arXiv subjects

Jinwei Liu

Publications and source records attributed to Jinwei Liu.

10 recordsLinked to original sources

arXiv2026

Legible Shared Autonomy: Implicit Communication of Robot Belief through Motion

Shared autonomy systems combine user input with autonomous assistance to help users with motor impairments control robot arms to perform everyday manipulation tasks, by inferring user goals and providing appropriate guidance. However, the robot's internal beliefs about user goals cannot be observed by users. Traditional shared autonomy systems provide assistance along efficient shortest paths toward inferred goals, but when multiple objects lie in similar directions, such assistive motion remains ambiguous and fails to reveal the specific goal identified by the robot. This creates two critical problems. First, when the robot correctly infers the goal, users continue controlling because they cannot perceive understanding from ambiguous assistive motion, wasting effort when autonomous completion would suffice. Second, when the robot misunderstands intent, users cannot quickly detect errors until assistive motion diverges significantly, requiring substantial corrective input. We address this by introducing legible motion into shared autonomy, where robot actions must both advance toward the goal and clearly reveal which goal has been inferred, enabling users to understand the robot's beliefs and adjust control accordingly. The robot modulates communication strength through confidence-aware adaptive authority allocation by providing assertive legible assistive actions when confident while increasing user authority when uncertain, transforming shared autonomy into transparent bidirectional collaboration. User studies including simulation, and physical experiments with a six-degree-of-freedom robot arm demonstrate that legible shared autonomy significantly improves users' understanding of robot beliefs and reduces user control effort compared to standard shared autonomy.

cs.RO↗

arXiv2025

ReviBranch: Deep Reinforcement Learning for Branch-and-Bound with Revived Trajectories

The Branch-and-bound (B&B) algorithm is the main solver for Mixed Integer Linear Programs (MILPs), where the selection of branching variable is essential to computational efficiency. However, traditional heuristics for branching often fail to generalize across heterogeneous problem instances, while existing learning-based methods such as imitation learning (IL) suffers from dependence on expert demonstration quality, and reinforcement learning (RL) struggles with limitations in sparse rewards and dynamic state representation challenges. To address these issues, we propose ReviBranch, a novel deep RL framework that constructs revived trajectories by reviving explicit historical correspondences between branching decisions and their corresponding graph states along search-tree paths. During training, ReviBranch enables agents to learn from complete structural evolution and temporal dependencies within the branching process. Additionally, we introduce an importance-weighted reward redistribution mechanism that transforms sparse terminal rewards into dense stepwise feedback, addressing the sparse reward challenge. Extensive experiments on different MILP benchmarks demonstrate that ReviBranch outperforms state-of-the-art RL methods, reducing B&B nodes by 4.0% and LP iterations by 2.2% on large-scale instances. The results highlight the robustness and generalizability of ReviBranch across heterogeneous MILP problem classes.

cs.LG↗

arXiv2025

PIONM: A Generalized Approach to Solving Density-Constrained Mean-Field Games Equilibrium under Modified Boundary Conditions

Neural network-based methods are effective for solving equilibria in Mean-Field Games (MFGs), particularly in high-dimensional settings. However, solving the coupled partial differential equations (PDEs) in MFGs limits their applicability since solving coupled PDEs is computationally expensive. Additionally, modifying boundary conditions, such as the initial state distribution or terminal value function, necessitates extensive retraining, reducing scalability. To address these challenges, we propose a generalized framework, PIONM (Physics-Informed Neural Operator NF-MKV Net), which leverages physics-informed neural operators to solve MFGs equations. PIONM utilizes neural operators to compute MFGs equilibria for arbitrary boundary conditions. The method encodes boundary conditions as input features and trains the model to align them with density evolution, modeled using discrete-time normalizing flows. Once trained, the algorithm efficiently computes the density distribution at any time step for modified boundary condition, ensuring efficient adaptation to different boundary conditions in MFGs equilibria. Unlike traditional MFGs methods constrained by fixed coefficients, PIONM efficiently computes equilibria under varying boundary conditions, including obstacles, diffusion coefficients, initial densities, and terminal functions. PIONM can adapt to modified conditions while preserving density distribution constraints, demonstrating superior scalability and generalization capabilities compared to existing methods.

cs.LG↗

arXiv2025

A Constraint-Preserving Neural Network Approach for Solving Mean-Field Games Equilibrium

Neural network-based methods have demonstrated effectiveness in solving high-dimensional Mean-Field Games (MFG) equilibria, yet ensuring mathematically consistent density-coupled evolution remains a major challenge. This paper proposes the NF-MKV Net, a neural network approach that integrates process-regularized normalizing flow (NF) with state-policy-connected time-series neural networks to solve MKV FBSDEs and their associated fixed-point formulations of MFG equilibria. The method first reformulates MFG equilibria as MKV FBSDEs, embedding density evolution into equation coefficients within a probabilistic framework. Neural networks are then employed to approximate value functions and their gradients. To enforce volumetric invariance and temporal continuity, NF architectures impose loss constraints on each density transfer function.

cs.LG↗

arXiv2025

AgentPose: Progressive Distribution Alignment via Feature Agent for Human Pose Distillation

Pose distillation is widely adopted to reduce model size in human pose estimation. However, existing methods primarily emphasize the transfer of teacher knowledge while often neglecting the performance degradation resulted from the curse of capacity gap between teacher and student. To address this issue, we propose AgentPose, a novel pose distillation method that integrates a feature agent to model the distribution of teacher features and progressively aligns the distribution of student features with that of the teacher feature, effectively overcoming the capacity gap and enhancing the ability of knowledge transfer. Our comprehensive experiments conducted on the COCO dataset substantiate the effectiveness of our method in knowledge transfer, particularly in scenarios with a high capacity gap.

