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Jun Wu

Publications and source records attributed to Jun Wu.

At least 109 records · Page 6Linked to original sources

Addressing Cold-start Problem in Click-Through Rate Prediction via Supervised Diffusion Modeling

Predicting Click-Through Rates is a crucial function within recommendation and advertising platforms, as the output of CTR prediction determines the order of items shown to users. The Embedding \& MLP paradigm has become a standard approach for industrial recommendation systems and has been widely deployed. However, this paradigm suffers from cold-start problems, where there is either no or only limited user action data available, leading to poorly learned ID embeddings. The cold-start problem hampers the performance of new items. To address this problem, we designed a novel diffusion model to generate a warmed-up embedding for new items. Specifically, we define a novel diffusion process between the ID embedding space and the side information space. In addition, we can derive a sub-sequence from the diffusion steps to expedite training, given that our diffusion model is non-Markovian. Our diffusion model is supervised by both the variational inference and binary cross-entropy objectives, enabling it to generate warmed-up embeddings for items in both the cold-start and warm-up phases. Additionally, we have conducted extensive experiments on three recommendation datasets. The results confirmed the effectiveness of our approach.

cs.IR↗

Quantum computation via Floquet-tailored Rydberg interactions

Rydberg atoms stand out as a highly promising platform for realizing quantum computation with significant advantages in constructing high-fidelity quantum gates. Floquet frequency modulation (FFM), in Rydberg-atom systems, provides a unique platform for achieving precise quantum control and uncovering exotic physical phenomena, paving the way for innovative methodologies in quantum dynamics research. This work introduces a method to realize controlled arbitrary phase gates in Rydberg atoms by manipulating system dynamics using FFM. Notably, this method eliminates the need for laser addressing of individual atoms, significantly enhancing convenience for future practical applications. Furthermore, this approach can be integrated with soft quantum control strategies to enhance the fidelity and robustness of the resultant controlled-phase gates. Finally, as an example, this methodology is applied in Grover-Long algorithm to search target items with zero failure rate, demonstrating its substantial significance for future quantum information processing applications. This work leveraging Rydberg atoms and Floquet frequency modulation may herald a new era of scalable and reliable quantum computing.

quant-ph↗

An ideal entropy transporter with finite power and vanishing fluctuation

We study a micro-magnet that interacts with a spin-polarized electric current, a heat bath, as well as a static magnetic field. The resulting non-equilibrium steady-state transports entropy between the current and the heat bath, without need of any thermodynamic force. In the limit of strong magnetic field, both the entropy production rate and the fluctuation of entropy transport become vanishingly small, whereas the average rate of entropy transport remains finite. Our results demonstrate that there is no fundamental limitation on the performance of thermodynamic engines other than the first and second laws of thermodynamics.

cond-mat.stat-mech↗

SoK: Benchmarking Poisoning Attacks and Defenses in Federated Learning

Federated learning (FL) enables collaborative model training while preserving data privacy, but its decentralized nature exposes it to client-side data poisoning attacks (DPAs) and model poisoning attacks (MPAs) that degrade global model performance. While numerous proposed defenses claim substantial effectiveness, their evaluation is typically done in isolation with limited attack strategies, raising concerns about their validity. Additionally, existing studies overlook the mutual effectiveness of defenses against both DPAs and MPAs, causing fragmentation in this field. This paper aims to provide a unified benchmark and analysis of defenses against DPAs and MPAs, clarifying the distinction between these two similar but slightly distinct domains. We present a systematic taxonomy of poisoning attacks and defense strategies, outlining their design, strengths, and limitations. Then, a unified comparative evaluation across FL algorithms and data heterogeneity is conducted to validate their individual and mutual effectiveness and derive key insights for design principles and future research. Along with the analysis, we frame our work to a unified benchmark, FLPoison, with high modularity and scalability to evaluate 15 representative poisoning attacks and 17 defense strategies, facilitating future research in this domain. Code is available at https://github.com/vio1etus/FLPoison.

cs.CR↗

Compliance while resisting: a shear-thickening fluid controller for physical human-robot interaction

