arXiv subjects

Jingtao Sun

Publications and source records attributed to Jingtao Sun.

6 recordsLinked to original sources

arXiv2026

A Collaborative Multi-Modality Interaction for VLA-based End-to-End Autonomous Driving

Vision-Language-Action (VLA) models have emerged as a powerful paradigm for end-to-end autonomous driving by jointly integrating perception, reasoning, and decision making within a unified multimodal framework. However, most existing VLA models formulate end-to-end autonomous driving as a visual question answering task, leading to unreliable and less interpretable decision reasoning. In addition, they fail to establish effective multi-modal interaction across heterogeneous sensors, thereby limiting robust scene perception and reliable driving reasoning in long-tail driving scenarios. To this end, we propose a robust VLA-based end-to-end autonomous driving system that combines multi-modality interaction with multi-trajectory planning and optimization, enabling more reliable, interpretable, and safer driving decisions. Our method comprises three core components: (1) Affinity-Guided Optimal Transport for main-auxiliary modality two-way interaction; (2) Distribution-Consistent Modality Transfer for heterogeneous modality distribution transfer and cross-modal interaction; (3) Multi-modal Multi-Trajectory Planning along with Perception-Oriented Trajectory Refinement for better driving decisions to long-tail driving scenarios. Experimental results in open-loop and closed-loop datasets demonstrate improvements in safety long-horizon driving reasoning and road scene perception over existing driving systems, highlighting the ability of our mutli-modality interaction and multi-trajectory planning and optimization for scalable VLA-based systems.

cs.CV↗

arXiv2026

CRAFT: Adapting VLA Models to Contact-rich Manipulation via Force-aware Curriculum Fine-tuning

Vision-Language-Action (VLA) models have shown a strong capability in enabling robots to execute general instructions, yet they struggle with contact-rich manipulation tasks, where success requires precise alignment, stable contact maintenance, and effective handling of deformable objects. A fundamental challenge arises from the imbalance between high-entropy vision and language inputs and low-entropy but critical force signals, which often leads to over-reliance on perception and unstable control. To address this, we introduce CRAFT, a force-aware curriculum fine-tuning framework that integrates a variational information bottleneck module to regulate vision and language embeddings during early training. This curriculum strategy encourages the model to prioritize force signals initially, before progressively restoring access to the full multimodal information. To enable force-aware learning, we further design a homologous leader-follower teleoperation system that collects synchronized vision, language, and force data across diverse contact-rich tasks. Real-world experiments demonstrate that CRAFT consistently improves task success, generalizes to unseen objects and novel task variations, and adapts effectively across diverse VLA architectures, enabling robust and generalizable contact-rich manipulation.

cs.RO↗

arXiv2026

Noise-Resistant Feature-Aware Attack Detection Using Quantum Machine Learning

Continuous-variable quantum key distribution (CV-QKD) is a quantum communication technology that offers an unconditional security guarantee. However, the practical deployment of CV-QKD systems remains vulnerable to various quantum attacks. In this paper, we propose a quantum machine learning (QML)-based attack detection framework (QML-ADF) that safeguards the security of high-rate CV-QKD systems. In particular, two alternative QML models -- quantum support vector machines (QSVM) and quantum neural networks (QNN) -- are developed to perform noise-resistant and feature-aware attack detection before conventional data postprocessing. Leveraging feature-rich quantum data from Gaussian modulation and homodyne detection, the QML-ADF effectively detects quantum attacks, including both known and unknown types defined by these distinctive features. The results indicate that all twelve distinct QML variants for both QSVM and QNN exhibit remarkable performance in detecting both known and previously undiscovered quantum attacks, with the best-performing QSVM variant outperforming the top QNN counterpart. Furthermore, we systematically evaluate the performance of the QML-ADF under various physically interpretable noise backends, demonstrating its strong robustness and superior detection performance. We anticipate that the QML-ADF will not only enable robust detection of quantum attacks under realistic deployment conditions but also strengthen the practical security of quantum communication systems.

