arXiv subjects

Ge Yan

Publications and source records attributed to Ge Yan.

At least 37 records · Page 2Linked to original sources

arXiv2025

Quantum Circuit Synthesis and Compilation Optimization: Overview and Prospects

Quantum computing is a promising paradigm that may overcome the current computational power bottlenecks. The increasing maturity of quantum processors provides more possibilities for the development and implementation of quantum algorithms. As the crucial stages for quantum algorithm implementation, the logic circuit design and quantum compiling have also received significant attention, which covers key technologies, e.g., quantum logic circuit synthesis (also widely known as quantum architecture search) and optimization, as well as qubit mapping and routing. Recent studies suggest that the scale and precision of related algorithms are steadily increasing, especially with the integration of artificial intelligence methods. In this survey, we systematically review and summarize a vast body of literature, exploring the feasibility of an integrated design and optimization scheme that spans from the algorithmic level to quantum hardware, combining the steps of logic circuit design and compilation optimization. Leveraging the exceptional cognitive and learning capabilities of AI algorithms, it becomes more possible to reduce manual design costs, enhance the precision and efficiency of execution, and facilitate the implementation and validation of the superiority of quantum algorithms on hardware.

quant-ph↗

arXiv2025

Humanoid Policy ~ Human Policy

Training manipulation policies for humanoid robots with diverse data enhances their robustness and generalization across tasks and platforms. However, learning solely from robot demonstrations is labor-intensive, requiring expensive tele-operated data collection which is difficult to scale. This paper investigates a more scalable data source, egocentric human demonstrations, to serve as cross-embodiment training data for robot learning. We mitigate the embodiment gap between humanoids and humans from both the data and modeling perspectives. We collect an egocentric task-oriented dataset (PH2D) that is directly aligned with humanoid manipulation demonstrations. We then train a human-humanoid behavior policy, which we term Human Action Transformer (HAT). The state-action space of HAT is unified for both humans and humanoid robots and can be differentiably retargeted to robot actions. Co-trained with smaller-scale robot data, HAT directly models humanoid robots and humans as different embodiments without additional supervision. We show that human data improves both generalization and robustness of HAT with significantly better data collection efficiency. Code and data: https://human-as-robot.github.io/

cs.RO↗

arXiv2025

ThinkEdit: Interpretable Weight Editing to Mitigate Overly Short Thinking in Reasoning Models

Recent studies have shown that Large Language Models (LLMs) augmented with chain-of-thought (CoT) reasoning demonstrate impressive problem-solving abilities. However, in this work, we identify a recurring issue where these models occasionally generate overly short reasoning, leading to degraded performance on even simple mathematical problems. Specifically, we investigate how reasoning length is embedded in the hidden representations of reasoning models and its impact on accuracy. Our analysis reveals that reasoning length is governed by a linear direction in the representation space, allowing us to induce overly short reasoning by steering the model along this direction. Building on this insight, we introduce ThinkEdit, a simple yet effective weight-editing approach to mitigate the issue of overly short reasoning. We first identify a small subset of attention heads (approximately 4%) that predominantly drive short reasoning behavior. We then edit the output projection weights of these heads to remove the short reasoning direction. With changes to only 0.2% of the model's parameters, ThinkEdit effectively reduces overly short reasoning and yields notable accuracy gains for short reasoning outputs (+6.39%), along with an overall improvement across multiple math benchmarks (+3.34%). Our findings provide new mechanistic insights into how reasoning length is controlled within LLMs and highlight the potential of fine-grained model interventions to improve reasoning quality. Our code is available at: https://github.com/Trustworthy-ML-Lab/ThinkEdit

cs.CL↗

arXiv2025

ManiFlow: A General Robot Manipulation Policy via Consistency Flow Training

This paper introduces ManiFlow, a visuomotor imitation learning policy for general robot manipulation that generates precise, high-dimensional actions conditioned on diverse visual, language and proprioceptive inputs. We leverage flow matching with consistency training to enable high-quality dexterous action generation in just 1-2 inference steps. To handle diverse input modalities efficiently, we propose DiT-X, a diffusion transformer architecture with adaptive cross-attention and AdaLN-Zero conditioning that enables fine-grained feature interactions between action tokens and multi-modal observations. ManiFlow demonstrates consistent improvements across diverse simulation benchmarks and nearly doubles success rates on real-world tasks across single-arm, bimanual, and humanoid robot setups with increasing dexterity. The extensive evaluation further demonstrates the strong robustness and generalizability of ManiFlow to novel objects and background changes, and highlights its strong scaling capability with larger-scale datasets. Our website: maniflow-policy.github.io.

