arXiv subjects

Liang Lu

Publications and source records attributed to Liang Lu.

At least 19 recordsLinked to original sources

arXiv2026

Stationary electron vortex states in a plasma bubble field

Plasma wakefield accelerators (PWFAs) offer accelerating gradients of 10-100~GV/m and relativistically propagating plasma bubbles capable of confining charged particles. We study the stationary states of a vortex electron at the bubble center by solving the corresponding quasi-relativistic Schr\"odinger equation. Analytical solutions are obtained with Laguerre-Gaussian transverse modes and Hermite-Gaussian longitudinal envelopes. Comparing the resulting beam parameters with experimentally accessible vortex-electron bundles, we find that the transverse beam waist supported by the plasma bubble is comparable to that achieved by current electron-optical techniques. The longitudinal confinement further provides a favorable parameter regime for stable injection. Our results indicate the feasibility of maintaining localized vortex-electron states in a plasma-bubble wakefield and provide an analytical starting point for investigating their subsequent acceleration and stability.

physics.acc-ph↗

arXiv2026

Robustness of Off-Axis Electron Vortices in Nonuniform Magnetic Fields

Rotational symmetry protects the topological charge of on-axis electron vortices but not of off-axis vortices. We identify an additional SU(1,1) dynamical invariant that guarantees conservation of their intrinsic orbital angular momentum within the near-axis approximation. First-principles simulations of an off-axis electron vortex traversing a Glaser lens confirm this prediction, establishing a robust transport mechanism in axisymmetric nonuniform magnetic fields.

physics.acc-ph↗

arXiv2026

BIM-Loc: BIM-Integrated Discrepancy-Aware LiDAR-based Indoor Localization

Accurate and robust localization is a fundamental requirement for service and inspection robots, particularly in feature-sparse indoor environments where traditional systems struggle due to a lack of distinct landmarks. While prior maps can enhance robustness, precise and compact maps capturing real-world details are often unavailable for new or frequently changing environments. This paper presents BIM-Loc, a novel discrepancy-aware LiDAR-based localization method that directly integrates Building Information Models (BIM) from the design phase. BIM-Loc simultaneously estimates trajectories aligned with the BIM coordinate system and identifies discrepancies between real-world observations and the as-designed BIM in an online fashion. Our core contributions include: (1) a novel multi-hit ray casting strategy for efficient BIM-point data association and projection of 3D observations into 2D texture space; (2) a pose graph optimization framework with BIM-integrated factors that enforces consistency among odometry, sequential scans, and BIM structures; and (3) a hierarchical Bayesian inference module that incrementally updates a continuous 2D surface representation for discrepancy detection, propagating updates from the pixel to the structure level. Extensive evaluations in both simulation and real-world applications demonstrate that BIM-Loc significantly outperforms state-of-the-art map-based methods in localization accuracy and robustness.

cs.RO↗

arXiv2026

Optimizing In Vivo Oral Lesion Classification from Electrical Impedance Spectroscopy Using Data-driven Approaches

Oral cancer is a significant global health burden, and early detection remains a critical clinical need. Electrical impedance spectroscopy (EIS) offers a promising non-invasive approach for real-time tissue characterization, but classification frameworks that jointly leverage multiple impedance features for in vivo oral lesion discrimination remain underdeveloped. This paper presents a machine-learning (ML) pipeline to optimize classification of in vivo oral pathology from EIS data collected using a handheld, bedside device. Impedance measurements were acquired from 104 patients undergoing oral cancer resection or biopsy. Three classification tasks were evaluated: (1) healthy vs. cancer, (2) multi-class lesion-type discrimination (cancer, high-grade dysplasia, non-malignant), and (3) multi-class discrimination between the three lesion pathologies and healthy tissue. For each task, signal frequencies were independently ranked and reduced using PCA, and different current injection/voltage measurement (IIVV) pattern geometries were tested. Classification performance was assessed through leave-one-patient-group-out cross-validation to ensure robustness on unseen patients. Input data dimensionality was reduced by up to 99% across all tasks while improving diagnostic accuracy over baseline models trained on the full dataset. A logistic regression model achieved the highest binary classification accuracy of 80% with an AUC of 0.90, while multi-class scenarios maintained AUCs above 0.82. All top-performing models utilized the significantly reduced IIVV set as input. The proposed pipeline advances EIS-based cancer detection by providing a robust, computationally efficient, and clinically practical framework for early diagnosis of oral cancer lesions, with a methodology readily generalizable to other EIS devices and applications.

eess.SP↗

arXiv2026

Orbital angular momentum radiation and polarization of relativistic electrons in magnetic fields

