arXiv subjects

Feng Wu

Publications and source records attributed to Feng Wu.

At least 55 records · Page 3Linked to original sources

arXiv2026

RL-Based Coverage Path Planning for Deformable Objects on 3D Surfaces

Currently, manipulation tasks for deformable objects often focus on activities like folding clothes, handling ropes, and manipulating bags. However, research on contact-rich tasks involving deformable objects remains relatively underdeveloped. When humans use cloth or sponges to wipe surfaces, they rely on both vision and tactile feedback. Yet, current algorithms still face challenges with issues like occlusion, while research on tactile perception for manipulation is still evolving. Tasks such as covering surfaces with deformable objects demand not only perception but also precise robotic manipulation. To address this, we propose a method that leverages efficient and accessible simulators for task execution. Specifically, we train a reinforcement learning agent in a simulator to manipulate deformable objects for surface wiping tasks. We simplify the state representation of object surfaces using harmonic UV mapping, process contact feedback from the simulator on 2D feature maps, and use scaled grouped convolutions (SGCNN) to extract features efficiently. The agent then outputs actions in a reduced-dimensional action space to generate coverage paths. Experiments demonstrate that our method outperforms previous approaches in key metrics, including total path length and coverage area. We deploy these paths on a Kinova Gen3 manipulator to perform wiping experiments on the back of a torso model, validating the feasibility of our approach.

cs.RO↗

arXiv2026

Toward Clinically Explainable AI for Medical Diagnosis: A Foundation Model with Human-Compatible Reasoning via Reinforcement Learning

The clinical adoption of artificial intelligence (AI) in medical diagnostics is critically hampered by its black-box nature, which prevents clinicians from verifying the rationale behind automated decisions. To overcome this fundamental barrier, we introduce DeepMedix-R1, a foundation model (FM) for chest X-ray (CXR) interpretation that generates not only accurate diagnoses but also a transparent, step-by-step reasoning process grounded in specific visual evidence. Our methodology employs a sequential training strategy, beginning with instruction fine-tuning, followed by a cold-start phase to elicit reasoning capabilities. Critically, we then implement reinforcement learning with grounded rewards to meticulously refine the model, aligning both its diagnostic outputs and its reasoning pathways with clinical plausibility. Quantitative assessments show that DeepMedix-R1 substantially outperforms advanced FMs, achieving improvements in report generation and visual question answering tasks. We also introduce Report Arena, a novel LLM-based benchmark that ranks DeepMedix-R1 first among competing models for output quality. Most significantly, a formal review by clinical experts reveals a profound preference for DeepMedix-R1's generated reasoning over the broadly adopted Qwen2.5-VL-7B model, confirming its superior interpretability and clinical utility.

cs.AI↗

arXiv2026

Doubly resonant nonlinear metasurfaces enabling NIR-to-UV upconversion for reconfigurable Fourier optical processing

Fourier optical processing underpins optical information manipulation, yet extending such operations to short wavelengths within compact platforms remains challenging. Here, we address this challenge by embedding reconfigurable Fourier-domain processing within IR-to-UV upconversion in a doubly resonant nonlinear metasurface. When coherently illuminated at the Fourier plane with an image-bearing signal and a spatially structured pump, the metasurface generates UV images via degenerate four-wave mixing. Crucially, the spatial-frequency content of these upconverted images is selectively shaped by the tailored spectrum of the pump. To boost the efficiency of this nonlinear process, the metasurface is designed to simultaneously support a toroidal dipole bound state in the continuum and a magnetic dipole resonance, providing spectrally aligned and independently enhanced field localization for signal and pump beams, respectively. Building on this architecture, we experimentally demonstrate directional and continuously tunable filtering at the upconverted UV wavelengths. These results establish nonlinear metasurfaces as a versatile platform for Fourier optics and reconfigurable all-optical image processing.

