arXiv subjects

Jingbo Wang

Publications and source records attributed to Jingbo Wang.

At least 73 records · Page 4Linked to original sources

arXiv2026

A Multimessenger Search for the Supermassive Black Hole Binary in 3C 66B with the Parkes Pulsar Timing Array

A subparsec supermassive black hole binary (SMBHB) at the center of the galaxy 3C 66B is a promising candidate for continuous gravitational-wave searches with pulsar timing arrays (PTAs). In this work, we search for such a signal in the third data release of the Parkes Pulsar Timing Array. Matching our priors to estimates of binary parameters from electromagnetic observations, we find a log Bayes factor $\ln B = - 0.0027(7)$, highlighting that the source can be neither confirmed nor ruled out. We place upper limits at $95\%$ credibility on the chirp mass $M < 6.90 \times 10^{8}\ M_{\odot}$, and on the characteristic strain amplitude $\textrm{log}_{10}(h_0)< -14.44$. This partially rules out the parameter space suggested by electromagnetic (EM) observations of 3C 66B. We also independently reproduce the calculation of the chirp mass with the 3 mm flux monitor data from the unresolved core of 3C 66B. Based on this, we outline a new methodology for constructing a joint likelihood of EM and gravitational-wave data from SMBHBs. Finally, we suggest that targeted searches may allow firmly established SMBHB candidates to be treated as standard sirens, for complementary constraints on the Universe expansion rate.

astro-ph.HE↗

arXiv2026

CLOT: Closed-Loop Global Motion Tracking for Whole-Body Humanoid Teleoperation

Long-horizon whole-body humanoid teleoperation remains challenging due to accumulated global pose drift, particularly on full-sized humanoids. Although recent learning-based tracking methods enable agile and coordinated motions, they typically operate in the robot's local frame and neglect global pose feedback, leading to drift and instability during extended execution. In this work, we present CLOT, a real-time whole-body humanoid teleoperation system that achieves closed-loop global motion tracking via high-frequency localization feedback. CLOT synchronizes operator and robot poses in a closed loop, enabling drift-free human-to-humanoid mimicry over long timehorizons. However, directly imposing global tracking rewards in reinforcement learning, often results in aggressive and brittle corrections. To address this, we propose a data-driven randomization strategy that decouples observation trajectories from reward evaluation, enabling smooth and stable global corrections. We further regularize the policy with an adversarial motion prior to suppress unnatural behaviors. To support CLOT, we collect 20 hours of carefully curated human motion data for training the humanoid teleoperation policy. We design a transformer-based policy and train it for over 1300 GPU hours. The policy is deployed on a full-sized humanoid with 31 DoF (excluding hands). Both simulation and real-world experiments verify high-dynamic motion, high-precision tracking, and strong robustness in sim-to-real humanoid teleoperation. Motion data, demos and code can be found in our website.

cs.RO↗

arXiv2026

FRAPPE: Infusing World Modeling into Generalist Policies via Multiple Future Representation Alignment

Enabling VLA models to predict environmental dynamics, known as world modeling, has been recognized as essential for improving robotic reasoning and generalization. However, current approaches face two main issues: 1. The training objective forces models to over-emphasize pixel-level reconstruction, which constrains semantic learning and generalization 2. Reliance on predicted future observations during inference often leads to error accumulation. To address these challenges, we introduce Future Representation Alignment via Parallel Progressive Expansion (FRAPPE). Our method adopts a two-stage fine-tuning strategy: In the mid-training phase, the model learns to predict the latent representations of future observations; In the post-training phase, we expand the computational workload in parallel and align the representation simultaneously with multiple different visual foundation models. By significantly improving fine-tuning efficiency and reducing dependence on action-annotated data, FRAPPE provides a scalable and data-efficient pathway to enhance world-awareness in generalist robotic policies. Experiments on the RoboTwin benchmark and real-world tasks demonstrate that FRAPPE outperforms state-of-the-art approaches and shows strong generalization in long-horizon and unseen scenarios.

cs.RO↗

arXiv2026

Quantum Reservoir Computing with Neutral Atoms on a Small, Complex, Medical Dataset

