arXiv subjects

Lu Gan

Publications and source records attributed to Lu Gan.

At least 55 records · Page 3Linked to original sources

arXiv2025

Streaming Multi-agent Pathfinding

The task of the multi-agent pathfinding (MAPF) problem is to navigate a team of agents from their start point to the goal points. However, this setup is unsuitable in the assembly line scenario, which is periodic with a long working hour. To address this issue, the study formalizes the streaming MAPF (S-MAPF) problem, which assumes that the agents in the same agent stream have a periodic start time and share the same action sequence. The proposed solution, Agent Stream Conflict-Based Search (ASCBS), is designed to tackle this problem by incorporating a cyclic vertex/edge constraint to handle conflicts. Additionally, this work explores the potential usage of the disjoint splitting strategy within ASCBS. Experimental results indicate that ASCBS surpasses traditional MAPF solvers in terms of runtime for scenarios with prolonged working hours.

cs.MA↗

arXiv2025

Dynamic Precoding for Near-Field Secure Communications: Implementation and Performance Analysis

The increase in antenna apertures and transmission frequencies in next-generation wireless networks is catalyzing advancements in near-field communications (NFC). In this paper, we investigate secure transmission in near-field multi-user multiple-input single-output (MU-MISO) scenarios. Specifically, with the advent of extremely large-scale antenna arrays (ELAA) applied in the NFC regime, the spatial degrees of freedom in the channel matrix are significantly enhanced. This creates an expanded null space that can be exploited for designing secure communication schemes. Motivated by this observation, we propose a near-field dynamic hybrid beamforming architecture incorporating artificial noise, which effectively disrupts eavesdroppers at any undesired positions, even in the absence of their channel state information (CSI). Furthermore, we comprehensively analyze the dynamic precoder's performance in terms of the average signal-to-interference-plus-noise ratio, achievable rate, secrecy capacity, secrecy outage probability, and the size of the secrecy zone. In contrast to far-field secure transmission techniques that only enhance security in the angular dimension, the proposed algorithm exploits the unique properties of spherical wave characteristics in NFC to achieve secure transmission in both the angular and distance dimensions. Remarkably, the proposed algorithm is applicable to arbitrary modulation types and array configurations. Numerical results demonstrate that the proposed method achieves approximately 20\% higher rate capacity compared to zero-forcing and the weighted minimum mean squared error precoders.

cs.IT↗

arXiv2025

Stacked Intelligent Metasurfaces for Wireless Communications: Applications and Challenges

The rapid growth of wireless communications has created a significant demand for high throughput, seamless connectivity, and extremely low latency. To meet these goals, a novel technology -- stacked intelligent metasurfaces (SIMs) -- has been developed to perform signal processing by directly utilizing electromagnetic waves, thus achieving incredibly fast computing speed while reducing hardware requirements. In this article, we provide an overview of SIM technology, including its underlying hardware, benefits, and exciting applications in wireless communications. Specifically, we examine the utilization of SIMs in realizing transmit beamforming and semantic encoding in the wave domain. Additionally, channel estimation in SIM-aided communication systems is discussed. Finally, we highlight potential research opportunities and identify key challenges for deploying SIMs in wireless networks to motivate future research.

cs.IT↗

arXiv2025

Generalized Score Matching: Bridging $f$-Divergence and Statistical Estimation Under Correlated Noise

Relative Fisher information, also known as score matching, is a recently introduced learning method for parameter estimation. Fundamental relations between relative entropy and score matching have been established in the literature for scalar and isotropic Gaussian channels. This paper demonstrates that such relations hold for a much larger class of observation models. We introduce the vector channel where the perturbation is non-isotropic Gaussian noise. For such channels, we derive new representations that connect the $f$-divergence between two distributions to the estimation loss induced by mismatch at the decoder. This approach not only unifies but also greatly extends existing results from both the isotropic Gaussian and classical relative entropy frameworks. Building on this generalization, we extend De Bruijn's identity to mismatched non-isotropic Gaussian models and demonstrate that the connections to generative models naturally follow as a consequence application of this new result.

cs.IT↗

arXiv2025

MI-HGNN: Morphology-Informed Heterogeneous Graph Neural Network for Legged Robot Contact Perception

