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Jingbo Wang

Publications and source records attributed to Jingbo Wang.

At least 37 records · Page 2Linked to original sources
arXiv2026

Quantum walk-based optimisation for capacitated vehicle routing with homogeneous and heterogeneous fleets

The capacitated vehicle routing problem (CVRP) is an appealing candidate for quantum optimisation due to its combinatorial complexity and practical importance. However, the problem's constrained search space poses a challenge for such quantum algorithms. We introduce a quantum walk-based optimisation algorithm (QWOA) for the CVRP with homogeneous or heterogeneous vehicle fleets, addressing this challenge through a continuous-time quantum walk over a product space that coincides with combinatorial structures intrinsic to the CVRP solution space. Relative to the prior QWOA-based formulation, this approach reduces the per-layer gate complexity from $\mathcal{O}(n^{3}\log n)$ to $\mathcal{O}(n^{2}\log n)$ and supports a circuit parameterisation schedule generated by a fixed number of classical parameters. Exact state-vector simulation on instances with up to $n=8$ customers and $K=3$ vehicles demonstrates improved convergence to low-cost solutions using markedly fewer objective function evaluations, with the advantage broadening as problem size increases. These results identify structured product-space walks as a promising tool for optimisation over constrained combinatorial spaces.

quant-ph↗
arXiv2026

RoboNaldo: Accurate, Stable and Powerful Humanoid Soccer Shooting via Motion-Guided Curriculum Reinforcement Learning

Elite humanoid soccer shooting requires whole-body stability, high-impulse whole-body interactions, and accuracy to targets. Motion tracking-driven reinforcement learning (RL) provides stability in whole-body movement coordination, but a fixed reference makes it hard to adapt to varied ball positions and strike timings; in contrast, task reward-driven RL struggles to explore and discover valid kicks from scratch. We therefore introduce RoboNaldo, a three-stage motion-guided curriculum RL framework for high-impulse humanoid interaction. A single human-kick reference is used as a scaffold and progressively shifts optimization towards shooting performance. The curriculum first learns a stable whole-body kicking prior, then adapts the kick to free-kick settings where the ball is stationary at random positions, and finally extends it to moving-ball shooting through a locomotion-command and kick-trigger interface. A high-level heuristic planner controls this interface during training, while alternative high-level controllers can drive the same low-level policy at inference. In simulation, RoboNaldo demonstrates free-kick shot error 48.6% lower and shoot velocity 2.96x than prior work baselines. In real world on a Unitree G1 with onboard perception, RoboNaldo attains 0.73 m and 0.86 m average target shooting error from 3 m away in free-kick and moving-ball cases, accordingly. And the post-contact ball velocity reaches 13.10 m/s, which is 59-71% of reported professional open-play shot speed. Project page: https://opendrivelab.com/RoboNaldo.

cs.RO↗
arXiv2026

The Analysis of the Influence of Coordinate Error of Observation Station On the Construction Accuracy of Pulsar Time

\abstract{Errors in observatory coordinates directly impact the precision of pulsar time-scale construction. Using the pulsar timing software TEMPO2, this study simulates various station position errors within the three-dimensional terrestrial reference frame for three different types of millisecond pulsars, over periods of 13 days and 5 years, and analyzes their effects on pulsar timing results.The findings demonstrate that,for both 13-day and 5-year observation spans, station coordinate errors substantially reduce the accuracy of pulsar timescale construction when the zenith angle exhibits long-term variations. This effect is independent of pulsar type and the daily observable time of the station antenna for the pulsar. A linear relationship is found between station coordinate errors and the Root-Mean-Square (RMS) of pulsar timing residuals, with fitted linear coefficients ranging from $1.36 \times 10^{-11}$ to $1.61 \times 10^{-9}$ for the three pulsars. The Roemer delay error caused by coordinate inaccuracies is notably larger than other delay and correction terms. Errors along the x- and y-axes have comparable influences on timing precision, whereas errors along the z-axis have a relatively smaller effect. Kendall correlation analysis between station error-induced Roemer delay and RMS yields a correlation coefficient $r = 1.67\%$ and $p = 100\%$ in all cases, indicating that, at current timing precision levels, coordinate errors primarily affect the Roemer delay term and thus the pulse arrival times, which is highly consistent with theoretical models.While these findings offer valuable insights into the key factors influencing pulsar timescale accuracy and related applications, they may not hold under conditions of a constant zenith angle or limited elevation angles, such as those at FAST.}

astro-ph.IM↗
arXiv2026

Solving 2D Black Scholes Equation via Hermitian Block Embedding and Generalised Quantum Signal Processing