physics.optics↗

arXiv2026

View-Centric Multi-Object Tracking with Homographic Matching in Moving UAV

In this paper, we address the challenge of Multi-Object Tracking (MOT) in moving Unmanned Aerial Vehicle (UAV) scenarios, where irregular flight trajectories, such as hovering, turning left/right, and moving up/down, lead to significantly greater complexity compared to fixed-camera MOT. Specifically, changes in the scene background not only render traditional frame-to-frame object IoU association methods ineffective but also introduce significant view shifts in the objects, which complicates tracking. To overcome these issues, we propose a novel HomView-MOT framework, which for the first time, harnesses the view homography inherent in changing scenes to solve MOT challenges in moving environments, incorporating homographic matching and view-centric concepts. We introduce a Fast Homography Estimation (FHE) algorithm for rapid computation of homography matrices between video frames, enabling object View-Centric ID Learning (VCIL) and leveraging multi-view homography to learn cross-view ID features. Concurrently, our Homographic Matching Filter (HMF) maps object bounding boxes from different frames onto a common view plane for a more realistic physical IoU association. Extensive experiments have proven that these innovations allow HomView-MOT to achieve state-of-the-art performance on prominent UAV MOT datasets VisDrone and UAVDT.

cs.CV↗

arXiv2026

medR: Reward Engineering for Clinical Offline Reinforcement Learning via Tri-Drive Potential Functions

Reinforcement Learning (RL) offers a powerful framework for optimizing dynamic treatment regimes (DTRs). However, clinical RL is fundamentally bottlenecked by reward engineering: the challenge of defining signals that safely and effectively guide policy learning in complex, sparse offline environments. Existing approaches often rely on manual heuristics that fail to generalize across diverse pathologies. To address this, we propose an automated pipeline leveraging Large Language Models (LLMs) for offline reward design and verification. We formulate the reward function using potential functions consisted of three core components: survival, confidence, and competence. We further introduce quantitative metrics to rigorously evaluate and select the optimal reward structure prior to deployment. By integrating LLM-driven domain knowledge, our framework automates the design of reward functions for specific diseases while significantly enhancing the performance of the resulting policies.

cs.LG↗

arXiv2026

The Three-Body Limit Cycle: Universal Form for General Regulators

The Efimov effect, a remarkable realization of discrete scale invariance, emerges in the three-body problem with short-range interactions and is understood as a renormalization group (RG) limit cycle within Short-Range Effective Field Theory (SREFT). While the analytic form of the three-body renormalization relation has been established for a sharp cutoff regulator, its universality for other regulators remains underexplored. In this work, we derive the universal functional form of the three-body renormalization relation for general separable regulators through a detailed analysis of the Skorniakov-Ter-Martirosian and Faddeev equations. We find that the relation follows from a real Möbius transformation characterized by three parameters. This universality is verified numerically for various regulators. Although the functional form remains the same, the parameters characterizing the limit cycle exhibit regulator dependence. These findings broaden the class of RG limit cycles in SREFT and offer a more complete understanding of three-body renormalization.

cond-mat.quant-gas↗

arXiv2026

HIPPO: Accelerating Video Large Language Models Inference via Holistic-aware Parallel Speculative Decoding

Speculative decoding (SD) has emerged as a promising approach to accelerate LLM inference without sacrificing output quality. Existing SD methods tailored for video-LLMs primarily focus on pruning redundant visual tokens to mitigate the computational burden of massive visual inputs. However, existing methods do not achieve inference acceleration comparable to text-only LLMs. We observe from extensive experiments that this phenomenon mainly stems from two limitations: (i) their pruning strategies inadequately preserve visual semantic tokens, degrading draft quality and acceptance rates; (ii) even with aggressive pruning (e.g., 90% visual tokens removed), the draft model's remaining inference cost limits overall speedup. To address these limitations, we propose HIPPO, a general holistic-aware parallel speculative decoding framework. Specifically, HIPPO proposes (i) a semantic-aware token preservation method, which fuses global attention scores with local visual semantics to retain semantic information at high pruning ratios; (ii) a video parallel SD algorithm that decouples and overlaps draft generation and target verification phases. Experiments on four video-LLMs across six benchmarks demonstrate HIPPO's effectiveness, yielding up to 3.51x speedup compared to vanilla auto-regressive decoding.

cs.CV↗

arXiv2026

First Submillimeter Lights from Dome A: Tracing the Carbon Cycle in the Feedback of Massive Stars

