arXiv subjects

Jingbo Wang

Publications and source records attributed to Jingbo Wang.

At least 91 records · Page 5Linked to original sources

arXiv2025

Spatial Forcing: Implicit Spatial Representation Alignment for Vision-language-action Model

Vision-language-action (VLA) models have recently shown strong potential in enabling robots to follow language instructions and execute precise actions. However, most VLAs are built upon vision-language models pretrained solely on 2D data, which lack accurate spatial awareness and hinder their ability to operate in the 3D physical world. Existing solutions attempt to incorporate explicit 3D sensor inputs such as depth maps or point clouds, but these approaches face challenges due to sensor noise, hardware heterogeneity, and incomplete depth coverage in existing datasets. Alternative methods that estimate 3D cues from 2D images also suffer from the limited performance of depth estimators. We propose Spatial Forcing (SF), a simple yet effective alignment strategy that implicitly forces VLA models to develop spatial comprehension capabilities without relying on explicit 3D inputs or depth estimators. SF aligns intermediate visual embeddings of VLAs with geometric representations produced by pretrained 3D foundation models. By enforcing alignment at intermediate layers, SF guides VLAs to encode richer spatial representations that enhance action precision. Extensive experiments in simulation and real-world environments demonstrate that SF achieves state-of-the-art results, surpassing both 2D- and 3D-based VLAs. SF further accelerates training by up to 3.8x and improves data efficiency across diverse robotic tasks. Project page is at https://spatial-forcing.github.io/

cs.RO↗

arXiv2025

LLM Based Bayesian Optimization for Prompt Search

Bayesian Optimization (BO) has been widely used to efficiently optimize expensive black-box functions with limited evaluations. In this paper, we investigate the use of BO for prompt engineering to enhance text classification with Large Language Models (LLMs). We employ an LLM-powered Gaussian Process (GP) as the surrogate model to estimate the performance of different prompt candidates. These candidates are generated by an LLM through the expansion of a set of seed prompts and are subsequently evaluated using an Upper Confidence Bound (UCB) acquisition function in conjunction with the GP posterior. The optimization process iteratively refines the prompts based on a subset of the data, aiming to improve classification accuracy while reducing the number of API calls by leveraging the prediction uncertainty of the LLM-based GP. The proposed BO-LLM algorithm is evaluated on two datasets, and its advantages are discussed in detail in this paper.

cs.AI↗

arXiv2025

Towards Adaptable Humanoid Control via Adaptive Motion Tracking

Humanoid robots are envisioned to adapt demonstrated motions to diverse real-world conditions while accurately preserving motion patterns. Existing motion prior approaches enable well adaptability with a few motions but often sacrifice imitation accuracy, whereas motion-tracking methods achieve accurate imitation yet require many training motions and a test-time target motion to adapt. To combine their strengths, we introduce AdaMimic, a novel motion tracking algorithm that enables adaptable humanoid control from a single reference motion. To reduce data dependence while ensuring adaptability, our method first creates an augmented dataset by sparsifying the single reference motion into keyframes and applying light editing with minimal physical assumptions. A policy is then initialized by tracking these sparse keyframes to generate dense intermediate motions, and adapters are subsequently trained to adjust tracking speed and refine low-level actions based on the adjustment, enabling flexible time warping that further improves imitation accuracy and adaptability. We validate these significant improvements in our approach in both simulation and the real-world Unitree G1 humanoid robot in multiple tasks across a wide range of adaptation conditions. Videos and code are available at https://taohuang13.github.io/adamimic.github.io/.

cs.RO↗

arXiv2025

PhysHSI: Towards a Real-World Generalizable and Natural Humanoid-Scene Interaction System

Deploying humanoid robots to interact with real-world environments--such as carrying objects or sitting on chairs--requires generalizable, lifelike motions and robust scene perception. Although prior approaches have advanced each capability individually, combining them in a unified system is still an ongoing challenge. In this work, we present a physical-world humanoid-scene interaction system, PhysHSI, that enables humanoids to autonomously perform diverse interaction tasks while maintaining natural and lifelike behaviors. PhysHSI comprises a simulation training pipeline and a real-world deployment system. In simulation, we adopt adversarial motion prior-based policy learning to imitate natural humanoid-scene interaction data across diverse scenarios, achieving both generalization and lifelike behaviors. For real-world deployment, we introduce a coarse-to-fine object localization module that combines LiDAR and camera inputs to provide continuous and robust scene perception. We validate PhysHSI on four representative interactive tasks--box carrying, sitting, lying, and standing up--in both simulation and real-world settings, demonstrating consistently high success rates, strong generalization across diverse task goals, and natural motion patterns.

