arXiv subjects

Jin Wang

Publications and source records attributed to Jin Wang.

At least 55 records · Page 3Linked to original sources

arXiv2026

ARP: Enhancing Quantized Skill Abstractions via Visual Alignment and Iterative Refinement for Robotic Manipulation

Learning visuomotor policies for long-horizon manipulation remains a fundamental challenge. Recent skill-based imitation learning methods based on discrete quantization have shown promising results by representing complex behaviors as temporally extended skills. However, most existing approaches primarily encode action trajectories into latent skills, yielding weak visual-semantic grounding and limiting the ability to leverage visual observations for skill selection. Moreover, discrete tokenization inevitably incurs precision errors during continuous action generation. To alleviate these issues, we propose Aligned Refinement Policy (ARP), a discrete-skill framework that couples semantic grounding with execution-level refinement. Specifically, ARP introduces (i) a visual--action alignment objective that contrastively aligns visual embeddings with pre-quantized action representations in a shared latent space while preserving a state-independent skill decoder, and (ii) a lightweight Iterative Residual Head (IRH) that performs a two-step refinement to recover fine-grained control for precise execution. Extensive experiments show that ARP achieves state-of-the-art performance on the LIBERO and Meta-World benchmarks. Moreover, real-robot experiments on the Kuavo 4 Pro humanoid platform further validate its effectiveness, yielding consistent performance gains over several baselines on two challenging manipulation tasks.

cs.RO↗

arXiv2026

A Geometric Analysis-Based Safety Assessment Framework for Marine Vehicle Route Decision-Making

This paper develops a Geometric Analysis-based Route Safety Assessment (GARSA) framework to enhance the safety of marine vehicles navigating in restricted waters. Utilizing line and point geometric elements to define waterway boundaries, the framework enables the construction of a dynamic width characterization function to quantify spatial safety within complex restricted navigation spaces. An iterative method is developed to calculate the dynamic width characterization function, enabling an abstracted spatial property representation of waterways. Based on this, a navigational safety index that accounts for the overall route safety as well as the spatial constraints of local segments is created, enabling the selection of the safest waterway to pass through. Case studies in Hamburg Port and hypothetical waterways show that GARSA identifies spatial safety differences among routes. For example, GARSA assigned safety assessment values of 0.6 and 135 to two intra-port transit routes of 7,258 m and 7,845 m, respectively, with the higher value indicating a safer route. Overall, GARSA provides a quantitative basis for safety-oriented route decision-making of marine vehicles in restricted waters.

eess.SY↗

arXiv2026

Quantum Energy Teleportation under Equilibrium and Nonequilibrium Environments

Quantum energy teleportation (QET), implemented via local operations and classical communication, enables carrier-free energy transfer by exploiting quantum resources. While QET has been extensively studied theoretically and validated experimentally in various quantum platforms, enhancing energy output for mixed initial states, as the system inevitably interacts with environments, remains a significant challenge. In this work, we study QET performance in a two-qubit system coupled to equilibrium or nonequilibrium reservoirs. We derive an analytical expression for the energy output in terms of the system Hamiltonian eigenstates, enabling analysis of energy output for mixed states. Using the Redfield master equation, we systematically examine the effects of qubit detuning, nonequilibrium temperature difference, and nonequilibrium chemical potential difference on the energy output. We find that the energy output for mixed states often follows that of the eigenstate with the highest population, and that nonequilibrium environments can enhance the energy output in certain parameter regimes.

quant-ph↗

arXiv2026

Cross-modal Identity Mapping: Minimizing Information Loss in Modality Conversion via Reinforcement Learning

Large Vision-Language Models (LVLMs) often omit or misrepresent critical visual content in generated image captions. Minimizing such information loss will force LVLMs to focus on image details to generate precise descriptions. However, measuring information loss during modality conversion is inherently challenging due to the modal gap between visual content and text output. In this paper, we argue that the quality of an image caption is positively correlated with the similarity between images retrieved via text search using that caption. Based on this insight, we further propose Cross-modal Identity Mapping (CIM), a reinforcement learning framework that enhances image captioning without requiring additional annotations. Specifically, the method quantitatively evaluates the information loss from two perspectives: Gallery Representation Consistency and Query-gallery Image Relevance. Supervised under these metrics, LVLM minimizes information loss and aims to achieve identity mapping from images to captions. The experimental results demonstrate the superior performance of our method in image captioning, even when compared with Supervised Fine-Tuning. Particularly, on the COCO-LN500 benchmark, CIM achieves a 20% improvement in relation reasoning on Qwen2.5-VL-7B.

