heterogeneity. In this paper, we propose ACME, an adaptive customization approach of Transformer-based large models via distributed systems. To avoid the low cost-efficiency of centralized methods, ACME employs a bidirectional single-loop distributed system to progressively achieve fine-grained collaborative model customization. In order to better match user heterogeneity, it begins by customizing the backbone generation and identifying the Pareto Front under model size constraints to ensure optimal resource utilization. Subsequently, it performs header generation and refines the model using data distribution-based personalized architecture aggregation to match data heterogeneity. Evaluation on different datasets shows that ACME achieves cost-efficient models under model size constraints. Compared to centralized systems, data transmission volume is reduced to 6 percent. Additionally, the average accuracy improves by 10 percent compared to the baseline, with the trade-off metrics increasing by nearly 30 percent.

cs.DC↗

arXiv2025

TOP: Trajectory Optimization via Parallel Optimization towards Constant Time Complexity

Optimization has been widely used to generate smooth trajectories for motion planning. However, existing trajectory optimization methods show weakness when dealing with large-scale long trajectories. Recent advances in parallel computing have accelerated optimization in some fields, but how to efficiently solve trajectory optimization via parallelism remains an open question. In this paper, we propose a novel trajectory optimization framework based on the Consensus Alternating Direction Method of Multipliers (CADMM) algorithm, which decomposes the trajectory into multiple segments and solves the subproblems in parallel. The proposed framework reduces the time complexity to O(1) per iteration to the number of segments, compared to O(N) of the state-of-the-art (SOTA) approaches. Furthermore, we introduce a closed-form solution that integrates convex linear and quadratic constraints to speed up the optimization, and we also present numerical solutions for general inequality constraints. A series of simulations and experiments demonstrate that our approach outperforms the SOTA approach in terms of efficiency and smoothness. Especially for a large-scale trajectory, with one hundred segments, achieving over a tenfold speedup. To fully explore the potential of our algorithm on modern parallel computing architectures, we deploy our framework on a GPU and show high performance with thousands of segments.

cs.RO↗

arXiv2025

SF-TIM: A Simple Framework for Enhancing Quadrupedal Robot Jumping Agility by Combining Terrain Imagination and Measurement

Dynamic jumping on high platforms and over gaps differentiates legged robots from wheeled counterparts. Dynamic locomotion on abrupt surfaces, as opposed to walking on rough terrains, demands the integration of proprioceptive and exteroceptive perception to enable explosive movements. In this paper, we propose SF-TIM (Simple Framework combining Terrain Imagination and Measurement), a single-policy method that enhances quadrupedal robot jumping agility, while preserving their fundamental blind walking capabilities. In addition, we introduce a terrain-guided reward design specifically to assist quadrupedal robots in high jumping, improving their performance in this task. To narrow the simulation-to-reality gap in quadrupedal robot learning, we introduce a stable and high-speed elevation map generation framework, enabling zero-shot simulation-to-reality transfer of locomotion ability. Our algorithm has been deployed and validated on both the small-/large-size quadrupedal robots, demonstrating its effectiveness in real-world applications: the robot has successfully traversed various high platforms and gaps, showing the robustness of our proposed approach. A demo video has been made available at https://flysoaryun.github.io/SF-TIM.

cs.RO↗

arXiv2025

Ground-Effect-Aware Modeling and Control for Multicopters

The ground effect on multicopters introduces several challenges, such as control errors caused by additional lift, oscillations that may occur during near-ground flight due to external torques, and the influence of ground airflow on models such as the rotor drag and the mixing matrix. This article collects and analyzes the dynamics data of near-ground multicopter flight through various methods, including force measurement platforms and real-world flights. For the first time, we summarize the mathematical model of the external torque of multicopters under ground effect. The influence of ground airflow on rotor drag and the mixing matrix is also verified through adequate experimentation and analysis. Through simplification and derivation, the differential flatness of the multicopter's dynamic model under ground effect is confirmed. To mitigate the influence of these disturbance models on control, we propose a control method that combines dynamic inverse and disturbance models, ensuring consistent control effectiveness at both high and low altitudes. In this method, the additional thrust and variations in rotor drag under ground effect are both considered and compensated through feedforward models. The leveling torque of ground effect can be equivalently represented as variations in the center of gravity and the moment of inertia. In this way, the leveling torque does not explicitly appear in the dynamic model. The final experimental results show that the method proposed in this paper reduces the control error (RMSE) by \textbf{45.3\%}. Please check the supplementary material at: https://github.com/ZJU-FAST-Lab/Ground-effect-controller.

