arXiv subjects

Liang Wang

Publications and source records attributed to Liang Wang.

At least 145 records · Page 8Linked to original sources

arXiv2025

Spectral Properties and Energy Injection in Mercury's Magnetotail Current Sheet

Mercury's magnetotail hosts a thin and highly dynamic current sheet (CS), where magnetic reconnection and strong fluctuations frequently occur. Here, we statistically analyze magnetic field power spectra across 370 magnetotail CSs observed by MESSENGER. About 20% of the events are quasi-laminar, showing single power-law spectra, whereas 80% are turbulent, exhibiting a spectral break separating inertial and kinetic ranges. A dawn-dusk asymmetry is identified: inertial-range slopes are systematically shallower on the dawnside, whereas kinetic-range slopes are steeper, indicating more developed turbulence there, consistent with the higher occurrence of reconnection-related processes on the dawnside. Component analysis shows that the transverse components, orthogonal to the tail-aligned principal field (BX), display shallow slopes near -1 in the inertial range, suggesting energy injection at ion scales rather than a classical inertial range. These results demonstrate that Mercury's unique plasma environment fundamentally reshapes the initiation of turbulence and the redistribution of energy in the magnetotail.

physics.space-ph↗

arXiv2025

Edge-Served Congestion Control for Wireless Multipath Transmission with a Transformer Agent

Multipath TCP is widely adopted to enhance connection quality-of-service by leveraging multiple network pathways on modern devices. However, the evolution of its core congestion control is hindered by the OS kernel, whose monolithic design imposes high development overhead and lacks the resource flexibility required for data-driven methods. Furthermore, inherent noise in network statistics induces a partial observability problem, which can mislead data-driven methods like Deep Reinforcement Learning. To bridge this gap, we propose Jazz, a system that re-architects multipath congestion control through a decoupled architecture that separates the decision-making ``brain'' from the in-kernel datapath, enabling it to operate on an external (edge) entity. At its core, Jazz employs a Transformer-based agent that processes sequences of historical observations to overcome the partial observability of single-step reinforcement learning. This allows it to learn and master fluctuating link conditions and intricate cross-path dependencies. Tested on a dual-band (5GHz/6GHz) Wi-Fi testbed, our implementation improves bandwidth efficiency by at least 2.85\% over conventional methods and maintains 96.2\% performance under 1\% packet loss, validating this design as a practical blueprint for agile network intelligence.

cs.NI↗

arXiv2025

Revisiting Mars' Induced Magnetic Field and Clock Angle Departures under Real-Time Upstream Solar Wind Conditions

Mars lacks a global intrinsic dipole magnetic field, but its interaction with the solar wind generates a global induced magnetosphere. Until now, most studies have relied on single-spacecraft measurements, which could not simultaneously capture upstream solar wind conditions and the induced magnetic fields, thereby limiting our understanding of the system. Here, we statistically re-examine the properties of Mars' induced magnetic field by incorporating, for the first time, real-time upstream solar wind conditions from the coordinated MAVEN and Tianwen-1 observations. Our results are show that both solar wind dynamic pressure and the interplanetary magnetic field (IMF) magnitude enhance the strength of the induced magnetic field, but they exert opposite effects on the compression ratio: higher dynamic pressure strengthens compression, while stronger IMF weakens it. The induced field is stronger under quasi-perpendicular IMF conditions compared with quasi-parallel IMF, reflecting a stronger mass-loading effect. We further investigate the clock angle departures of the induced fields. They remain relatively small in the magnetosheath near the bow shock, increase gradually toward the induced magnetosphere, and become significantly larger within the induced magnetosphere. In addition, clock angle departures are strongly enhanced under quasi-parallel IMF conditions. Their dependence on upstream drivers further shows that, within the magnetosheath, clock angle departures are minimized under low dynamic pressure, high IMF magnitude, and low Alfven Mach number conditions. These results may enhance our understanding of solar wind interaction with Mars, and highlight the critical role of multi-point observations.

physics.space-ph↗

arXiv2025

VERM: Leveraging Foundation Models to Create a Virtual Eye for Efficient 3D Robotic Manipulation