We present a Morphology-Informed Heterogeneous Graph Neural Network (MI-HGNN) for learning-based contact perception. The architecture and connectivity of the MI-HGNN are constructed from the robot morphology, in which nodes and edges are robot joints and links, respectively. By incorporating the morphology-informed constraints into a neural network, we improve a learning-based approach using model-based knowledge. We apply the proposed MI-HGNN to two contact perception problems, and conduct extensive experiments using both real-world and simulated data collected using two quadruped robots. Our experiments demonstrate the superiority of our method in terms of effectiveness, generalization ability, model efficiency, and sample efficiency. Our MI-HGNN improved the performance of a state-of-the-art model that leverages robot morphological symmetry by 8.4% with only 0.21% of its parameters. Although MI-HGNN is applied to contact perception problems for legged robots in this work, it can be seamlessly applied to other types of multi-body dynamical systems and has the potential to improve other robot learning frameworks. Our code is made publicly available at https://github.com/lunarlab-gatech/Morphology-Informed-HGNN.

cs.RO↗

arXiv2025

Multi-User MISO with Stacked Intelligent Metasurfaces: A DRL-Based Sum-Rate Optimization Approach

Stacked intelligent metasurfaces (SIMs) represent a novel signal processing paradigm that enables over-the-air processing of electromagnetic waves at the speed of light. Their multi-layer architecture exhibits customizable computational capabilities compared to conventional single-layer reconfigurable intelligent surfaces and metasurface lenses. In this paper, we deploy SIM to improve the performance of multi-user multiple-input single-output (MISO) wireless systems through a low complexity manner with reduced numbers of transmit radio frequency chains. In particular, an optimization formulation for the joint design of the SIM phase shifts and the transmit power allocation is presented, which is efficiently tackled via a customized deep reinforcement learning (DRL) approach that systematically explores pre-designed states of the SIM-parametrized smart wireless environment. The presented performance evaluation results demonstrate the proposed method's capability to effectively learn from the wireless environment, while consistently outperforming conventional precoding schemes under low transmit power conditions. Furthermore, the implementation of hyperparameter tuning and whitening process significantly enhance the robustness of the proposed DRL framework.

cs.IT↗

arXiv2025

Weighted Codebook Scheme for RIS-Assisted Point-to-Point MIMO Communications

Reconfigurable intelligent surfaces (RIS) can reshape the characteristics of wireless channels by intelligently regulating the phase shifts of reflecting elements. Recently, various codebook schemes have been utilized to optimize the reflection coefficients (RCs); however, the selection of the optimal codeword is usually obtained by evaluating a metric of interest. In this letter, we propose a novel weighted design on the discrete Fourier transform (DFT) codebook to obtain the optimal RCs for RIS-assisted point-to-point multiple-input multiple-output (MIMO) systems. Specifically, we first introduce a channel training protocol where we configure the RIS RCs using the DFT codebook to obtain a set of observations through the uplink training process. Secondly, based on these observed samples, the Lagrange multiplier method is utilized to optimize the weights in an iterative manner, which could result in a higher channel capacity for assisting in the downlink data transmission. Thirdly, we investigate the effect of different codeword configuration orders on system performance and design an efficient codeword configuration method based on statistical channel state information (CSI). Finally, numerical simulations are provided to demonstrate the performance of the proposed scheme.

cs.IT↗

arXiv2025

Stacked Intelligent Metasurface Enabled Near-Field Multiuser Beamfocusing in the Wave Domain

Intelligent surfaces represent a breakthrough technology capable of customizing the wireless channel cost-effectively. However, the existing works generally focus on planar wavefront, neglecting near-field spherical wavefront characteristics caused by large array aperture and high operation frequencies in the terahertz (THz). Additionally, the single-layer reconfigurable intelligent surface (RIS) lacks the signal processing ability to mitigate the computational complexity at the base station (BS). To address this issue, we introduce a novel stacked intelligent metasurfaces (SIM) comprised of an array of programmable metasurface layers. The SIM aims to substitute conventional digital baseband architecture to execute computing tasks with ultra-low processing delay, albeit with a reduced number of radio-frequency (RF) chains and low-resolution digital-to-analog converters. In this paper, we present a SIM-aided multiuser multiple-input single-output (MU-MISO) near-field system, where the SIM is integrated into the BS to perform beamfocusing in the wave domain and customize an end-to-end channel with minimized inter-user interference. Finally, the numerical results demonstrate that near-field communication achieves superior spatial gain over the far-field, and the SIM effectively suppresses inter-user interference as the wireless signals propagate through it.