cs.RO↗

arXiv2025

Topology-Driven Quantum Architecture Search Framework

The limitations of Noisy Intermediate-Scale Quantum (NISQ) devices have motivated the development of Variational Quantum Algorithms (VQAs), which are designed to potentially achieve quantum advantage for specific tasks. Quantum Architecture Search (QAS) algorithms play a critical role in automating the design of high-performance Parameterized Quantum Circuits (PQCs) for VQAs. However, existing QAS approaches struggle with large search spaces, leading to substantial computational overhead when optimizing large-scale quantum circuits. Extensive empirical analysis reveals that circuit topology has a greater impact on quantum circuit performance than gate types. Based on this insight, we propose the Topology-Driven Quantum Architecture Search (TD-QAS) framework, which first identifies optimal circuit topologies and then fine-tunes the gate types. In the fine-tuning phase, the QAS inherits parameters from the topology search phase, eliminating the need for training from scratch. By decoupling the large search space into separate topology and gate-type components, TD-QAS avoids exploring gate configurations within low-performance topologies, thereby significantly reducing computational complexity. Numerical simulations across various tasks, under both noiseless and noisy conditions, validate the effectiveness of the TD-QAS framework. This framework advances standard QAS algorithms by enabling the identification of high-performance quantum circuits while minimizing computational demands. These findings indicate that TD-QAS deepens our understanding of VQAs and offers broad potential for the development of future QAS algorithms.

quant-ph↗

arXiv2025

QSEA: Quantum Self-supervised Learning with Entanglement Augmentation

As an unsupervised feature representation paradigm, Self-Supervised Learning (SSL) uses the intrinsic structure of data to extract meaningful features without relying on manual annotation. Despite the success of SSL, there are still problems, such as limited model capacity or insufficient representation ability. Quantum SSL has become a promising alternative because it can exploit quantum states to enhance expression ability and learning efficiency. This letter proposes a Quantum SSL with entanglement augmentation method (QSEA). Different from existing Quantum SSLs, QSEA introduces an entanglement-based sample generation scheme and a fidelity-driven quantum loss function. Specifically, QSEA constructs augmented samples by entangling an auxiliary qubit with the raw state and applying parameterized unitary transformations. The loss function is defined using quantum fidelity, quantifying similarity between quantum representations and effectively capturing sample relations. Experimental results show that QSEA outperforms existing quantum self-supervised methods on multiple benchmarks and shows stronger stability in decorrelation noise environments. This framework lays the theoretical and practical foundation for quantum learning systems and advances the development of quantum machine learning in SSL.

quant-ph↗

arXiv2025

Reactive Aerobatic Flight via Reinforcement Learning

Quadrotors have demonstrated remarkable versatility, yet their full aerobatic potential remains largely untapped due to inherent underactuation and the complexity of aggressive maneuvers. Traditional approaches, separating trajectory optimization and tracking control, suffer from tracking inaccuracies, computational latency, and sensitivity to initial conditions, limiting their effectiveness in dynamic, high-agility scenarios. Inspired by recent breakthroughs in data-driven methods, we propose a reinforcement learning-based framework that directly maps drone states and aerobatic intentions to control commands, eliminating modular separation to enable quadrotors to perform end-to-end policy optimization for extreme aerobatic maneuvers. To ensure efficient and stable training, we introduce an automated curriculum learning strategy that dynamically adjusts aerobatic task difficulty. Enabled by domain randomization for robust zero-shot sim-to-real transfer, our approach is validated in demanding real-world experiments, including the first demonstration of a drone autonomously performing continuous inverted flight while reactively navigating a moving gate, showcasing unprecedented agility.