cs.CV↗

arXiv2026

Note on the local calculation of decoherence of quantum superposition in the static black holes

We investigate the decoherence of a quantum spatial superposition of a static particle in Schwarzschild and Reissner-Nordström black holes. By treating the particle as a localized classical source coupled to a quantum scalar field, we reformulate the decoherence process in the Danielson-Satishchandran-Wald (DSW) gedankenexperiment through coherent state generation and derive the local expression for the decoherence functional in terms of the Wightman function. In the long-time limit, the decoherence rate is shown to be characterized by the low-frequency behavior of the Wightman function. We then employ the asymptotic matching method to calculate the analytical expressions of the Wightman functions in the Boulware, Unruh, and Hartle-Hawking vacua. We show that the decoherence behavior depends on the quantum state of the environmental field. While the Boulware vacuum gives vanishing decoherence for a static superposition, the thermal effects associated with Hawking radiation in the Unruh and Hartle-Hawking vacua can induce nonvanishing decoherence.

gr-qc↗

arXiv2026

UMI-Bench 1.0: An Open and Reproducible Real-World Benchmark for Tabletop Robotic Manipulation with UMI Data

Real-robot evaluation is essential for understanding whether learned manipulation policies can operate reliably outside curated demonstrations. This need is particularly pressing for Universal Manipulation Interface (UMI)-style policies, whose performance depends on the coupling between wrist-view observations, action representation, data collection, and physical deployment. Existing real-world benchmarks have made important progress, but they are not designed around this UMI data-to-deployment setting. We present UMI-Bench 1.0, a local-first real-robot benchmark for standardized evaluation of UMI-style manipulation policies. To the best of our knowledge, this is the first benchmark dedicated to real-world evaluation of UMI-based manipulation models. UMI-Bench aligns data collection, scene reset, policy execution, result logging, and task-factor analysis within a unified protocol. By making the full evaluation process reproducible and auditable, UMI-Bench provides a practical testbed for measuring how UMI-trained policies generalize to real physical manipulation.

cs.RO↗

arXiv2026

Spontaneous translation of charged droplets during evaporation on dry surfaces

Evaporating sessile droplets are usually treated as capillary objects, but droplets generated by routine handling can carry tens to hundreds of picocoulombs of electric charge. Here we combine Faraday-cup charge measurements with optical imaging to determine how such charge evolves as water droplets evaporate on dry polymer substrates. A zero-time protocol shows that a reproducible initial charge is preserved on poly(methylpentene) (PMP), whereas PDMS, SOCAL-coated surfaces, and polystyrene either exchange, dissipate, or inject charge on contact. On PMP, ensemble-resolved measurements reveal two regimes: the charge remains nearly constant during early evaporation and then decreases abruptly once the droplet reaches a small-volume state. This charge collapse coincides with spontaneous lateral translation rather than jetting or breakup. A Rayleigh-normalized analysis, including a spherical-cap stress correction and measured contact-angle retention scale, shows that motion occurs only after evaporation drives the droplet into a high electro-pinning state. High-speed imaging and kinematic analysis support a picture in which the subsequent motion is governed by repeated contact-line depinning and re-pinning: the total distance traveled is strongly affected by dry-surface pinning, whereas the peak translational velocity serves as a more robust indicator of the discharge strength. These results identify a dry-substrate mode of evaporation-driven electrostatic relaxation, distinct from Coulomb fission on lubricated surfaces, in which substrate electrostatic passivity enables charge retention, droplet geometry selects the instability onset, and whole-droplet translation provides the charge-release pathway.

cond-mat.soft↗

arXiv2026

Addressing Imbalance in Multi-Label Data via Label-Specific Distance-based Oversampling

The complex imbalanced label distribution poses a crucial challenge to multi-label classification, as most classifiers are biased towards the majority class and high-frequent labels. Oversampling is an efficient and flexible solution that augments instances to provide a more balanced training dataset for multi-label classifiers. Most existing oversampling methods create synthetic instances in a heuristic way that essentially relies on neighborhood information retrieved using Euclidean distance within the entire feature space. However, they fail to consider the varying semantic relevance of features to different labels, leading to label inconsistency among proximate neighbors and further introducing label confusion and overfitting to synthetic instances. To overcome the above issue, we propose a novel sampling approach called Label-Specific Distance-based Multi-Label Oversampling (LSDMLO) that creates more useful and well-labeled synthetic instances to address the imbalance in multi-label datasets. LSDMLO derives the label-specific distance to identify label-consistent neighbors based on the weighted pertinent feature space, which facilitates selecting seed instances that express more label correlations in boundary areas and generating synthetic instances aligned with the label distribution of original data. The comprehensive experiments verify that the proposed LSDMLO outperforms the state-of-the-art multi-label sampling approaches under various base classifiers.

