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Han Gao

Publications and source records attributed to Han Gao.

At least 55 records · Page 3Linked to original sources
arXiv2025

Path-Tracking Hybrid A* and Hierarchical MPC Framework for Autonomous Agricultural Vehicles

We propose a Path-Tracking Hybrid A* planner coupled with a hierarchical Model Predictive Control (MPC) framework for path smoothing in agricultural vehicles. The goal is to minimize deviation from reference paths during cross-furrow operations, thereby optimizing operational efficiency, preventing crop and soil damage, while also enforcing curvature constraints and ensuring full-body collision avoidance. Our contributions are threefold: (1) We develop the Path-Tracking Hybrid A* algorithm to generate smooth trajectories that closely adhere to the reference trajectory, respect strict curvature constraints, and satisfy full-body collision avoidance. The adherence is achieved by designing novel cost and heuristic functions to minimize tracking errors under nonholonomic constraints. (2) We introduce an online replanning strategy as an extension that enables real-time avoidance of unforeseen obstacles, while leveraging pruning techniques to enhance computational efficiency. (3) We design a hierarchical MPC framework that ensures tight path adherence and real-time satisfaction of vehicle constraints, including nonholonomic dynamics and full-body collision avoidance. By using linearized MPC to warm-start the nonlinear solver, the framework improves the convergence of nonlinear optimization with minimal loss in accuracy. Simulations on real-world farm datasets demonstrate superior performance compared to baseline methods in safety, path adherence, computation speed, and real-time obstacle avoidance.

cs.RO↗
arXiv2025

DINO-X: A Unified Vision Model for Open-World Object Detection and Understanding

In this paper, we introduce DINO-X, which is a unified object-centric vision model developed by IDEA Research with the best open-world object detection performance to date. DINO-X employs the same Transformer-based encoder-decoder architecture as Grounding DINO 1.5 to pursue an object-level representation for open-world object understanding. To make long-tailed object detection easy, DINO-X extends its input options to support text prompt, visual prompt, and customized prompt. With such flexible prompt options, we develop a universal object prompt to support prompt-free open-world detection, making it possible to detect anything in an image without requiring users to provide any prompt. To enhance the model's core grounding capability, we have constructed a large-scale dataset with over 100 million high-quality grounding samples, referred to as Grounding-100M, for advancing the model's open-vocabulary detection performance. Pre-training on such a large-scale grounding dataset leads to a foundational object-level representation, which enables DINO-X to integrate multiple perception heads to simultaneously support multiple object perception and understanding tasks, including detection, segmentation, pose estimation, object captioning, object-based QA, etc. Experimental results demonstrate the superior performance of DINO-X. Specifically, the DINO-X Pro model achieves 56.0 AP, 59.8 AP, and 52.4 AP on the COCO, LVIS-minival, and LVIS-val zero-shot object detection benchmarks, respectively. Notably, it scores 63.3 AP and 56.5 AP on the rare classes of LVIS-minival and LVIS-val benchmarks, improving the previous SOTA performance by 5.8 AP and 5.0 AP. Such a result underscores its significantly improved capacity for recognizing long-tailed objects.

cs.CV↗
arXiv2025

A Bi-nested Calculus for Intuitionistic K: Proofs and Countermodels

The logic IK is the intuitionistic variant of modal logic introduced by Fischer Servi, Plotkin and Stirling, and studied by Simpson. This logic is considered a fundamental intuitionstic modal system as it corresponds, modulo the standard translation, to a fragment of intuitionstic first-order logic. In this paper we present a labelled-free bi-nested sequent calculus for IK. This proof system comprises two kinds of nesting, corresponding to the two relations of bi-relational models for IK: a pre-order relation, from intuitionistic models, and a binary relation, akin to the accessibility relation of Kripke models. The calculus provides a decision procedure for IK by means of a suitable proof-search strategy. This is the first labelled-free calculus for IK which allows direct counter-model extraction: from a single failed derivation, it is possible to construct a finite countermodel for the formula at the root. We further show the bi-nested calculus can simulate both the (standard) nested calculus and labelled sequent calculus, which are two best known calculi proposed in the literature for IK.