Physical human-robot interaction (pHRI) is widely needed in many fields, such as industrial manipulation, home services, and medical rehabilitation, and puts higher demands on the safety of robots. Due to the uncertainty of the working environment, the pHRI may receive unexpected impact interference, which affects the safety and smoothness of the task execution. The commonly used linear admittance control (L-AC) can cope well with high-frequency small-amplitude noise, but for medium-frequency high-intensity impact, the effect is not as good. Inspired by the solid-liquid phase change nature of shear-thickening fluid, we propose a Shear-thickening Fluid Control (SFC) that can achieve both an easy human-robot collaboration and resistance to impact interference. The SFC's stability, passivity, and phase trajectory are analyzed in detail, the frequency and time domain properties are quantified, and parameter constraints in discrete control and coupled stability conditions are provided. We conducted simulations to compare the frequency and time domain characteristics of L-AC, nonlinear admittance controller (N-AC), and SFC, and validated their dynamic properties. In real-world experiments, we compared the performance of L-AC, N-AC, and SFC in both fixed and mobile manipulators. L-AC exhibits weak resistance to impact. N-AC can resist moderate impacts but not high-intensity ones, and may exhibit self-excited oscillations. In contrast, SFC demonstrated superior impact resistance and maintained stable collaboration, enhancing comfort in cooperative water delivery tasks. Additionally, a case study was conducted in a factory setting, further affirming the SFC's capability in facilitating human-robot collaborative manipulation and underscoring its potential in industrial applications.

cs.RO↗

$ρ$ meson transverse momentum dependent parton distributions

In this paper, the light-front wave functions (LFWFs) of $ρ$ meson are evaluated in the framework of Nambu--Jona-Lasinio model using the proper time regularization scheme. The transverse momentum dependent parton distributions (TMDs) of the $ρ$ meson are derived from the overlap representations of the LFWFs. We investigate the $\bm{k}_{\perp}$-weighted moments and the $x$-dependent average transverse momentum $\langle k_{\perp}^n(x)\rangle_α$ of $ρ$ meson TMDs, $\langle k_{\perp}^n(x)\rangle_α$ shows the typical transverse momenta of quark TMDs in our model. Our findings indicate that the average transverse momenta of $\langle k_{\perp}(x)\rangle_α$ fall within the range of $[0.3, 0.45]$ GeV, while $\langle k_{\perp}^2(x)\rangle_α$ are in the region of $[0.15, 0.30]$ GeV$^2$. Our TMDs and parton distribution function (PDFs) exhibit excellent adherence to positive constraints. The investigation of spin densities within the $ρ$ meson in transverse momentum space reveals axially symmetric distributions for quarks and targets polarized in either longitudinal or transverse directions. Conversely, unpolarized symmetric distributions occur when the quark is longitudinally polarized and the target is transversely polarized, while exhibiting dipolar distortions in the opposite scenario. A comparison between TMDs from LFWFs and those from a covariant approach demonstrates that TMDs from LFWFs more effectively satisfy positive constraints than their counterparts from the covariant approach. Furthermore, the $x$-moments of $ρ$ meson PDFs indicate that $\langle x\rangle_{g_L}$ is larger using LFWFs compared to the covariant approach.

hep-ph↗

Grasp, See, and Place: Efficient Unknown Object Rearrangement with Policy Structure Prior

We focus on the task of unknown object rearrangement, where a robot is supposed to re-configure the objects into a desired goal configuration specified by an RGB-D image. Recent works explore unknown object rearrangement systems by incorporating learning-based perception modules. However, they are sensitive to perception error, and pay less attention to task-level performance. In this paper, we aim to develop an effective system for unknown object rearrangement amidst perception noise. We theoretically reveal that the noisy perception impacts grasp and place in a decoupled way, and show such a decoupled structure is valuable to improve task optimality. We propose GSP, a dual-loop system with the decoupled structure as prior. For the inner loop, we learn a see policy for self-confident in-hand object matching. For the outer loop, we learn a grasp policy aware of object matching and grasp capability guided by task-level rewards. We leverage the foundation model CLIP for object matching, policy learning and self-termination. A series of experiments indicate that GSP can conduct unknown object rearrangement with higher completion rates and fewer steps.