cs.CV↗

arXiv2024

An Open-Source Fast Parallel Routing Approach for Commercial FPGAs

In the face of escalating complexity and size of contemporary FPGAs and circuits, routing emerges as a pivotal and time-intensive phase in FPGA compilation flows. In response to this challenge, we present an open-source parallel routing methodology designed to expedite routing procedures for commercial FPGAs. Our approach introduces a novel recursive partitioning ternary tree to augment the parallelism of multi-net routing. Additionally, we propose a hybrid updating strategy for congestion coefficients within the routing cost function to accelerate congestion resolution in negotiation-based routing algorithms. Evaluation on public benchmarks from the FPGA24 routing contest demonstrates the efficacy of our parallel router. It achieves a 2x speedup compared to the academic serial router RWRoute. Furthermore, when compared to the industry-standard tool Vivado, our approach not only delivers a 2x acceleration but also yields a notable 31% enhancement in critical-path wirelength.

cs.DC↗

arXiv2024

P-TimeSync: A Precise Time Synchronization Simulation with Network Propagation Delays

Time serves as the foundation of modern society and will continue to grow in value in the future world. Unlike previous research papers, authors delve into various time sources, ranging from atomic time and GPS time to quartz time. Specifically, we explore the time uncertainty associated with the four major Global Navigation Satellite Systems. In existing time synchronization simulations provide partial usages. However, our research introduces a comprehensive and precise time synchronization simulation named P-TimeSync, leading to a better understanding of time synchronization in distributed environments. It is a state-of-the-art simulation tool for time because (1) it can simulate atomic clocks and quartz clocks with user-defined software clock algorithms, (2) the simulation provides nanosecond-level precision time across different network propagation paths and distances, (3) the tool offers a visualization platform with classic algorithms for distributed time synchronization, such as Cristian's algorithm and Berkeley algorithm. The simulation easily allows for the redefinition of configurations and functions, supporting advanced research and development. The simulation tool could be downloaded via the website: https://github.com/rui5097/purdue_timesync

cs.DC↗

arXiv2024

The Dawn of AI-Native EDA: Opportunities and Challenges of Large Circuit Models

Within the Electronic Design Automation (EDA) domain, AI-driven solutions have emerged as formidable tools, yet they typically augment rather than redefine existing methodologies. These solutions often repurpose deep learning models from other domains, such as vision, text, and graph analytics, applying them to circuit design without tailoring to the unique complexities of electronic circuits. Such an AI4EDA approach falls short of achieving a holistic design synthesis and understanding, overlooking the intricate interplay of electrical, logical, and physical facets of circuit data. This paper argues for a paradigm shift from AI4EDA towards AI-native EDA, integrating AI at the core of the design process. Pivotal to this vision is the development of a multimodal circuit representation learning technique, poised to provide a comprehensive understanding by harmonizing and extracting insights from varied data sources, such as functional specifications, RTL designs, circuit netlists, and physical layouts. We champion the creation of large circuit models (LCMs) that are inherently multimodal, crafted to decode and express the rich semantics and structures of circuit data, thus fostering more resilient, efficient, and inventive design methodologies. Embracing this AI-native philosophy, we foresee a trajectory that transcends the current innovation plateau in EDA, igniting a profound shift-left in electronic design methodology. The envisioned advancements herald not just an evolution of existing EDA tools but a revolution, giving rise to novel instruments of design tools that promise to radically enhance design productivity and inaugurate a new epoch where the optimization of circuit performance, power, and area (PPA) is achieved not incrementally, but through leaps that redefine the benchmarks of electronic systems' capabilities.

cs.AR↗

arXiv2023

Distributed Quantum Learning with co-Management in a Multi-tenant Quantum System

The rapid advancement of quantum computing has pushed classical designs into the quantum domain, breaking physical boundaries for computing-intensive and data-hungry applications. Given its immense potential, quantum-based computing systems have attracted increasing attention with the hope that some systems may provide a quantum speedup. For example, variational quantum algorithms have been proposed for quantum neural networks to train deep learning models on qubits, achieving promising results. Existing quantum learning architectures and systems rely on single, monolithic quantum machines with abundant and stable resources, such as qubits. However, fabricating a large, monolithic quantum device is considerably more challenging than producing an array of smaller devices. In this paper, we investigate a distributed quantum system that combines multiple quantum machines into a unified system. We propose DQuLearn, which divides a quantum learning task into multiple subtasks. Each subtask can be executed distributively on individual quantum machines, with the results looping back to classical machines for subsequent training iterations. Additionally, our system supports multiple concurrent clients and dynamically manages their circuits according to the runtime status of quantum workers. Through extensive experiments, we demonstrate that DQuLearn achieves similar accuracies with significant runtime reduction, by up to 68.7% and an increase per-second circuit processing speed, by up to 3.99 times, in a 4-worker multi-tenant setting.

cs.DC↗

arXiv2019

Reasoning About Recursive Tree Traversals

Traversals are commonly seen in tree data structures, and performance-enhancing transformations between tree traversals are critical for many applications. Existing approaches to reasoning about tree traversals and their transformations are ad hoc, with various limitations on the class of traversals they can handle, the granularity of dependence analysis, and the types of possible transformations. We propose Retreet, a framework in which one can describe general recursive tree traversals, precisely represent iterations, schedules and dependences, and automatically check data-race-freeness and transformation correctness. The crux of the framework is a stack-based representation for iterations and an encoding to Monadic Second-Order (MSO) logic over trees. Experiments show that our framework can reason about traversals with sophisticated mutual recursion on real-world data structures such as CSS and cycletrees.

cs.PL↗