cs.IT↗

arXiv2025

Hidden Entity Detection from GitHub Leveraging Large Language Models

Named entity recognition is an important task when constructing knowledge bases from unstructured data sources. Whereas entity detection methods mostly rely on extensive training data, Large Language Models (LLMs) have paved the way towards approaches that rely on zero-shot learning (ZSL) or few-shot learning (FSL) by taking advantage of the capabilities LLMs acquired during pretraining. Specifically, in very specialized scenarios where large-scale training data is not available, ZSL / FSL opens new opportunities. This paper follows this recent trend and investigates the potential of leveraging Large Language Models (LLMs) in such scenarios to automatically detect datasets and software within textual content from GitHub repositories. While existing methods focused solely on named entities, this study aims to broaden the scope by incorporating resources such as repositories and online hubs where entities are also represented by URLs. The study explores different FSL prompt learning approaches to enhance the LLMs' ability to identify dataset and software mentions within repository texts. Through analyses of LLM effectiveness and learning strategies, this paper offers insights into the potential of advanced language models for automated entity detection.

cs.CL↗

arXiv2024

Stacked Intelligent Metasurfaces for Task-Oriented Semantic Communications

Semantic communication (SemCom) leveraging advanced deep learning (DL) technologies enhances the efficiency and reliability of information transmission. Emerging stacked intelligent metasurface (SIM) with an electromagnetic neural network (EMNN) architecture enables complex computations at the speed of light. In this letter, we introduce an innovative SIM-aided SemCom system for image recognition tasks, where a SIM is positioned in front of the transmitting antenna. In contrast to conventional communication systems that transmit modulated signals carrying the image information or compressed semantic information, the carrier EM wave is directly transmitted from the source. The input layer of the SIM performs source encoding, while the remaining multi-layer architecture constitutes an EMNN for semantic encoding, transforming signals into a unique beam towards a receiving antenna corresponding to the image class. Remarkably, both the source and semantic encoding occur naturally as the EM waves propagate through the SIM. At the receiver, the image is recognized by probing the received signal magnitude across the receiving array. To this end, we utilize an efficient mini-batch gradient descent algorithm to train the transmission coefficients of SIM's meta-atoms to learn the semantic representation of the image. Extensive numerical results verify the effectiveness of utilizing the SIM-based EMNN for image recognition task-oriented SemComs, achieving more than 90\% recognition accuracy.

cs.IT↗

arXiv2024

Stacked Intelligent Metasurfaces for Integrated Sensing and Communications

Stacked intelligent metasurfaces (SIM) have recently emerged as a promising technology, which can realize transmit precoding in the wave domain. In this paper, we investigate a SIM-aided integrated sensing and communications system, in which SIM is capable of generating a desired beam pattern for simultaneously communicating with multiple downlink users and detecting a radar target. Specifically, we formulate an optimization problem of maximizing the spectrum efficiency, while satisfying the power constraint of the desired direction. This requires jointly designing the phase shifts of the SIM and the power allocation at the base station. By incorporating the sensing power constraint into the objective functions as a penalty term, we further simplify the optimization problem and solve it by customizing an efficient gradient ascent algorithm. Finally, extensive numerical results demonstrate the effectiveness of the proposed wave-domain precoder for automatically mitigating the inter-user interference and generating a desired beampattern for the sensing task, as multiple separate data streams transmit through the SIM.

cs.IT↗

arXiv2024

Environment-Aware Codebook Design for RIS-Assisted MU-MISO Communications: Implementation and Performance Analysis

Reconfigurable intelligent surface (RIS) provides a new electromagnetic response control solution, which can proactively reshape the characteristics of wireless channel environments. In RIS-assisted communication systems, the acquisition of channel state information (CSI) and the optimization of reflecting coefficients constitute major design challenges. To address these issues, codebook-based solutions have been developed recently, which, however, are mostly environment-agnostic. In this paper, a novel environment-aware codebook protocol is proposed, which can significantly reduce both pilot overhead and computational complexity, while maintaining expected communication performance. Specifically, first of all, a channel training framework is introduced to divide the training phase into several blocks. In each block, we directly estimate the composite end-to-end channel and focus only on the transmit beamforming. Second, we propose an environment-aware codebook generation scheme, which first generates a group of channels based on statistical CSI, and then obtains their corresponding RIS configuration by utilizing the alternating optimization (AO) method offline. In each online training block, the RIS is configured based on the corresponding codeword in the environment-aware codebook, and the optimal codeword resulting in the highest sum rate is adopted for assisting in the downlink data transmission. Third, we analyze the theoretical performance of the environment-aware codebook-based protocol taking into account the channel estimation errors. Finally, numerical simulations are provided to verify our theoretical analysis and the performance of the proposed scheme. In particular, the simulation results demonstrate that our protocol is more competitive than conventional environment-agnostic codebooks.

