arXiv subjects

He Xu

Publications and source records attributed to He Xu.

At least 19 recordsLinked to original sources

arXiv2026

Living-Harness Is an Interactive-Agent Evolver

Large language model (LLM) agents may recover from a failure within an episode or after a retry, yet the same execution failure can recur in later tasks because post-episode feedback rarely revises the persistent harness that guides future interactions. Static harnesses improve reliability through fixed tools, context, memory, and workflow structures, but remain unchanged after deployment. We propose $\textbf{Living-Harness}$, a self-evolving agent harness that converts each completed trajectory and its evaluator signals into posterior evidence for bounded harness updates. Guided by a domain-level $\textbf{Evolution-SOP}$ ($\textbf{S}$tandard $\textbf{O}$perating $\textbf{P}$rocedure), Living-Harness extracts an episode abstraction and structured update evidence, and writes two complementary forms of procedural knowledge: episodic memory that records trigger conditions, failure patterns, and recovery actions, and a state graph that records state nodes, repair edges, and transition rules. The updated harness state is retrieved to guide future interactions, while tools and base context remain frozen, allowing procedural repairs to accumulate across evolution cycles. On eight interactive environments derived from $\tau^2$-Bench and MultiWOZ-2.4, Living-Harness improves average Pass@1 over the strongest interactive baseline by 10.07 and 9.91 percentage points, respectively, and supports retrieval-only reuse of the evolved harness state across model backbones. Our code will be made publicly available soon at https://github.com/anotherbricki/Living-Harness.

cs.MA↗

arXiv2026

Pipette: An Embodied Simulation Platform, Benchmark, and Data-Efficient Augmentation Framework for Wet-Lab Robotics

Wet-lab robots can improve the reproducibility, throughput, and safety of biomedical experiments, but scaling their learning requires customizable simulators for safe and reproducible task generation, open editable laboratory assets, and efficient pipelines that turn limited demonstrations into usable training data. We present Pipette, an embodied simulation platform, benchmark, and data-efficient augmentation framework for wet-lab robot learning. Pipette provides over 100 open-source and re-editable wet-lab assets through an extensible asset-building pipeline with built-in Tencent Hunyuan support for text- and image-conditioned 3D asset generation, and supports three robotic-arm embodiments through a unified simulation interface for task construction, data collection, augmentation, and evaluation. A key component of Pipette is its simulation-based data augmentation pipeline, which replays human demonstrations in simulation, applies lighting, camera, speed, and action perturbations, and filters generated episodes with automatic task success checks, rapidly expanding usable training data from limited manual demonstrations. We further introduce a 12-task wet-lab embodied benchmark covering sample handling, culture-ware manipulation, device operation, and precision placement. With only 30 demonstrations per task, ACT achieves 60.3% average success rate, while simulation augmentation improves SmolVLA from 40.4% to 71.8% and pi0 from 37.3% to 44.1%, validating the effectiveness of Pipette for data-efficient VLA training and evaluation. Pipette also supports natural-language-driven scene construction and task registration, lowering the barrier for non-expert users to define new wet-lab robotic tasks

cs.RO↗

arXiv2026

NTIRE 2026 The 3rd Restore Any Image Model (RAIM) Challenge: Multi-Exposure Image Fusion in Dynamic Scenes (Track 2)

This paper presents NTIRE 2026, the 3rd Restore Any Image Model (RAIM) challenge on multi-exposure image fusion in dynamic scenes. We introduce a benchmark that targets a practical yet difficult HDR imaging setting, where exposure bracketing must be fused under scene motion, illumination variation, and handheld camera jitter. The challenge data contains 100 training sequences with 7 exposure levels and 100 test sequences with 5 exposure levels, reflecting real-world scenarios that frequently cause misalignment and ghosting artefacts. We evaluate submissions with a leaderboard score derived from PSNR, SSIM, and LPIPS, while also considering perceptual quality, efficiency, and reproducibility during the final review. This track attracted 114 participating teams and received 987 submissions. The winning methods significantly improved the ability to remove artifacts from multi-exposure fusion and recover fine details. The dataset and the code of each team can be found at the repository: https://github.com/qulishen/RAIM-HDR.