cs.RO↗

arXiv2025

QGAN-based data augmentation for hybrid quantum-classical neural networks

Quantum neural networks converge faster and achieve higher accuracy than classical models. However, data augmentation in quantum machine learning remains underexplored. To tackle data scarcity, we integrate quantum generative adversarial networks (QGANs) with hybrid quantum-classical neural networks (HQCNNs) to develop an augmentation framework. We propose two strategies: a general approach to enhance data processing and classification across HQCNNs, and a customized strategy that dynamically generates samples tailored to the HQCNN's performance on specific data categories, improving its ability to learn from complex datasets. Simulation experiments on the MNIST dataset demonstrate that QGAN outperforms traditional data augmentation methods and classical GANs. Compared to baseline DCGAN, QGAN achieves comparable performance with half the parameters, balancing efficiency and effectiveness. This suggests that QGANs can simplify models and generate high-quality data, enhancing HQCNN accuracy and performance. These findings pave the way for applying quantum data augmentation techniques in machine learning.

cs.LG↗

arXiv2025

Universal Trajectory Optimization Framework for Differential Drive Robot Class

Differential drive robots are widely used in various scenarios thanks to their straightforward principle, from household service robots to disaster response field robots. There are several types of driving mechanisms for real-world applications, including two-wheeled, four-wheeled skid-steering, tracked robots, and so on. The differences in the driving mechanisms usually require specific kinematic modeling when precise control is desired. Furthermore, the nonholonomic dynamics and possible lateral slip lead to different degrees of difficulty in getting feasible and high-quality trajectories. Therefore, a comprehensive trajectory optimization framework to compute trajectories efficiently for various kinds of differential drive robots is highly desirable. In this paper, we propose a universal trajectory optimization framework that can be applied to differential drive robots, enabling the generation of high-quality trajectories within a restricted computational timeframe. We introduce a novel trajectory representation based on polynomial parameterization of motion states or their integrals, such as angular and linear velocities, which inherently matches the robots' motion to the control principle. The trajectory optimization problem is formulated to minimize complexity while prioritizing safety and operational efficiency. We then build a full-stack autonomous planning and control system to demonstrate its feasibility and robustness. We conduct extensive simulations and real-world testing in crowded environments with three kinds of differential drive robots to validate the effectiveness of our approach.

cs.RO↗

arXiv2025

Super-temporal-resolution Photoacoustic Imaging with Dynamic Reconstruction through Implicit Neural Representation in Sparse-view

Dynamic Photoacoustic Computed Tomography (PACT) is an important imaging technique for monitoring physiological processes, capable of providing high-contrast images of optical absorption at much greater depths than traditional optical imaging methods. However, practical instrumentation and geometric constraints limit the number of acoustic sensors available around the imaging target, leading to sparsity in sensor data. Traditional photoacoustic (PA) image reconstruction methods, when directly applied to sparse PA data, produce severe artifacts. Additionally, these traditional methods do not consider the inter-frame relationships in dynamic imaging. Temporal resolution is crucial for dynamic photoacoustic imaging, which is fundamentally limited by the low repetition rate (e.g., 20 Hz) and high cost of high-power laser technology. Recently, Implicit Neural Representation (INR) has emerged as a powerful deep learning tool for solving inverse problems with sparse data, by characterizing signal properties as continuous functions of their coordinates in an unsupervised manner. In this work, we propose an INR-based method to improve dynamic photoacoustic image reconstruction from sparse-views and enhance temporal resolution, using only spatiotemporal coordinates as input. Specifically, the proposed INR represents dynamic photoacoustic images as implicit functions and encodes them into a neural network. The weights of the network are learned solely from the acquired sparse sensor data, without the need for external training datasets or prior images. Benefiting from the strong implicit continuity regularization provided by INR, as well as explicit regularization for low-rank and sparsity, our proposed method outperforms traditional reconstruction methods under two different sparsity conditions, effectively suppressing artifacts and ensuring image quality.

eess.IV↗

arXiv2025

DiffE2E: Rethinking End-to-End Driving with a Hybrid Action Diffusion and Supervised Policy