The cycling of carbon between its ionized, atomic, and molecular phases shapes the chemical compositions and physical conditions of the interstellar medium (ISM). However, ground-based studies of the full carbon cycle have been limited by atmospheric absorption. Dome~A, the most promising site for submillimeter astronomy, has long resisted successful submillimeter astronomical observations. Using the 60~cm Antarctic Terahertz Explorer, we present the first successful CO ($4-3$) and [CI] ($^3P_1 - ^3P_0$) mapping observations of two archetypal triggered massive star-formation regions at Dome~A. These data, together with archival [CII], provide the first complete characterization of all three carbon phases in these environments. We find elevated C$^{0}$/CO abundance ratios in high-extinction regions, plausibly driven by deep penetration of intense radiation fields from massive stars into a clumpy ISM. These findings mark a major milestone for submillimeter astronomy at Dome~A and offer valuable insights into the impact of massive star feedback on the surrounding ISM.

astro-ph.GA↗

arXiv2026

SurgeQ: A Hybrid Framework for Ultra-Fast Quantum Processor Design and Crosstalk-Aware Circuit Execution

Executing quantum circuits on superconducting platforms requires balancing the trade-off between gate errors and crosstalk. To address this, we introduce SurgeQ, a hardware-software co-design strategy consisting of a design phase and an execution phase, to achieve accelerated circuit execution and improve overall program fidelity. SurgeQ employs coupling-strengthened, faster two-qubit gates while mitigating their increased crosstalk through a tailored scheduling strategy. With detailed consideration of composite noise models, we establish a systematic evaluation pipeline to identify the optimal coupling strength. Evaluations on a comprehensive suite of real-world benchmarks show that SurgeQ generally achieves higher fidelity than up-to-date baselines, and remains effective in combating exponential fidelity decay, achieving up to a million-fold improvement in large-scale circuits.

quant-ph↗

arXiv2025

LeJOT: An Intelligent Job Cost Orchestration Solution for Databricks Platform

With the rapid advancements in big data technologies, the Databricks platform has become a cornerstone for enterprises and research institutions, offering high computational efficiency and a robust ecosystem. However, managing the escalating operational costs associated with job execution remains a critical challenge. Existing solutions rely on static configurations or reactive adjustments, which fail to adapt to the dynamic nature of workloads. To address this, we introduce LeJOT, an intelligent job cost orchestration framework that leverages machine learning for execution time prediction and a solver-based optimization model for real-time resource allocation. Unlike conventional scheduling techniques, LeJOT proactively predicts workload demands, dynamically allocates computing resources, and minimizes costs while ensuring performance requirements are met. Experimental results on real-world Databricks workloads demonstrate that LeJOT achieves an average 20% reduction in cloud computing costs within a minute-level scheduling timeframe, outperforming traditional static allocation strategies. Our approach provides a scalable and adaptive solution for cost-efficient job scheduling in Data Lakehouse environments.

cs.LG↗

arXiv2025

FACM: Flow-Anchored Consistency Models

Continuous-time Consistency Models (CMs) promise efficient few-step generation but face significant challenges with training instability. We argue this instability stems from a fundamental conflict: Training the network exclusively on a shortcut objective leads to the catastrophic forgetting of the instantaneous velocity field that defines the flow. Our solution is to explicitly anchor the model in the underlying flow, ensuring high trajectory fidelity during training. We introduce the Flow-Anchored Consistency Model (FACM), where a Flow Matching (FM) task serves as a dynamic anchor for the primary CM shortcut objective. Key to this Flow-Anchoring approach is a novel expanded time interval strategy that unifies optimization for a single model while decoupling the two tasks to ensure stable, architecturally-agnostic training. By distilling a pre-trained LightningDiT model, our method achieves a state-of-the-art FID of 1.32 with two steps (NFE=2) and 1.70 with just one step (NFE=1) on ImageNet 256x256. To address the challenge of scalability, we develop a memory-efficient Chain-JVP that resolves key incompatibilities with FSDP. This method allows us to scale FACM training on a 14B parameter model (Wan 2.2), accelerating its Text-to-Image inference from 2x40 to 2-8 steps. Our code and pretrained models: https://github.com/ali-vilab/FACM.

cs.CV↗

arXiv2025

medDreamer: Model-Based Reinforcement Learning with Latent Imagination on Complex EHRs for Clinical Decision Support