When performing 3D manipulation tasks, robots have to execute action planning based on perceptions from multiple fixed cameras. The multi-camera setup introduces substantial redundancy and irrelevant information, which increases computational costs and forces the model to spend extra training time extracting crucial task-relevant details. To filter out redundant information and accurately extract task-relevant features, we propose the VERM (Virtual Eye for Robotic Manipulation) method, leveraging the knowledge in foundation models to imagine a virtual task-adaptive view from the constructed 3D point cloud, which efficiently captures necessary information and mitigates occlusion. To facilitate 3D action planning and fine-grained manipulation, we further design a depth-aware module and a dynamic coarse-to-fine procedure. Extensive experimental results on both simulation benchmark RLBench and real-world evaluations demonstrate the effectiveness of our method, surpassing previous state-of-the-art methods while achieving 1.89x speedup in training time and 1.54x speedup in inference speed. More results can be found on our project website at https://verm-ral.github.io .

cs.RO↗

arXiv2025

Physics-Informed Neural Networks for Modeling the Martian Induced Magnetosphere

Understanding the magnetic field environment around Mars and its response to upstream solar wind conditions provide key insights into the processes driving atmospheric ion escape. To date, global models of Martian induced magnetosphere have been exclusively physics-based, relying on computationally intensive simulations. For the first time, we develop a data-driven model of the Martian induced magnetospheric magnetic field using Physics-Informed Neural Network (PINN) combined with MAVEN observations and physical laws. Trained under varying solar wind conditions, including B_IMF, P_SW, and θ_cone, the data-driven model accurately reconstructs the three-dimensional magnetic field configuration and its variability in response to upstream solar wind drivers. Based on the PINN results, we identify key dependencies of magnetic field configuration on solar wind parameters, including the hemispheric asymmetries of the draped field line strength in the Mars-Solar-Electric coordinates. These findings demonstrate the capability of PINNs to reconstruct complex magnetic field structures in the Martian induced magnetosphere, thereby offering a promising tool for advancing studies of solar wind-Mars interactions.

astro-ph.EP↗

arXiv2025

Variational Continual Test-Time Adaptation

Continual Test-Time Adaptation (CTTA) task investigates effective domain adaptation under the scenario of continuous domain shifts during testing time. Due to the utilization of solely unlabeled samples, there exists significant uncertainty in model updates, leading CTTA to encounter severe error accumulation issues. In this paper, we introduce VCoTTA, a variational Bayesian approach to measure uncertainties in CTTA. At the source stage, we transform a pretrained deterministic model into a Bayesian Neural Network (BNN) via a variational warm-up strategy, injecting uncertainties into the model. During the testing time, we employ a mean-teacher update strategy using variational inference for the student model and exponential moving average for the teacher model. Our novel approach updates the student model by combining priors from both the source and teacher models. The evidence lower bound is formulated as the cross-entropy between the student and teacher models, along with the Kullback-Leibler (KL) divergence of the prior mixture. Experimental results on three datasets demonstrate the method's effectiveness in mitigating error accumulation within the CTTA framework.

cs.LG↗

arXiv2025

Embodied Co-Design for Rapidly Evolving Agents: Taxonomy, Frontiers, and Challenges

Brain-body co-evolution enables animals to develop complex behaviors in their environments. Inspired by this biological synergy, embodied co-design (ECD) has emerged as a transformative paradigm for creating intelligent agents-from virtual creatures to physical robots-by jointly optimizing their morphologies and controllers rather than treating control in isolation. This integrated approach facilitates richer environmental interactions and robust task performance. In this survey, we provide a systematic overview of recent advances in ECD. We first formalize the concept of ECD and position it within related fields. We then introduce a hierarchical taxonomy: a lower layer that breaks down agent design into three fundamental components-controlling brain, body morphology, and task environment-and an upper layer that integrates these components into four major ECD frameworks: bi-level, single-level, generative, and open-ended. This taxonomy allows us to synthesize insights from more than one hundred recent studies. We further review notable benchmarks, datasets, and applications in both simulated and real-world scenarios. Finally, we identify significant challenges and offer insights into promising future research directions. A project associated with this survey has been created at https://github.com/Yuxing-Wang-THU/SurveyBrainBody.

cs.RO↗

arXiv2025

PosterCopilot: Toward Layout Reasoning and Controllable Editing for Professional Graphic Design