cs.LO↗
arXiv2025

Effects of a background magnetic field on dilepton radiation

We explore the feasibility of using dilepton radiations as a QGP magnetometer. We calculate the dilepton production rate in the presence of a time-dependent magnetic field typically found in heavy-ion collisions. We compute the thermal dilepton spectra from Au+Au collisions at $\sqrt s$ = 19.6 GeV BES energy -- using a realistic (3+1)-dimensional multistage hydrodynamic simulation. We find the thermal dilepton elliptic flow to be very sensitive to the strength of the magnetic field.

nucl-th↗
arXiv2025

Advances in Embodied Navigation Using Large Language Models: A Survey

In recent years, the rapid advancement of Large Language Models (LLMs) such as the Generative Pre-trained Transformer (GPT) has attracted increasing attention due to their potential in a variety of practical applications. The application of LLMs with Embodied Intelligence has emerged as a significant area of focus. Among the myriad applications of LLMs, navigation tasks are particularly noteworthy because they demand a deep understanding of the environment and quick, accurate decision-making. LLMs can augment embodied intelligence systems with sophisticated environmental perception and decision-making support, leveraging their robust language and image-processing capabilities. This article offers an exhaustive summary of the symbiosis between LLMs and embodied intelligence with a focus on navigation. It reviews state-of-the-art models, research methodologies, and assesses the advantages and disadvantages of existing embodied navigation models and datasets. Finally, the article elucidates the role of LLMs in embodied intelligence, based on current research, and forecasts future directions in the field. A comprehensive list of studies in this survey is available at https://github.com/Rongtao-Xu/Awesome-LLM-EN.

cs.AI↗
arXiv2025

Gate Tunable Josephson Diode Effect in Josephson Junctions made from InAs Nanosheets

We report the observation of Josephson diode effect (JDE) in hybrid devices made from semiconductor InAs nanosheets and superconductor Al contacts. By applying an in-plane magnetic field ($B_{\mathrm{xy}}$), we detect non-reciprocal superconducting switching current as well as non-reciprocal superconducting retrapping current. The strength of the JDE depends on the angle between the in-plane magnetic field and the bias current ($I_{\mathrm{b}}$), reaching its maximum when $B_{\mathrm{xy}} \perp I_{\mathrm{b}}$ and dropping to nearly zero when $B_{\mathrm{xy}}\parallel I_{\mathrm{b}}$. Additionally, the diode efficiency is tunable via an electrostatic gate with a complete suppression at certain gate voltages. Our findings indicate that the observed JDE in InAs nanosheet-based Josephson junctions most likely arises from the Rashba spin-orbit interaction (SOI) in the nanosheets. Such gate-tunable JDE in Josephson junctions made from semiconductor materials with SOI is useful not only for constructing advanced superconducting electronics but also for detecting novel superconducting states.

cond-mat.mes-hall↗
arXiv2025

LeanGaussian: Breaking Pixel or Point Cloud Correspondence in Modeling 3D Gaussians

Recently, Gaussian splatting has demonstrated significant success in novel view synthesis. Current methods often regress Gaussians with pixel or point cloud correspondence, linking each Gaussian with a pixel or a 3D point. This leads to the redundancy of Gaussians being used to overfit the correspondence rather than the objects represented by the 3D Gaussians themselves, consequently wasting resources and lacking accurate geometries or textures. In this paper, we introduce LeanGaussian, a novel approach that treats each query in deformable Transformer as one 3D Gaussian ellipsoid, breaking the pixel or point cloud correspondence constraints. We leverage deformable decoder to iteratively refine the Gaussians layer-by-layer with the image features as keys and values. Notably, the center of each 3D Gaussian is defined as 3D reference points, which are then projected onto the image for deformable attention in 2D space. On both the ShapeNet SRN dataset (category level) and the Google Scanned Objects dataset (open-category level, trained with the Objaverse dataset), our approach, outperforms prior methods by approximately 6.1%, achieving a PSNR of 25.44 and 22.36, respectively. Additionally, our method achieves a 3D reconstruction speed of 7.2 FPS and rendering speed 500 FPS. Codes are available at https://github.com/jwubz123/LeanGaussian.

