arXiv subjects

Liuqing Yang

Publications and source records attributed to Liuqing Yang.

At least 19 recordsLinked to original sources

arXiv2026

WiFo-INR: A Wireless Foundation Model Based on Implicit Neural Representations

Wireless foundation models are emerging as a promising paradigm for AI-native physical-layer design. However, existing methods typically model channel state information (CSI) as image-like discrete tensors with generic token decoders that may struggle to capture complex high-frequency variations efficiently and often produce high-dimensional, size-dependent representations. In this paper, we propose WiFo-INR, an implicit neural representation (INR)-based wireless foundation model that represents CSI as a coordinate-conditioned neural function. A Transformer encoder maps partial or coarse CSI to fixed-dimensional modulation tokens that adapt a SIREN-based decoder, and a compression autoencoder enables quantized CSI feedback. It adopts a two-stage self-supervised pretraining scheme, where mixed masking and denoising improve channel reconstruction and compression-enhanced pretraining enables accurate CSI feedback at low compression ratios. Extensive experiments demonstrate that WiFo-INR learns efficient, compact, and CSI-size-independent implicit wireless representations. Compared with existing foundation models, WiFo-INR improves channel reconstruction and CSI feedback performance while substantially reducing inference latency. It also transfers efficiently to diverse wireless tasks with minimal fine-tuning overhead and achieves zero-shot generalization to unseen CSI sizes.

eess.SP↗

arXiv2026

DyPES-VLA: Learning Shared Dynamics Priors and Embodiment-Specific Control for Cross-Embodiment Manipulation

Vision-Language-Action (VLA) models have become a powerful paradigm for robot manipulation, but training a single generalist policy for heterogeneous robot embodiments remains an open problem. Existing methods have two main limitations. First, they underuse dynamics priors shared across diverse visual and interaction data, limiting cross-embodiment transfer. Second, they require extensive manual preprocessing to convert embodiment-specific actions into a common format. To overcome these limitations, we propose DyPES-VLA, a cross-embodiment VLA that learns shared Dynamics Priors and Embodiment-Specific control. First, we learn shared dynamics priors by training the vision-language model (VLM) with a future-prediction objective on cross-embodiment data, driving the shared query representation to capture object motion, contact, and interaction-induced scene changes. Second, an embodiment-specific Mixture-of-Experts (MoE) action head translates these shared dynamics priors into executable controls directly in each embodiment's native action space, without manually pre-aligning heterogeneous actions into a common format. This head shares attention layers to capture common temporal action structures, while its embodiment-specific feed-forward experts resolve the unique kinematic constraints and control semantics of distinct embodiments. As a generalist policy, our \ourmethod achieves state-of-the-art performance across simulation and real-world evaluations, reaching 98.0% success on LIBERO, 59.25% on RoboCasa-GR1, and 89.02% on RoboTwin~2.0.

cs.RO↗

arXiv2026

Dynamic Task and Resource Scheduling Towards Green Space-Air-Ground-Sea Integrated Network

In the context of 6G ubiquitous connectivity, the space-air-ground-sea integrated network (SAGSIN) emerges as a new paradigm to provide critical services for resource-limited ocean environments. To realize this paradigm efficiently, we propose an innovative dynamic task and resource scheduling approach for green SAGSIN that delivers computing support for vessels while minimizing overall task execution delay. To address the challenge of multi-layer task scheduling, a layer-wise task offloading algorithm is developed specifically for SAGSIN. It adapts to real-time, multi-dimensional system dynamics and integrates an anticipatory handover strategy that adaptively controls the amount of data offloaded to the satellite, thereby preventing post-handover congestion while improving satellite resource utilization. Furthermore, the bandwidth allocation of uncrewed aerial vehicles and base station, UAV trajectories, and computing resource allocation are jointly optimized to enhance connectivity among low-altitude devices and facilitate demand-driven resource allocation for green network development. Simulation results verify that the proposed method better adapts to dynamic system resources and achieves at least a 23% reduction in average task delay compared with benchmarks.