cs.RO↗

arXiv2025

Wideband Coverage Enhancement for IRS-Aided Wireless Networks Based on Power Measurement

By applying tunable phase shifts to incident waves via passive signal reflection, intelligent reflecting surface (IRS) can offer significant performance improvement for wireless communication systems. To reap such performance gain, channel knowledge for IRS-cascaded links is generally required, which is practically challenging to acquire due to their high-dimensional and time-varying characteristics. Conventional pilot-based channel estimation incurs excessive overhead due to the large number of reflecting elements, thus undermining the IRS efficiency, especially for wideband systems with frequency-selective fading channels. To tackle this issue, we propose in this letter a power-measurement-based channel autocorrelation matrix estimation and coverage enhancement approach for IRS-aided orthogonal frequency division multiplexing (OFDM) systems. Specifically, by estimating equivalent channel autocorrelation matrices of IRS-cascaded OFDM channels based on receive signal power and optimizing the IRS reflection vector based on them, the average coverage performance in the IRS-aided region is enhanced without the need for frequent reconfiguration of IRS reflection coefficients based on user instantaneous channels. Simulation results validate the effectiveness of the proposed approach for improving the average channel gain over the coverage region.

eess.SP↗

arXiv2025

SciDA: Scientific Dynamic Assessor of LLMs

Advancement in Large Language Models (LLMs) reasoning capabilities enables them to solve scientific problems with enhanced efficacy. Thereby, a high-quality benchmark for comprehensive and appropriate assessment holds significance, while existing ones either confront the risk of data contamination or lack involved disciplines. To be specific, due to the data source overlap of LLMs training and static benchmark, the keys or number pattern of answers inadvertently memorized (i.e. data contamination), leading to systematic overestimation of their reasoning capabilities, especially numerical reasoning. We propose SciDA, a multidisciplinary benchmark that consists exclusively of over 1k Olympic-level numerical computation problems, allowing randomized numerical initializations for each inference round to avoid reliance on fixed numerical patterns. We conduct a series of experiments with both closed-source and open-source top-performing LLMs, and it is observed that the performance of LLMs drop significantly under random numerical initialization. Thus, we provide truthful and unbiased assessments of the numerical reasoning capabilities of LLMs. The data is available at https://huggingface.co/datasets/m-a-p/SciDA

cs.CL↗

arXiv2025

Evaluating Neuron Explanations: A Unified Framework with Sanity Checks

Understanding the function of individual units in a neural network is an important building block for mechanistic interpretability. This is often done by generating a simple text explanation of the behavior of individual neurons or units. For these explanations to be useful, we must understand how reliable and truthful they are. In this work we unify many existing explanation evaluation methods under one mathematical framework. This allows us to compare existing evaluation metrics, understand the evaluation pipeline with increased clarity and apply existing statistical methods on the evaluation. In addition, we propose two simple sanity checks on the evaluation metrics and show that many commonly used metrics fail these tests and do not change their score after massive changes to the concept labels. Based on our experimental and theoretical results, we propose guidelines that future evaluations should follow and identify a set of reliable evaluation metrics.

cs.LG↗

arXiv2025

Open X-Embodiment: Robotic Learning Datasets and RT-X Models

Large, high-capacity models trained on diverse datasets have shown remarkable successes on efficiently tackling downstream applications. In domains from NLP to Computer Vision, this has led to a consolidation of pretrained models, with general pretrained backbones serving as a starting point for many applications. Can such a consolidation happen in robotics? Conventionally, robotic learning methods train a separate model for every application, every robot, and even every environment. Can we instead train generalist X-robot policy that can be adapted efficiently to new robots, tasks, and environments? In this paper, we provide datasets in standardized data formats and models to make it possible to explore this possibility in the context of robotic manipulation, alongside experimental results that provide an example of effective X-robot policies. We assemble a dataset from 22 different robots collected through a collaboration between 21 institutions, demonstrating 527 skills (160266 tasks). We show that a high-capacity model trained on this data, which we call RT-X, exhibits positive transfer and improves the capabilities of multiple robots by leveraging experience from other platforms. More details can be found on the project website https://robotics-transformer-x.github.io.