cs.RO↗

Low Time Complexity Near-Field Channel and Position Estimations

With the application of high-frequency communication and extremely large MIMO (XL-MIMO), the near-field effect has become increasingly apparent. The near-field channel estimation and position estimation problems both rely on the Angle of Arrival (AoA) and the Curvature of Arrival (CoA) estimation. However, in the near-field channel model, the coupling of AoA and CoA information poses a challenge to the estimation of the near-field channel. This paper proposes a Joint Autocorrelation and Cross-correlation (JAC) scheme to decouple AoA and CoA estimation. Based on the JAC scheme, we propose two specific near-field estimation algorithms, namely Inverse Sinc Function (JAC-ISF) and Gradient Descent (JAC-GD) algorithms. Finally, we analyzed the time complexity of the JAC scheme and the cramer-rao lower bound (CRLB) for near-field position estimation. The simulation experiment results show that the algorithm designed based on JAC scheme can solve the problem of coupled CoA and AoA information in near-field estimation, thereby improving the algorithm performance. The JAC-GD algorithm shows significant performance in channel estimation and position estimation at different SNRs, snapshot points, and communication distances compared to other algorithms. This indicates that the JAC-GD algorithm can achieve more accurate channel and position estimation results while saving time overhead.

cs.IT↗

A Lightweight U-like Network Utilizing Neural Memory Ordinary Differential Equations for Slimming the Decoder

In recent years, advanced U-like networks have demonstrated remarkable performance in medical image segmentation tasks. However, their drawbacks, including excessive parameters, high computational complexity, and slow inference speed, pose challenges for practical implementation in scenarios with limited computational resources. Existing lightweight U-like networks have alleviated some of these problems, but they often have pre-designed structures and consist of inseparable modules, limiting their application scenarios. In this paper, we propose three plug-and-play decoders by employing different discretization methods of the neural memory Ordinary Differential Equations (nmODEs). These decoders integrate features at various levels of abstraction by processing information from skip connections and performing numerical operations on upward path. Through experiments on the PH2, ISIC2017, and ISIC2018 datasets, we embed these decoders into different U-like networks, demonstrating their effectiveness in significantly reducing the number of parameters and FLOPs while maintaining performance. In summary, the proposed discretized nmODEs decoders are capable of reducing the number of parameters by about 20% ~ 50% and FLOPs by up to 74%, while possessing the potential to adapt to all U-like networks. Our code is available at https://github.com/nayutayuki/Lightweight-nmODE-Decoders-For-U-like-networks.

cs.CV↗

MOVE: Multi-skill Omnidirectional Legged Locomotion with Limited View in 3D Environments

Legged robots possess inherent advantages in traversing complex 3D terrains. However, previous work on low-cost quadruped robots with egocentric vision systems has been limited by a narrow front-facing view and exteroceptive noise, restricting omnidirectional mobility in such environments. While building a voxel map through a hierarchical structure can refine exteroception processing, it introduces significant computational overhead, noise, and delays. In this paper, we present MOVE, a one-stage end-to-end learning framework capable of multi-skill omnidirectional legged locomotion with limited view in 3D environments, just like what a real animal can do. When movement aligns with the robot's line of sight, exteroceptive perception enhances locomotion, enabling extreme climbing and leaping. When vision is obstructed or the direction of movement lies outside the robot's field of view, the robot relies on proprioception for tasks like crawling and climbing stairs. We integrate all these skills into a single neural network by introducing a pseudo-siamese network structure combining supervised and contrastive learning which helps the robot infer its surroundings beyond its field of view. Experiments in both simulations and real-world scenarios demonstrate the robustness of our method, broadening the operational environments for robotics with egocentric vision.

cs.RO↗

Low-Complexity Minimum BER Precoder Design for ISAC Systems: A Delay-Doppler Perspective