quant-ph↗

arXiv2024

Diffusion-Driven Self-Supervised Learning for Shape Reconstruction and Pose Estimation

Fully-supervised category-level pose estimation aims to determine the 6-DoF poses of unseen instances from known categories, requiring expensive mannual labeling costs. Recently, various self-supervised category-level pose estimation methods have been proposed to reduce the requirement of the annotated datasets. However, most methods rely on synthetic data or 3D CAD model for self-supervised training, and they are typically limited to addressing single-object pose problems without considering multi-objective tasks or shape reconstruction. To overcome these challenges and limitations, we introduce a diffusion-driven self-supervised network for multi-object shape reconstruction and categorical pose estimation, only leveraging the shape priors. Specifically, to capture the SE(3)-equivariant pose features and 3D scale-invariant shape information, we present a Prior-Aware Pyramid 3D Point Transformer in our network. This module adopts a point convolutional layer with radial-kernels for pose-aware learning and a 3D scale-invariant graph convolution layer for object-level shape representation, respectively. Furthermore, we introduce a pretrain-to-refine self-supervised training paradigm to train our network. It enables proposed network to capture the associations between shape priors and observations, addressing the challenge of intra-class shape variations by utilising the diffusion mechanism. Extensive experiments conducted on four public datasets and a self-built dataset demonstrate that our method significantly outperforms state-of-the-art self-supervised category-level baselines and even surpasses some fully-supervised instance-level and category-level methods.

cs.CV↗

arXiv2024

Multi-functional oxidase-like activity of praseodymia nanorods and nanoparticles

The ability to mimic protein-based oxidase with multi-functional inorganic nanozymes would greatly advance biomedical and clinical practices. Praseodymia (PrOx) nanorods (NRs) and nanoparticles (NPs) have been synthesized using hydrothermal and precipitation methods. Both PrOx catalysts with different morphologies exhibit significantly higher oxidase-like activities (Michaelis-Menten constant Km < 0.026 mM) than commercial PrOx and most so-far-reported artificial enzymes. One of the substrates, dopamine, can be oxidized and further polymerized to generate polydopamine in acidic conditions. Akin to CeO2, which is a well-studied nanozyme, a different mechanism involving holes+, oxygen vacancies and oxygen mobility over PrOx catalysts has been proposed in this work. However, fluoride ions were found to impose opposite effects on the oxidase-mimicking activity of PrOx and CeO2, implying a promising path for the exploration of new nanozymes. In support of this, PrOx was further applied in colorimetric sensing of L-cysteine and fluoride with high sensitivity.

physics.chem-ph↗

arXiv2024

Towards Real-World Aerial Vision Guidance with Categorical 6D Pose Tracker

Tracking the object 6-DoF pose is crucial for various downstream robot tasks and real-world applications. In this paper, we investigate the real-world robot task of aerial vision guidance for aerial robotics manipulation, utilizing category-level 6-DoF pose tracking. Aerial conditions inevitably introduce special challenges, such as rapid viewpoint changes in pitch and roll and inter-frame differences. To support these challenges in task, we firstly introduce a robust category-level 6-DoF pose tracker (Robust6DoF). This tracker leverages shape and temporal prior knowledge to explore optimal inter-frame keypoint pairs, generated under a priori structural adaptive supervision in a coarse-to-fine manner. Notably, our Robust6DoF employs a Spatial-Temporal Augmentation module to deal with the problems of the inter-frame differences and intra-class shape variations through both temporal dynamic filtering and shape-similarity filtering. We further present a Pose-Aware Discrete Servo strategy (PAD-Servo), serving as a decoupling approach to implement the final aerial vision guidance task. It contains two servo action policies to better accommodate the structural properties of aerial robotics manipulation. Exhaustive experiments on four well-known public benchmarks demonstrate the superiority of our Robust6DoF. Real-world tests directly verify that our Robust6DoF along with PAD-Servo can be readily used in real-world aerial robotic applications.

cs.RO↗