The Black Scholes equation provides a fundamental model for the no arbitrage pricing of financial derivatives. After finite difference discretisation, the pricing problem can be formulated as a finite dimensional linear algebra problem involving the inverse of a non Hermitian time step matrix. Recent advances in quantum linear algebra algorithms, particularly the generalised quantum signal processing (GQSP)algorithm, enable matrix functions to be implemented through polynomial transformations of a suitable unitary or Hermitian form. In this paper, we develop a Hermitian block embedding method that enables GQSP to be applied to the two dimensional Black Scholes equation. Numerical simulations for two asset European call options are performed to evaluate the proposed approach. GQSP based solutions are benchmarked against the classical polynomial approximation with backward Euler finite difference method, showing close agreement. This indicates that the Hermitian block embedding construction accurately captures the dynamics of the original non Hermitian operator. These results demonstrate the feasibility of combining Hermitian block embeddings with GQSP for multidimensional Black Scholes problems and provide a proof of principle for applying modern quantum linear algebra techniques to option pricing.

quant-ph↗
arXiv2026

SL-BiLEM: Structured Learnable Behavior-in-the-Loop Epidemic Modeling for Forecasting and Policy Evaluation

Epidemic forecasting faces a fundamental challenge: human behavior dynamically responds to disease spread, creating feedback loops that induce distribution shifts at policy intervention points. This renders data-driven models unreliable under distribution shift. We propose \textbf{SL-BiLEM} (Structured Learnable Behavior-in-the-Loop Epidemic Model), leveraging physical constraints as regularization for robust extrapolation. The framework decomposes effective transmission as $\beta_{\text{eff}}(t,g) = \beta_0(g) \times m_{\text{policy}}(t) \times m_{\text{media}}(t) \times m_{\text{comp}}(t,g)$, where monotonicity, smoothness, and bounded-jump constraints on the learned compliance function maintain predictive validity under novel policy regimes. Beyond forecasting, SL-BiLEM enables counterfactual analysis for intervention decision support. We validate forecasting on three real-world datasets (cruise ship, school influenza, and school-district COVID-19 surveillance) and evaluate counterfactual recovery on synthetic benchmarks with known ground truth. SL-BiLEM demonstrates: (1) 76\% improvement over neural-mechanistic baselines, with only 53\% OOD degradation versus 1142\% for neural baselines under policy-induced shift; (2) 100\% bootstrap CI coverage across 27 synthetic counterfactual experiments; and (3) Treatment Effect Accuracy exceeding 0.85. These results establish SL-BiLEM as an interpretable tool for public health decision-makers seeking accurate prediction and principled intervention planning.

cs.LG↗
arXiv2026

Imagine2Real: Towards Zero-shot Humanoid-Object Interaction via Video Generative Priors

Whole-body Humanoid-Object Interaction (HOI) is bottlenecked by the scarcity of high-fidelity 3D data. While video generative priors offer a promising alternative, existing methods suffer from \textit{Representation Misalignment} due to their reliance on geometric priors (e.g., explicit CAD models), and \textit{Retargeting Complexity} arising from intensive morphing and morphological mismatch. We propose Imagine2Real, a zero-shot HOI framework for flexible, geometry-free interaction. To resolve misalignment, we formulate robot and object motions as unified 4D point trajectories. To overcome retargeting complexity, our Keypoints Tracker tracks only sparse critical points (base, hands, and object), entirely bypassing the error-amplifying retargeting process. To maintain natural gaits despite these sparse signals, we utilize the latent space of a Behavior Foundation Model (BFM) as the tracker's search domain. Using a progressive training strategy, Imagine2Real learns robust behaviors with simple tracking rewards, enabling zero-shot physical deployment within a motion capture(mocap) system.

cs.RO↗
arXiv2026

Easier to Judge than to Find: Predicting In-Context Learning Success for Demonstration Selection

In-context learning (ICL) is highly sensitive to which demonstrations appear in the prompt, but selecting them is expensive because the space of possible demonstration contexts and combinations is enormous. We argue that demonstration selection is \emph{easier to judge than to find}: predicting whether a specific query--context pair $(q,D)$ will succeed is cheaper and more general than searching for an optimal $D^\star$. Based on this insight, we propose DiSP, a sample-and-judge framework that stratifies queries by difficulty. DiSP runs random demonstration trials to estimate success rate of each training query, trains a lightweight router to predict difficulty from the query, and trains level-specific judges for sampled demonstrations. At inference, DiSP performs stop-on-acceptance judging under an explicit budget, emitting diagnostic risk tags when no suitable context is found. Across five classification datasets with Llama~3--8B and Qwen~2.5--7B, DiSP achieves the best average accuracy, improving over strong learned selection baselines by up to 3.4\%, while achieving up to $23\times$ end-to-end wall-clock speedup.

