arXiv subjects

Hongyi Zhou

Publications and source records attributed to Hongyi Zhou.

At least 37 records · Page 2Linked to original sources

arXiv2025

A Lyapunov Framework for Quantum Algorithm Design in Combinatorial Optimization with Approximation Ratio Guarantees

In this work, we develop a framework aiming at designing quantum algorithms for combinatorial optimization problems while providing theoretical guarantees on their approximation ratios. The principal innovative aspect of our work is the construction of a time-dependent Lyapunov function that naturally induces a controlled Schrödinger evolution with a time dependent Hamiltonian for maximizing approximation ratios of algorithms. Because the approximation ratio depends on the optimal solution, which is typically elusive and difficult to ascertain a priori, the second novel component is to construct the upper bound of the optimal solution through the current quantum state. By enforcing the non-decreasing property of this Lyapunov function, we not only derive a class of quantum dynamics that can be simulated by quantum devices but also obtain rigorous bounds on the achievable approximation ratio. As a concrete demonstration, we apply our framework to Max-Cut problem, implementing it as an adaptive variational quantum algorithm based on a Hamiltonian ansatz. This algorithm avoids ansatz and graph structural assumptions and bypasses parameter training through a tunable parameter function integrated with measurement feedback.

quant-ph↗

arXiv2025

Practical Homodyne Shadow Estimation

Shadow estimation provides an efficient framework for estimating observable expectation values using randomized measurements. While originally developed for discrete-variable systems, its recent extensions to continuous-variable (CV) quantum systems face practical limitations due to idealized assumptions of continuous phase modulation and infinite measurement resolution. In this work, we develop a practical shadow estimation protocol for CV systems using discretized homodyne detection with a finite number of phase settings and quadrature bins. We construct an unbiased estimator for the quantum state and establish both sufficient conditions and necessary conditions for informational completeness within a truncated Fock space up to $n_{\mathrm{max}}$ photons. We further provide a comprehensive variance analysis, showing that the shadow norm scales as $\mathcal{O}(n_{\mathrm{max}}^4)$, improving upon previous $\mathcal{O}(n_{\mathrm{max}}^{13/3})$ bounds. Our work bridges the gap between theoretical shadow estimation and experimental implementations, enabling robust and scalable quantum state characterization in realistic CV systems.

quant-ph↗

arXiv2025

Quantum-Trajectory-Inspired Lindbladian Simulation

Simulating the dynamics of open quantum systems is a crucial task in quantum computing, offering wide-ranging applications but remaining computationally challenging. In this paper, we propose two quantum algorithms for simulating the dynamics of open quantum systems governed by Lindbladians. We introduce a new approximation channel for short-time evolution, inspired by the quantum trajectory method, which underpins the efficiency of our algorithms. The first algorithm achieves a gate complexity independent of the number of jump operators, $m$, marking a significant improvement in efficiency. The second algorithm achieves near-optimal dependence on the evolution time $t$ and precision $ε$ and introduces only an additional $\tilde{O}(m)$ factor, which strictly improves upon state-of-the-art gate-based quantum algorithm that has an $\tilde O(m^2)$ factor. The improvement stems from the integration of the new approximation channel with a novel structured linear combination of unitaries method. In both our algorithms, the reduction of dependence on $m$ significantly enhances the efficiency of simulating practical dissipative processes characterized by a large number of jump operators.

quant-ph↗

arXiv2025

Doubly Robust Alignment for Large Language Models

This paper studies reinforcement learning from human feedback (RLHF) for aligning large language models with human preferences. While RLHF has demonstrated promising results, many algorithms are highly sensitive to misspecifications in the underlying preference model (e.g., the Bradley-Terry model), the reference policy, or the reward function, resulting in undesirable fine-tuning. To address model misspecification, we propose a doubly robust preference optimization algorithm that remains consistent when either the preference model or the reference policy is correctly specified (without requiring both). Our proposal demonstrates superior and more robust performance than state-of-the-art algorithms, both in theory and in practice. The code is available at https://github.com/DRPO4LLM/DRPO4LLM

cs.LG↗

arXiv2025

BEAST: Efficient Tokenization of B-Splines Encoded Action Sequences for Imitation Learning