cs.RO↗

arXiv2025

On Reducing the Execution Latency of Superconducting Quantum Processors via Quantum Job Scheduling

Quantum computing has gained considerable attention, especially after the arrival of the Noisy Intermediate-Scale Quantum (NISQ) era. Quantum processors and cloud services have been made world-wide increasingly available. Unfortunately, jobs on existing quantum processors are often executed in series, and the workload could be heavy to the processor. Typically, one has to wait for hours or even longer to obtain the result of a single quantum job on public quantum cloud due to long queue time. In fact, as the scale grows, the qubit utilization rate of the serial execution mode will further diminish, causing the waste of quantum resources. In this paper, to our best knowledge for the first time, the Quantum Job Scheduling Problem (QJSP) is formulated and introduced, and we accordingly aim to improve the utility efficiency of quantum resources. Specifically, a noise-aware quantum job scheduler (NAQJS) concerning the circuit width, number of measurement shots, and submission time of quantum jobs is proposed to reduce the execution latency. We conduct extensive experiments on a simulated Qiskit noise model, as well as on the Xiaohong (from QuantumCTek) superconducting quantum processor. Numerical results show the effectiveness in both the QPU time and turnaround time.

cs.AR↗

arXiv2025

Interpretable Generative Models through Post-hoc Concept Bottlenecks

Concept bottleneck models (CBM) aim to produce inherently interpretable models that rely on human-understandable concepts for their predictions. However, existing approaches to design interpretable generative models based on CBMs are not yet efficient and scalable, as they require expensive generative model training from scratch as well as real images with labor-intensive concept supervision. To address these challenges, we present two novel and low-cost methods to build interpretable generative models through post-hoc techniques and we name our approaches: concept-bottleneck autoencoder (CB-AE) and concept controller (CC). Our proposed approaches enable efficient and scalable training without the need of real data and require only minimal to no concept supervision. Additionally, our methods generalize across modern generative model families including generative adversarial networks and diffusion models. We demonstrate the superior interpretability and steerability of our methods on numerous standard datasets like CelebA, CelebA-HQ, and CUB with large improvements (average ~25%) over the prior work, while being 4-15x faster to train. Finally, a large-scale user study is performed to validate the interpretability and steerability of our methods.

cs.CV↗

arXiv2025

RAT: Boosting Misclassification Detection Ability without Extra Data

As deep neural networks(DNN) become increasingly prevalent, particularly in high-stakes areas such as autonomous driving and healthcare, the ability to detect incorrect predictions of models and intervene accordingly becomes crucial for safety. In this work, we investigate the detection of misclassified inputs for image classification models from the lens of adversarial perturbation: we propose to use robust radius (a.k.a. input-space margin) as a confidence metric and design two efficient estimation algorithms, RR-BS and RR-Fast, for misclassification detection. Furthermore, we design a training method called Radius Aware Training (RAT) to boost models' ability to identify mistakes. Extensive experiments show our method could achieve up to 29.3% reduction on AURC and 21.62% reduction in FPR@95TPR, compared with previous methods.

cs.CV↗

arXiv2025

Movable Antenna Aided Multiuser Communications: Antenna Position Optimization Based on Statistical Channel Information

The movable antenna (MA) technology has attracted great attention recently due to its promising capability in improving wireless channel conditions by flexibly adjusting antenna positions. To reap maximal performance gains of MA systems, existing works mainly focus on MA position optimization to cater to the instantaneous channel state information (CSI). However, the resulting real-time antenna movement may face challenges in practical implementation due to the additional time overhead and energy consumption required, especially in fast time-varying channel scenarios. To address this issue, we propose in this paper a new approach to optimize the MA positions based on the users' statistical CSI over a large timescale. In particular, we propose a general field response based statistical channel model to characterize the random channel variations caused by the local movement of users. Based on this model, a two-timescale optimization problem is formulated to maximize the ergodic sum rate of multiple users, where the precoding matrix and the positions of MAs at the base station (BS) are optimized based on the instantaneous and statistical CSI, respectively. To solve this non-convex optimization problem, a log-barrier penalized gradient ascent algorithm is developed to optimize the MA positions, where two methods are proposed to approximate the ergodic sum rate and its gradients with different complexities. Finally, we present simulation results to evaluate the performance of the proposed design and algorithms based on practical channels generated by ray-tracing. The results verify the performance advantages of MA systems compared to their fixed-position antenna (FPA) counterparts in terms of long-term rate improvement, especially for scenarios with more diverse channel power distributions in the angular domain.

