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Lei Zhao

Publications and source records attributed to Lei Zhao.

At least 37 records · Page 2Linked to original sources

NIFA: Nonlinear IMC enhanced FPGA for efficient ML inference

Recent FPGAs have improved deep learning (DL) inference efficiency through dedicated tensor blocks and in-BRAM computation. ReRAM-based analog in-memory computing (IMC) pushes efficiency further, offering an order-of-magnitude improvement in compute density and energy efficiency over conventional digital logic by performing vector-matrix multiplication (VMM) directly within the ReRAM crossbar; prior work has integrated such IMC blocks into FPGAs for DL inference. However, conventional IMC designs support only static-weight VMM, leaving nonlinear operations and dynamic matrix-matrix multiplication (DIMM) to the FPGA fabric. As a result, the benefits of IMC are largely confined to static-weight models, whereas Transformer-based models, which rely on frequent nonlinear and DIMM operations, gain only limited improvement. Moreover, the ADCs within each IMC block consume more than 70% of its area and power, further limiting system efficiency and scalability. To address these limitations, we propose a novel FPGA architecture that integrates an ADC-free IMC block, replacing the conventional ADC with analog content-addressable memories (ACAMs) that natively perform nonlinear operations inside the block. To fully exploit this block, we conduct an FPGA-aware design-space exploration that determines optimal crossbar dimensions while balancing FPGA area, flexibility, and DL performance, and we develop an efficient mapping that leverages ACAMs to carry out DIMM operations, extending the applicability of IMC to attention computation. On CNN and Transformer-based benchmarks, the proposed architecture achieves up to 40x and 1.9x higher energy efficiency and 4.1x and 2.5x higher area efficiency, respectively. Overall, it significantly improves FPGA DL inference efficiency and sustains robust gains on Transformer-based workloads across long input sequences, advancing domain-specialized FPGA design.

cs.AR↗

Context Distribution Restoration for Social Surveys: A Recoverability-Adaptive Transport Framework

Social surveys such as CHNS, NHANES, and BRFSS underpin population health and inequality research, yet critical metadata--urban/rural status, gender, and related stratification fields--are often incomplete. External population statistics or survey design information can provide a known prior P(M) over metadata categories. We formalize this setting as Context Distribution Restoration (CDR): recovering sample-level metadata assignments from covariates X while respecting P(M). The core challenge is that metadata recoverability varies by case: some respondents carry strong signals in X, others do not. We define recoverability theoretically as mutual information R(M|X) = I(X; M) and approximate it operationally via calibrated predictive uncertainty. We then introduce a recoverability-adaptive transport mechanism within an optimal transport framework to regulate the trade-off between individual evidence and population constraints. Across three large-scale surveys (CHNS, NHANES, BRFSS; up to 67k test samples), we show that unconstrained classifiers (XGBoost) achieve high accuracy but violate P(M) (TVD approximately 0.11), while CDR restores TVD < 0.001 with minimal accuracy loss. A CHNS case study illustrates interpretable continuum structure. CDR offers a framework for population-consistent metadata restoration in computational social science.

cs.SI↗

Exclusion of Infinite Spin for N-body problem in $\mathbb{R}^d$

We show that there is no infinite spin at total collisions for $-κ$-homogeneous N-body problem in higher dimensional Euclidean space $\mathbb{R}^d$, in which $0 < κ< 2$ ($κ= 1$ the Newtonian case), provided the limiting normalized central configuration is isolated and is of dimension d or d - 1. In the Newtonian case $κ= 1$, this extends the work of Moeckel-Montgomery to $d \ge 3$ and in the d = 3 case offers a different approach as compared to the current preprint of Pinzari-Zgliczynski.

math.DS↗

Excitation of non-modal perturbations in hypersonic boundary layers by free stream forcing. Part II: asymptotic theory and key mechanisms

