arXiv subjects

Kevin Yao

Publications and source records attributed to Kevin Yao.

4 recordsLinked to original sources

arXiv2026

ObstaDiff: Generalizable Diffusion Policy Learning via Obstacle-aware Representations

Imitation learning has achieved impressive results in robotic manipulation, yet most existing approaches assume clean backgrounds and lack explicit mechanisms for obstacle-aware motion generation. Extending such policies to cluttered, real-world scenes with unstructured obstacles remains a key generalization challenge. We present ObstaDiff, a decomposed diffusion-policy framework with a lightweight obstacle-aware visual encoder. ObstaDiff extracts a structured target-obstacle-background representation, enabling the downstream alignment policy to generate end-effector trajectories toward a target-centered bottleneck pose while reasoning about surrounding obstacles. We evaluate ObstaDiff on 61 real-robot greenhouse trials per method (366 executions in total). ObstaDiff achieves 75.41% average task success and 8.20% average obstacle collision rate, outperforming representative imitation-learning baselines and improving generalization in cluttered agricultural scenes.

cs.RO↗

arXiv2024

HATT: Hamiltonian Adaptive Ternary Tree for Optimizing Fermion-to-Qubit Mapping

This paper introduces the Hamiltonian-Adaptive Ternary Tree (HATT) framework to compile optimized Fermion-to-qubit mapping for specific Fermionic Hamiltonians. In the simulation of Fermionic quantum systems, efficient Fermion-to-qubit mapping plays a critical role in transforming the Fermionic system into a qubit system. HATT utilizes ternary tree mapping and a bottom-up construction procedure to generate Hamiltonian aware Fermion-to-qubit mapping to reduce the Pauli weight of the qubit Hamiltonian, resulting in lower quantum simulation circuit overhead. Additionally, our optimizations retain the important vacuum state preservation property in our Fermion-to-qubit mapping and reduce the complexity of our algorithm from $O(N^4)$ to $O(N^3)$. Evaluations and simulations of various Fermionic systems demonstrate $5\sim20\%$ reduction in Pauli weight, gate count, and circuit depth, alongside excellent scalability to larger systems. Experiments on the Ionq quantum computer also show the advantages of our approach in noise resistance in quantum simulations.

quant-ph↗

arXiv2023

Netflix and Forget: Efficient and Exact Machine Unlearning from Bi-linear Recommendations

People break up, miscarry, and lose loved ones. Their online streaming and shopping recommendations, however, do not necessarily update, and may serve as unhappy reminders of their loss. When users want to renege on their past actions, they expect the recommender platforms to erase selective data at the model level. Ideally, given any specified user history, the recommender can unwind or "forget", as if the record was not part of training. To that end, this paper focuses on simple but widely deployed bi-linear models for recommendations based on matrix completion. Without incurring the cost of re-training, and without degrading the model unnecessarily, we develop Unlearn-ALS by making a few key modifications to the fine-tuning procedure under Alternating Least Squares optimisation, thus applicable to any bi-linear models regardless of the training procedure. We show that Unlearn-ALS is consistent with retraining without \emph{any} model degradation and exhibits rapid convergence, making it suitable for a large class of existing recommenders.

cs.LG↗

arXiv2020

Long-term Stability of Bilayer MoS2 in Ambient Air

We report that chemical vapor deposition (CVD) grown bilayer and thicker-layered MoS2 are structurally and optically stable under ambient conditions, in comparison to CVD-grown monolayer MoS2 and other transition metal dichalcogenides (TMDs) that have been reported to degrade under the same conditions, hindering their many potential applications. We present atomic force microscopy (AFM), and Raman and photoluminescence (PL) spectroscopy measurements of as-grown and preheated multilayer MoS2 after exposure to ambient conditions for periods of up to 2 years. The AFM images show that, under ambient conditions, as-grown and preheated bilayer and thicker-layered MoS2 films do not exhibit the growth of dendrites that is characteristic of monolayer degradation. Dendrites are observed to stop at the monolayer-bilayer boundary. Raman and PL spectra of the aged bilayer and thicker-layered films are comparable to those of as-grown films. The greater stability of bilayers and thicker layers supports a previously reported mechanism for monolayer degradation involving Förster resonance energy transfer. Our results show that bilayer and thicker-layered TMDs are promising materials for applications requiring ambient stability.

cond-mat.mtrl-sci↗