Orthogonal time frequency space (OTFS) modulation is anticipated to be a promising candidate for supporting integrated sensing and communications (ISAC) systems, which is considered as a pivotal technique for realizing next generation wireless networks. In this paper, we develop a minimum bit error rate (BER) precoder design for an OTFS-based ISAC system. In particular, the BER minimization problem takes into account the maximum available transmission power budget and the required sensing performance. Different from prior studies that considered ISAC in the time-frequency (TF) domain, we devise the precoder from the perspective of the delay-Doppler (DD) domain by exploiting the equivalent DD domain channel due to the fact that the DD domain channel generally tends to be sparse and quasi-static, which can facilitate a low-overhead ISAC system design. To address the non-convex optimization design problem, we resort to optimizing the lower bound of the derived average BER by adopting Jensen's inequality. Subsequently, the formulated problem is decoupled into two independent sub-problems via singular value decomposition (SVD) methodology. We then theoretically analyze the feasibility conditions of the proposed problem and present a low-complexity iterative solution via leveraging the Lagrangian duality approach. Simulation results verify the effectiveness of our proposed precoder compared to the benchmark schemes and reveal the interplay between sensing and communication for dual-functional precoder design, indicating a trade-off where transmission efficiency is sacrificed for increasing transmission reliability and sensing accuracy.

eess.SP↗

PIE: Parkour with Implicit-Explicit Learning Framework for Legged Robots

Parkour presents a highly challenging task for legged robots, requiring them to traverse various terrains with agile and smooth locomotion. This necessitates comprehensive understanding of both the robot's own state and the surrounding terrain, despite the inherent unreliability of robot perception and actuation. Current state-of-the-art methods either rely on complex pre-trained high-level terrain reconstruction modules or limit the maximum potential of robot parkour to avoid failure due to inaccurate perception. In this paper, we propose a one-stage end-to-end learning-based parkour framework: Parkour with Implicit-Explicit learning framework for legged robots (PIE) that leverages dual-level implicit-explicit estimation. With this mechanism, even a low-cost quadruped robot equipped with an unreliable egocentric depth camera can achieve exceptional performance on challenging parkour terrains using a relatively simple training process and reward function. While the training process is conducted entirely in simulation, our real-world validation demonstrates successful zero-shot deployment of our framework, showcasing superior parkour performance on harsh terrains.

cs.RO↗

DORec: Decomposed Object Reconstruction and Segmentation Utilizing 2D Self-Supervised Features

Recovering 3D geometry and textures of individual objects is crucial for many robotics applications, such as manipulation, pose estimation, and autonomous driving. However, decomposing a target object from a complex background is challenging. Most existing approaches rely on costly manual labels to acquire object instance perception. Recent advancements in 2D self-supervised learning offer new prospects for identifying objects of interest, yet leveraging such noisy 2D features for clean decomposition remains difficult. In this paper, we propose a Decomposed Object Reconstruction (DORec) network based on neural implicit representations. Our key idea is to use 2D self-supervised features to create two levels of masks for supervision: a binary mask for foreground regions and a K-cluster mask for semantically similar regions. These complementary masks result in robust decomposition. Experimental results on different datasets show DORec's superiority in segmenting and reconstructing diverse foreground objects from varied backgrounds enabling downstream tasks such as pose estimation.

cs.CV↗

Stochastic Thermodynamics of Micromagnetics with Spin Torque

In this work, we study the stochastic dynamics of micro-magnetics interacting with a spin-current torque. We extend the previously constructed stochastic Landau-Lifshitz equation to the case with spin-current torque, and verify the conditions of detailed balance. Then we construct various thermodynamics quantities such as work and heat, and prove the second law of thermodynamics. Due to the existence of spin-torque and the asymmetry of the kinetic matrix, a novel effect of entropy pumping shows up. As a consequence, the system may behave as a heat engine which constantly transforms heat into magnetic work. Finally, we derive a fluctuation theorem for the joint probability density function of the pumped entropy and the total work, and verify it using numerical simulations.