Recently, Zhao & Dong (J. Fluid Mech. 2025, vol. 1013: A44) developed a high-efficiency, high-accuracy numerical framework, the shock-fitting harmonic linearised Navier-Stokes (SF-HLNS) approach, which enables a systematic study of the receptivity of non-modal perturbations in hypersonic blunt-body boundary layers over a wide parameter range. In this Part II, we employ a high-Reynolds-number asymptotic analysis to elucidate the physical mechanism of the receptivity process. A distinct slow-down convection mechanism is identified in the nose region, amplifying the perturbation streamwise vorticity from the post-shock position to the boundary layer around the stagnation point by a factor of O(\sqrt{R}), where R is the Reynolds number based on nose radius. Downstream, the lift-up mechanism further leads to a transient growth of the perturbation streamwise velocity up to an amplitude of O(R). Based on these mechanisms, a reduced model is developed to predict the downstream evolution of the non-modal perturbations initiated by receptivity, whose predictions agree well with SF-HLNS calculations. This model can also be used to investigate the effects of wall temperature and nose radius on non-modal receptivity efficiency, as will be detailed in Part III of this work series.

physics.flu-dyn↗

LivePI: More Realistic Benchmarking of Agents Against Indirect Prompt Injection

AI agents such as OpenClaw are increasingly deployed in local workflows with access to external tools. This creates indirect prompt-injection (IPI) risk: an agent may execute harmful instructions embedded in untrusted inputs such as email, downloaded files, webpages, repositories, or group-chat messages. Existing evaluations are often small, purely simulated, or focused on a narrow set of channels. We introduce LivePI (Live Prompt Injection), a structured benchmark for IPI risk in a production-like but test-controlled environment. LivePI covers seven input surfaces, twelve attack/rendering families, and five malicious goals, including protected-information exfiltration, unauthorized security-control changes, unsafe code retrieval or execution, inbox-summary exfiltration, and cryptocurrency transfer. We run LivePI on a real virtual machine with live but test-controlled email, chat, web, local-file, repository, and wallet interfaces. Across GPT-5.3-Codex, Claude Opus 4.6, Gemini 3.1 Pro, Kimi K2.5, and GLM-5, total attack success rates range from 10.7% to 29.6%. Group-chat injection is uniformly successful across the evaluated backbones in our deployment, and repository-link attacks produce high-severity failures despite a small denominator. We also evaluate a two-layer defense consisting of prompt-level filtering and pre-execution tool-call authorization. In the GPT-5.3-Codex setting, the defense intercepts all tested malicious-goal completions in LivePI before execution while preserving benign utility on PinchBench-derived workloads.

cs.CR↗

Enhancing Secret Key Generation for UAV Communications via Codeword Reconstruction

With the rapid advancement of unmanned aerial vehicle (UAV), ensuring the security of communication links among UAVs has become crucial. In this paper, we propose a novel physical layer key generation scheme based on channel codeword reconstruction. In UAV communications, the high mobility of aerial nodes leads to short channel coherence time, which together with noise causes inevitable channel estimation errors. These errors significantly degrades the performance of wireless channel-based key generation. Therefore, we propose a codeword construction algorithm that achieves a polarization characteristic, which effectively segregates reliable keys from unreliable ones. Compared to the existing quantization-based key generation scheme, our approach maximize the utilization of raw channel information and employ soft-decision decoding to generate key. Simulation results demonstrate that the proposed scheme reduces the key disagreement rate for legitimate users and increases the number of consistently generated keys. Furthermore, our method ensures a lower key consistency rate for eavesdropper, which guarantees system security.

cs.IT↗

Anatomy-Anchored Self-Supervision: Distilling Vision Foundation Models for Invariant Ultrasound Representation

Self-supervised pre-training paradigm has gained increasing prominence for learning transferable representations in medical imaging, yet existing methods for ultrasound (US) images operate at the image or frame level, overlooking the anatomical context for clinical-aligned representation learning. In this work, we propose an anatomy-anchored ultrasound self-supervision framework ANAUS that shifts representation learning from generic visual regions to clinically meaningful anatomical structures. Utilizing a learnable latent prompt engine alongside a one-time domain adaptation on existing public image-mask pairs, we empower the LP-SAM module to achieve annotation-free anatomy delineation at scale. Building upon this anatomical grounding, we propose a dual-policy self-supervised learning paradigm consisting of inter-view semantics-aware anatomy-separating alignment and contextual core-region prediction to enhance representation learning. Specifically, the former enforces feature invariance within identical anatomical regions while promoting discriminability across distinct structures; the latter compels the model to reconstruct corrupted regions, thereby capturing fine-grained structural details. Extensive evaluations on six public datasets demonstrate that ANAUS consistently outstrips current state-of-the-art methods while maintaining the computational efficiency essential for clinical deployment. Code is available at https://github.com/zhcz328/ANAUS.