Graphic design forms the cornerstone of modern visual communication, serving as a vital medium for promoting cultural and commercial events. Recent advances have explored automating this process using Large Multimodal Models (LMMs), yet existing methods often produce geometrically inaccurate layouts and lack the iterative, layer-specific editing required in professional workflows. To address these limitations, we present PosterCopilot, a framework that advances layout reasoning and controllable editing for professional graphic design. Specifically, we introduce a progressive three-stage training strategy that equips LMMs with geometric understanding and aesthetic reasoning for layout design, consisting of Perturbed Supervised Fine-Tuning, Reinforcement Learning for Visual-Reality Alignment, and Reinforcement Learning from Aesthetic Feedback. Furthermore, we develop a complete workflow that couples the trained LMM-based design model with generative models, enabling layer-controllable, iterative editing for precise element refinement while maintaining global visual consistency. Extensive experiments demonstrate that PosterCopilot achieves geometrically accurate and aesthetically superior layouts, offering unprecedented controllability for professional iterative design.

cs.CV↗

arXiv2025

AuroRA: Breaking Low-Rank Bottleneck of LoRA with Nonlinear Mapping

Low-Rank Adaptation (LoRA) is a widely adopted parameter-efficient fine-tuning (PEFT) method validated across NLP and CV domains. However, LoRA faces an inherent low-rank bottleneck: narrowing its performance gap with full finetuning requires increasing the rank of its parameter matrix, resulting in significant parameter overhead. Recent linear LoRA variants have attempted to enhance expressiveness by introducing additional linear mappings; however, their composition remains inherently linear and fails to fundamentally improve LoRA's representational capacity. To address this limitation, we propose AuroRA, which incorporates an Adaptive Nonlinear Layer (ANL) between two linear projectors to capture fixed and learnable nonlinearities. This combination forms an MLP-like structure with a compressed rank, enabling flexible and precise approximation of diverse target functions while theoretically guaranteeing lower approximation errors and bounded gradients. Extensive experiments on 22 datasets and 6 pretrained models demonstrate that AuroRA: (I) not only matches or surpasses full fine-tuning performance with only 6.18% ~ 25% of LoRA's parameters but also (II) outperforms competitive PEFT methods by up to 10.88% in both NLP and CV tasks, and (III) exhibits robust performance across various rank configurations.

cs.LG↗

arXiv2025

Computational Approaches for Exponential-Family Factor Analysis

We study a general factor analysis framework where the $n$-by-$p$ data matrix is assumed to follow a general exponential family distribution entry-wise. While this model framework has been proposed before, we here further relax its distributional assumption by using a quasi-likelihood setup. By parameterizing the mean-variance relationship on data entries, we additionally introduce a dispersion parameter and entry-wise weights to model large variations and missing values. The resulting model is thus not only robust to distribution misspecification but also more flexible and able to capture mean-dependent covariance structures of the data matrix. Our main focus is on efficient computational approaches to perform the factor analysis. Previous modeling frameworks rely on simulated maximum likelihood (SML) to find the factorization solution, but this method was shown to lead to asymptotic bias when the simulated sample size grows slower than the square root of the sample size $n$, eliminating its practical application for data matrices with large $n$. Borrowing from expectation-maximization (EM) and stochastic gradient descent (SGD), we investigate three estimation procedures based on iterative factorization updates. Our proposed solution does not show asymptotic biases, and scales even better for large matrix factorizations with error $O(1/p)$. To support our findings, we conduct simulation experiments and discuss its application in four case studies.

stat.ME↗

arXiv2025

Raw Data Matters: Enhancing Prompt Tuning by Internal Augmentation on Vision-Language Models

For CLIP-based prompt tuning, introducing more data as additional knowledge for enhancing fine-tuning process is proved to be an effective approach. Existing data amplification strategies for prompt tuning typically rely on external knowledge (e.g., large language models or pre-structured knowledge bases), resulting in higher costs for data collection and processing, while generally ignoring further utilization of features in image modality. To address this, we propose Augmentation-driven Prompt Tuning (AugPT), a self-contained distillation-based prompt tuning approach using only internal augmentation on raw dataset to better exploit known features. Specifically, AugPT employs self-supervised augmentation on unlabeled images in the training set, and introduces a novel gating mechanism based on consensus test, reusing the pre-trained prompt tuning backbone model to spontaneously filter noisy samples, further enhancing the quality of augmented views. Extensive experiments validate that AugPT simultaneously enhances model performance and generalization capability without using appended external knowledge. The code of AugPT is available at: https://github.com/JREion/AugPT .