cs.RO↗

arXiv2025

Optimal Planning of Electric Vehicle Charging Stations: Integrating Public Charging Networks and Transportation Congestion

The adoption of electric vehicles (EVs) represents a critical shift in personal mobility, fueled by policy support and advancements in automotive technology. However, the expansion of EVs for long-distance travel is hindered by charging time concerns, the sparse distribution of charging stations, and the worsening waiting times due to congestion. The main objective of this work is two-fold: 1) first, to comprehensively analyze the existing public charging station robustness and effectively strategize for the new ones, and 2) secondly, to select the optimal chargers for long-distance journeys, by estimating the waiting time from current traffic congestion. This is achieved by accompanying effective EV charging strategies, pinpointing on the congestion points from the existing traffic, and the robustness of the current charging station infrastructure. Utilizing a real-time transportation and charging station dataset in Texas, we identify optimal charger placement strategies to minimize travel time by examining the congestion and charging time trade-offs. Our findings suggest that maximizing the constant current phase during charging enhances efficiency, crucial for long-distance travel. On the contrary, we also explore the negative impact of congestion on travel times and we conclude that sometimes it might be beneficial to exceed the constant current phase to avoid the congested charging stations.

eess.SY↗

arXiv2025

MUSS-TI: Multi-level Shuttle Scheduling for Large-Scale Entanglement Module Linked Trapped-Ion

Trapped-ion computing is a leading architecture in the pursuit of scalable and high fidelity quantum systems. Modular quantum architectures based on photonic interconnects offer a promising path for scaling trapped ion devices. In this design, multiple Quantum Charge Coupled Device (QCCD) units are interconnected through entanglement module. Each unit features a multi-zone layout that separates functionalities into distinct areas, enabling more efficient and flexible quantum operations. However, achieving efficient and scalable compilation of quantum circuits in such entanglement module linked Quantum Charge-Coupled Device (EML-QCCD) remains a primary challenge for practical quantum applications. In this work, we propose a scalable compiler tailored for large-scale trapped-ion architectures, with the goal of reducing the shuttling overhead inherent in EML-QCCD devices. MUSS-TI introduces a multi-level scheduling approach inspired by multi-level memory scheduling in classical computing. This method is designed to be aware of the distinct roles of different zones and to minimize the number of shuttling operations required in EML-QCCD systems. We demonstrate that EML-QCCD architectures are well-suited for executing large-scale applications. Our evaluation shows that MUSS-TI reduces shuttle operations by 41.74% for applications with 30-32 qubits, and by an average of 73.38% and 59.82% for applications with 117-128 qubits and 256-299 qubits, respectively.

quant-ph↗

arXiv2025

Electric Vehicle Charger Infrastructure Planning: Demand Estimation, Coverage Optimization Over an Integrated Power Grid

For electrifying the transportation sector, deploying a strategically planned and efficient charging infrastructure is essential. This paper presents a two-phase approach for electric vehicle (EV) charger deployment that integrates spatial point-of-interest analysis and maximum coverage optimization over an integrated spatial power grid. Spatial-focused studies in the literature often overlook electrical grid constraints, while grid-focused work frequently considers statistically modeled EV charging demand. To address these gaps, a new framework is proposed that combines spatial network planning with electrical grid considerations. This study approaches EV charger planning from a perspective of the distribution grid, starting with an estimation of EV charging demand and the identification of optimal candidate locations. It ensures that the capacity limits of newly established chargers are maintained within the limits of the power grid. This framework is applied in a test case for the Dallas area, integrating the existing EV charger network with an 8500-bus distribution system for comprehensive planning.