cs.CV↗

arXiv2026

DOA Estimation for Low-Altitude Networks: HAD Architectures, Methods, and Challenges

With the rapid expansion of low-altitude economy (LAE) services and the growing demand for integrated sensing and communication (ISAC) in air-ground networks, reliable direction-of-arrival (DOA) estimation has become essential for both directional communication and sensing functions. DOA underpins beam alignment, spatial-reuse scheduling, and ISAC-critical tasks such as airspace situational awareness and multi-target monitoring. Hybrid analog-digital (HAD) architectures have emerged as a practical solution for large-aperture directional operation under stringent radio frequency (RF), analog-to-digital converter (ADC), and size, weight, and power (SWaP) constraints. However, HAD compresses antenna-domain observations through analog combining, fundamentally reshaping the measurement model and introducing new algorithmic and system-level challenges for DOA estimation. This article first reviews the principles and representative architectures of HAD, highlighting their advantages for scalable beam-centric and ISAC-oriented operation in LAE scenarios. We then provide a structured overview of HAD-enabled DOA estimation methodologies, including spatial covariance matrix (SCM) reconstruction, multi-combiner scan-based acquisition, and pilot-aided estimation, along with key design tradeoffs. Finally, we discuss open challenges and outline reliability-driven research directions toward robust, deployable HAD-enabled DOA solutions for practical ISAC-enabled low-altitude environments.

eess.SP↗

arXiv2025

Fluid Antenna Enabled Direction-of-Arrival Estimation Under Time-Constrained Mobility

Fluid antenna (FA) technology has emerged as a promising approach in wireless communications due to its capability of providing increased degrees of freedom (DoFs) and exceptional design flexibility. This paper addresses the challenge of direction-of-arrival (DOA) estimation for aligned received signals (ARS) and non-aligned received signals (NARS) by designing two specialized uniform FA structures under time-constrained mobility. For ARS scenarios, we propose a fully movable antenna configuration that maximizes the virtual array aperture, whereas for NARS scenarios, we design a structure incorporating a fixed reference antenna to reliably extract phase information from the signal covariance. To overcome the limitations of large virtual arrays and limited sample data inherent in time-varying channels (TVC), we introduce two novel DOA estimation methods: TMRLS-MUSIC for ARS, combining Toeplitz matrix reconstruction (TMR) with linear shrinkage (LS) estimation, and TMR-MUSIC for NARS, utilizing sub-covariance matrices to construct virtual array responses. Both methods employ Nystrom approximation to significantly reduce computational complexity while maintaining estimation accuracy. Theoretical analyses and extensive simulation results demonstrate that the proposed methods achieve underdetermined DOA estimation using minimal FA elements, outperform conventional methods in estimation accuracy, and substantially reduce computational complexity.

eess.SP↗

arXiv2025

The Future is Fluid: Revolutionizing DOA Estimation with Sparse Fluid Antennas

This paper investigates a design framework for sparse fluid antenna systems (FAS) enabling high-performance direction-of-arrival (DOA) estimation, particularly in challenging millimeter-wave (mmWave) environments. By ingeniously harnessing the mobility of fluid antenna (FA) elements, the proposed architectures achieve an extended range of spatial degrees of freedom (DoF) compared to conventional fixed-position antenna (FPA) arrays. This innovation not only facilitates the seamless application of super-resolution DOA estimators but also enables robust DOA estimation, accurately localizing more sources than the number of physical antenna elements. We introduce two bespoke FA array structures and mobility strategies tailored to scenarios with aligned and misaligned received signals, respectively, demonstrating a hardware-driven approach to overcoming complexities typically addressed by intricate algorithms. A key contribution is a light-of-sight (LoS)-centric, closed-form DOA estimator, which first employs an eigenvalue-ratio test for precise LoS path number detection, followed by a polynomial root-finding procedure. This method distinctly showcases the unique advantages of FAS by simplifying the estimation process while enhancing accuracy. Numerical results compellingly verify that the proposed FA array designs and estimation techniques yield an extended DoF range, deliver superior DOA accuracy, and maintain robustness across diverse signal conditions.