cs.CV↗

Disentangling Language Roles in Multilingual LLM Task Execution

Multilingual LLMs are increasingly used when instruction, source content, and required response languages do not coincide. Existing benchmarks have expanded multilingual instruction-following evaluation, but they rarely isolate these three roles within a fully crossed design. We introduce MTM-Bench, a controlled benchmark for language-conditioned task execution in which each instance is defined by a triplet \((L_{\text{instr}}, L_{\text{content}}, L_{\text{resp}})\). Across English, Spanish, and Chinese, MTM-Bench enumerates all 27 triplets and contains 2{,}430 instances per model across semantic reversal, final-state extraction, and language purity with update realization. We evaluate 20 frontier and open-weight LLMs using decomposed metrics for semantic correctness, target-language adherence, constraint satisfaction, contamination ratio, and joint success, with scoring validated by a targeted human audit. The fully crossed design reveals that degradation is organized by the role a language occupies in the task structure, not merely by mismatch count. The response-language role is the dominant axis of variation, and a single response-slot mismatch accounts for most degradation. The response-only and full-mismatch comparison suggests that mismatch count is not a monotonic predictor of difficulty, with model-level ordering varying across systems. Task families fail through distinct channels, showing that semantic correctness alone does not capture reliable multilingual task execution.

cs.CL↗

Poncelet property of planar elliptic integrable Kepler billiards

We consider the integrable dynamics of a Kepler billiard in the plane bounded by a branch of a conic section focused at the Kepler center. We show that in this case, for non-zero-energy orbits, the lines of consecutive second orbital foci along a billiard trajectory are all tangent to a fixed circle. Based on this observation we analyse in details the integrable dynamics of a planar Kepler billiard inside or outside an elliptic reflection wall, with the Kepler center occupying one of its foci. We identify the associated elliptic curve on which the dynamics is linearized, and the shift defined thereon. We also discuss explicit conditions on $n$-periodicity using Cayley's criteria.

math.DS↗

TopoMamba: Topology-Aware Scanning and Fusion for Segmenting Heterogeneous Medical Visual Media

Visual state-space models (SSMs) have shown strong potential for medical image segmentation, yet their effectiveness is often limited by two practical issues: axis-biased scan ordering weakens the modeling of oblique and curved structures, and naive multi-branch fusion tends to amplify redundant responses. We present TopoMamba, a topology-aware scan-and-fuse framework for segmenting heterogeneous medical visual media. The method combines a diagonal/anti-diagonal TopoA-Scan branch with the standard Cross-Scan branch to provide complementary structural priors, and introduces ScanCache, a device-aware caching mechanism that amortizes explicit scan-index construction across recurring resolutions. To fuse heterogeneous scan features efficiently, we further propose a lightweight HSIC Gate that regulates branch interaction using a dependence-aware scalar gating rule. We also instantiate a volumetric TopoMamba-3D for practical 3D clinical segmentation. Experiments on Synapse CT, ISIC 2017 dermoscopy, and CVC-ClinicDB endoscopy show that TopoMamba consistently improves segmentation quality over strong CNN, Transformer, and SSM baselines, with particularly clear gains on thin or curved targets such as the pancreas and gallbladder, while maintaining favorable deployment efficiency under dynamic input resolutions. These results suggest that topology-aware scan ordering and lightweight dependence-aware fusion form an effective and practical design for medical multimedia segmentation. The code will be made publicly available.

cs.CV↗

Unified Unsupervised and Sparsely-Supervised 3D Object Detection by Semantic Pseudo-Labeling and Prototype Learning

3D object detection is essential for autonomous driving and robotic perception, yet its reliance on large-scale manually annotated data limits scalability and adaptability. To reduce annotation dependency, unsupervised and sparsely-supervised paradigms have emerged. However, they face intertwined challenges: low-quality pseudo-labels, unstable feature mining, and a lack of a unified training framework. This paper proposes SPL, a unified training framework for both unsupervised and sparsely-supervised 3D object detection via \underline{S}emantic \underline{P}seudo-labeling and prototype \underline{L}earning. SPL first generates high-quality pseudo-labels by integrating image semantics, point cloud geometry, and temporal cues, producing both 3D bounding boxes for dense objects and 3D point labels for sparse ones. These pseudo-labels are not used directly but as probabilistic priors within a novel, multi-stage prototype learning strategy. This strategy stabilizes feature representation learning through memory-based initialization and momentum-based prototype updating, effectively mining features from both labeled and unlabeled data. Extensive experiments on KITTI and nuScenes datasets demonstrate that SPL significantly outperforms state-of-the-art methods in both settings. Our work provides a robust and generalizable solution for learning 3D object detectors with minimal or no manual annotations. Our code is available at https://github.com/TossherO/SPL.