Biomarker-based prediction of clinical outcomes is challenging due to nonlinear relationships, correlated features, and the limited size of many medical datasets. Classical machine-learning methods can struggle under these conditions, motivating the search for alternatives. In this work, we investigate quantum reservoir computing (QRC), using both noiseless emulation and hardware execution on the neutral-atom Rydberg processor \textit{Aquila}. We evaluate performance with six classical machine-learning models and use SHAP to generate feature subsets. We find that models trained on emulated quantum features achieve mean test accuracies comparable to those trained on classical features, but have higher training accuracies and greater variability over data splits, consistent with overfitting. When comparing hardware execution of QRC to noiseless emulation, the models are more robust over different data splits and often exhibit statistically significant improvements in mean test accuracy. This combination of improved accuracy and increased stability is suggestive of a regularising effect induced by hardware execution. To investigate the origin of this behaviour, we examine the statistical differences between hardware and emulated quantum feature distributions. We find that hardware execution applies a structured, time-dependent transformation characterised by compression toward the mean and a progressive reduction in mutual information relative to emulation.

quant-ph↗

arXiv2026

Searching for Anisotropy in the Gravitational Wave Background Using the Parkes Pulsar Timing Array

In recent years, several pulsar timing array collaborations have reported evidence for a nanohertz gravitational wave background (GWB). Such a background signal could be produced by supermassive binary black holes, early-Universe processes such as inflation and phase transitions, or a mixture of both. One way to disentangle different contributions to the GWB is to search for anisotropic signatures. In this work, we search for anisotropy in the GWB using the third data release of the Parkes Pulsar Timing Array. Our analysis employs both the radiometer method and the spherical harmonic basis to characterize the distribution of GWB power across the sky. We calculate the angular power in the lowest five frequency bins and compare it with detection thresholds determined under the null hypothesis of isotropy. In the 5.26 nHz frequency bin, we identify a hotspot in the reconstructed sky map with a $p$-value of $0.016$ (the lowest in our analysis), which we attribute to noise fluctuations. While our search reveals no statistically significant anisotropy, we expect that the precise measurement of angular power spectrum of the GWB will become instrumental in determining the origin of the nanohertz GWB signal.

astro-ph.HE↗

arXiv2026

RoboStriker: Hierarchical Decision-Making for Autonomous Humanoid Boxing

Achieving human-level competitive intelligence and physical agility in humanoid robots remains a major challenge, particularly in contact-rich and highly dynamic tasks such as boxing. While Multi-Agent Reinforcement Learning (MARL) offers a principled framework for strategic interaction, its direct application to humanoid control is hindered by high-dimensional contact dynamics and the absence of strong physical motion priors. We propose RoboStriker, a hierarchical three-stage framework that enables fully autonomous humanoid boxing by decoupling high-level strategic reasoning from low-level physical execution. The framework first learns a comprehensive repertoire of boxing skills by training a single-agent motion tracker on human motion capture data. These skills are subsequently distilled into a structured latent manifold, regularized by projecting the Gaussian-parameterized distribution onto a unit hypersphere. This topological constraint effectively confines exploration to the subspace of physically plausible motions. In the final stage, we introduce Latent-Space Neural Fictitious Self-Play (LS-NFSP), where competing agents learn competitive tactics by interacting within the latent action space rather than the raw motor space, significantly stabilizing multi-agent training. Experimental results demonstrate that RoboStriker achieves superior competitive performance in simulation and exhibits sim-to-real transfer. Our website is available at RoboStriker.

cs.RO↗

arXiv2026

Orchestrating Intelligence: Confidence-Aware Routing for Efficient Multi-Agent Collaboration across Multi-Scale Models

While multi-agent systems (MAS) have demonstrated superior performance over single-agent approaches in complex reasoning tasks, they often suffer from significant computational inefficiencies. Existing frameworks typically deploy large language models (LLMs) uniformly across all agent roles, failing to account for the varying cognitive demands of different reasoning stages. We address this inefficiency by proposing OI-MAS framework, a novel multi-agent framework that implements an adaptive model-selection policy across a heterogeneous pool of multi-scale LLMs. Specifically, OI-MAS introduces a state-dependent routing mechanism that dynamically selects agent roles and model scales throughout the reasoning process. In addition, we introduce a confidence-aware mechanism that selects appropriate model scales conditioned on task complexity, thus reducing unnecessary reliance on large-scale models. Experimental results show that OI-MAS consistently outperforms baseline multi-agent systems, improving accuracy by up to 12.88\% while reducing cost by up to 79.78\%.