eess.SP↗

arXiv2025

Feature Selection Based on Reinforcement Learning and Hazard State Classification for Magnetic Adhesion Wall-Climbing Robots

Magnetic adhesion tracked wall-climbing robots face potential risks of overturning during high-altitude operations, making their stability crucial for ensuring safety. This study presents a dynamic feature selection method based on Proximal Policy Optimization (PPO) reinforcement learning, combined with typical machine learning models, aimed at improving the classification accuracy of hazardous states under complex operating conditions. Firstly, this work innovatively employs a fiber rod-based MEMS attitude sensor to collect vibration data from the robot and extract high-dimensional feature vectors in both time and frequency domains. Then, a reinforcement learning model is used to dynamically select the optimal feature subset, reducing feature redundancy and enhancing classification accuracy. Finally, a CNN-LSTM deep learning model is employed for classification and recognition. Experimental results demonstrate that the proposed method significantly improves the robot's ability to assess hazardous states across various operational scenarios, providing reliable technical support for robotic safety monitoring.

cs.RO↗

arXiv2025

The Sliding Flux Ramp Demodulation Algorithm with High Sampling Rate in Microwave SQUID Multiplexer

Microwave SQUID Multiplexing (uMUX) is a widely used technique in the low temperature detectors community as it offers high capacity of reading out large scale Transition-Edge Sensor (TES) arrays. In this paper, we propose a Sliding Flux Ramp Demodulation (SFRD) algorithm for uMUX readout system. It can achieve a sampling rate in the order of MHz while maintaining a multiplexing ratio about one thousand. Advancing of this large array readout technique makes it possible to observe scientiffc objects with improved time resolution and event count rate. This will be highly helpful for TES calorimeters in X-ray applications, such as X-ray astrophysics missions.

hep-ex↗

arXiv2025

From Partial Calibration to Full Potential: A Two-Stage Sparse DOA Estimation for Incoherently-Distributed Sources with Gain-Phase Uncertainty

Direction-of-arrival (DOA) estimation for incoherently distributed (ID) sources is essential in multipath wireless communication scenarios, yet it remains challenging due to the combined effects of angular spread and gain-phase uncertainties in antenna arrays. This paper presents a two-stage sparse DOA estimation framework, transitioning from partial calibration to full potential, under the generalized array manifold (GAM) framework. In the first stage, coarse DOA estimates are obtained by exploiting the output from a subset of partly-calibrated arrays (PCAs). In the second stage, these estimates are utilized to determine and compensate for gain-phase uncertainties across all array elements. Then a sparse total least-squares optimization problem is formulated and solved via alternating descent to refine the DOA estimates. Simulation results demonstrate that the proposed method attained improved estimation accuracy compared to existing approaches, while maintaining robustness against both noise and angular spread effects in practical multipath environments.

eess.SP↗

arXiv2025

Inhomogeneous Electric Fields for Precise Control and Displacement of Polar Textures

Since the discovery of polar topological textures, achieving efficient control and manipulation of them has emerged as a significant challenge for their integration into nanoelectronic devices. In this study, we use second principles molecular dynamic simulations to demonstrate the precise and reversible control of domain arrangements stabilizing diverse polarization textures through the application of various inhomogeneous electric fields. Furthermore, we conduct an in-depth study of ferroelectric domain motion under such fields, revealing features consistent with creep dynamics and establishing an upper limit for their propagation speed. Notably, our findings show that domain walls exhibit an asymmetric inertial response, present at the onset of the dynamics but absent during their cessation. These findings provide valuable insights into the dynamic behavior of polar textures, paving the way for the development of high-speed, low-power nanoelectronic applications.

cond-mat.mtrl-sci↗

arXiv2024

Improved ICNN-LSTM Model Classification Based on Attitude Sensor Data for Hazardous State Assessment of Magnetic Adhesion Climbing Wall Robots