eess.SY↗

arXiv2025

DHAGrasp: Synthesizing Affordance-Aware Dual-Hand Grasps with Text Instructions

Learning to generate dual-hand grasps that respect object semantics is essential for robust hand-object interaction but remains largely underexplored due to dataset scarcity. Existing grasp datasets predominantly focus on single-hand interactions and contain only limited semantic part annotations. To address these challenges, we introduce a pipeline, SymOpt, that constructs a large-scale dual-hand grasp dataset by leveraging existing single-hand datasets and exploiting object and hand symmetries. Building on this, we propose a text-guided dual-hand grasp generator, DHAGrasp, that synthesizes Dual-Hand Affordance-aware Grasps for unseen objects. Our approach incorporates a novel dual-hand affordance representation and follows a two-stage design, which enables effective learning from a small set of segmented training objects while scaling to a much larger pool of unsegmented data. Extensive experiments demonstrate that our method produces diverse and semantically consistent grasps, outperforming strong baselines in both grasp quality and generalization to unseen objects. The project page is at https://quanzhou-li.github.io/DHAGrasp/.

cs.RO↗

arXiv2025

UniTracker: Learning Universal Whole-Body Motion Tracker for Humanoid Robots

Achieving expressive and generalizable whole-body motion control is essential for deploying humanoid robots in real-world environments. In this work, we propose UniTracker, a three-stage training framework that enables robust and scalable motion tracking across a wide range of human behaviors. In the first stage, we train a teacher policy with privileged observations to generate high-quality actions. In the second stage, we introduce a Conditional Variational Autoencoder (CVAE) to model a universal student policy that can be deployed directly on real hardware. The CVAE structure allows the policy to learn a global latent representation of motion, enhancing generalization to unseen behaviors and addressing the limitations of standard MLP-based policies under partial observations. Unlike pure MLPs that suffer from drift in global attributes like orientation, our CVAE-student policy incorporates global intent during training by aligning a partial-observation prior to the full-observation encoder. In the third stage, we introduce a fast adaptation module that fine-tunes the universal policy on harder motion sequences that are difficult to track directly. This adaptation can be performed both for single sequences and in batch mode, further showcasing the flexibility and scalability of our approach. We evaluate UniTracker in both simulation and real-world settings using a Unitree G1 humanoid, demonstrating strong performance in motion diversity, tracking accuracy, and deployment robustness.

cs.RO↗

arXiv2025

Behavior Foundation Model for Humanoid Robots

Whole-body control (WBC) of humanoid robots has witnessed remarkable progress in skill versatility, enabling a wide range of applications such as locomotion, teleoperation, and motion tracking. Despite these achievements, existing WBC frameworks remain largely task-specific, relying heavily on labor-intensive reward engineering and demonstrating limited generalization across tasks and skills. These limitations hinder their response to arbitrary control modes and restrict their deployment in complex, real-world scenarios. To address these challenges, we revisit existing WBC systems and identify a shared objective across diverse tasks: the generation of appropriate behaviors that guide the robot toward desired goal states. Building on this insight, we propose the Behavior Foundation Model (BFM), a generative model pretrained on large-scale behavioral datasets to capture broad, reusable behavioral knowledge for humanoid robots. BFM integrates a masked online distillation framework with a Conditional Variational Autoencoder (CVAE) to model behavioral distributions, thereby enabling flexible operation across diverse control modes and efficient acquisition of novel behaviors without retraining from scratch. Extensive experiments in both simulation and on a physical humanoid platform demonstrate that BFM generalizes robustly across diverse WBC tasks while rapidly adapting to new behaviors. These results establish BFM as a promising step toward a foundation model for general-purpose humanoid control.

cs.RO↗

arXiv2025

Rapid Construction of Joint Pulsar Timing Array Datasets: The Lite Method

The International Pulsar Timing Array (IPTA)'s second data release (IPTA DR2) combines decades of observations of 65 millisecond pulsars from 7 radio telescopes. IPTA datasets should be the most sensitive datasets to nanohertz gravitational waves (GWs), but take years to assemble, often excluding valuable recent data. To address this, we introduce the IPTA "Lite" analysis, where a Figure of Merit is used to select an optimal PTA dataset to analyze for each pulsar, enabling immediate access to new data and preliminary results prior to full combination. We test the capabilities of the Lite analysis using IPTA DR2, finding that "DR2 Lite" can be used to detect the common red noise process with an amplitude of $A = 4.8^{+1.8}_{-1.8} \times 10^{-15}$ at $γ= 13/3$. This amplitude is slightly large in comparison to the combined analysis, and likely biased high as DR2 Lite is more sensitive to systematic errors from individual pulsars than the full dataset. Furthermore, although there is no strong evidence for Hellings-Downs correlations in IPTA DR2, we still find the full dataset is better at resolving Hellings-Downs correlations than DR2 Lite. Alongside the Lite analysis, we also find that analyzing a subset of pulsars from IPTA DR2, available at a hypothetical "early" stage of combination (EDR2), yields equally competitive results as the full dataset. Looking ahead, the Lite method will enable rapid synthesis of the latest PTA data, offering preliminary GW constraints before the superior full dataset combinations are available.