cs.AI↗

arXiv2026

QSteed: A Resource-Virtualized and Hardware-Aware Quantum Compilation Framework for Real Quantum Computing Processors

As quantum computing systems continue to scale up and become more clustered, efficiently compiling user quantum programs into high fidelity executable sequences on real hardware remains a key challenge for current quantum compilation systems. In this study, we introduce a system software framework that integrates resource virtualization and hardware aware compilation for real quantum computing processors, termed QSteed. QSteed virtualizes quantum processors through a four layer abstraction hierarchy comprising the Real Quantum Processing Unit (QPU), Standard QPU (StdQPU), Substructure of the QPU (SubQPU), and Virtual QPU (VQPU). These abstractions, together with calibration data, device topology, and noise descriptors, are maintained in a dedicated database to enable unified and fine grained management across superconducting quantum platforms. At run time, the modular compiler queries the database to match each incoming circuit with the most suitable VQPU, after which it confines layout, routing, gate resynthesis, and noise adaptive optimizations to that virtual subregion. The complete stack has been deployed on the Quafu superconducting cluster, where experimental runs confirm the correctness of the virtualization model and the efficacy of the compiler without requiring modifications to user code. By integrating resource virtualization with a select-then-compile workflow, QSteed demonstrates a robust architecture for compiling programs on noisy superconducting processors. This architectural approach offers a promising path towards efficient compilation needs across various superconducting quantum computing platforms in the noisy intermediate scale quantum (NISQ) era.

quant-ph↗

arXiv2026

EgoReAct: Egocentric Video-Driven 3D Human Reaction Generation

Humans exhibit adaptive, context-sensitive responses to egocentric visual input. However, faithfully modeling such reactions from egocentric video remains challenging due to the dual requirements of strictly causal generation and precise 3D spatial alignment. To tackle this problem, we first construct the Human Reaction Dataset (HRD) to address data scarcity and misalignment by building a spatially aligned egocentric video-reaction dataset, as existing datasets (e.g., ViMo) suffer from significant spatial inconsistency between the egocentric video and reaction motion, e.g., dynamically moving motions are always paired with fixed-camera videos. Leveraging HRD, we present EgoReAct, the first autoregressive framework that generates 3D-aligned human reaction motions from egocentric video streams in real-time. We first compress the reaction motion into a compact yet expressive latent space via a Vector Quantised-Variational AutoEncoder and then train a Generative Pre-trained Transformer for reaction generation from the visual input. EgoReAct incorporates 3D dynamic features, i.e., metric depth, and head dynamics during the generation, which effectively enhance spatial grounding. Extensive experiments demonstrate that EgoReAct achieves remarkably higher realism, spatial consistency, and generation efficiency compared with prior methods, while maintaining strict causality during generation. We will release code, models, and data upon acceptance.

cs.CV↗

arXiv2026

Quantum optimisation applied to the Quadratic Assignment Problem

This paper investigates the performance of the emerging non-variational Quantum Walk-based Optimisation Algorithm (NV-QWOA) for solving small instances of the Quadratic Assignment Problem (QAP). NV-QWOA is benchmarked against classical heuristics, the MaxMin Ant System (MMAS) and Greedy Local Search (GLS), as well as the Grover quantum search algorithm, which serves as a quantum baseline. Performance is evaluated using two metrics: the number of objective function evaluations and the number of algorithm iterations required to consistently reach optimal or near optimal solutions across QAP instances with 5 to 10 facilities. The motivation for this study stems from limitations of both classical exact methods and current quantum algorithms. Variational Quantum Algorithms (VQAs), such as QAOA and VQE, while widely studied, suffer from costly parameter tuning and barren plateaus that hinder convergence. By adopting a non-variational approach, this work explores a potentially more efficient and scalable quantum strategy for combinatorial optimisation. The results provide a direct comparative analysis between classical and quantum frameworks, characterising the average case performance of NV-QWOA. Our findings highlight the practical utility of quantum walks for complex combinatorial problems and establish a foundation for future quantum optimisation algorithms.

quant-ph↗

arXiv2025

Benchmarking Lie-Algebraic Pretraining and Non-Variational QWOA for the MaxCut Problem