cs.LG↗

arXiv2026

Restoring Velocity Immunity via Dynamic Mirror Compensation in a Large-Area Dual-Atom-Interferometer Gyroscope

We propose and demonstrate a dynamical mirror compensation scheme to restore velocity immunity in a large-area dual-atom-interferometer gyroscope. In an ideal Mach-Zehnder configuration, the phase shift is inherently immune to atomic velocity, but this property is broken by the Earth's rotation via the Coriolis effect. We overcome this by actively rotating the Raman mirrors during the pulse sequence to cancel the time-dependent angular offset. The implementation relies on a decouplable calibration-compensation chain to remove rotation-induced time-dependent terms. The scheme is validated on a dual-atom-interferometer gyroscope with an interference area of 21.1 cm^2. After compensation, the phase's dependence on atomic velocity is reduced 40-fold, and the velocity contribution to scale-factor stability is evaluated to be 0.13 ppm. The sensor achieves a rotation sensitivity of 1.3\times10^{-8} rad/s/Hz^{1/2} and a stability of 1.9\times10^{-10} rad/s at 4500 s integration, together with a common-mode noise rejection ratio of up to 459, demonstrated in a seismic event. This work removes a key obstacle to scale-factor stabilization in atom-interferometer gyroscopes and paves the way for their applications in inertial navigation and geophysics.

physics.atom-ph↗

arXiv2026

TAGRPO: Boosting GRPO on Image-to-Video Generation with Direct Trajectory Alignment

Recent studies have demonstrated the efficacy of integrating Group Relative Policy Optimization (GRPO) into flow matching models, particularly for text-to-image and text-to-video generation. However, we find that directly applying these techniques to image-to-video (I2V) models often fails to yield consistent reward improvements. To address this limitation, we present TAGRPO, a robust post-training framework for I2V models inspired by contrastive learning. Our approach is grounded in the observation that rollout videos generated from identical initial noise provide superior guidance for optimization. Leveraging this insight, we propose a novel GRPO loss applied to intermediate latents, encouraging direct alignment with high-reward trajectories while maximizing distance from low-reward counterparts. Furthermore, we introduce a memory bank for rollout videos to enhance diversity and reduce computational overhead. Despite its simplicity, TAGRPO achieves significant improvements over DanceGRPO in I2V generation. The deliverables will be updated at https://tagrpo.github.io/ .

cs.CV↗

arXiv2026

Fast-dDrive: Efficient Block-Diffusion VLM for Autonomous Driving

End-to-end autonomous driving via Vision-Language-Action (VLA) models demands a precarious balance between high-fidelity trajectory planning and efficient inference. Existing paradigms typically fall short: autoregressive (AR) VLAs are memory-bandwidth-bound on edge hardware and prone to exposure-bias drift, while full-sequence diffusion models preclude KV-cache reuse and suffer from "logical leakage" that violates the fundamental perceive-then-plan causality. We present Fast-dDrive, a block-diffusion VLA that performs bidirectional refinement within semantic units while enforcing strict causal ordering across them. Leveraging the observation that driving VLAs often emit structured JSON-like outputs, Fast-dDrive freezes structural tokens into a section scaffold and employs a section-aware training recipe that prioritizes safety-critical planning. We further introduce Scaffold Speculative Decoding to achieve AR-equivalent quality at significantly higher throughput. Finally, we propose a low-overhead test-time scaling scheme: by forking $N$ stochastic trajectory rollouts from a single shared-prefix KV cache and averaging them, we effectively suppress prediction variance at a fractional computational cost. Empirical results demonstrate that Fast-dDrive redefines the speed-accuracy frontier for driving agents. On the WOD-E2E test set, Fast-dDrive achieves SOTA ADE@3s and ADE@5s, alongside the highest RFS among diffusion-based VLAs; on nuScenes, it reduces average L2 error to $0.32$m (a $22\%$ improvement). When integrated with SGLang, our framework delivers $12\times$ throughput speedup over the AR baseline, narrowing the gap between high-capacity VLAs and the efficiency demands of real-time on-vehicle deployment.