cs.CV↗

arXiv2025

HyCTAS: Multi-Objective Hybrid Convolution-Transformer Architecture Search for Real-Time Image Segmentation

Real-time image segmentation demands architectures that preserve fine spatial detail while capturing global context under tight latency and memory budgets. Image segmentation is one of the most fundamental problems in computer vision and has drawn a lot of attention due to its vast applications in image understanding and autonomous driving. However, designing effective and efficient segmentation neural architectures is a labor-intensive process that may require numerous trials by human experts. In this paper, we address the challenge of integrating multi-head self-attention into high-resolution representation CNNs efficiently by leveraging architecture search. Manually replacing convolution layers with multi-head self-attention is non-trivial due to the costly overhead in memory to maintain high resolution. By contrast, we develop a multi-target multi-branch supernet method, which not only fully utilizes the advantages of high-resolution features but also finds the proper location for placing the multi-head self-attention module. Our search algorithm is optimized towards multiple objectives (e.g., latency and mIoU) and is capable of finding architectures on the approximate Pareto front with an arbitrary number of branches in a single search. We further present a series of models via the Hybrid Convolutional-Transformer Architecture Search (HyCTAS) method that searches for the best hybrid combination of lightweight convolution layers and memory-efficient self-attention layers between branches from different resolutions and fuses them at high resolution for both efficiency and effectiveness. On Cityscapes, ADE20K, and COCO, HyCTAS discovers competitive real-time models without ImageNet pretraining, delivering strong accuracy and latency trade-offs. Code and models are available at https://github.com/MarvinYu1995/HyCTAS.

cs.CV↗

arXiv2025

Navier-Stokes Equations on Quantum Euclidean Spaces

We investigate in the present paper the Navier-Stokes equations on quantum Euclidean spaces $\mathbb{R}^d_θ$ with $θ$ being a $d\times d$ antisymmetric matrix, which is a standard example of non-compact noncommutative manifolds. The quantum analogues of Ladyzhenskaya and Kato's results are established, that is, we obtain the global well-posedness in the 2D case and the local well-posedness with solution in $L_d(\mathbb{R}^d)$ in higher dimensions. To achieve these optimal results, we develop the related theory of harmonic analysis and function spaces on $\mathbb{R}^d_θ$, and apply the sharp estimates around noncommutative $L_p$-spaces to quantum Navier-Stokes equations. Moreover, our techniques, which are independent of the deformed parameter $θ$, allow us to conclude some results on the semiclassical limits. This is the first instance of systematical applications to the theory of quantum partial differential equations of the powerful real analysis techniques around noncommutative $L_p$-spaces, which date back to the seminal work \cite{PiXu97} in 1997 on noncommutative martingale inequalities. As in classical case, one may expect numerous similar applications in the future.

math.FA↗

arXiv2025

DiffSpectra: Molecular Structure Elucidation from Spectra using Diffusion Models

Molecular structure elucidation from spectra is a fundamental challenge in molecular science. Conventional approaches rely heavily on expert interpretation and lack scalability, while retrieval-based machine learning approaches remain constrained by limited reference libraries. Generative models offer a promising alternative, yet most adopt autoregressive architectures that overlook 3D geometry and struggle to integrate diverse spectral modalities. In this work, we present DiffSpectra, a generative framework that formulates molecular structure elucidation as a conditional generation process, directly inferring 2D and 3D molecular structures from multi-modal spectra using diffusion models. Its denoising network is parameterized by the Diffusion Molecule Transformer, an SE(3)-equivariant architecture for geometric modeling, conditioned by SpecFormer, a Transformer-based spectral encoder capturing multi-modal spectral dependencies. Extensive experiments demonstrate that DiffSpectra accurately elucidates molecular structures, achieving 40.76% top-1 and 99.49% top-10 accuracy. Its performance benefits substantially from 3D geometric modeling, SpecFormer pre-training, and multi-modal conditioning. To our knowledge, DiffSpectra is the first framework that unifies multi-modal spectral reasoning and joint 2D/3D generative modeling for de novo molecular structure elucidation.