Magnetic adhesion tracked climbing robots are widely utilized in high-altitude inspection, welding, and cleaning tasks due to their ability to perform various operations against gravity on vertical or inclined walls. However, during operation, the robot may experience overturning torque caused by its own weight and load, which can lead to the detachment of magnetic plates and subsequently pose safety risks. This paper proposes an improved ICNN-LSTM network classification method based on Micro-Electro-Mechanical Systems (MEMS) attitude sensor data for real-time monitoring and assessment of hazardous states in magnetic adhesion tracked climbing robots. Firstly, a data acquisition strategy for attitude sensors capable of capturing minute vibrations is designed. Secondly, a feature extraction and classification model combining an Improved Convolutional Neural Network (ICNN) with a Long Short-Term Memory (LSTM) network is proposed. Experimental validation demonstrates that the proposed minute vibration sensing method achieves significant results, and the proposed classification model consistently exhibits high accuracy compared to other models. The research findings provide effective technical support for the safe operation of climbing robots

cs.RO↗

arXiv2024

Performance of the Gamma-ray Transient Monitor at the IHEP Electron-Beam Facility

Gamma-Ray Transient Monitor (GTM) is an all-sky monitor onboard the Distant Retrograde Orbit-A (DRO-A) satellite, with the scientific objective of detecting gamma-ray bursts in the energy range of 20 keV to 1 MeV. GTM is equipped with five Gamma-Ray Transient Probes (GTPs), utilizing NaI(Tl) scintillators coupled with silicon photomultiplier (SiPM) arrays for signal readout. To test the performance of the GTP in detecting electrons, we used the IHEP Electron-Beam Facility (a continuous-energy-tunable, low-current, quasi-single-electron accelerator) for ground-based electron tests of the GTP. This paper provides a detailed description of the operating principles of the electron accelerator and presents the process and results of the GTP electron-beam tests. The test results show that the GTP has a dead time of less than 4 $\mu$s for normal signals and approximately 70 $\mu$s for overflow signals, consistent with the design specifications. The time-recording capability of the GTP was tested and found to be normal, with accurate recording of overflow events. The GTP's response to electrons in the 0.4-1.4 MeV range is also normal. Additionally, we used Geant4 to simulate the GTP's energy response and performed a comparative analysis of the simulation and experimental results. The performance tests and ground-based electron calibration validated the design of the GTP and enhanced the GTP's mass model, laying the foundation for payload development, in-orbit observation strategies, and scientific data analysis.

astro-ph.IM↗

arXiv2023

Insight-HXMT on-orbit thermal control status and thermal deformation impact analysis

Purpose: The Hard X-ray Modulation Telescope is China's first X-ray astronomy satellite launched on June 15th, 2017, dubbed Insight-HXMT. Active and passive thermal control measures are employed to keep devices at suitable temperatures. In this paper, we analyzed the on-orbit thermal monitoring data of the first 5 years and investigated the effect of thermal deformation on the point spread function (PSF) of the telescopes. Methods: We examined the data of the on-orbit temperatures measured using 157 thermistors placed on the collimators, detectors and their support structures and compared the results with the thermal control requirements. The thermal deformation was evaluated by the relative orientation of the two star sensors installed on the main support structure. its effect was estimated with evolution of the PSF obtained with calibration scanning observations of the Crab nebula. Conclusion: The on-orbit temperatures met the thermal control requirements thus far, and the effect of thermal deformation on the PSF was negligible after the on-orbit pointing calibration.

astro-ph.IM↗

arXiv2022

The 100-m X-ray Test Facility at IHEP

The 100-m X-ray Test Facility of the Institute of High Energy Physics (IHEP) was initially proposed in 2012 for the test and calibration of the X-ray detectors of the Hard X-ray Modulation Telescope (HXMT) with the capability to support future X-ray missions. The large instrument chamber connected with a long vacuum tube can accommodate the X-ray mirror, focal plane detector and other instruments. The X-ray sources are installed at the other end of the vacuum tube with a distance of 105 m, which can provide an almost parallel X-ray beam covering 0.2$\sim$60 keV energy band. The X-ray mirror modules of the Einstein Probe (EP) and the enhanced X-ray Timing and Polarimetry mission (eXTP) and payload of the Gravitational wave high-energy Electromagnetic Counterpart All-sky Monitor (GECAM) have been tested and calibrated with this facility. It has been also used to characterize the focal plane camera and aluminum filter used on the Einstein Probe. In this paper, we will introduce the overall configuration and capability of the facility, and give a brief introduction of some calibration results performed with this facility.