cs.CL↗
arXiv2026

HyParLyVe: Hyperplane Partitioning for Neural Lyapunov Verification

This work introduces HyParLyVe (Hyperplane Partitioned Lyapunov Verifier), a novel algorithm for sound and complete verification of neural Lyapunov candidates by interpreting shallow ReLU networks as hyperplane arrangements. This perspective reduces positive definiteness verification to a finite set of vertex evaluations, and the decrease condition to a bounded optimization problem over each region. We formally prove correctness of the proposed verification procedures and demonstrate that HyParLyVe achieves significant speedups over state-of-the-art methods.

eess.SY↗
arXiv2026

Constraints on Ultralight Scalar and Dark Photon Dark Matter from PPTA-DR3 and EPTA-DR2

The cold dark matter model successfully describes the Universe on large scales, yet faces challenges at sub-galactic scales. Ultralight dark matter (ULDM), with particle masses around $10^{-22} \mathrm{eV}$, offers a promising solution to these small-scale issues. Pulsar Timing Arrays (PTAs), designed to detect nanohertz gravitational waves, can also provide a sensitive probe for ULDM signals. In this work, we perform a Bayesian search for ULDM using PTA data sets, focusing on two types of signals: the oscillatory gravitational potential from scalar ULDM and the fifth-force interaction mediated by dark photon dark matter (DPDM). We incorporate pulsar distances in the analysis to better model the ULDM density. No statistically significant evidence for ULDM has been found, therefore we place 95% confidence-level upper limits on the relevant parameters. For scalar ULDM, our analysis does not exclude the scenario in which ULDM constitutes all of dark matter. The constraints from PPTA-DR3 show significant improvements over the earlier PPTA-DR2 (2018 Preview) across most of the mass range, and are consistent with the recent uncorrelated limits from other PTAs. We also present for the first time the DPDM constraints using EPTA data. The obtained bounds on the DPDM from the EPTA-DR2 and PPTA-DR3 are comparable to existing constraints.

astro-ph.CO↗
arXiv2026

Targeted search for eccentric supermassive binary black holes in OJ 287 and nearby galaxy clusters with PPTA DR3

We perform Bayesian targeted searches for continuous gravitational waves from eccentric supermassive binary black holes (SMBBHs) using the Parkes Pulsar Timing Array third data release (PPTA DR3). Six electromagnetically motivated sky directions are analyzed, including the blazar OJ~287 and five nearby galaxy clusters (Virgo, Fornax, Norma, Hercules, and Coma). No significant signals are found. For OJ 287, by explicitly incorporating orbital eccentricity (up to $e_0 = 0.8$) to robustly capture signal power spread across multiple harmonics, we constrain the total binary mass to $M_{\rm tot} < 5.25 \times 10^{10} M_{\odot}$ (95\% credible level). We also place upper limits on the chirp mass of potential SMBBHs residing in galaxy clusters. By combining these limits with independent black hole mass estimates, we place novel constraints on the allowed binary mass ratios for potential hosts such as M87 and NGC~4889. Specifically, our results exclude binaries with mass ratios $q \gtrsim 10^{-2}$ at around 10 nHz for these massive systems, effectively ruling out equal-mass black hole mergers in the sampled parameter space. These findings demonstrate the growing power of pulsar timing arrays to probe SMBBH populations.

astro-ph.GA↗
arXiv2026

Ferromagnetic interlayer exchange coupling in a few layers of CrSBr on a gold thin film

The two-dimensional character of van der Waals magnets allows for efficient control of their properties via proximity effects and electrical stimuli, making them promising candidates for application in spin-electronics. We use spin-polarized low energy electron microscopy to directly image the magnetic texture of thin CrSBr on top of a Au film, uncovering a ferromagnetic ground state for CrSBr thicknesses smaller than 11 nm. We argue that the stabilization of the ferromagnetic ordering - as compared to the conventional antiferromagnetic one - is obtained via electron transfer from the Au film to the CrSBr flakes, in agreement with ab-initio density functional theory calculations. Reflected-electron spectroscopy shows clear differences in the unoccupied density of states between a few layers of CrSBr on Au and bulk CrSBr, pointing towards electronic band structure modification in thin CrSBr. This work sheds light on the possibility to tune magnetic properties of two-dimensional magnets via substrate engineering.