While spin polarization from synchrotron radiation is well established, the polarization of orbital angular momentum (OAM) in such radiative processes remains elusive. We study radiation and polarization of relativistic electrons in a uniform magnetic field, focusing on OAM polarization radiation for vortex electrons which carry intrinsic OAM. The results illustrate that transition rates are asymmetric in the low-photon-energy regime, favoring OAM decrease, analogous to the spin-flip asymmetry in the Sokolov-Ternov effect. Under these conditions, synchrotron radiation can polarize the OAM. The characteristic relaxation time and stationary-state OAM distribution are obtained analytically. The polarization of spin about \(\mathcal{P}_{\text{spin}}\) reaches \(92.38\%\), while that of \(\mathcal{P}_{\text{OAM}}\) can even approach almost unity for a large OAM; however, their polarization behaviors are different. For typical storage ring parameters, the OAM polarization time is orders of magnitude shorter than the spin polarization time. Thus, synchrotron radiation offers a mechanism for controlling vortex electron beams which carry OAM for high-energy accelerator applications.

physics.acc-ph↗

arXiv2026

Reinforcement Learning with Promising Tokens for Large Language Models

Reinforcement learning (RL) has emerged as a key paradigm for aligning and optimizing large language models (LLMs). Standard approaches treat the LLM as the policy and apply RL directly over the full vocabulary space. However, this formulation includes the massive tail of contextually irrelevant tokens in the action space, which could distract the policy from focusing on decision-making among the truly reasonable tokens. In this work, we verify that valid reasoning paths could inherently concentrate within a low-rank subspace. Based on this insight, we introduce Reinforcement Learning with Promising Tokens (RLPT), a framework that mitigates the action space issue by decoupling strategic decision-making from token generation. Specifically, RLPT leverages the semantic priors of the base model to identify a dynamic set of promising tokens and constrains policy optimization exclusively to this refined subset via masking. Theoretical analysis and empirical results demonstrate that RLPT effectively reduces gradient variance, stabilizes the training process, and improves sample efficiency. Experiment results on math, coding, and telecom reasoning show that RLPT outperforms standard RL baselines and integrates effectively across various model sizes (4B and 8B) and RL algorithms (GRPO and DAPO).

cs.LG↗

arXiv2025

Beam-commissioning-oriented optics study of HFRS Phase-I based on measured magnetic field data

The construction of the first phase of the High energy FRagment Separator (HFRS Phase-I) has already been completed and it is anticipated to start beam commissioning in autumn 2025. This paper presents the first order and higher order beam optics calculations for the HFRS Phase-I, using measured magnet data, and evaluates its experimental performance in preparation for beam commissioning. The first order optics of HFRS is calculated based on the sliced magnetic fields and the higher order aberrations are corrected using a self-compiled program. Monte Carlo particle tracking is employed to analyze the beam phase spaces on the focal planes. The experimental performance of the machine is evaluated through Monte Carlo simulations. The beam phase spaces on the focal planes are thoroughly examined, demonstrating that the higher order aberrations have been well corrected. Moreover, the experimental performance of HFRS is evaluated based on the corrected higher order optics, yielding satisfactory results: the secondary beams of interest can be well separated and exhibit high transmission efficiency. This work provides valuable insights for the upcoming beam commissioning of HFRS Phase-I. The effective correction of higher order aberrations and optimized magnet settings lay a solid foundation for future experiments.

physics.acc-ph↗

arXiv2025

A further study on the high-precision optics for HIAF-BRing

The High Intensity heavy ion Accelerator Facility (HIAF) successfully accelerated the 18O6+ beam on October 27, 2025. This paper presents a further simulation study on the high-precision optics, namely sliced optics, of the Booster Ring (BRing) at HIAF based on measured magnetic fields, focusing on three aspects: (1) closed-orbit distortion (COD) and variations in optical parameters induced by errors; (2) closed-orbit correction; (3) dynamic aperture. Specifically, detailed investigations are conducted on COD and optical parameter variations caused by magnet alignment errors and dipole magnet field errors, alongside simulations of closed-orbit correction and detailed calculations of BRing's dynamic aperture. Results show the sliced optics outperforms the original optics in COD control. Without chromaticity correction, its dynamic aperture is superior to the original; after chromaticity correction, it remains comparable. This study provides valuable insights for accelerator tuning and optimization.