The Quantum Approximate Optimization Algorithm (QAOA) is a leading candidate for achieving quantum advantage in combinatorial optimization on Near-Term Intermediate-Scale Quantum (NISQ) devices. However, random initialization of the variational parameters typically leads to vanishing gradients, rendering standard variational optimization ineffective. This paper provides a comparative performance analysis of two distinct strategies designed to improve trainability: Lie algebraic pretraining framework that uses Lie-algebraic classical simulation to find near-optimal initializations, and non-variational QWOA (NV-QWOA) that targets a restrict parameter subspace covered by 3 hyperparameters. We benchmark both methods on the unweighted Maxcut problem using a circuit depth of $p = 256$ across 200 Erdős-Rényi and 200 3-regular graphs, each with 16 vertices. Both approaches significantly improve upon the standard randomly initialized QWOA. NV-QWOA attains a mean approximation ratio of 98.9\% in just 60 iterations, while the Lie-algebraic pretrained QWOA improves to 77.71\% after 500 iterations. That optimization proceeds more quickly for NV-QWOA is not surprising given its significantly smaller parameter space, however, that an algorithm with so few tunable parameters reliably finds near-optimal solutions is remarkable. These findings suggest that the structured parameterization of NV-QWOA offers a more robust training approach than pretraining on lower-dimensional auxiliary problems. Future work is needed to confirm scaling to larger problem sizes and to asses generalization to other problem classes.

quant-ph↗

arXiv2025

Learning Generalizable Hand-Object Tracking from Synthetic Demonstrations

We present a system for learning generalizable hand-object tracking controllers purely from synthetic data, without requiring any human demonstrations. Our approach makes two key contributions: (1) HOP, a Hand-Object Planner, which can synthesize diverse hand-object trajectories; and (2) HOT, a Hand-Object Tracker that bridges synthetic-to-physical transfer through reinforcement learning and interaction imitation learning, delivering a generalizable controller conditioned on target hand-object states. Our method extends to diverse object shapes and hand morphologies. Through extensive evaluations, we show that our approach enables dexterous hands to track challenging, long-horizon sequences including object re-arrangement and agile in-hand reorientation. These results represent a significant step toward scalable foundation controllers for manipulation that can learn entirely from synthetic data, breaking the data bottleneck that has long constrained progress in dexterous manipulation.

cs.RO↗

arXiv2025

Search for Gravitational Wave Memory in PPTA and EPTA Data: A Complete Signal Model

We perform searches for gravitational wave memory in the data of two major Pulsar Timing Array (PTA) experiments located in Europe and Australia. Supermassive black hole binaries (SMBHBs) are the primary sources of gravitational waves in PTA experiments. We develop and carry out the first search for late inspirals and mergers of these sources based on full numerical relativity waveforms with null (nonlinear) gravitational wave memory. Additionally, we search for generic bursts of null gravitational wave memory, exploring possibilities of reducing the computational cost of these searches through kernel density and normalizing flow approximation of the posteriors. We rule out the mergers of SMBHBs with a chirp mass of 10^10 Solar Mass up to 700 Mpc over 18 years of observation at 95% credibility. We rule out the observation of generic displacement memory bursts with strain amplitudes > 10^-14 in brief periods of the observation time but across the sky, or over the whole observation time but for certain preferred sky positions, at 95%$credibility.

gr-qc↗

arXiv2025

Unveiling the Impact of Data and Model Scaling on High-Level Control for Humanoid Robots

Data scaling has long remained a critical bottleneck in robot learning. For humanoid robots, human videos and motion data are abundant and widely available, offering a free and large-scale data source. Besides, the semantics related to the motions enable modality alignment and high-level robot control learning. However, how to effectively mine raw video, extract robot-learnable representations, and leverage them for scalable learning remains an open problem. To address this, we introduce Humanoid-Union, a large-scale dataset generated through an autonomous pipeline, comprising over 260 hours of diverse, high-quality humanoid robot motion data with semantic annotations derived from human motion videos. The dataset can be further expanded via the same pipeline. Building on this data resource, we propose SCHUR, a scalable learning framework designed to explore the impact of large-scale data on high-level control in humanoid robots. Experimental results demonstrate that SCHUR achieves high robot motion generation quality and strong text-motion alignment under data and model scaling, with 37\% reconstruction improvement under MPJPE and 25\% alignment improvement under FID comparing with previous methods. Its effectiveness is further validated through deployment in real-world humanoid robot.