cond-mat.mtrl-sci↗
arXiv2026

Non-variational supervised quantum kernel methods: a review

Quantum kernel methods (QKMs) have emerged as a prominent framework for supervised quantum machine learning. Unlike variational quantum algorithms, which rely on gradient-based optimisation and may suffer from issues such as barren plateaus, non-variational QKMs employ fixed quantum feature maps, with model selection performed classically via convex optimisation and cross-validation. This separation of quantum feature embedding from classical training ensures stable optimisation while leveraging quantum circuits to encode data in high-dimensional Hilbert spaces. In this review, we provide a thorough analysis of non-variational supervised QKMs, covering their foundations in classical kernel theory, constructions of fidelity and projected quantum kernels, and methods for their estimation in practice. We examine frameworks for assessing quantum advantage, including generalisation bounds and necessary conditions for separation from classical models, and analyse key challenges such as exponential concentration, dequantisation via tensor-network methods, and the spectral properties of kernel integral operators. We further discuss structured problem classes that may enable advantage, and synthesise insights from comparative and hardware studies. Overall, this review aims to clarify the regimes in which QKMs may offer genuine advantages, and to delineate the conceptual, methodological, and technical obstacles that must be overcome for practical quantum-enhanced learning.

quant-ph↗
arXiv2026

SMASH: Mastering Scalable Whole-Body Skills for Humanoid Ping-Pong with Egocentric Vision

Existing humanoid table tennis systems remain limited by their reliance on external sensing and their inability to achieve agile whole-body coordination for precise task execution. These limitations stem from two core challenges: achieving low-latency and robust onboard egocentric perception under fast robot motion, and obtaining sufficiently diverse task-aligned strike motions for learning precise yet natural whole-body behaviors. In this work, we present \methodname, a modular system for agile humanoid table tennis that unifies scalable whole-body skill learning with onboard egocentric perception, eliminating the need for external cameras during deployment. Our work advances prior humanoid table-tennis systems in three key aspects. First, we achieve agile and precise ball interaction with tightly coordinated whole-body control, rather than relying on decoupled upper- and lower-body behaviors. This enables the system to exhibit diverse strike motions, including explosive whole-body smashes and low crouching shots. Second, by augmenting and diversifying strike motions with a generative model, our framework benefits from scalable motion priors and produces natural, robust striking behaviors across a wide workspace. Third, to the best of our knowledge, we demonstrate the first humanoid table-tennis system capable of consecutive strikes using onboard sensing alone, despite the challenges of low-latency perception, ego-motion-induced instability, and limited field of view. Extensive real-world experiments demonstrate stable and precise ball exchanges under high-speed conditions, validating scalable, perception-driven whole-body skill learning for dynamic humanoid interaction tasks.

cs.RO↗
arXiv2026

Feel Robot Feels: Tactile Feedback Array Glove for Dexterous Manipulation

Teleoperation is a key approach for collecting high-quality, physically consistent demonstrations for robotic manipulation. However, teleoperation for dexterous manipulation remains constrained by: (i) inaccurate hand-robot motion mapping, which limits teleoperated dexterity, and (ii) limited tactile feedback that forces vision-dominated interaction and hinders perception of contact geometry and force variation. To address these challenges, we present TAG, a low-cost glove system that integrates precise hand motion capture with high-resolution tactile feedback, enabling effective tactile-in-the-loop dexterous teleoperation. For motion capture, TAG employs a non-contact magnetic sensing design that provides drift-free, electromagnetically robust 21-DoF joint tracking with joint angle estimation errors below 1 degree. Meanwhile, to restore tactile sensation, TAG equips each finger with a 32-actuator tactile array within a compact 2 cm^2 module, allowing operators to directly feel physical interactions at the robot end-effector through spatial activation patterns. Through real-world teleoperation experiments and user studies, we show that TAG enables reliable real-time perception of contact geometry and dynamic force, improves success rates in contact-rich teleoperation tasks, and increases the reliability of demonstration data collection for learning-based manipulation.

cs.RO↗
arXiv2026

DFM-VLA: Iterative Action Refinement for Robot Manipulation via Discrete Flow Matching