cond-mat.stat-mech↗

Stochastic Thermodynamics of Micromagnetics

In this work, we study the stochastic thermodynamics of micro-magnetic systems. We first formulate the stochastic dynamics of micro-magnetic systems by incorporating noises into Landau-Lifshitz (LL) equation, which describes the irreversible and deterministic dynamics of magnetic moments. The resulting stochastic Landau-Lifshitz (sLL) equation obeys detailed balance, which guarantees that, with the external field fixed, the system converges to thermodynamic equilibrium with vanishing entropy production and with non-vanishing probability current. We then discuss various thermodynamic variables both at the trajectory level and at the ensemble level, and further establish both the first and the second laws of thermodynamics. Finally, we establish fluctuation theorems, and verify them using numerical simulations.

cond-mat.stat-mech↗

WALLETRADAR: Towards Automating the Detection of Vulnerabilities in Browser-based Cryptocurrency Wallets

Cryptocurrency wallets, acting as fundamental infrastructure to the blockchain ecosystem, have seen significant user growth, particularly among browser-based wallets (i.e., browser extensions). However, this expansion accompanies security challenges, making these wallets prime targets for malicious activities. Despite a substantial user base, there is not only a significant gap in comprehensive security analysis but also a pressing need for specialized tools that can aid developers in reducing vulnerabilities during the development process. To fill the void, we present a comprehensive security analysis of browser-based wallets in this paper, along with the development of an automated tool designed for this purpose. We first compile a taxonomy of security vulnerabilities resident in cryptocurrency wallets by harvesting historical security reports. Based on this, we design WALLETRADAR, an automated detection framework that can accurately identify security issues based on static and dynamic analysis. Evaluation of 96 popular browser-based wallets shows WALLETRADAR's effectiveness, by successfully automating the detection process in 90% of these wallets with high precision. This evaluation has led to the discovery of 116 security vulnerabilities corresponding to 70 wallets. By the time of this paper, we have received confirmations of 10 vulnerabilities from 8 wallet developers, with over $2,000 bug bounties. Further, we observed that 12 wallet developers have silently fixed 16 vulnerabilities after our disclosure. WALLETRADAR can effectively automate the identification of security risks in cryptocurrency wallets, thereby enhancing software development quality and safety in the blockchain ecosystem.

cs.CR↗

Stochastic thermodynamics of Brownian motion in a flowing fluid

We study stochastic thermodynamics of over-damped Brownian motion in a flowing fluid. Unlike some previous works, we treat the effects of the flow field as a non-conservational driving force acting on the Brownian particle. This allows us to apply the theoretical formalism developed in a recent work for general non-conservative Langevin dynamics. We define heat and work both at the trajectory level and at the ensemble level, and prove the second law of thermodynamics explicitly. The entropy production (EP) is decomposed into a housekeeping part and an excess part, both of which are non-negative at the ensemble level. Fluctuation theorems are derived for the housekeeping work, the excess work, and the total work, which are further verified using numerical simulations. A comparison between our theory and an earlier theory by Speck et. al. is also carried out.

cond-mat.stat-mech↗

Regularization in Space-Time Topology Optimization for Multi-Axis Additive Manufacturing

In additive manufacturing, the fabrication sequence has a large influence on the quality of manufactured components. While planning of the fabrication sequence is typically performed after the component has been designed, recent developments have demonstrated the possibility and benefits of simultaneous optimization of both the structural layout and the corresponding fabrication sequence. The simultaneous optimization approach, called space-time topology optimization, introduces a pseudo-time field to encode the manufacturing process order, alongside a pseudo-density field representing the structural layout. To comply with manufacturing principles, the pseudo-time field needs to be monotonic, i.e., free of local minima. However, explicitly formulated constraints are not always effective, particularly for complex structural layouts. In this paper, we introduce a novel method to regularize the pseudo-time field in space-time topology optimization. We conceptualize the monotonic additive manufacturing process as a virtual heat conduction process starting from the surface upon which a component is constructed layer by layer. The virtual temperature field, which shall not be confused with the actual temperature field during manufacturing, serves as an analogy for encoding the fabrication sequence. In this new formulation, we use local virtual heat conductivity coefficients as optimization variables to steer the temperature field and, consequently, the fabrication sequence. The virtual temperature field is inherently free of local minima due to the physics it resembles. We numerically validate the effectiveness of this regularization in space-time topology optimization under process-dependent loads, including gravity and thermomechanical loads.

math.OC↗