End-to-end learning has emerged as a transformative paradigm in autonomous driving. However, the inherently multimodal nature of driving behaviors and the generalization challenges in long-tail scenarios remain critical obstacles to robust deployment. We propose DiffE2E, a diffusion-based end-to-end autonomous driving framework. This framework first performs multi-scale alignment of multi-sensor perception features through a hierarchical bidirectional cross-attention mechanism. It then introduces a novel class of hybrid diffusion-supervision decoders based on the Transformer architecture, and adopts a collaborative training paradigm that seamlessly integrates the strengths of both diffusion and supervised policy. DiffE2E models structured latent spaces, where diffusion captures the distribution of future trajectories and supervision enhances controllability and robustness. A global condition integration module enables deep fusion of perception features with high-level targets, significantly improving the quality of trajectory generation. Subsequently, a cross-attention mechanism facilitates efficient interaction between integrated features and hybrid latent variables, promoting the joint optimization of diffusion and supervision objectives for structured output generation, ultimately leading to more robust control. Experiments demonstrate that DiffE2E achieves state-of-the-art performance in both CARLA closed-loop evaluations and NAVSIM benchmarks. The proposed integrated diffusion-supervision policy offers a generalizable paradigm for hybrid action representation, with strong potential for extension to broader domains including embodied intelligence. More details and visualizations are available at \href{https://infinidrive.github.io/DiffE2E/}{project website}.

cs.RO↗

arXiv2025

Autoregressive Sequence Modeling for 3D Medical Image Representation

Three-dimensional (3D) medical images, such as Computed Tomography (CT) and Magnetic Resonance Imaging (MRI), are essential for clinical applications. However, the need for diverse and comprehensive representations is particularly pronounced when considering the variability across different organs, diagnostic tasks, and imaging modalities. How to effectively interpret the intricate contextual information and extract meaningful insights from these images remains an open challenge to the community. While current self-supervised learning methods have shown potential, they often consider an image as a whole thereby overlooking the extensive, complex relationships among local regions from one or multiple images. In this work, we introduce a pioneering method for learning 3D medical image representations through an autoregressive pre-training framework. Our approach sequences various 3D medical images based on spatial, contrast, and semantic correlations, treating them as interconnected visual tokens within a token sequence. By employing an autoregressive sequence modeling task, we predict the next visual token in the sequence, which allows our model to deeply understand and integrate the contextual information inherent in 3D medical images. Additionally, we implement a random startup strategy to avoid overestimating token relationships and to enhance the robustness of learning. The effectiveness of our approach is demonstrated by the superior performance over others on nine downstream tasks in public datasets.

cs.CV↗

arXiv2025

Quantum Multi-view Kernel Learning with Local Information

Kernel methods serve as powerful tools to capture nonlinear patterns behind data in machine learning. The quantum kernel, integrating kernel theory with quantum computing, has attracted widespread attention. However, existing studies encounter performance bottlenecks when processing complex data with localized structural patterns, stemming from the limitation in single-view feature representation and the exclusive reliance on global data structure. In this paper, we propose quantum multi-view kernel learning with local information, called L-QMVKL. Specifically, based on the multi-kernel learning, a representative method for multi-view data processing, we construct the quantum multi-kernel that combines view-specific quantum kernels to effectively fuse cross-view information. Further leveraging local information to capture intrinsic structural information, we design a sequential training strategy for the quantum circuit parameters and weight coefficients with the use of the hybrid global-local kernel alignment. We evaluate the effectiveness of L-QMVKL through comprehensive numerical simulations on the Mfeat dataset, demonstrating significant accuracy improvements achieved through leveraging multi-view methodology and local information. Meanwhile, the results show that L-QMVKL exhibits a higher accuracy than its classical counterpart. Our work holds promise for advancing the theoretical and practical understanding of quantum kernel methods.