physics.acc-ph↗

arXiv2025

Intermittent chaos in an optomechanical resonator

Chaos is a fundamental phenomenon in nonlinear dynamics, manifesting as irregular and unpredictable behavior across various physical systems. Among the diverse routes to chaos, intermittent chaos is a distinct transition pathway, characterized by the temporal or spatial alternation between periodic and chaotic motions. Here, we experimentally demonstrate, for the first time, optomechanically induced intermittent chaos in an optical whispering-gallery-mode microresonator. Specifically, the system evolves from stable periodic oscillation through an intermittent-chaos regime before fully developing into chaotic motion. As system parameters vary, the proportion of chaotic motion in the time-domain increases asymptotically until chaotic dynamics dominates entirely. Moreover, it is counterintuitive that, intermittent chaos can act as noise of a favorable intensity compared with purely periodic or fully chaotic states, and enhance rather than reduce system's responses in nonlinear ultrasonic detection. These findings not only deepen the comprehensive understanding of chaos formation but also broaden its potential applications in high-precision sensing and information processing.

quant-ph↗

arXiv2025

Unified Hierarchical MPC in Task Executing for Modular Manipulators across Diverse Morphologies

This work proposes a unified Hierarchical Model Predictive Control (H-MPC) for modular manipulators across various morphologies, as the controller can adapt to different configurations to execute the given task without extensive parameter tuning in the controller. The H-MPC divides the control process into two levels: a high-level MPC and a low-level MPC. The high-level MPC predicts future states and provides trajectory information, while the low-level MPC refines control actions by updating the predictive model based on this high-level information. This hierarchical structure allows for the integration of kinematic constraints and ensures smooth joint-space trajectories, even near singular configurations. Moreover, the low-level MPC incorporates secondary linearization by leveraging predictive information from the high-level MPC, effectively capturing the second-order Taylor expansion information of the kinematic model while still maintaining a linearized model formulation. This approach not only preserves the simplicity of a linear control model but also enhances the accuracy of the kinematic representation, thereby improving overall control precision and reliability. To validate the effectiveness of the control policy, we conduct extensive evaluations across different manipulator morphologies and demonstrate the execution of pick-and-place tasks in real-world scenarios.

cs.RO↗

arXiv2025

Relativistic quantum mechanics of charged vortex particles accelerated in a uniform electric field

The relativistic quantum-mechanical description of a charged Laguerre-Gauss beam accelerated in a uniform electric field has been fulfilled. Stationary wave eigenfunctions are rigorously derived. The evolution of the beam parameters during acceleration is considered in detail. The practically important effect of extraordinary suppression of transverse spreading of the beam is discovered, carefully analyzed, and properly explained. Our results provide direct evidence that vortex particle beams can be accelerated without destroying their intrinsic vortex properties, paving the way for high-energy vortex beam applications.

physics.acc-ph↗

arXiv2025

High-precision Beam Optics Calculation of the HIAF-BRing Using Measured Fields

The construction of the High Intensity heavy ion Accelerator Facility (HIAF) has been completed, with current efforts focused on subsystem commissioning. Beam commissioning is scheduled for autumn 2025, marking a critical milestone in the HIAF project. This paper presents high-precision optics calculations for the Booster Ring (BRing) of HIAF, a key component for achieving stable heavy-ion beam acceleration. Leveraging high-precision magnetic field data, each magnet is divided into hundreds of slices, thus establishing a high-precision sliced optics model for BRing. Detailed calculations of BRing's optics are presented in this work. Critical parameters including tunes and betatron functions of the lattice based on the measured magnetic fields and those of the ideal lattice have been compared. The results highlight the impact of realistic magnetic field on beam dynamics and provide essential insights for accelerator tuning and optimization. These findings serve as a fundamental reference for beam commissioning and long-term operation, ensuring beam stability and performance reproducibility in HIAF.

physics.acc-ph↗

arXiv2025

Enhancing the Non-Functional Quality Compliance of LLM-Generated Code through Quality-Aware Preference Learning

Large Language Models (LLMs) have been widely adopted in commercial code completion engines, significantly enhancing coding efficiency and productivity. However, even functionally correct LLM-generated code may exhibit non-functional quality issues that violate coding standards and best practices, such as poor style and limited maintainability. To address this, we propose a framework for quality-aware preference learning that guides LLMs toward generating criteria-compliant code. Our approach consists of three phases. First, we construct a dataset of paired criteria-violating and criteria-compliant samples, where each pair contains code exhibiting a specific non-functional quality issue and its repaired version that resolves the issue. Second, we design an adaptive token weighting mechanism to emphasize quality-sensitive code regions. Third, we introduce a hybrid optimization objective that combines ranking loss with language modeling loss and KL divergence to enable effective comparative optimization. Extensive experiments on DeepSeek-Coder and Qwen2.5-Coder show that our method substantially improves compliance with the targeted non-functional quality criteria while maintaining functional correctness, achieving a 75.7% relative increase in Quality Reciprocal Score (QRS) on MBPP-sanitized for Qwen2.5-Coder. Fine-tuning a 7B model requires less than three hours, indicating strong practical viability. Ablation studies and a user study further support the effectiveness of the proposed framework.