cs.CV↗
arXiv2025

Response of magnetic particle to rotating magnetic field in viscoelastic fluid

The rotational dynamics of a freely suspended ferromagnetic particle in viscoelastic fluid subjected to a rotating magnetic field is studied by experiments and theory. Our result reveals that when the characteristic relaxation time of the fluid is much smaller than the inverse critical field frequency, the particle's rotation behavior aligns with that in Newtonian fluids. Increasing the relaxation time enhances the time-averaged rotation frequency of the particle that undergo asynchronous rotation. Moreover, the critical frequency is shown to scale linearly with the magnetic field intensity and inversely with the fluid's zero-shear viscosity. Our work is expected to guide precise manipulation of ferromagnetic particles in biomedical systems where viscoelastic environments dominate.

cond-mat.soft↗
arXiv2025

A Robust Attack: Displacement Backdoor Attack

As artificial intelligence becomes more prevalent in our lives, people are enjoying the convenience it brings, but they are also facing hidden threats, such as data poisoning and adversarial attacks. These threats can have disastrous consequences for the application of artificial intelligence, especially for some applications that take effect immediately, such as autonomous driving and medical fields. Among these threats, backdoor attacks have left a deep impression on people with their concealment and simple deployment, making them a threat that cannot be ignored, however, in the process of deploying the backdoor model, the backdoor attack often has some reasons that make it unsatisfactory in real-world applications, such as jitter and brightness changes. Based on this, we propose a highly robust backdoor attack that shifts the target sample and combines it with itself to form a backdoor sample, the Displacement Backdoor Attack(DBA). Experimental results show that the DBA attack can resist data augmentation that simulates real-world differences, such as rotation and cropping.

cs.CR↗
arXiv2025

Learning Effective Dynamics across Spatio-Temporal Scales of Complex Flows

Modeling and simulation of complex fluid flows with dynamics that span multiple spatio-temporal scales is a fundamental challenge in many scientific and engineering domains. Full-scale resolving simulations for systems such as highly turbulent flows are not feasible in the foreseeable future, and reduced-order models must capture dynamics that involve interactions across scales. In the present work, we propose a novel framework, Graph-based Learning of Effective Dynamics (Graph-LED), that leverages graph neural networks (GNNs), as well as an attention-based autoregressive model, to extract the effective dynamics from a small amount of simulation data. GNNs represent flow fields on unstructured meshes as graphs and effectively handle complex geometries and non-uniform grids. The proposed method combines a GNN based, dimensionality reduction for variable-size unstructured meshes with an autoregressive temporal attention model that can learn temporal dependencies automatically. We evaluated the proposed approach on a suite of fluid dynamics problems, including flow past a cylinder and flow over a backward-facing step over a range of Reynolds numbers. The results demonstrate robust and effective forecasting of spatio-temporal physics; in the case of the flow past a cylinder, both small-scale effects that occur close to the cylinder as well as its wake are accurately captured.

cs.LG↗
arXiv2025

Polarization-Analyzed Small-Angle Neutron Scattering with an $\textit{in-situ}$ $^{3}$He neutron spin filter at the China Spallation Neutron Source

Polarization-analyzed small-angle neutron scattering (PASANS) is an advanced technique that enables the selective investigation of magnetic scattering phenomena in magnetic materials and distinguishes coherent scattering obscured by incoherent backgrounds, making it particularly valuable for cutting-edge research. The successful implementation of PASANS in China was achieved for the first time at the newly commissioned Very Small Angle Neutron Scattering (VSANS) instrument at the China Spallation Neutron Source (CSNS). This technique employs a combination of a double-V cavity supermirror polarizer and a radio frequency (RF) neutron spin flipper to manipulate the polarization of the incident neutrons. The scattered neutron polarization is stably analyzed by a specially designed $\textit{in-situ}$ optical pumping $^{3}$He neutron spin filter, which covers a spatially symmetric scattering angle coverage of about 4.8 $^{\circ}$. A comprehensive PASANS data reduction method, aimed at pulsed neutron beams, has been established and validated with a silver behenate powder sample, indicating a maximum momentum transfer coverage of approximately 0.25 Å $^{-1}$.

