arXiv subjects

Jingkai Zhang

Publications and source records attributed to Jingkai Zhang.

5 recordsLinked to original sources

arXiv2026

Chronos: A Physics-Informed Full-History Framework for Non-Markovian Long-Horizon Manipulation

General-purpose robot policies should be modeled as dynamical systems, yet many VLA and generative imitation policies still rely on present observations or short windows. This Markovian shortcut fails in memory-dependent manipulation: identical observations can demand different actions after different histories. We present Chronos, a physics-informed full-history framework for non-Markovian long-horizon manipulation. The key idea is to elevate observation history from auxiliary context to the latent state of the policy dynamics. At each physical control step, Chronos forms one state-representative token by fusing observation and proprioception, so the token sequence is aligned one-to-one with physical time. A selective state space model propagates this causal historical state, which conditions a multimodal coarse action prior through implicit maximum likelihood estimation (IMLE). This prior is then refined by a second-order Schrodinger-inspired bridge that predicts acceleration fields, yielding smoother and more physically grounded robot motion. Across 16 simulated tasks and 4 real-world experiments, Chronos is evaluated on precision insertion, general manipulation, and memory-dependent long-horizon control. On RMBench, where success requires remembering task phase, Chronos achieves 73.6% average success, outperforming Markovian VLA baseline pi0.5 by +62.4 percentage points, a 6.6x relative gain, while using 10x fewer parameters. It also surpasses the memory VLA Mem-0 by 22.8 points while using over 30x fewer parameters. In real-world dual-arm experiments using a single RGB camera, Chronos achieves 78% average success over four tasks, including 72% on the three memory-dependent tasks, whereas pi0.5 achieves 7% overall and 0% on the memory-dependent subset. These results suggest that history should not be treated as auxiliary context, but as the latent state of the manipulation policy.

cs.RO↗

arXiv2026

A Natural Decomposition Method for Essential Boundary Conditions in Noninterpolatory Meshfree Spaces

This paper develops a natural decomposition method (NDM)for imposing essential boundary conditions in noninterpolatory meshfree Galerkin spaces without boundary parameter tuning or auxiliary constraint construction. In such spaces, algebraic coefficients generally do not coincide with boundary values; hence coefficient assignment or nodal boundary prescription is not equivalent to imposing the continuous trace required by the variational problem. NDM introduces boundary data before discretization through a natural transfer mechanism: a source subproblem accounts for the forcing term, a weighted curl correction transfers the remaining trace mismatch, and a scalar recovery step reconstructs the solution from the corrected weighted gradient. For topologically trivial single domains with connected boundary, the reconstructed solution is equivalent, at the continuous level, to the solution satisfying the prescribed essential boundary data. The discrete analysis separates the approximation defect of the recovery space from the upstream transfer error visible to that space. Numerical experiments on benchmark problems evaluate the proposed transfer mechanism and report the associated conditioning, computational cost, and boundary perturbation behavior.

math.NA↗

arXiv2026

An Efficient Parity-Blocked Method for Band-Structure Computation of 3D Anisotropic Phononic Crystals

Band-structure calculations for three-dimensional anisotropic phononic crystals require the repeated solution of large elastic generalized eigenvalue problems along Bloch paths. In standard staggered-grid discretizations, anisotropic coupling may involve derivative components located at incompatible grid positions, so additional interpolation or averaging closures are often introduced. This paper proposes a parity-blocked rotated staggered discretization based on four Bloch-periodic body-diagonal differences. The directional derivatives are reconstructed from these diagonal differences, leading to a Hermitian $B_hC_hB_h^H$ generalized eigenvalue formulation that incorporates anisotropic derivative coupling without separate interpolation closures. On even grids, when the stiffness and mass matrices are nodewise local multiplication matrices, the body-diagonal shifts preserve two independent parity invariants. The discrete velocity space is then decomposed exactly into four mutually independent block subspaces, and the full discrete spectrum can be recovered by solving the four smaller eigenvalue problems and merging their spectra. The full and block formulations are further organized in a unified Fourier SVD framework, which supports $\Gamma$-point zero-mode treatment, shift-invert Krylov iteration, inner PCG solves, and GPU matrix-vector products. Numerical experiments for a three-dimensional two-phase anisotropic phononic crystal show that the block implementation preserves the full-space spectrum while substantially reducing the wall-clock time. The results demonstrate that the proposed method provides a structured and efficient solver for large-scale band-structure computations of three-dimensional anisotropic phononic crystals.

math.NA↗

arXiv2026

ClawGuard: Out-of-Band Detection of LLM Agent Workflow Hijacking via EM Side Channel

Autonomous LLM agents face a critical security risk known as workflow hijacking, where attackers subtly alter tool and skill invocations. Existing defenses rely on host-internal telemetry (such as audit logs), which can be forged if the host OS is compromised. To solve this, we introduce ClawGuard, a passive, out-of-band monitor that audits LLM-agent workflows using electromagnetic (EM) emanations. Because distinct agent skills create unique hardware usage patterns (computation, DRAM, network blocking), they emit measurable, macroscopic EM envelopes. External software-defined radios (SDRs) capture these physical signals. Using a drift-aware pipeline with 320-dimensional features, ClawGuard converts RF streams into physical evidence. Evaluated on a 7.82TB RF corpus, ClawGuard achieved an AUC of 0.9945, detecting attacks with a 100% true-positive rate and a 1.16% false-positive rate. This proves passive EM sensing is a practical, forge-resistant physical check against compromised host software.

cs.CR↗

arXiv2020

Video-rate high-precision time-frequency multiplexed 3D coherent ranging

Recently, there has been growing interest and effort in developing high-speed high-precision 3D imaging technologies for a wide range of industrial, automotive and biomedical applications. Optical frequency-modulated continuous wave (FMCW) light detection and ranging (LiDAR), which shares the same working principle as swept-source optical coherence tomography (SSOCT), is an emerging 3D surface imaging technology that offers higher sensitivity and resolution than conventional time-of-flight (ToF) ranging. Recently, with the development of high-performance swept sources with meter-scale instantaneous coherence lengths, the imaging range of both OCT and FMCW has been significantly improved. However, due to the limited bandwidth of current generation digitizers and the speed limitations of beam steering using mechanical scanners, long range OCT and FMCW typically suffer from a low 3D frame rate (<1Hz), which greatly restricts their applications in imaging dynamic or moving objects. In this work, we report a high-speed FMCW based 3D surface imaging system, combining a grating for beam steering with a compressed time-frequency analysis approach for depth retrieval. We thoroughly investigate the localization accuracy and precision of our system both theoretically and experimentally. Finally, we demonstrate 3D surface imaging results of multiple static and moving objects, including a flexing human hand. The demonstrated technique performs 3D surface imaging with submillimeter localization accuracy over a tens-of-centimeter imaging range with an overall depth voxel acquisition rate of 7.6 MHz, enabling densely sampled 3D surface imaging at video rate.

physics.optics↗