cs.NI↗

arXiv2026

WiFo-MiSAC: A Wireless Foundation Model for Multimodal Sensing and Communication Integration via Synesthesia of Machines (SoM)

Current learning-based wireless methods struggle with generalization due to the fragmented processing of communication and sensing data. WiFo-MiSAC addresses this as a task-agnostic foundation model that tokenizes heterogeneous signals into a unified space for self-supervised pre-training. A shared-specific disentangled mixture-of-experts (SS-DMoE) architecture is employed to decouple modality-shared and modality-specific representations, facilitating interaction without cross-modal interference. By combining masked reconstruction with contrastive alignment, the model achieves state-of-the-art performance across downstream tasks, including beam prediction and channel estimation. Experimental results demonstrate robust few-shot adaptation and seamless integration of new modalities, positioning WiFo-MiSAC as a scalable backbone for future integrated sensing and communication systems.

eess.SP↗

arXiv2026

FARM: Foundational Aerial Radio Map for Intelligent Low-Altitude Networking

Precise aerial radio environment characterization is vital for low-altitude airspace planning. However, existing datasets and construction methods lack the high-resolution granularity required for complex aerial spaces, particularly failing to capture spatial variations across both horizontal and vertical dimensions. To address these gaps, this paper introduces FARM, a pioneering foundation model for unified aerial radio map (ARM) construction. FARM is supported by our newly curated, high-granularity full-domain ARM dataset, which features multi-band and multi-antenna configurations, effectively filling a critical void in comprehensive low-altitude radio data. Structurally, FARM leverages a masked autoencoder to extract deep latent representations of the aerial radio environment, which subsequently guide a diffusion-based decoder to synthesize high-fidelity signal distributions through only a few iterative refinement steps. Benefiting from this design, the architecture seamlessly accommodates both condition-based and condition-free ARM construction, providing robust support for diverse signal and environmental priors. Extensive experiments demonstrate that FARM significantly outperforms state-of-the-art benchmarks while exhibiting strong cross-scenario generalization. Crucially, we validate the transferability of FARM on a real-world dataset collected from field tests, proving its robust deployment capability. Ultimately, FARM serves as a foundational infrastructure for the low-altitude economy by enabling autonomous aerial logistics and intelligent urban networking.

eess.SP↗

arXiv2026

DualCoT-VLA: Visual-Linguistic Chain of Thought via Parallel Reasoning for Vision-Language-Action Models

Vision-Language-Action (VLA) models map visual observations and language instructions directly to robotic actions. While effective for simple tasks, standard VLA models often struggle with complex, multi-step tasks requiring logical planning, as well as precise manipulations demanding fine-grained spatial perception. Recent efforts have incorporated Chain-of-Thought (CoT) reasoning to endow VLA models with a ``thinking before acting'' capability. However, current CoT-based VLA models face two critical limitations: 1) an inability to simultaneously capture low-level visual details and high-level logical planning due to their reliance on isolated, single-modal CoT; 2) high inference latency with compounding errors caused by step-by-step autoregressive decoding. To address these limitations, we propose DualCoT-VLA, a visual-linguistic CoT method for VLA models with a parallel reasoning mechanism. To achieve comprehensive multi-modal reasoning, our method integrates a visual CoT for low-level spatial understanding and a linguistic CoT for high-level task planning. Furthermore, to overcome the latency bottleneck, we introduce a parallel CoT mechanism that incorporates two sets of learnable query tokens, shifting autoregressive reasoning to single-step forward reasoning. Extensive experiments demonstrate that our DualCoT-VLA achieves state-of-the-art performance on the LIBERO and RoboCasa GR1 benchmarks, as well as in real-world platforms.

cs.CV↗

arXiv2026

Multi-Tier UAV Edge Computing Towards Long-Term Energy Stability for Low Altitude Networks