Timely and personalized treatment decisions are essential across a wide range of healthcare settings where patient responses can vary significantly and evolve over time. Clinical data used to support these treatment decisions are often irregularly sampled, where missing data frequencies may implicitly convey information about the patient's condition. Existing Reinforcement Learning (RL) based clinical decision support systems often ignore the missing patterns and distort them with coarse discretization and simple imputation. They are also predominantly model-free and largely depend on retrospective data, which could lead to insufficient exploration and bias by historical behaviors. To address these limitations, we propose medDreamer, a novel model-based reinforcement learning framework for personalized treatment recommendation. medDreamer contains a world model with an Adaptive Feature Integration module that simulates latent patient states from irregular data and a two-phase policy trained on a hybrid of real and imagined trajectories. This enables learning optimal policies that go beyond the sub-optimality of historical clinical decisions, while remaining close to real clinical data. We evaluate medDreamer on both sepsis and mechanical ventilation treatment tasks using two large-scale Electronic Health Records (EHRs) datasets. Comprehensive evaluations show that medDreamer significantly outperforms model-free and model-based baselines in both clinical outcomes and off-policy metrics.

cs.LG↗

arXiv2025

Structure-Aware Correspondence Learning for Relative Pose Estimation

Relative pose estimation provides a promising way for achieving object-agnostic pose estimation. Despite the success of existing 3D correspondence-based methods, the reliance on explicit feature matching suffers from small overlaps in visible regions and unreliable feature estimation for invisible regions. Inspired by humans' ability to assemble two object parts that have small or no overlapping regions by considering object structure, we propose a novel Structure-Aware Correspondence Learning method for Relative Pose Estimation, which consists of two key modules. First, a structure-aware keypoint extraction module is designed to locate a set of kepoints that can represent the structure of objects with different shapes and appearance, under the guidance of a keypoint based image reconstruction loss. Second, a structure-aware correspondence estimation module is designed to model the intra-image and inter-image relationships between keypoints to extract structure-aware features for correspondence estimation. By jointly leveraging these two modules, the proposed method can naturally estimate 3D-3D correspondences for unseen objects without explicit feature matching for precise relative pose estimation. Experimental results on the CO3D, Objaverse and LineMOD datasets demonstrate that the proposed method significantly outperforms prior methods, i.e., with 5.7°reduction in mean angular error on the CO3D dataset.

cs.CV↗

arXiv2025

Identify and Quantify Various Dissipation Mechanisms of Josephson Junction in Superconducting Circuits

Pinpointing the dissipation mechanisms and evaluating their impacts to the performance of Josephson junction (JJ) are crucial for its application in superconducting circuits. In this work, we demonstrate the junction-embedded resonator (JER) as a platform which enables us to identify and quantify various dissipation mechanisms of JJ. JER is constructed by embedding JJ in the middle of an open-circuit, 1/2 λ transmission-line resonator. When the 1st and 2nd harmonics of JER are excited, JJ experiences different boundary conditions, and is dominated by internal and external dissipations, respectively. We systematically study these 2 dissipation mechanisms of JJ by varying the JJ area and number. Our results unveil the completely different behaviors of these 2 dissipation mechanisms, and quantitatively characterize their contributions, shedding a light on the direction of JJ optimization in various applications.

quant-ph↗

arXiv2025

Quantum Design Automation: Foundations, Challenges, and the Road Ahead

Quantum computing is transitioning from laboratory research to industrial deployment, yet significant challenges persist: system scalability and performance, fabrication yields, and the advancement of algorithms and applications. We emphasize that in building quantum computers -- spanning quantum chips, system integration, instruction sets, algorithms, and middleware such as quantum error correction schemes -- design is everywhere. In this paper, we advocate for a holistic design perspective in quantum computing, a perspective we argue is pivotal to unlocking innovative co-design opportunities and addressing the aforementioned key challenges. To equip readers with sufficient background for exploring co-optimization opportunities, we detail how interconnected computational methods and tools collaborate to enable end-to-end quantum computer design. This coverage encompasses critical stages -- such as chip layout design automation, high-fidelity system-level simulation, Hamiltonian derivation for quantum system modeling, control pulse simulation, decoherence analysis, and physical verification and testing -- followed by quantum instruction set design. We then proceed to quantum system and software development, including quantum circuit synthesis, quantum error correction and fault tolerance, and logic verification and testing. Through these discussions, we illustrate with concrete examples -- including co-optimizing quantum instruction sets with algorithmic considerations, customizing error correction circuits to hardware-specific constraints, and streamlining quantum chip design through tailored code design, among others. We hope that the detailed end-to-end design workflow as well as these examples will foster dialogue between the hardware and software communities, ultimately facilitating the translation of meaningful research findings into future quantum hardware implementations.