We present the B-spline Encoded Action Sequence Tokenizer (BEAST), a novel action tokenizer that encodes action sequences into compact discrete or continuous tokens using B-splines. In contrast to existing action tokenizers based on vector quantization or byte pair encoding, BEAST requires no separate tokenizer training and consistently produces tokens of uniform length, enabling fast action sequence generation via parallel decoding. Leveraging our B-spline formulation, BEAST inherently ensures generating smooth trajectories without discontinuities between adjacent segments. We extensively evaluate BEAST by integrating it with three distinct model architectures: a Variational Autoencoder (VAE) with continuous tokens, a decoder-only Transformer with discrete tokens, and Florence-2, a pretrained Vision-Language Model with an encoder-decoder architecture, demonstrating BEAST's compatibility and scalability with large pretrained models. We evaluate BEAST across three established benchmarks consisting of 166 simulated tasks and on three distinct robot settings with a total of 8 real-world tasks. Experimental results demonstrate that BEAST (i) significantly reduces both training and inference computational costs, and (ii) consistently generates smooth, high-frequency control signals suitable for continuous control tasks while (iii) reliably achieves competitive task success rates compared to state-of-the-art methods.

cs.RO↗

arXiv2025

IRIS: An Immersive Robot Interaction System

This paper introduces IRIS, an Immersive Robot Interaction System leveraging Extended Reality (XR). Existing XR-based systems enable efficient data collection but are often challenging to reproduce and reuse due to their specificity to particular robots, objects, simulators, and environments. IRIS addresses these issues by supporting immersive interaction and data collection across diverse simulators and real-world scenarios. It visualizes arbitrary rigid and deformable objects, robots from simulation, and integrates real-time sensor-generated point clouds for real-world applications. Additionally, IRIS enhances collaborative capabilities by enabling multiple users to simultaneously interact within the same virtual scene. Extensive experiments demonstrate that IRIS offers efficient and intuitive data collection in both simulated and real-world settings.

cs.RO↗

arXiv2025

MoRe-ERL: Learning Motion Residuals using Episodic Reinforcement Learning

We propose MoRe-ERL, a framework that combines Episodic Reinforcement Learning (ERL) and residual learning, which refines preplanned reference trajectories into safe, feasible, and efficient task-specific trajectories. This framework is general enough to incorporate into arbitrary ERL methods and motion generators seamlessly. MoRe-ERL identifies trajectory segments requiring modification while preserving critical task-related maneuvers. Then it generates smooth residual adjustments using B-Spline-based movement primitives to ensure adaptability to dynamic task contexts and smoothness in trajectory refinement. Experimental results demonstrate that residual learning significantly outperforms training from scratch using ERL methods, achieving superior sample efficiency and task performance. Hardware evaluations further validate the framework, showing that policies trained in simulation can be directly deployed in real-world systems, exhibiting a minimal sim-to-real gap.

cs.RO↗

arXiv2025

Finite Sample Analyses for Continuous-time Linear Systems: System Identification and Online Control

Real world evolves in continuous time but computations are done from finite samples. Therefore, we study algorithms using finite observations in continuous-time linear dynamical systems. We first study the system identification problem, and propose a first non-asymptotic error analysis with finite observations. Our algorithm identifies system parameters without needing integrated observations over certain time intervals, making it more practical for real-world applications. Further we propose a lower bound result that shows our estimator is provably optimal up to constant factors. Moreover, we apply the above algorithm to online control regret analysis for continuous-time linear system. Our system identification method allows us to explore more efficiently, enabling the swift detection of ineffective policies. We achieve a regret of $\mathcal{O}(\sqrt{T})$ over a single $T$-time horizon in a controllable system, requiring only $\mathcal{O}(T)$ observations of the system.

eess.SY↗

arXiv2025

FLOWER: Democratizing Generalist Robot Policies with Efficient Vision-Language-Action Flow Policies

Developing efficient Vision-Language-Action (VLA) policies is crucial for practical robotics deployment, yet current approaches face prohibitive computational costs and resource requirements. Existing diffusion-based VLA policies require multi-billion-parameter models and massive datasets to achieve strong performance. We tackle this efficiency challenge with two contributions: intermediate-modality fusion, which reallocates capacity to the diffusion head by pruning up to $50\%$ of LLM layers, and action-specific Global-AdaLN conditioning, which cuts parameters by $20\%$ through modular adaptation. We integrate these advances into a novel 950 M-parameter VLA called FLOWER. Pretrained in just 200 H100 GPU hours, FLOWER delivers competitive performance with bigger VLAs across $190$ tasks spanning ten simulation and real-world benchmarks and demonstrates robustness across diverse robotic embodiments. In addition, FLOWER achieves a new SoTA of 4.53 on the CALVIN ABC benchmark. Demos, code and pretrained weights are available at https://intuitive-robots.github.io/flower_vla/.