The agile mobility of Unmanned Aerial Vehicles (UAVs) makes them ideal for low-altitude edge computing. This paper proposes a novel multi-tier UAV edge computing system where lightweight Low-Tier UAVs (L-UAVs) function as edge servers for vehicle users, supported by a powerful High-Tier UAV (H-UAV) acting as a backup server. The objective is to minimize task execution delays while ensuring the long-term energy stability of the L-UAVs, despite unknown future system states. To this end, the problem is decoupled using Lyapunov optimization, which adaptively balances the priorities of task delays and L-UAV energy cost based on their real-time energy states. An efficient vehicle to L-UAV matching scheme is designed, and the joint optimization problem for task assignment, computing resource allocation, and trajectory control of L-UAVs and H-UAV is then solved via a Block Coordinate Descent (BCD) algorithm. Simulation results demonstrate a reduction in L-UAV transmission energy of over 26% and superior L-UAV energy stability compared to existing benchmarks.

cs.NI↗

arXiv2026

WiFo-E: A Scalable Wireless Foundation Model for End-to-End FDD Precoding in Communication Networks

Accurate precoding in massive multiple-input multiple-output (MIMO) frequency-division duplexing (FDD) systems relies on efficient channel state information (CSI) acquisition. End-to-end learning frameworks improve performance by jointly optimizing this process, but they lack scalability and fail to generalize across different system configurations, such as varying numbers of antennas and users. To overcome this limitation, we introduce WiFo-E, a wireless foundation model designed for scalable end-to-end precoding. WiFo-E employs multi-task pretraining on a diverse set of configurations to learn transferable representations of underlying wireless principles. Central to the model is a sparse Mixture-of-Experts (MoE) Transformer architecture, which mitigates task interference and enhances training efficiency by activating specialized parameter subsets adaptively. Extensive simulations demonstrate that WiFo-E outperforms conventional per-configuration training and shows strong generalization to unseen system configurations, providing a flexible and efficient foundation for adaptive massive MIMO precoding.

eess.SP↗

arXiv2026

WiFo-MUD: Wireless Foundation Model for Heterogeneous Multi-User Demodulator

Multi-user signal demodulation is critical to wireless communications, directly impacting transmission reliability and efficiency. However, existing demodulators underperform in generic multi-user environments: classical demodulators struggle to balance accuracy and complexity, while deep learning-based methods lack adaptability under heterogeneous configurations. Although diffusion models have been introduced for demodulation, their flexibility remains limited for practical use. To address these issues, this work proposes WiFo-MUD, a universal diffusion-based foundation model for multi-user demodulation. The model aligns inter-user signal-to-noise ratio imbalance and performs conditional denoising via a customized backbone. Furthermore, a communication-aware consistency distillation method and a dynamic user-grouping strategy are devised to enhance inference. WiFo-MUD achieves state-of-the-art results on large-scale heterogeneous datasets, demonstrating efficient inference and strong generalization across varying system configurations.

eess.SP↗

arXiv2025

Relaying Signal When Monitoring Traffic: Double Use of Aerial Vehicles Towards Intelligent Low-Altitude Networking

In intelligent low-altitude networks, integrating monitoring tasks into communication unmanned aerial vehicles (UAVs) can consume resources and increase handoff latency for communication links. To address this challenge, we propose a strategy that enables a "double use" of UAVs, unifying the monitoring and relay handoff functions into a single, efficient process. Our scheme, guided by an integrated sensing and communication framework, coordinates these multi-role UAVs through a proactive handoff network that fuses multi-view sensory data from aerial and ground vehicles. A lightweight vehicle inspection module and a two-stage training procedure are developed to ensure monitoring accuracy and collaborative efficiency. Simulation results demonstrate the effectiveness of this integrated approach: it reduces communication outage probability by nearly 10% at a 200 Mbps requirement without compromising monitoring performance and maintains high resilience (86% achievable rate) even in the absence of multiple UAVs, outperforming traditional ground-based handoff schemes. Our code is available at the https://github.com/Jiahui-L/UAP.

eess.SP↗

arXiv2025

WiFo-2: a generalist foundation model unifies heterogeneous wireless system design