eess.SP↗

arXiv2025

Integrating LMM Planners and 3D Skill Policies for Generalizable Manipulation

The recent advancements in visual reasoning capabilities of large multimodal models (LMMs) and the semantic enrichment of 3D feature fields have expanded the horizons of robotic capabilities. These developments hold significant potential for bridging the gap between high-level reasoning from LMMs and low-level control policies utilizing 3D feature fields. In this work, we introduce LMM-3DP, a framework that can integrate LMM planners and 3D skill Policies. Our approach consists of three key perspectives: high-level planning, low-level control, and effective integration. For high-level planning, LMM-3DP supports dynamic scene understanding for environment disturbances, a critic agent with self-feedback, history policy memorization, and reattempts after failures. For low-level control, LMM-3DP utilizes a semantic-aware 3D feature field for accurate manipulation. In aligning high-level and low-level control for robot actions, language embeddings representing the high-level policy are jointly attended with the 3D feature field in the 3D transformer for seamless integration. We extensively evaluate our approach across multiple skills and long-horizon tasks in a real-world kitchen environment. Our results show a significant 1.45x success rate increase in low-level control and an approximate 1.5x improvement in high-level planning accuracy compared to LLM-based baselines. Demo videos and an overview of LMM-3DP are available at https://lmm-3dp-release.github.io.

cs.RO↗

arXiv2025

Constructing stable, high-order finite-difference operators on point clouds over complex geometries

High-order difference operators with the summation-by-parts (SBP) property can be used to build stable discretizations of hyperbolic conservation laws; however, most high-order SBP operators require a conforming, high-order mesh for the domain of interest. To circumvent this requirement, we present an algorithm for building high-order, diagonal-norm, first-derivative SBP operators on point clouds over level-set geometries. The algorithm is not mesh-free, since it uses a Cartesian cut-cell mesh to define the sparsity pattern of the operators and to provide intermediate quadrature rules; however, the mesh is generated automatically and can be discarded once the SBP operators have been constructed. Using this temporary mesh, we construct local, cell-based SBP difference operators that are assembled into global SBP operators. We identify conditions for the existence of a positive-definite diagonal mass matrix, and we compute the diagonal norm by solving a sparse system of linear inequalities using an interior-point algorithm. We also describe an artificial dissipation operator that complements the first-derivative operators when solving hyperbolic problems, although the dissipation is not required for stability. The numerical results confirm the conditions under which a diagonal norm exists and study the distribution of the norm's entries. In addition, the results verify the accuracy and stability of the point-cloud SBP operators using the linear advection equation.

math.NA↗

arXiv2025

VLG-CBM: Training Concept Bottleneck Models with Vision-Language Guidance

Concept Bottleneck Models (CBMs) provide interpretable prediction by introducing an intermediate Concept Bottleneck Layer (CBL), which encodes human-understandable concepts to explain models' decision. Recent works proposed to utilize Large Language Models and pre-trained Vision-Language Models to automate the training of CBMs, making it more scalable and automated. However, existing approaches still fall short in two aspects: First, the concepts predicted by CBL often mismatch the input image, raising doubts about the faithfulness of interpretation. Second, it has been shown that concept values encode unintended information: even a set of random concepts could achieve comparable test accuracy to state-of-the-art CBMs. To address these critical limitations, in this work, we propose a novel framework called Vision-Language-Guided Concept Bottleneck Model (VLG-CBM) to enable faithful interpretability with the benefits of boosted performance. Our method leverages off-the-shelf open-domain grounded object detectors to provide visually grounded concept annotation, which largely enhances the faithfulness of concept prediction while further improving the model performance. In addition, we propose a new metric called Number of Effective Concepts (NEC) to control the information leakage and provide better interpretability. Extensive evaluations across five standard benchmarks show that our method, VLG-CBM, outperforms existing methods by at least 4.27% and up to 51.09% on Accuracy at NEC=5 (denoted as ANEC-5), and by at least 0.45% and up to 29.78% on average accuracy (denoted as ANEC-avg), while preserving both faithfulness and interpretability of the learned concepts as demonstrated in extensive experiments.