physics.ins-det↗
arXiv2024

Progressive Boundary Guided Anomaly Synthesis for Industrial Anomaly Detection

Unsupervised anomaly detection methods can identify surface defects in industrial images by leveraging only normal samples for training. Due to the risk of overfitting when learning from a single class, anomaly synthesis strategies are introduced to enhance detection capability by generating artificial anomalies. However, existing strategies heavily rely on anomalous textures from auxiliary datasets. Moreover, their limitations in the coverage and directionality of anomaly synthesis may result in a failure to capture useful information and lead to significant redundancy. To address these issues, we propose a novel Progressive Boundary-guided Anomaly Synthesis (PBAS) strategy, which can directionally synthesize crucial feature-level anomalies without auxiliary textures. It consists of three core components: Approximate Boundary Learning (ABL), Anomaly Feature Synthesis (AFS), and Refined Boundary Optimization (RBO). To make the distribution of normal samples more compact, ABL first learns an approximate decision boundary by center constraint, which improves the center initialization through feature alignment. AFS then directionally synthesizes anomalies with more flexible scales guided by the hypersphere distribution of normal features. Since the boundary is so loose that it may contain real anomalies, RBO refines the decision boundary through the binary classification of artificial anomalies and normal features. Experimental results show that our method achieves state-of-the-art performance and the fastest detection speed on three widely used industrial datasets, including MVTec AD, VisA, and MPDD. The code will be available at: https://github.com/cqylunlun/PBAS.

cs.CV↗
arXiv2024

Strong Inter-valley Electron-Phonon Coupling in Magic-Angle Twisted Bilayer Graphene

The unusual properties of superconductivity in magic-angle twisted bilayer graphene (MATBG) have sparked enormous research interest. However, despite the dedication of intensive experimental efforts and the proposal of several possible pairing mechanisms, the origin of its superconductivity remains elusive. Here, utilizing angle-resolved photoemission spectroscopy with micrometer spatial resolution, we have revealed flat band replicas in superconducting MATBG, where MATBG is unaligned with its hexagonal boron nitride (hBN) substrate11. These replicas exhibit uniform energy spacing, approximately 150 +- 15 meV apart, indicative of strong electron-boson coupling. Strikingly, these replicas are absent in non-superconducting twisted bilayer graphene (TBG) systems, either when MATBG is aligned to hBN or when TBG deviates from the magic angle. Calculations suggest that the formation of these flat band replicas in superconducting MATBG are attributed to the strong coupling between flat band electrons and an optical phonon mode at the graphene K point, facilitated by inter-valley scattering. These findings, although do not necessarily put electron phonon coupling as the main driving force for the superconductivity in MATBG, unravel the unique electronic structure inherent in superconducting MATBG, thereby providing crucial information for understanding the unusual electronic landscape from which the superconductivity is derived.

cond-mat.mes-hall↗
arXiv2024

Simple But Not Secure: An Empirical Security Analysis of Two-factor Authentication Systems

To protect users from data breaches and phishing attacks, service providers typically implement two-factor authentication (2FA) to add an extra layer of security against suspicious login attempts. However, since 2FA can sometimes hinder user experience by introducing additional steps, many websites aim to reduce inconvenience by minimizing the frequency of 2FA prompts. One approach to achieve this is by storing the user's ``Remember the Device'' preference in a cookie. As a result, users are only prompted for 2FA when this cookie expires or if they log in from a new device. To understand and improve the security of 2FA systems in real-world settings, we propose SE2FA, a vulnerability evaluation framework designed to detect vulnerabilities in 2FA systems. This framework enables us to analyze the security of 407 2FA systems across popular websites from the Tranco Top 10,000 list. Our analysis and evaluation found three zero-day vulnerabilities on three service providers that could allow an attacker to access a victim's account without possessing the victim's second authentication factor, thereby bypassing 2FA protections entirely. A further investigation found that these vulnerabilities stem from design choices aimed at simplifying 2FA for users but that unintentionally reduce its security effectiveness. We have disclosed these findings to the affected websites and assisted them in mitigating the risks. Based on the insights from this research, we provide practical recommendations for countermeasures to strengthen 2FA security and address these newly identified threats.