cs.RO↗

arXiv2025

Balancing Interference and Correlation in Spatial Experimental Designs: A Causal Graph Cut Approach

This paper focuses on the design of spatial experiments to optimize the amount of information derived from the experimental data and enhance the accuracy of the resulting causal effect estimator. We propose a surrogate function for the mean squared error (MSE) of the estimator, which facilitates the use of classical graph cut algorithms to learn the optimal design. Our proposal offers three key advances: (1) it accommodates moderate to large spatial interference effects; (2) it adapts to different spatial covariance functions; (3) it is computationally efficient. Theoretical results and numerical experiments based on synthetic environments and a dispatch simulator that models a city-scale ridesharing market, further validate the effectiveness of our design. A python implementation of our method is available at https://github.com/Mamba413/CausalGraphCut.

cs.LG↗

arXiv2025

Stochastic Quantum Hamiltonian Descent

Stochastic Gradient Descent (SGD) and its variants underpin modern machine learning by enabling efficient optimization of large-scale models. However, their local search nature limits exploration in complex landscapes. In this paper, we introduce Stochastic Quantum Hamiltonian Descent (SQHD), a quantum optimization algorithm that integrates the computational efficiency of stochastic gradient methods with the global exploration power of quantum dynamics. We propose a Lindbladian dynamics as the quantum analogue of continuous-time SGD. We further propose a discrete-time gate-based algorithm that approximates these dynamics while avoiding direct Lindbladian simulation, enabling practical implementation on near-term quantum devices. We rigorously prove the convergence of SQHD for convex and smooth objectives. Numerical experiments demonstrate that SQHD also exhibits advantages in non-convex optimization. All these results highlight its potential for quantum-enhanced machine learning.

quant-ph↗

arXiv2025

MonoMobility: Zero-Shot 3D Mobility Analysis from Monocular Videos

Accurately analyzing the motion parts and their motion attributes in dynamic environments is crucial for advancing key areas such as embodied intelligence. Addressing the limitations of existing methods that rely on dense multi-view images or detailed part-level annotations, we propose an innovative framework that can analyze 3D mobility from monocular videos in a zero-shot manner. This framework can precisely parse motion parts and motion attributes only using a monocular video, completely eliminating the need for annotated training data. Specifically, our method first constructs the scene geometry and roughly analyzes the motion parts and their initial motion attributes combining depth estimation, optical flow analysis and point cloud registration method, then employs 2D Gaussian splatting for scene representation. Building on this, we introduce an end-to-end dynamic scene optimization algorithm specifically designed for articulated objects, refining the initial analysis results to ensure the system can handle 'rotation', 'translation', and even complex movements ('rotation+translation'), demonstrating high flexibility and versatility. To validate the robustness and wide applicability of our method, we created a comprehensive dataset comprising both simulated and real-world scenarios. Experimental results show that our framework can effectively analyze articulated object motions in an annotation-free manner, showcasing its significant potential in future embodied intelligence applications.

cs.CV↗

arXiv2025

Demystifying the Paradox of Importance Sampling with an Estimated History-Dependent Behavior Policy in Off-Policy Evaluation

This paper studies off-policy evaluation (OPE) in reinforcement learning with a focus on behavior policy estimation for importance sampling. Prior work has shown empirically that estimating a history-dependent behavior policy can lead to lower mean squared error (MSE) even when the true behavior policy is Markovian. However, the question of why the use of history should lower MSE remains open. In this paper, we theoretically demystify this paradox by deriving a bias-variance decomposition of the MSE of ordinary importance sampling (IS) estimators, demonstrating that history-dependent behavior policy estimation decreases their asymptotic variances while increasing their finite-sample biases. Additionally, as the estimated behavior policy conditions on a longer history, we show a consistent decrease in variance. We extend these findings to a range of other OPE estimators, including the sequential IS estimator, the doubly robust estimator and the marginalized IS estimator, with the behavior policy estimated either parametrically or non-parametrically.