Emerging sixth-generation wireless systems are increasingly heterogeneous, with compatibility across diverse configurations, ubiquitous coverage, and expanded functionalities. Although deep learning has substantially benefited wireless system design, existing approaches are typically trained for specific system settings and scenarios with limited generalizability. Here we present WiFo-2, a space-time-frequency foundation model for unified wireless communications and sensing system design. Pretrained on a heterogeneous dataset of 11.6 billion channel state information (CSI) points, WiFo-2 learns generalized wireless representations across scenarios, configurations, and tasks, and exhibits scaling-law behavior. WiFo-2 achieves reliable and accurate zero-shot channel reconstruction, outperforming fully supervised task-specific models. With only 1% of the training samples required by supervised AI models, WiFo-2 achieves state-of-the-art performance across 9 distinct wireless tasks. A functional hardware prototype further demonstrates its real-world deployability and superior capability across diverse wireless tasks. This work provides a versatile wireless design framework and advances understanding of wireless channels.

eess.SP↗

arXiv2025

SynthSoM-Twin: A Multi-Modal Sensing-Communication Digital-Twin Dataset for Sim2Real Transfer via Synesthesia of Machines

This paper constructs a novel multi-modal sensing-communication digital-twin dataset, named SynthSoM-Twin, which is spatio-temporally consistent with the real world, for Sim2Real transfer via Synesthesia of Machines (SoM). To construct the SynthSoM-Twin dataset, we propose a new framework that can extend the quantity and missing modality of existing real-world multi-modal sensing-communication dataset. Specifically, we exploit multi-modal sensing-assisted object detection and tracking algorithms to ensure spatio-temporal consistency of static objects and dynamic objects across real world and simulation environments. The constructed scenario is imported into three high-fidelity simulators, i.e., AirSim, WaveFarer, and Sionna RT. The SynthSoM-Twin dataset contains spatio-temporally consistent data with the real world, including 66,868 snapshots of synthetic RGB images, depth maps, light detection and ranging (LiDAR) point clouds, millimeter wave (mmWave) radar point clouds, and large-scale and small-scale channel fading data. To validate the utility of SynthSoM-Twin dataset, we conduct Sim2Real transfer investigation by implementing two cross-modal downstream tasks via cross-modal generative models (CMGMs), i.e., cross-modal channel generation model and multi-modal sensing-assisted beam generation model. Based on the downstream tasks, we explore the threshold of real-world data injection that can achieve a decent trade-off between real-world data usage and models' practical performance. Experimental results show that the model training on the SynthSoM-Twin dataset achieves a decent practical performance, and the injection of real-world data further facilitates Sim2Real transferability. Based on the SynthSoM-Twin dataset, injecting less than 15% of real-world data can achieve similar and even better performance compared to that trained with all the real-world data only.

eess.SP↗

arXiv2025

Adaptive Phase Shift Information Compression for IRS Systems: A Prompt Conditioned Variable Rate Framework

Intelligent reflecting surfaces (IRSs) have become a vital technology for improving the spectrum and energy efficiency of forthcoming wireless networks. Nevertheless, practical implementation is obstructed by the excessive overhead associated with the frequent transmission of phase shift information (PSI) over bandwidth-constrained control lines. Current deep learning-based compression methods mitigate this problem but are constrained by elevated decoder complexity, inadequate flexibility to dynamic channels, and static compression ratios. This research presents a prompt-conditioned PSI compression system that integrates prompt learning inspired by large models into the PSI compression process to address these difficulties. A hybrid prompt technique that integrates soft prompt concatenation with feature-wise linear modulation (FiLM) facilitates adaptive encoding across diverse signal-to-noise ratios (SNRs), fading kinds, and compression ratios. Furthermore, a variable rate technique incorporates the compression ratio into the prompt embeddings through latent masking, enabling a singular model to adeptly balance reconstruction accuracy. Additionally, a lightweight depthwise convolutional gating (DWCG) decoder facilitates precise feature reconstruction with minimal complexity. Comprehensive simulations indicate that the proposed framework significantly reduces NMSE compared to traditional autoencoder baselines, while ensuring robustness across various channel circumstances and accommodating variable compression ratios within a single model. These findings underscore the framework's promise as a scalable and efficient solution for real-time IRS control in next-generation wireless networks.