Vision-Language-Action (VLA) models that encode actions using a discrete tokenization scheme have been widely adopted for robotic manipulation, but existing decoding paradigms remain fundamentally limited. Whether actions are decoded sequentially by autoregressive VLAs or in parallel by discrete diffusion VLAs, once a token is generated, it is typically fixed and cannot be revised in subsequent iterations. Consequently, early token errors cannot be effectively corrected later. We propose DFM-VLA, a discrete flow matching VLA that iteratively refines action tokens. DFM-VLA models a token-level probability velocity field that dynamically updates the full action sequence across refinement iterations. We investigate two approaches to constructing the velocity field: an auxiliary velocity-head formulation and an embedding-guided formulation. To further improve prediction accuracy, we introduce a metric-aligned action tokenizer (MAAT) tailored to the coarse-to-fine nature of DFM, together with a two-stage decoding strategy. Extensive experiments on CALVIN, LIBERO, LIBERO-Plus, and real-world manipulation tasks demonstrate the effectiveness of our approach. Our project is available at https://chris1220313648.github.io/DFM-VLA/.

cs.RO↗
arXiv2026

Fast-dVLA: Accelerating Discrete Diffusion VLA to Real-Time Performance

This paper proposes a novel approach to address the challenge that pretrained VLA models often fail to effectively improve performance and reduce adaptation costs during standard supervised finetuning (SFT). Some advanced finetuning methods with auxiliary training objectives can improve performance and reduce the number of convergence steps. However, they typically incur significant computational overhead due to the additional losses from auxiliary tasks. To simultaneously achieve the enhanced capabilities of auxiliary training with the simplicity of standard SFT, we decouple the two objectives of auxiliary task training within the parameter space, namely, enhancing general capabilities and fitting task-specific action distributions. To deliver this goal, we only need to train the model to converge on a small-scale task set using two distinct training strategies. The difference between the resulting model parameters can then be interpreted as capability vectors provided by auxiliary tasks. These vectors are then merged with pretrained parameters to form a capability-enhanced meta model. Moreover, when standard SFT is augmented with a lightweight orthogonal regularization loss, the merged model attains performance comparable to auxiliary finetuned baselines with reduced computational overhead. Experimental results demonstrate that this approach is highly effective across diverse robot tasks. Project page: https://chris1220313648.github.io/Fast-dVLA/

cs.RO↗
arXiv2026

Controllable Text-to-Motion Generation via Modular Body-Part Phase Control

Text-to-motion (T2M) generation is becoming a practical tool for animation and interactive avatars. However, modifying specific body parts while maintaining overall motion coherence remains challenging. Existing methods typically rely on cumbersome, high-dimensional joint constraints (e.g., trajectories), which hinder user-friendly, iterative refinement. To address this, we propose Modular Body-Part Phase Control, a plug-and-play framework enabling structured, localized editing via a compact, scalar-based phase interface. By modeling body-part latent motion channels as sinusoidal phase signals characterized by amplitude, frequency, phase shift, and offset, we extract interpretable codes that capture part-specific dynamics. A modular Phase ControlNet branch then injects this signal via residual feature modulation, seamlessly decoupling control from the generative backbone. Experiments on both diffusion- and flow-based models demonstrate that our approach provides predictable and fine-grained control over motion magnitude, speed, and timing. It preserves global motion coherence and offers a practical paradigm for controllable T2M generation. Project page: https://jixiii.github.io/bp-phase-project-page/

cs.CV↗
arXiv2026

Learning Athletic Humanoid Tennis Skills from Imperfect Human Motion Data

Human athletes demonstrate versatile and highly-dynamic tennis skills to successfully conduct competitive rallies with a high-speed tennis ball. However, reproducing such behaviors on humanoid robots is difficult, partially due to the lack of perfect humanoid action data or human kinematic motion data in tennis scenarios as reference. In this work, we propose LATENT, a system that Learns Athletic humanoid TEnnis skills from imperfect human motioN daTa. The imperfect human motion data consist only of motion fragments that capture the primitive skills used when playing tennis rather than precise and complete human-tennis motion sequences from real-world tennis matches, thereby significantly reducing the difficulty of data collection. Our key insight is that, despite being imperfect, such quasi-realistic data still provide priors about human primitive skills in tennis scenarios. With further correction and composition, we learn a humanoid policy that can consistently strike incoming balls under a wide range of conditions and return them to target locations, while preserving natural motion styles. We also propose a series of designs for robust sim-to-real transfer and deploy our policy on the Unitree G1 humanoid robot. Our method achieves surprising results in the real world and can stably sustain multi-shot rallies with human players. Project page: https://zzk273.github.io/LATENT/

cs.RO↗