cs.CL↗

arXiv2026

A Dual-Dip Heterogeneous LPFG Sensing System via Annealing under Bending with Temperature and Humidity Compensation

Optical fiber multi parameter sensing is fundamentally constrained by cross-sensitivity and the complexity of multi sensor integration. Here, we present a dual-dip heterogeneous long-period fiber grating (LPFG) sensing platform enabled by bending assisted annealing, which introduces anisotropic refractive index redistribution and mode dependent coupling enhancement. This process yields enhanced sensitivity, improved dip contrast, and opposite spectral responses between dual resonance dips, providing intrinsic spectral heterogeneity. To overcome temperature cross sensitivity, a polymer-encapsulated cascaded LPFG-FBG architecture is developed, where the LPFG serves as the microbending sensitive element and the FBG acts as a reference channel. PDMS encapsulation enhances stress transfer and suppresses interfacial slippage, improving linearity and repeatability. As a result, the bending sensitivity increases from -3.44 to -8.97 nm per cm, and the detection limit improves from 0.017 to 0.006 cm. Building on this, a multi parameter sensing paradigm is established by integrating dual dip heterogeneity with LPFGFBG spectral orthogonality. With PAAm functionalization, the platform enables simultaneous and decoupled sensing of temperature, bending, and humidity, demonstrating scalable and versatile multi parameter capability. Overall, this work establishes a minimalistic yet robust paradigm for multi-parameter fiber-optic sensing, offering a scalable strategy for high-performance sensing in structural health monitoring and harsh environments.

physics.optics↗

arXiv2026

IPAD-CLIP: Teaching CLIP to Detect Image Local Perceptual Artifacts

Current image quality assessment methods are heavily biased towards global distortions (e.g., noise, blur), neglecting local perceptual artifacts such as ghosting, lens flare, and moire effects. Although significant progress has been made in artifact removal, the fundamental problem of automatic artifact detection remains largely unexplored. In this paper, we formalize the Image Perceptual Artifact Detection (IPAD) task to address this gap. We contribute a benchmark dataset comprising 3,520 artifact images, including 520 real-captured and 3,000 synthetic samples, each paired with pixel-level masks across three representative artifact categories. The core challenge of IPAD lies in the localized, subtle, and semantically weak nature of these artifacts, which makes them prone to missed detection. To overcome this, we introduce IPAD-CLIP, a novel framework built upon CLIP that enhances artifact discrimination in both textual and visual spaces while preserving generalization capabilities. Our key insight is that local artifacts often exhibit strong correlations with specific semantic contexts. Accordingly, we learn artifact-aware text embeddings to explicitly model the object-artifact relationships, resulting in enhanced representations that clear differentiate between clean and artifact prompts. These text embeddings are then used as anchors to shift the visual encoder's attention from high-level semantics to subtle, low-level artifacts. Extensive experiments demonstrate that IPAD-CLIP offers a resource-efficient adaptation of CLIP for detection, significantly outperforming advanced image anomaly detection and manipulation detection methods on our benchmark. To the best of our knowledge, this is the first study addressing multi-class local perceptual artifact detection in terms of both dataset and model.

cs.CV↗

arXiv2026

SwitchCodec: A High-Fidelity Nerual Audio Codec With Sparse Quantization

Neural audio compression has emerged as a promising technology for efficiently representing speech, music, and general audio. However, existing methods suffer from significant performance degradation at limited bitrates, where the available embedding space is sharply constrained. To address this, we propose a universal high-fidelity neural audio compression algorithm featuring Residual Experts Vector Quantization (REVQ), which substantially expands the embedding space with minimal impact on bandwidth. A gentle load-balancing strategy is introduced to ensure the full utilization of this expanded space. Furthermore, we develop a novel multi-tiered discriminator that periodically stratifies STFT spectra, guiding the generator to focus on critical spectral regions. To support multiple bitrates without quality loss at the lower end, we adopt an efficient post-training strategy. Our proposed model achieves impressive performance, with PESQ and ViSQOL scores of 2.87 and 4.27, respectively, at 2.67 kbps bandwidth. The approach effectively reduces spectral blur, decreasing the distance to the original mel-spectrogram by 13%. Notably, our post-training strategy achieves performance comparable to dedicated fixed-bitrate models while reducing the required training time by half. Extensive ablation studies confirm the superiority of our method over baselines.