eess.SP↗

arXiv2025

Multi-Tier UAV Edge Computing for Low Altitude Networks Towards Long-Term Energy Stability

This paper presents a novel multi-tier UAV-assisted edge computing system designed for low-altitude networks. The system comprises vehicle users, lightweight Low-Tier UAVs (L-UAVs), and High-Tier UAV (H-UAV). L-UAVs function as small-scale edge servers positioned closer to vehicle users, while the H-UAV, equipped with more powerful server and larger-capacity battery, serves as mobile backup server to address the limitations in endurance and computing resources of L-UAVs. The primary objective is to minimize task execution delays while ensuring long-term energy stability for L-UAVs. To address this challenge, the problem is first decoupled into a series of deterministic problems for each time slot using Lyapunov optimization. The priorities of task delay and energy consumption for L-UAVs are adaptively adjusted based on real-time energy status. The optimization tasks include assignment of tasks, allocation of computing resources, and trajectory planning for both L-UAVs and H-UAV. Simulation results demonstrate that the proposed approach achieves a reduction of at least 26% in transmission energy for L-UAVs and exhibits superior energy stability compared to existing benchmarks.

cs.NI↗

arXiv2025

WiFo-CF: Wireless Foundation Model for CSI Feedback

Deep learning-based channel state information (CSI) feedback schemes demonstrate strong compression capabilities but are typically constrained to fixed system configurations, limiting their generalization and flexibility. To address this challenge, WiFo-CF, a novel wireless foundation model tailored for CSI feedback, is proposed, uniquely accommodating heterogeneous configurations such as varying channel dimensions, feedback rates, and data distributions within a unified framework through its key innovations: (1) a multi-user, multi-rate self-supervised pre-training strategy; and (2) a Mixture of Shared and Routed Expert (S-R MoE) architecture. Supporting the large-scale pre-training of WiFo-CF is the first heterogeneous channel feedback dataset, whose diverse patterns enable the model to achieve superior performance on both in-distribution and out-of-distribution data across simulated and real-world scenarios. Furthermore, the learned representations effectively facilitate adaptation to downstream tasks such as CSI-based indoor localization, validating WiFo-CF's scalability and deployment potential.

eess.SP↗

arXiv2025

Bayesian-Driven Graph Reasoning for Active Radio Map Construction

With the emergence of the low-altitude economy, radio maps have become essential for ensuring reliable wireless connectivity to aerial platforms. Autonomous aerial agents are commonly deployed for data collection using waypoint-based navigation; however, their limited battery capacity significantly constrains coverage and efficiency. To address this, we propose an uncertainty-aware radio map (URAM) reconstruction framework that explicitly leverages graph-based reasoning tailored for waypoint navigation. Our approach integrates two key deep learning components: (1) a Bayesian neural network that estimates spatial uncertainty in real time, and (2) an attention-based reinforcement learning policy that performs global reasoning over a probabilistic roadmap, using uncertainty estimates to plan informative and energy-efficient trajectories. This graph-based reasoning enables intelligent, non-myopic trajectory planning, guiding agents toward the most informative regions while satisfying safety constraints. Experimental results show that URAM improves reconstruction accuracy by up to 34% over existing baselines.

eess.SP↗

arXiv2025

Jordan $*$-derivations of incidence algebras

Let $X$ be a locally finite partially ordered set (poset), $K$ a field of characteristic not 2, and $I(X,K)$ the incidence algebra over $K$. In this paper, we prove that every Jordan $*$-derivation of $I(X,K)$ is an inner $*$-derivation and a transposed Jordan $*$-derivation. Moreover, we demonstrate the existence of Jordan $*$-derivations that are not $*$-derivations.

math.RA↗

arXiv2025

Depth of the 3-path Ideal of Square of a Path

In this note, we compute depth of the 3-path ideal of square of a path and show that the 3-path ideal I3(P 2 n) of square of a path graph is Cohen-Macaulay if and only if n = 3 or 4. Also, we consider the limit behavior of depth of powers of the 3-path ideal of square of a path.

math.AC↗