astro-ph.HE↗

arXiv2025

FAST Observations of the Microstructure in Interpulse Pulsars

In this study, we investigate the microstructure properties of four pulsars (PSRs J0953+0755 (B0950+08), J0627+0706, J0826+2637 (B0823+26) and J1946+1805 (B1944+17)) using the Five-hundred-meter Aperture Spherical radio Telescope (FAST), with particular emphasis on identifying microstructure within interpulse (IP). Through the application of autocorrelation function (ACF) analysis and fast Fourier transform (FFT) techniques, we have systematically examined the periodicity of microstructure in these pulsars. Our findings represent the first successful detection of microstructure within IP. Furthermore, we conducted a comprehensive statistical analysis comparing the characteristic timescales ($τ_μ$) and the characteristic periods $P_μ$ of quasi-periodic microstructure between the main pulse (MP) and IP, and our results indicate that the $τ_μ$ and $P_μ$ of microstructure across components appear consistent within measurement errors for PSR J0627+0706, but microstructure in IP are relatively smaller than those in MP for PSR J0953+0755. Furthermore, the relationship between $P_μ$ of microstructure and the rotation period in neutron star populations was reconfirmed: $P_μ(\text{ms})=(1.337\pm0.114)\times P(\text{s})^{(1.063\pm0.038)}$.

astro-ph.HE↗

arXiv2025

Probabilistic Inference for Datalog with Correlated Inputs

Probabilistic extensions of logic programming languages, such as ProbLog, integrate logical reasoning with probabilistic inference to evaluate probabilities of output relations; however, prior work does not account for potential statistical correlations among input facts. This paper introduces Praline, a new extension to Datalog designed for precise probabilistic inference in the presence of (partially known) input correlations. We formulate the inference task as a constrained optimization problem, where the solution yields sound and precise probability bounds for output facts. However, due to the complexity of the resulting optimization problem, this approach alone often does not scale to large programs. To address scalability, we propose a more efficient $δ$-exact inference algorithm that leverages constraint solving, static analysis, and iterative refinement. Our empirical evaluation on challenging real-world benchmarks, including side-channel analysis, demonstrates that our method not only scales effectively but also delivers tight probability bounds.

cs.PL↗

arXiv2025

Motion2Motion: Cross-topology Motion Transfer with Sparse Correspondence

This work studies the challenge of transfer animations between characters whose skeletal topologies differ substantially. While many techniques have advanced retargeting techniques in decades, transfer motions across diverse topologies remains less-explored. The primary obstacle lies in the inherent topological inconsistency between source and target skeletons, which restricts the establishment of straightforward one-to-one bone correspondences. Besides, the current lack of large-scale paired motion datasets spanning different topological structures severely constrains the development of data-driven approaches. To address these limitations, we introduce Motion2Motion, a novel, training-free framework. Simply yet effectively, Motion2Motion works with only one or a few example motions on the target skeleton, by accessing a sparse set of bone correspondences between the source and target skeletons. Through comprehensive qualitative and quantitative evaluations, we demonstrate that Motion2Motion achieves efficient and reliable performance in both similar-skeleton and cross-species skeleton transfer scenarios. The practical utility of our approach is further evidenced by its successful integration in downstream applications and user interfaces, highlighting its potential for industrial applications. Code and data are available at https://lhchen.top/Motion2Motion.

cs.CV↗

arXiv2025

Direct Nuclear-Level Qubits using Trapped Th-229 Ions: A Platform for Entanglement and Universal Quantum Information Processing