quant-ph↗

arXiv2025

Multi-Robot System for Cooperative Exploration in Unknown Environments: A Survey

With the real need of field exploration in large-scale and extreme outdoor environments, cooperative exploration tasks have garnered increasing attention. This paper presents a comprehensive review of multi-robot cooperative exploration systems. First, we review the evolution of robotic exploration and introduce a modular research framework tailored for multi-robot cooperative exploration. Based on this framework, we systematically categorize and summarize key system components. As a foundational module for multi-robot exploration, the localization and mapping module is primarily introduced by focusing on global and relative pose estimation, as well as multi-robot map merging techniques. The cooperative motion module is further divided into learning-based approaches and multi-stage planning, with the latter encompassing target generation, task allocation, and motion planning strategies. Given the communication constraints of real-world environments, we also analyze the communication module, emphasizing how robots exchange information within local communication ranges and under limited transmission capabilities. In addition, we introduce the actual application of multi-robot cooperative exploration systems in DARPA SubT Challenge. Finally, we discuss the challenges and future research directions for multi-robot cooperative exploration in light of real-world trends. This review aims to serve as a valuable reference for researchers and practitioners in the field.

cs.RO↗

arXiv2025

Shape-Adaptive Planning and Control for a Deformable Quadrotor

Drones have become essential in various applications, but conventional quadrotors face limitations in confined spaces and complex tasks. Deformable drones, which can adapt their shape in real-time, offer a promising solution to overcome these challenges, while also enhancing maneuverability and enabling novel tasks like object grasping. This paper presents a novel approach to autonomous motion planning and control for deformable quadrotors. We introduce a shape-adaptive trajectory planner that incorporates deformation dynamics into path generation, using a scalable kinodynamic A* search to handle deformation parameters in complex environments. The backend spatio-temporal optimization is capable of generating optimally smooth trajectories that incorporate shape deformation. Additionally, we propose an enhanced control strategy that compensates for external forces and torque disturbances, achieving a 37.3\% reduction in trajectory tracking error compared to our previous work. Our approach is validated through simulations and real-world experiments, demonstrating its effectiveness in narrow-gap traversal and multi-modal deformable tasks.

cs.RO↗

arXiv2025

First Lasing and Stable Operation of a Direct-Amplification Enabled Harmonic Generation Free-Electron laser

Seeded free-electron lasers (FELs) capable of operating at repetition rates up to the MHz level are in high demand for advanced time-resolved spectroscopies, which require both full longitudinal coherence and high average photon flux in the extreme ultraviolet (EUV) and x-ray regimes. However, conventional external-seed laser systems cannot sustain MHz operation with sufficient hundreds of megawatts peak power requirement due to their limited total power. Here, we report the first lasing and stable operation of a direct-amplification-enabled harmonic generation FEL driven by a weak seed laser with MW-level peak power. Beginning with an ultraviolet seed laser with only 0.75 μJ pulse energy, we demonstrate its direct amplification to over 10 μJ within an 8-meter-long modulator. We observe coherent harmonic generation up to the 12th harmonic of the seed and achieve saturation of the 7th harmonic in the radiator. These results represent a crucial milestone toward the realization of MHz-class, fully coherent EUV and x-ray light sources.

physics.acc-ph↗

arXiv2025

Periodic Proprioceptive Stimuli Learning and Internal Model Development for Avian-inspired Flapping-wing Flight State Estimation

This paper presents a novel learning-based approach for online state estimation in flapping wing aerial vehicles (FWAVs). Leveraging low-cost Magnetic, Angular Rate, and Gravity (MARG) sensors, the proposed method effectively mitigates the adverse effects of flapping-induced oscillations that challenge conventional estimation techniques. By employing a divide-and-conquer strategy grounded in cycle-averaged aerodynamics, the framework decouples the slow-varying components from the high-frequency oscillatory components, thereby preserving critical transient behaviors while delivering an smooth internal state representation. The complete oscillatory state of FWAV can be reconstructed based on above two components, leading to substantial improvements in accurate state prediction. Experimental validations on an avian-inspired FWAV demonstrate that the estimator enhances accuracy and smoothness, even under complex aerodynamic disturbances. These encouraging results highlight the potential of learning algorithms to overcome issues of flapping-wing induced oscillation dynamics.

eess.SY↗