cs.CV↗

CT-VoxelMap: Efficient Continuous-Time LiDAR-Inertial Odometry with Probabilistic Adaptive Voxel Mapping

Maintaining stable and accurate localization during fast motion or on rough terrain remains highly challenging for mobile robots with onboard resources. Currently, multi-sensor fusion methods based on continuous-time representation offer a potential and effective solution to this challenge. Among these, spline-based methods provide an efficient and intuitive approach for continuous-time representation. Previous continuous-time odometry works based on B-splines either treat control points as variables to be estimated or perform estimation in quaternion space, which introduces complexity in deriving analytical Jacobians and often overlooks the fitting error between the spline and the true trajectory over time. To address these issues, we first propose representing the increments of control points on matrix Lie groups as variables to be estimated. Leveraging the feature of the cumulative form of B-splines, we derive a more compact formulation that yields simpler analytical Jacobians without requiring additional boundary condition considerations. Second, we utilize forward propagation information from IMU measurements to estimate fitting errors online and further introduce a hybrid feature-based voxel map management strategy, enhancing system accuracy and robustness. Finally, we propose a re-estimation policy that significantly improves system computational efficiency and robustness. The proposed method is evaluated on multiple challenging public datasets, demonstrating superior performance on most sequences. Detailed ablation studies are conducted to analyze the impact of each module on the overall pose estimation system.

cs.RO↗

Fast and Robust Deformable 3D Gaussian Splatting

3D Gaussian Splatting has demonstrated remarkable real-time rendering capabilities and superior visual quality in novel view synthesis for static scenes. Building upon these advantages, researchers have progressively extended 3D Gaussians to dynamic scene reconstruction. Deformation field-based methods have emerged as a promising approach among various techniques. These methods maintain 3D Gaussian attributes in a canonical field and employ the deformation field to transform this field across temporal sequences. Nevertheless, these approaches frequently encounter challenges such as suboptimal rendering speeds, significant dependence on initial point clouds, and vulnerability to local optima in dim scenes. To overcome these limitations, we present FRoG, an efficient and robust framework for high-quality dynamic scene reconstruction. FRoG integrates per-Gaussian embedding with a coarse-to-fine temporal embedding strategy, accelerating rendering through the early fusion of temporal embeddings. Moreover, to enhance robustness against sparse initializations, we introduce a novel depth- and error-guided sampling strategy. This strategy populates the canonical field with new 3D Gaussians at low-deviation initial positions, significantly reducing the optimization burden on the deformation field and improving detail reconstruction in both static and dynamic regions. Furthermore, by modulating opacity variations, we mitigate the local optima problem in dim scenes, improving color fidelity. Comprehensive experimental results validate that our method achieves accelerated rendering speeds while maintaining state-of-the-art visual quality.

cs.CV↗

From emission to absorption: the FAST observation of the OH 18-cm lines from the Comet C2025/A6

We observed comet C/2025 A6 with the Five-hundred-meter Aperture Spherical radio Telescope (FAST) equipped with the ultra-wideband receiver from 2025 October 23 to November 8, and it was the first detection for this comet with FAST.Through trapezoidal fitting of the OH line profiles, we derived the expansion velocities of the water which showed an increase from 1.5$\pm$0.3 km s$^{-1}$ at the heliocentric distance of 0.65 AU to 3.0$\pm$0.9 km s$^{-1}$ at 0.54 AU. Based on these results, we estimated the OH production rates of C/2025 A6 for October 23, October 26, November 4 and November 5 which were (1.0$\pm$0.1)$\times$10$^{29}$, (1.2$\pm$0.1)$\times$10$^{29}$, (1.4$\pm$0.3)$\times$10$^{29}$, and (1.5$\pm$0.4)$\times$10$^{29}$ s$^{-1}$ respectively. The results show a significant upward trend.