cs.RO↗

arXiv2025

Gallant: Voxel Grid-based Humanoid Locomotion and Local-navigation across 3D Constrained Terrains

Robust humanoid locomotion requires accurate and globally consistent perception of the surrounding 3D environment. However, existing perception modules, mainly based on depth images or elevation maps, offer only partial and locally flattened views of the environment, failing to capture the full 3D structure. This paper presents Gallant, a voxel-grid-based framework for humanoid locomotion and local navigation in 3D constrained terrains. It leverages voxelized LiDAR data as a lightweight and structured perceptual representation, and employs a z-grouped 2D CNN to map this representation to the control policy, enabling fully end-to-end optimization. A high-fidelity LiDAR simulation that dynamically generates realistic observations is developed to support scalable, LiDAR-based training and ensure sim-to-real consistency. Experimental results show that Gallant's broader perceptual coverage facilitates the use of a single policy that goes beyond the limitations of previous methods confined to ground-level obstacles, extending to lateral clutter, overhead constraints, multi-level structures, and narrow passages. Gallant also firstly achieves near 100% success rates in challenging scenarios such as stair climbing and stepping onto elevated platforms through improved end-to-end optimization.

cs.RO↗

arXiv2025

Study of Four nulling pulsars with FAST

We present an analysis of 4 nulling pulsars with the Five-hundred-meter Aperture Spherical radio Telescope (FAST). For PSR J1649+2533, our results suggest mode changing rather than subpulse drifting as previously reported at lower frequencies. For PSR J1752+2359, we confirm its quasi-periodic switching between distinct emission states, but further show that the so-called "quasi-null" or "RRAT-like" state actually consists of persistent low-level emission superposed with occasional bright pulses. For PSR J1819+1305, our data confirm the modulation reported earlier, while additional weaker features are also seen. For PSR J1916+1023, we detect both nulling and subpulse drifting, but find no clear evidence of direct interaction between them. These results provide new insights into the diverse manifestations of pulsar nulling, highlight the capability of FAST to detect subtle emission states, and add to the growing body of work on pulsar emission variability.

astro-ph.HE↗

arXiv2025

Hybrid Dynamics Modeling and Trajectory Planning for a Cable-Trailer System with a Quadruped Robot

Inspired by sled-pulling dogs in transportation, we present a cable-trailer integrated with a quadruped robot system. The motion planning of this system faces challenges due to the interactions between the cable's state transitions, the trailer's nonholonomic constraints, and the system's underactuation. To address these challenges, we first develop a hybrid dynamics model that captures the cable's taut and slack states. A search algorithm is then introduced to compute a suboptimal trajectory while incorporating mode transitions. Additionally, we propose a novel collision avoidance constraint based on geometric polygons to formulate the trajectory optimization problem for the hybrid system. The proposed method is implemented on a Unitree A1 quadruped robot with a customized cable-trailer and validated through experiments. The real system demonstrates both agile and safe motion with cable mode transitions.

cs.RO↗

arXiv2025

MOSPA: Human Motion Generation Driven by Spatial Audio

Enabling virtual humans to dynamically and realistically respond to diverse auditory stimuli remains a key challenge in character animation, demanding the integration of perceptual modeling and motion synthesis. Despite its significance, this task remains largely unexplored. Most previous works have primarily focused on mapping modalities like speech, audio, and music to generate human motion. As of yet, these models typically overlook the impact of spatial features encoded in spatial audio signals on human motion. To bridge this gap and enable high-quality modeling of human movements in response to spatial audio, we introduce the first comprehensive Spatial Audio-Driven Human Motion (SAM) dataset, which contains diverse and high-quality spatial audio and motion data. For benchmarking, we develop a simple yet effective diffusion-based generative framework for human MOtion generation driven by SPatial Audio, termed MOSPA, which faithfully captures the relationship between body motion and spatial audio through an effective fusion mechanism. Once trained, MOSPA can generate diverse, realistic human motions conditioned on varying spatial audio inputs. We perform a thorough investigation of the proposed dataset and conduct extensive experiments for benchmarking, where our method achieves state-of-the-art performance on this task. Our code and model are publicly available at https://github.com/xsy27/Mospa-Acoustic-driven-Motion-Generation

cs.GR↗