cs.LG↗

arXiv2025

ZJUNlict Extended Team Description Paper 2025

This paper presents the ZJUNlict team's work over the past year, covering both hardware and software advancements. In the hardware domain, the integration of an IMU into the v2023 robot was completed to enhance posture accuracy and angular velocity planning. On the software side, key modules were optimized, including the strategy and CUDA modules, with significant improvements in decision making efficiency, ball pursuit prediction, and ball possession prediction to adapt to high-tempo game dynamics.

cs.RO↗

arXiv2025

3D Gaussian Radiation Field Modeling for Integrated RIS-FAS Systems: Analysis and Optimization

The integration of reconfigurable intelligent surfaces (RIS) and fluid antenna systems (FAS) has attracted considerable attention due to its tremendous potential in enhancing wireless communication performance. However, under fast-fading channel conditions, rapidly and effectively performing joint optimization of the antenna positions in an FAS system and the RIS phase configuration remains a critical challenge. Traditional optimization methods typically rely on complex iterative computations, thus making it challenging to obtain optimal solutions in real time within dynamic channel environments. To address this issue, this paper introduces a field information-driven optimization method based on three-dimensional Gaussian radiation-field modeling for real-time optimization of integrated FAS-RIS systems. In the proposed approach, obstacles are treated as virtual transmitters and, by separately learning the amplitude and phase variations, the model can quickly generate high-precision channel information based on the transmitter's position. This design eliminates the need for extensive pilot overhead and cumbersome computations. On this framework, an alternating optimization scheme is presented to jointly optimize the FAS position and the RIS phase configuration. Simulation results demonstrate that the proposed method significantly outperforms existing approaches in terms of spectrum prediction accuracy, convergence speed, and minimum achievable rate, validating its effectiveness and practicality in fast-fading scenarios.

cs.NI↗

arXiv2025

Planar Collisionless Shock Simulations with Semi-Implicit Particle-in-Cell Model FLEKS

This study investigates the applicability of the semi-implicit particle-in-cell code FLEKS to heliospheric shock simulations. We examine one- and two-dimensional local planar shock simulations, initialized using MHD states with upstream conditions representative of plasmas in the hypersonic, $β\sim 1$ regime, for both quasi-perpendicular and quasi-parallel configurations. The refined algorithm in FLEKS proves robust, enabling accurate shock simulations with a grid resolution on the order of the electron inertial length $d_e$. Our simulations successfully capture key shock features, including shock structures (foot, ramp, overshoot, and undershoot), upstream and downstream waves (fast magnetosonic, whistler, Alfvén ion-cyclotron, and mirror modes), and non-Maxwellian particle distributions. Crucially, we find that at least two spatial dimensions are critical for accurately reproducing downstream wave physics in quasi-perpendicular shocks and capturing the complex dynamics of quasi-parallel shocks, including surface rippling, shocklets, SLAMS, magnetic reconnection and jets. Furthermore, our parameter studies demonstrate the impact of mass ratio and grid resolution on shock physics. This work provides valuable guidance for selecting appropriate physical and numerical parameters for shock simulations using a semi-implicit PIC method, paving the way for incorporating kinetic shock processes into large-scale collisionless plasma simulations with the MHD-AEPIC model.

physics.space-ph↗

arXiv2025

EnzyControl: Adding Functional and Substrate-Specific Control for Enzyme Backbone Generation

Designing enzyme backbones with substrate-specific functionality is a critical challenge in computational protein engineering. Current generative models excel in protein design but face limitations in binding data, substrate-specific control, and flexibility for de novo enzyme backbone generation. To address this, we introduce EnzyBind, a dataset with 11,100 experimentally validated enzyme-substrate pairs specifically curated from PDBbind. Building on this, we propose EnzyControl, a method that enables functional and substrate-specific control in enzyme backbone generation. Our approach generates enzyme backbones conditioned on MSA-annotated catalytic sites and their corresponding substrates, which are automatically extracted from curated enzyme-substrate data. At the core of EnzyControl is EnzyAdapter, a lightweight, modular component integrated into a pretrained motif-scaffolding model, allowing it to become substrate-aware. A two-stage training paradigm further refines the model's ability to generate accurate and functional enzyme structures. Experiments show that our EnzyControl achieves the best performance across structural and functional metrics on EnzyBind and EnzyBench benchmarks, with particularly notable improvements of 13\% in designability and 13\% in catalytic efficiency compared to the baseline models. The code is released at https://github.com/Vecteur-libre/EnzyControl.

q-bio.BM↗