cs.LG↗

arXiv2025

TOP-ERL: Transformer-based Off-Policy Episodic Reinforcement Learning

This work introduces Transformer-based Off-Policy Episodic Reinforcement Learning (TOP-ERL), a novel algorithm that enables off-policy updates in the ERL framework. In ERL, policies predict entire action trajectories over multiple time steps instead of single actions at every time step. These trajectories are typically parameterized by trajectory generators such as Movement Primitives (MP), allowing for smooth and efficient exploration over long horizons while capturing high-level temporal correlations. However, ERL methods are often constrained to on-policy frameworks due to the difficulty of evaluating state-action values for entire action sequences, limiting their sample efficiency and preventing the use of more efficient off-policy architectures. TOP-ERL addresses this shortcoming by segmenting long action sequences and estimating the state-action values for each segment using a transformer-based critic architecture alongside an n-step return estimation. These contributions result in efficient and stable training that is reflected in the empirical results conducted on sophisticated robot learning environments. TOP-ERL significantly outperforms state-of-the-art RL methods. Thorough ablation studies additionally show the impact of key design choices on the model performance.

cs.LG↗

arXiv2025

Towards Fusing Point Cloud and Visual Representations for Imitation Learning

Learning for manipulation requires using policies that have access to rich sensory information such as point clouds or RGB images. Point clouds efficiently capture geometric structures, making them essential for manipulation tasks in imitation learning. In contrast, RGB images provide rich texture and semantic information that can be crucial for certain tasks. Existing approaches for fusing both modalities assign 2D image features to point clouds. However, such approaches often lose global contextual information from the original images. In this work, we propose FPV-Net, a novel imitation learning method that effectively combines the strengths of both point cloud and RGB modalities. Our method conditions the point-cloud encoder on global and local image tokens using adaptive layer norm conditioning, leveraging the beneficial properties of both modalities. Through extensive experiments on the challenging RoboCasa benchmark, we demonstrate the limitations of relying on either modality alone and show that our method achieves state-of-the-art performance across all tasks.

cs.RO↗

arXiv2025

X-IL: Exploring the Design Space of Imitation Learning Policies

Designing modern imitation learning (IL) policies requires making numerous decisions, including the selection of feature encoding, architecture, policy representation, and more. As the field rapidly advances, the range of available options continues to grow, creating a vast and largely unexplored design space for IL policies. In this work, we present X-IL, an accessible open-source framework designed to systematically explore this design space. The framework's modular design enables seamless swapping of policy components, such as backbones (e.g., Transformer, Mamba, xLSTM) and policy optimization techniques (e.g., Score-matching, Flow-matching). This flexibility facilitates comprehensive experimentation and has led to the discovery of novel policy configurations that outperform existing methods on recent robot learning benchmarks. Our experiments demonstrate not only significant performance gains but also provide valuable insights into the strengths and weaknesses of various design choices. This study serves as both a practical reference for practitioners and a foundation for guiding future research in imitation learning.

cs.RO↗

arXiv2025

Uniform-in-time weak propagation of chaos for consensus-based optimization

We study the uniform-in-time weak propagation of chaos for the consensus-based optimization (CBO) method on a bounded searching domain. We apply the methodology for studying long-time behaviors of interacting particle systems developed in the work of Delarue and Tse (ArXiv:2104.14973). Our work shows that the weak error has order $O(N^{-1})$ uniformly in time, where $N$ denotes the number of particles. The main strategy behind the proofs are the decomposition of the weak errors using the linearized Fokker-Planck equations and the exponential decay of their Sobolev norms. Consequently, our result leads to the joint convergence of the empirical distribution of the CBO particle system to the Dirac-delta distribution at the global minimizer in population size and running time in Wasserstein-type metrics.

math.OC↗

arXiv2024

BMP: Bridging the Gap between B-Spline and Movement Primitives

This work introduces B-spline Movement Primitives (BMPs), a new Movement Primitive (MP) variant that leverages B-splines for motion representation. B-splines are a well-known concept in motion planning due to their ability to generate complex, smooth trajectories with only a few control points while satisfying boundary conditions, i.e., passing through a specified desired position with desired velocity. However, current usages of B-splines tend to ignore the higher-order statistics in trajectory distributions, which limits their usage in imitation learning (IL) and reinforcement learning (RL), where modeling trajectory distribution is essential. In contrast, MPs are commonly used in IL and RL for their capacity to capture trajectory likelihoods and correlations. However, MPs are constrained by their abilities to satisfy boundary conditions and usually need extra terms in learning objectives to satisfy velocity constraints. By reformulating B-splines as MPs, represented through basis functions and weight parameters, BMPs combine the strengths of both approaches, allowing B-splines to capture higher-order statistics while retaining their ability to satisfy boundary conditions. Empirical results in IL and RL demonstrate that BMPs broaden the applicability of B-splines in robot learning and offer greater expressiveness compared to existing MP variants.

cs.RO↗