quant-ph↗

arXiv2025

Scalable Mixed-Integer Optimization with Neural Constraints via Dual Decomposition

Embedding deep neural networks (NNs) into mixed-integer programs (MIPs) is attractive for decision making with learned constraints, yet state-of-the-art monolithic linearisations blow up in size and quickly become intractable. In this paper, we introduce a novel dual-decomposition framework that relaxes the single coupling equality u=x with an augmented Lagrange multiplier and splits the problem into a vanilla MIP and a constrained NN block. Each part is tackled by the solver that suits it best-branch and cut for the MIP subproblem, first-order optimisation for the NN subproblem-so the model remains modular, the number of integer variables never grows with network depth, and the per-iteration cost scales only linearly with the NN size. On the public \textsc{SurrogateLIB} benchmark, our method proves \textbf{scalable}, \textbf{modular}, and \textbf{adaptable}: it runs $120\times$ faster than an exact Big-M formulation on the largest test case; the NN sub-solver can be swapped from a log-barrier interior step to a projected-gradient routine with no code changes and identical objective value; and swapping the MLP for an LSTM backbone still completes the full optimisation in 47s without any bespoke adaptation.

math.OC↗

arXiv2025

CTPD: Cross-Modal Temporal Pattern Discovery for Enhanced Multimodal Electronic Health Records Analysis

Integrating multimodal Electronic Health Records (EHR) data, such as numerical time series and free-text clinical reports, has great potential in predicting clinical outcomes. However, prior work has primarily focused on capturing temporal interactions within individual samples and fusing multimodal information, overlooking critical temporal patterns across patients. These patterns, such as trends in vital signs like abnormal heart rate or blood pressure, can indicate deteriorating health or an impending critical event. Similarly, clinical notes often contain textual descriptions that reflect these patterns. Identifying corresponding temporal patterns across different modalities is crucial for improving the accuracy of clinical outcome predictions, yet it remains a challenging task. To address this gap, we introduce a Cross-Modal Temporal Pattern Discovery (CTPD) framework, designed to efficiently extract meaningful cross-modal temporal patterns from multimodal EHR data. Our approach introduces shared initial temporal pattern representations which are refined using slot attention to generate temporal semantic embeddings. To ensure rich cross-modal temporal semantics in the learned patterns, we introduce a contrastive-based TPNCE loss for cross-modal alignment, along with two reconstruction losses to retain core information of each modality. Evaluations on two clinically critical tasks, 48-hour in-hospital mortality and 24-hour phenotype classification, using the MIMIC-III database demonstrate the superiority of our method over existing approaches.

cs.LG↗

arXiv2025

Cross-Modal Alignment via Variational Copula Modelling

Various data modalities are common in real-world applications (e.g., electronic health records, medical images and clinical notes in healthcare). It is essential to develop multimodal learning methods to aggregate various information from multiple modalities. The main challenge is how to appropriately align and fuse the representations of different modalities into a joint distribution. Existing methods mainly rely on concatenation or the Kronecker product, oversimplifying the interaction structure between modalities and indicating a need to model more complex interactions. Additionally, the joint distribution of latent representations with higher-order interactions is underexplored. Copula is a powerful statistical structure for modelling the interactions among variables, as it naturally bridges the joint distribution and marginal distributions of multiple variables. We propose a novel copula-driven multimodal learning framework, which focuses on learning the joint distribution of various modalities to capture the complex interactions among them. The key idea is to interpret the copula model as a tool to align the marginal distributions of the modalities efficiently. By assuming a Gaussian mixture distribution for each modality and a copula model on the joint distribution, our model can generate accurate representations for missing modalities. Extensive experiments on public MIMIC datasets demonstrate the superior performance of our model over other competitors. The code is available at https://github.com/HKU-MedAI/CMCM.

cs.LG↗