astro-ph.EP↗

Birkhoff normal forms, Dirac brackets and symplectic reduction

Dirac brackets are widely used to study constrained Hamiltonian dynamics. In this paper we develop a Dirac-bracket approach to normal forms on momentum levels and relate it to symplectic reduction in the cases where reduction yields a (stratified) symplectic quotient. We consider a proper Hamiltonian $G$-action on a symplectic manifold $(M,ω)$ with an equivariant momentum map $J$. We fix $μ\in \mathfrak g^*$and work on $J^{-1}(μ)$. For $G$-invariant Hamiltonians whose induced vector field on $J^{-1}(μ)$ is tangent to a local $G_μ$-slice, we show that the induced evolution on $J^{-1}(μ)$ coincides with that defined by the Dirac bracket on a local second-class slice, and descends to the corresponding symplectic stratum of $J^{-1}(μ)/G_μ$. As a main application we study Birkhoff normal forms near a relative equilibrium. When the quadratic part of a symmetric Hamiltonian is tangent to a local $G_μ$-slice, a Birkhoff normal form can be constructed entirely on the manifold $J^{-1}(μ)$, and it descends to a Birkhoff normal form for the reduced dynamics on the corresponding stratum, even when the reduced space is singular. We show that for a class of simple mechanical systems this condition holds automatically at a relative equilibrium. We illustrate the method on the double spherical pendulum. Finally, we relate our results to Moser's constrained dynamics by identifying Moser's constrained vector field with the Dirac Hamiltonian vector field. We show that, if the reduced Hamiltonian is near-integrable on a stratum, then its pullback to the symplectic slice is near-integrable with respect to the Dirac bracket, and vice versa. In particular, this provides a practical route to KAM-type results for the constrained dynamics.

math.SG↗

MagicWorld: Towards Long-Horizon Stability for Interactive Video World Exploration

Recent interactive video world model methods generate scene evolution conditioned on user instructions. Although they achieve impressive results, two key limitations remain. First, they exhibit motion drift in complex environments with multiple interacting subjects, where dynamic subjects fail to follow realistic motion patterns during scene evolution. Second, they suffer from error accumulation in long-horizon interactions, where autoregressive generation gradually drifts from earlier scene states and causes structural and semantic inconsistencies. In this paper, we propose MagicWorld, an interactive video world model built upon an autoregressive framework. To address motion drift, we incorporate a flow-guided motion preservation constraint that mitigates motion degradation in dynamic subjects, encouraging realistic motion patterns and stable interactions during scene evolution. To mitigate error accumulation in long-horizon interactions, we design two complementary strategies, including a history cache retrieval strategy and an enhanced interactive training strategy. The former reinforces historical scene states by retrieving past generations during interaction, while the latter adopts multi-shot aggregated distillation with dual-reward weighting for interactive training, enhancing long-term stability and reducing error accumulation. In addition, we construct RealWM120K, a real-world dataset with diverse city-walk videos and multimodal annotations to support dynamic perception and long-horizon world modeling. Experimental results demonstrate that MagicWorld improves motion realism and alleviates error accumulation during long-horizon interactions.

cs.CV↗

SpiralDiff: Spiral Diffusion with LoRA for RGB-to-RAW Conversion Across Cameras

RAW images preserve superior fidelity and rich scene information compared to RGB, making them essential for tasks in challenging imaging conditions. To alleviate the high cost of data collection, recent RGB-to-RAW conversion methods aim to synthesize RAW images from RGB. However, they overlook two key challenges: (i) the reconstruction difficulty varies with pixel intensity, and (ii) multi-camera conversion requires camera-specific adaptation. To address these issues, we propose SpiralDiff, a diffusion-based framework tailored for RGB-to-RAW conversion with a signal-dependent noise weighting strategy that adapts reconstruction fidelity across intensity levels. In addition, we introduce CamLoRA, a camera-aware lightweight adaptation module that enables a unified model to adapt to different camera-specific ISP characteristics. Extensive experiments on four benchmark datasets demonstrate the superiority of SpiralDiff in RGB-to-RAW conversion quality and its downstream benefits in RAW-based object detection. Our code and model are available at https://github.com/Chuancy-TJU/SpiralDiff.

cs.CV↗