cs.SD↗

arXiv2026

Switchcodec: Adaptive residual-expert sparse quantization for high-fidelity neural audio coding

Recent neural audio compression models often rely on residual vector quantization for high-fidelity coding, but using a fixed number of per-frame codebooks is suboptimal for the wide variability of audio content-especially for signals that are either very simple or highly complex. To address this limitation, we propose SwitchCodec, a neural audio codec based on Residual Experts Vector Quantization (REVQ). REVQ combines a shared quantizer with dynamically routed expert quantizers that are activated according to the input audio, decoupling bitrate from codebook capacity and improving compression efficiency. This design ensures full training and utilization of each quantizer. In addition, a variable-bitrate mechanism adjusts the number of active expert quantizers at inference, enabling multi-bitrate operation without retraining. Experiments demonstrate that SwitchCodec surpasses existing baselines on both objective metrics and subjective listening tests.

cs.SD↗

arXiv2026

Probing Unruh Effect from Enhanced Decoherence

We investigate the decoherence of an Unruh-DeWitt detector coupled to scalar, electromagnetic, and spinor fields in four-dimensional Minkowski spacetime. By employing the Schwinger-Keldysh influence functional formalism, we derive a universal scaling law relating the decoherence rate to the proper acceleration $a$ and the scaling dimension $Δ$ of the environmental field operator. By analyzing both sharp (top-hat) and smooth Gaussian switching functions, it is shown that the decoherence rate in the asymptotic long-time limit scales as $a^{2Δ-1}$. This scaling indicates that increasing scaling dimension of the coupling field operators can significantly enhance the decoherence, thereby providing a more sensitive probe of the Unruh effect.

gr-qc↗

arXiv2026

The trigger and localization system of SVOM-GRM

The Space multi-band Variable Object Monitor (SVOM) is an astronomical satellite jointly developed by China and France, primarily focused on the detection of gamma-ray bursts (GRBs) and transient sources. The SVOM satellite was launched on 22nd June, 2024 with four payloads installed onboard. As one of payload, GRM comprises 3 gamma-ray detectors (each detector has an effective area of approximately 200~cm$^{2}$) with distinct pointing directions, enabling the temporal and spectral measurements as well as localization of GRBs in the energy range of 15-5000 keV. This article firstly introduces the on-board localization algorithm design for GRM and presents preliminary test results. Then, leveraging abundant ground-based computational resources, a joint fitting method for spectral and localization analysis using Monte Carlo Markov Chain (MCMC) is implemented. In contrast to the on-board localization algorithm, the on-ground MCMC method comprehensively considers the influence of spectral characteristics, thereby mitigating systematic biases. Finally, a systematic analysis based on this method is provided, highlighting the localization and spectral measurement capabilities of GRM. The preliminary localization analysis result for the on-board detected GRB 240629A by both GRM and Fermi/GBM shows that the localization result (error$\sim$4.14$^{\circ}$) of GRM is consistent with the Fermi/GBM result.

astro-ph.IM↗

arXiv2026

Study on the detector energy response of SVOM/GRM

The SVOM mission is specifically designed to for the detection and localization of Gamma-Ray Bursts (GRBs) and subsequent follow-up observations. Among the four telescopes installed on the SVOM satellite, the Gamma-Ray Monitor (GRM) plays a crucial role in capturing the prompt emission of GRBs due to its wide field of view (FOV) and broad energy range. Accurate determination of the detector's energy response is vital for analyzing GRM data, particularly considering the significant impact of the atmospheric albedo effect on this response. This research focuses on deriving the detector's energy response and establishing a calibration database for the GRM, with particular emphasis on investigating the atmospheric albedo effect. The study shows that the contribution of albedo photons to the detector's effective area depends strongly on the orientation of the GRD line of sight (LoS) relative to Earth and on the incident direction of the GRB. When the GRD LoS is anti-Earth oriented, the albedo effect is minimal, with the highest proportion of albedo effective area accounting for approximately 10% of the total effective area. This occurs when the incident angle of the GRB is nearly perpendicular to the LoS. Conversely, if the GRD LoS is not pointing away from Earth and the GRB arrives from angles greater than about 90$^{\circ}$, the albedo component can become predominant, contributing up to around 100% of the total effective area. This is especially pronounced in the 8-20 keV range, where the direct effective area drops to zero due to the large GRB injection angle. Our results show that, it is necessary for GRM to consider the atmospheric albedo effects in detector response, otherwise the spectral and localization analyses will result in biased measurements.

astro-ph.HE↗