cs.CV↗

arXiv2024

GNFactor: Multi-Task Real Robot Learning with Generalizable Neural Feature Fields

It is a long-standing problem in robotics to develop agents capable of executing diverse manipulation tasks from visual observations in unstructured real-world environments. To achieve this goal, the robot needs to have a comprehensive understanding of the 3D structure and semantics of the scene. In this work, we present $\textbf{GNFactor}$, a visual behavior cloning agent for multi-task robotic manipulation with $\textbf{G}$eneralizable $\textbf{N}$eural feature $\textbf{F}$ields. GNFactor jointly optimizes a generalizable neural field (GNF) as a reconstruction module and a Perceiver Transformer as a decision-making module, leveraging a shared deep 3D voxel representation. To incorporate semantics in 3D, the reconstruction module utilizes a vision-language foundation model ($\textit{e.g.}$, Stable Diffusion) to distill rich semantic information into the deep 3D voxel. We evaluate GNFactor on 3 real robot tasks and perform detailed ablations on 10 RLBench tasks with a limited number of demonstrations. We observe a substantial improvement of GNFactor over current state-of-the-art methods in seen and unseen tasks, demonstrating the strong generalization ability of GNFactor. Our project website is https://yanjieze.com/GNFactor/ .

cs.RO↗

arXiv2024

Power Measurement Enabled Channel Autocorrelation Matrix Estimation for IRS-Assisted Wireless Communication

By reconfiguring wireless channels via passive signal reflection, intelligent reflecting surface (IRS) can bring significant performance enhancement for wireless communication systems. However, such performance improvement generally relies on the knowledge of channel state information (CSI) for IRS-involved links. Prior works on IRS CSI acquisition mainly estimate IRS-cascaded channels based on the extra pilot signals received at the users/base station (BS) with time-varying IRS reflections, which, however, needs to modify the existing channel training/estimation protocols of wireless systems. To address this issue, we propose in this paper a new channel estimation scheme for IRS-assisted communication systems based on the received signal power measured at the user terminal, which is practically attainable without the need of changing the current protocol. Due to the lack of signal phase information in measured power, the autocorrelation matrix of the BS-IRS-user cascaded channel is estimated by solving an equivalent rank-minimization problem. To this end, a low-rank-approaching (LRA) algorithm is proposed by employing the fractional programming and alternating optimization techniques. To reduce computational complexity, an approximate LRA (ALRA) algorithm is also developed. Furthermore, these two algorithms are extended to be robust against the receiver noise and quantization error in power measurement. Simulation results are provided to verify the effectiveness of the proposed channel estimation algorithms as well as the IRS passive reflection design based on the estimated channel autocorrelation matrix.

eess.SP↗

arXiv2024

Provably Robust Conformal Prediction with Improved Efficiency

Conformal prediction is a powerful tool to generate uncertainty sets with guaranteed coverage using any predictive model, under the assumption that the training and test data are i.i.d.. Recently, it has been shown that adversarial examples are able to manipulate conformal methods to construct prediction sets with invalid coverage rates, as the i.i.d. assumption is violated. To address this issue, a recent work, Randomized Smoothed Conformal Prediction (RSCP), was first proposed to certify the robustness of conformal prediction methods to adversarial noise. However, RSCP has two major limitations: (i) its robustness guarantee is flawed when used in practice and (ii) it tends to produce large uncertainty sets. To address these limitations, we first propose a novel framework called RSCP+ to provide provable robustness guarantee in evaluation, which fixes the issues in the original RSCP method. Next, we propose two novel methods, Post-Training Transformation (PTT) and Robust Conformal Training (RCT), to effectively reduce prediction set size with little computation overhead. Experimental results in CIFAR10, CIFAR100, and ImageNet suggest the baseline method only yields trivial predictions including full label set, while our methods could boost the efficiency by up to $4.36\times$, $5.46\times$, and $16.9\times$ respectively and provide practical robustness guarantee. Our codes are available at https://github.com/Trustworthy-ML-Lab/Provably-Robust-Conformal-Prediction.

cs.LG↗