cs.SE↗

arXiv2024

Signage-Aware Exploration in Open World using Venue Maps

Current exploration methods struggle to search for shops or restaurants in unknown open-world environments due to the lack of prior knowledge. Humans can leverage venue maps that offer valuable scene priors to aid exploration planning by correlating the signage in the scene with landmark names on the map. However, arbitrary shapes and styles of the texts on signage, along with multi-view inconsistencies, pose significant challenges for robots to recognize them accurately. Additionally, discrepancies between real-world environments and venue maps hinder the integration of text-level information into the planners. This paper introduces a novel signage-aware exploration system to address these challenges, enabling the robots to utilize venue maps effectively. We propose a signage understanding method that accurately detects and recognizes the texts on signage using a diffusion-based text instance retrieval method combined with a 2D-to-3D semantic fusion strategy. Furthermore, we design a venue map-guided exploration-exploitation planner that balances exploration in unknown regions using directional heuristics derived from venue maps and exploitation to get close and adjust orientation for better recognition. Experiments in large-scale shopping malls demonstrate our method's superior signage recognition performance and search efficiency, surpassing state-of-the-art text spotting methods and traditional exploration approaches. Project website: https://sites.google.com/view/signage-aware-exploration.

cs.RO↗

arXiv2024

Generalized Gouy Rotation of Electron Vortex beams in uniform magnetic fields

The intrinsic rotation of electron vortex beams, governed by their phase structure, has been experimentally observed in magnetic fields by breaking the beam's cylindrical symmetry. However, conventional Landau states, which predict three fixed angular frequencies, cannot fully account for the existing experimental observations. To address this limitation, we introduce and derive the generalized Gouy rotation angle, which links the Gouy phase of an extended Landau state -- featuring a periodically oscillating beam width -- to the experimentally observed angular variation. In particular, this framework predicts a broader spectrum of angular frequencies and captures the reversal of rotation direction observed in electron vortex beams with negative topological charge. Calculations based on experimental parameters show good agreement with previously published data and are further validated here by numerical simulations using the Chebyshev method. Our results are, in principle, applicable to any system involving electron vortex beams in uniform magnetic fields, and provide a foundation for exploring vortex electrons in Glaser and other nonuniform magnetic fields.

quant-ph↗

arXiv2024

Semisupervised Neural Proto-Language Reconstruction

Existing work implementing comparative reconstruction of ancestral languages (proto-languages) has usually required full supervision. However, historical reconstruction models are only of practical value if they can be trained with a limited amount of labeled data. We propose a semisupervised historical reconstruction task in which the model is trained on only a small amount of labeled data (cognate sets with proto-forms) and a large amount of unlabeled data (cognate sets without proto-forms). We propose a neural architecture for comparative reconstruction (DPD-BiReconstructor) incorporating an essential insight from linguists' comparative method: that reconstructed words should not only be reconstructable from their daughter words, but also deterministically transformable back into their daughter words. We show that this architecture is able to leverage unlabeled cognate sets to outperform strong semisupervised baselines on this novel task.

cs.CL↗

arXiv2024

Improved Neural Protoform Reconstruction via Reflex Prediction

Protolanguage reconstruction is central to historical linguistics. The comparative method, one of the most influential theoretical and methodological frameworks in the history of the language sciences, allows linguists to infer protoforms (reconstructed ancestral words) from their reflexes (related modern words) based on the assumption of regular sound change. Not surprisingly, numerous computational linguists have attempted to operationalize comparative reconstruction through various computational models, the most successful of which have been supervised encoder-decoder models, which treat the problem of predicting protoforms given sets of reflexes as a sequence-to-sequence problem. We argue that this framework ignores one of the most important aspects of the comparative method: not only should protoforms be inferable from cognate sets (sets of related reflexes) but the reflexes should also be inferable from the protoforms. Leveraging another line of research -- reflex prediction -- we propose a system in which candidate protoforms from a reconstruction model are reranked by a reflex prediction model. We show that this more complete implementation of the comparative method allows us to surpass state-of-the-art protoform reconstruction methods on three of four Chinese and Romance datasets.

cs.CL↗

arXiv2023

Disturbance Rejection Control for Autonomous Trolley Collection Robots with Prescribed Performance

Trajectory tracking control of autonomous trolley collection robots (ATCR) is an ambitious work due to the complex environment, serious noise and external disturbances. This work investigates a control scheme for ATCR subjecting to severe environmental interference. A kinematics model based adaptive sliding mode disturbance observer with fast convergence is first proposed to estimate the lumped disturbances. On this basis, a robust controller with prescribed performance is proposed using a backstepping technique, which improves the transient performance and guarantees fast convergence. Simulation outcomes have been provided to illustrate the effectiveness of the proposed control scheme.

cs.RO↗