The low-energy isomeric transition in Thorium-229 offers a unique interface between nuclear and atomic physics, presenting a resource for quantum technologies that is notably resilient to environmental decoherence. While early experiments focused on nuclei in solid-state crystals, the recent advent of a continuous-wave vacuum ultraviolet laser at 148.4~nm now enables direct coherent control of individual trapped Th-229 ions. Building on this breakthrough, we present a theoretical framework for utilizing trapped Th-229^{3+} ions as high-fidelity nuclear-level qubits, wherein quantum state preparation, single-qubit control, and entangling operations based on nuclear energy levels can all be efficiently realized. We analyze a scheme to generate entanglement between the nuclear isomeric states of two ions through phonon-mediated coupling, driven by optimized red- and blue-detuned laser sideband pulses. Our analysis, grounded in realistic experimental parameters, also demonstrates that high-fidelity entanglement is achievable, leveraging the nucleus's intrinsically long coherence times. These results provide a practical roadmap for developing nuclear-based quantum information processors and suggest that entangled nuclear-level qubits could potentially unlock new frontiers in precision metrology.

quant-ph↗

arXiv2025

Towards Synthesized and Editable Motion In-Betweening Through Part-Wise Phase Representation

Styled motion in-betweening is crucial for computer animation and gaming. However, existing methods typically encode motion styles by modeling whole-body motions, often overlooking the representation of individual body parts. This limitation reduces the flexibility of infilled motion, particularly in adjusting the motion styles of specific limbs independently. To overcome this challenge, we propose a novel framework that models motion styles at the body-part level, enhancing both the diversity and controllability of infilled motions. Our approach enables more nuanced and expressive animations by allowing precise modifications to individual limb motions while maintaining overall motion coherence. Leveraging phase-related insights, our framework employs periodic autoencoders to automatically extract the phase of each body part, capturing distinctive local style features. Additionally, we effectively decouple the motion source from synthesis control by integrating motion manifold learning and conditional generation techniques from both image and motion domains. This allows the motion source to generate high-quality motions across various styles, with extracted motion and style features readily available for controlled synthesis in subsequent tasks. Comprehensive evaluations demonstrate that our method achieves superior speed, robust generalization, and effective generation of extended motion sequences.

cs.CV↗

arXiv2025

MotionStreamer: Streaming Motion Generation via Diffusion-based Autoregressive Model in Causal Latent Space

This paper addresses the challenge of text-conditioned streaming motion generation, which requires us to predict the next-step human pose based on variable-length historical motions and incoming texts. Existing methods struggle to achieve streaming motion generation, e.g., diffusion models are constrained by pre-defined motion lengths, while GPT-based methods suffer from delayed response and error accumulation problem due to discretized non-causal tokenization. To solve these problems, we propose MotionStreamer, a novel framework that incorporates a continuous causal latent space into a probabilistic autoregressive model. The continuous latents mitigate information loss caused by discretization and effectively reduce error accumulation during long-term autoregressive generation. In addition, by establishing temporal causal dependencies between current and historical motion latents, our model fully utilizes the available information to achieve accurate online motion decoding. Experiments show that our method outperforms existing approaches while offering more applications, including multi-round generation, long-term generation, and dynamic motion composition. Project Page: https://zju3dv.github.io/MotionStreamer/

cs.CV↗

arXiv2025

Go to Zero: Towards Zero-shot Motion Generation with Million-scale Data

Generating diverse and natural human motion sequences based on textual descriptions constitutes a fundamental and challenging research area within the domains of computer vision, graphics, and robotics. Despite significant advancements in this field, current methodologies often face challenges regarding zero-shot generalization capabilities, largely attributable to the limited size of training datasets. Moreover, the lack of a comprehensive evaluation framework impedes the advancement of this task by failing to identify directions for improvement. In this work, we aim to push text-to-motion into a new era, that is, to achieve the generalization ability of zero-shot. To this end, firstly, we develop an efficient annotation pipeline and introduce MotionMillion-the largest human motion dataset to date, featuring over 2,000 hours and 2 million high-quality motion sequences. Additionally, we propose MotionMillion-Eval, the most comprehensive benchmark for evaluating zero-shot motion generation. Leveraging a scalable architecture, we scale our model to 7B parameters and validate its performance on MotionMillion-Eval. Our results demonstrate strong generalization to out-of-domain and complex compositional motions, marking a significant step toward zero-shot human motion generation. The code is available at https://github.com/VankouF/MotionMillion-Codes.

cs.CV↗