cs.CR↗
arXiv2024

SwarmPRM: Probabilistic Roadmap Motion Planning for Large-Scale Swarm Robotic Systems

Large-scale swarm robotic systems consisting of numerous cooperative agents show considerable promise for performing autonomous tasks across various sectors. Nonetheless, traditional motion planning approaches often face a trade-off between scalability and solution quality due to the exponential growth of the joint state space of robots. In response, this work proposes SwarmPRM, a hierarchical, scalable, computationally efficient, and risk-aware sampling-based motion planning approach for large-scale swarm robots. SwarmPRM utilizes a Gaussian Mixture Model (GMM) to represent the swarm's macroscopic state and constructs a Probabilistic Roadmap in Gaussian space, referred to as the Gaussian roadmap, to generate a transport trajectory of GMM. This trajectory is then followed by each robot at the microscopic stage. To enhance trajectory safety, SwarmPRM incorporates the conditional value-at-risk (CVaR) in the collision checking process to impart the property of risk awareness to the constructed Gaussian roadmap. SwarmPRM then crafts a linear programming formulation to compute the optimal GMM transport trajectory within this roadmap. Extensive simulations demonstrate that SwarmPRM outperforms state-of-the-art methods in computational efficiency, scalability, and trajectory quality while offering the capability to adjust the risk tolerance of generated trajectories.

cs.RO↗
arXiv2024

Risk-Aware Non-Myopic Motion Planner for Large-Scale Robotic Swarm Using CVaR Constraints

Swarm robotics has garnered significant attention due to its ability to accomplish elaborate and synchronized tasks. Existing methodologies for motion planning of swarm robotic systems mainly encounter difficulties in scalability and safety guarantee. To address these limitations, we propose a Risk-aware swarm mOtion planner using conditional ValuE at Risk (ROVER) that systematically navigates large-scale swarms through cluttered environments while ensuring safety. ROVER formulates a finite-time model predictive control (FTMPC) problem predicated upon the macroscopic state of the robot swarm represented by a Gaussian Mixture Model (GMM) and integrates conditional value-at-risk (CVaR) to ensure collision avoidance. The key component of ROVER is imposing a CVaR constraint on the distribution of the Signed Distance Function between the swarm GMM and obstacles in the FTMPC to enforce collision avoidance. Utilizing the analytical expression of CVaR of a GMM derived in this work, we develop a computationally efficient solution to solve the non-linear constrained FTMPC through sequential linear programming. Simulations and comparisons with representative benchmark approaches demonstrate the effectiveness of ROVER in flexibility, scalability, and risk mitigation.

cs.RO↗
arXiv2024

Probabilistic Visibility-Aware Trajectory Planning for Target Tracking in Cluttered Environments

Target tracking has numerous significant civilian and military applications, and maintaining the visibility of the target plays a vital role in ensuring the success of the tracking task. Existing visibility-aware planners primarily focus on keeping the target within the limited field of view of an onboard sensor and avoiding obstacle occlusion. However, the negative impact of system uncertainty is often neglected, rendering the planners delicate to uncertainties in practice. To bridge the gap, this work proposes a real-time, non-myopic trajectory planner for visibility-aware and safe target tracking in the presence of system uncertainty. For more accurate target motion prediction, we introduce the concept of belief-space probability of detection (BPOD) to measure the predictive visibility of the target under stochastic robot and target states. An Extended Kalman Filter variant incorporating BPOD is developed to predict target belief state under uncertain visibility within the planning horizon. To reach real-time trajectory planning, we propose a computationally efficient algorithm to uniformly calculate both BPOD and the chance-constrained collision risk by utilizing linearized signed distance function (SDF), and then design a two-stage strategy for lightweight calculation of SDF in sequential convex programming. Extensive simulation results with benchmark comparisons show the capacity of the proposed approach to robustly maintain the visibility of the target under high system uncertainty. The practicality of the proposed trajectory planner is validated by real-world experiments.

cs.RO↗