astro-ph.IM↗

arXiv2022

Biomimetic Evaluation of an Underwater Soft Hand Through Deep Learning-based 3D Pose Reconstruction

Soft robotic hand shows considerable promise for various grasping applications. However, the sensing and reconstruction of the robot pose will cause limitation during the design and fabrication. In this work, we present a novel 3D pose reconstruction approach to analyze the grasping motion of a bidirectional soft robotic hand using experiment videos. The images from top, front, back, left, right view were collected using an one-camera-multiple-mirror imaging device. The coordinate and orientation information of soft fingers are detected based on deep learning methods. Faster RCNN model is used to detect the position of fingertips, while U-Net model is applied to calculate the side boundary of the fingers. Based on the kinematics, the corresponding coordinate and orientation databases are established. The 3D pose reconstructed result presents a satisfactory performance and good accuracy. Using efficacy coefficient method, the finger contribution of the bending angle and distance between fingers of soft robot hand is analyzed by compared with that of human hand. The results show that the soft robot hand perform a human-like motion in both single-direction and bidirectional grasping.

cs.RO↗

arXiv2021

Underwater Soft Robotic Hand with Multi-Source Coupling Bio-Inspired Soft Palm and Six Fingers Driven by Water Hydraulic

A new fluid-driven soft robot hand in this study uses the idea of the bionics and has the anthropomorphic form, which is oriented to the flexible grasp function. The soft robot hand is composed of a new kind of multi-freedom soft finger and soft palm, which realizes the characteristic grasping function of forehand and backhand. Combined with the fine fluid control system, the soft hand can realize flexible grasping under high pressure, so as to realize flexible grasping operation for different types of target objects in the underwater environment. The soft robot hand was controlled based on water hydraulic platform, Finally, the soft robot hand and the fine fluid control system were connected to form the underwater soft robot hand experiment platform.

cs.RO↗

arXiv2021

The design of the Ali CMB Polarization Telescope receiver

Ali CMB Polarization Telescope (AliCPT-1) is the first CMB degree-scale polarimeter to be deployed on the Tibetan plateau at 5,250m above sea level. AliCPT-1 is a 90/150 GHz 72 cm aperture, two-lens refracting telescope cooled down to 4 K. Alumina lenses, 800mm in diameter, image the CMB in a 33.4{\deg} field of view on a 636mm wide focal plane. The modularized focal plane consists of dichroic polarization-sensitive Transition-Edge Sensors (TESes). Each module includes 1,704 optically active TESes fabricated on a 150mm diameter silicon wafer. Each TES array is read out with a microwave multiplexing readout system capable of a multiplexing factor up to 2,048. Such a large multiplexing factor has allowed the practical deployment of tens of thousands of detectors, enabling the design of a receiver that can operate up to 19 TES arrays for a total of 32,376 TESes. AliCPT-1 leverages the technological advancements in the detector design from multiple generations of previously successful feedhorn-coupled polarimeters, and in the instrument design from BICEP-3, but applied on a larger scale. The cryostat receiver is currently under integration and testing. During the first deployment year, the focal plane will be populated with up to 4 TES arrays. Further TES arrays will be deployed in the following years, fully populating the focal plane with 19 arrays on the fourth deployment year. Here we present the AliCPT-1 receiver design, and how the design has been optimized to meet the experimental requirements.

astro-ph.IM↗

arXiv2020

Hybrid Modeling Application in Control Valve

In view of the serious nonlinearity, time-varying and parameter uncertainty in the physical model of regulating valve, a prediction model of flow rate and pressure of regulating valve based on mixed model was proposed.According to the physical model of the regulator, the parameters that can represent the operation state of the regulator are analyzed, and the relevant parameters are identified by unbiased LSSVM method.The DAMADICS simulation results show that the model can predict the output of flow rate and pressure with better accuracy, which can provide guidance for the design of automatic control valve or fault diagnosis system.

eess.SY↗