cs.IT↗

arXiv2024

Environment-Aware Codebook for RIS-Assisted MU-MISO Communications: Implementation and Performance Analysis

Reconfigurable intelligent surface (RIS) provides a new electromagnetic response control solution, which can reshape the characteristics of wireless channels. In this paper, we propose a novel environment-aware codebook protocol for RIS-assisted multi-user multiple-input single-output (MU-MISO) systems. Specifically, we first introduce a channel training protocol which consists of off-line and on-line stages. Secondly, we propose an environment-aware codebook generation scheme, which utilizes the statistical channel state information and alternating optimization method to generate codewords offline. Then, in the on-line stage, we use these pre-designed codewords to configure the RIS, and the optimal codeword resulting in the highest sum rate is adopted for assisting in the downlink data transmission. Thirdly, we analyze the theoretical performance of the proposed protocol considering the channel estimation errors. Finally, numerical simulations are provided to verify our theoretical analysis and the performance of the proposed scheme.

cs.IT↗

arXiv2024

Stacked Intelligent Metasurface Enabled LEO Satellite Communications Relying on Statistical CSI

Low earth orbit (LEO) satellite communication systems have gained increasing attention as a crucial supplement to terrestrial wireless networks due to their extensive coverage area. This letter presents a novel system design for LEO satellite systems by leveraging stacked intelligent metasurface (SIM) technology. Specifically, the lightweight and energy-efficient SIM is mounted on a satellite to achieve multiuser beamforming directly in the electromagnetic wave domain, which substantially reduces the processing delay and computational load of the satellite compared to the traditional digital beamforming scheme. To overcome the challenges of obtaining instantaneous channel state information (CSI) at the transmitter and maximize the system's performance, a joint power allocation and SIM phase shift optimization problem for maximizing the ergodic sum rate is formulated based on statistical CSI, and an alternating optimization (AO) algorithm is customized to solve it efficiently. Additionally, a user grouping method based on channel correlation and an antenna selection algorithm are proposed to further improve the system performance. Simulation results demonstrate the effectiveness of the proposed SIM-based LEO satellite system design and statistical CSI-based AO algorithm.

cs.IT↗

arXiv2024

Channel Estimation for Stacked Intelligent Metasurface-Assisted Wireless Networks

Emerging technologies, such as holographic multiple-input multiple-output (HMIMO) and stacked intelligent metasurface (SIM), are driving the development of wireless communication systems. Specifically, the SIM is physically constructed by stacking multiple layers of metasurfaces and has an architecture similar to an artificial neural network (ANN), which can flexibly manipulate the electromagnetic waves that propagate through it at the speed of light. This architecture enables the SIM to achieve HMIMO precoding and combining in the wave domain, thus significantly reducing the hardware cost and energy consumption. In this letter, we investigate the channel estimation problem in SIM-assisted multi-user HMIMO communication systems. Since the number of antennas at the base station (BS) is much smaller than the number of meta-atoms per layer of the SIM, it is challenging to acquire the channel state information (CSI) in SIM-assisted multi-user systems. To address this issue, we collect multiple copies of the uplink pilot signals that propagate through the SIM. Furthermore, we leverage the array geometry to identify the subspace that spans arbitrary spatial correlation matrices. Based on partial CSI about the channel statistics, a pair of subspace-based channel estimators are proposed. Additionally, we compute the mean square error (MSE) of the proposed channel estimators and optimize the phase shifts of the SIM to minimize the MSE. Numerical results are illustrated to analyze the effectiveness of the proposed channel estimation schemes.

cs.IT↗

arXiv2024

A Safety-Critical Framework for UGVs in Complex Environments: A Data-Driven Discrepancy-Aware Approach

This work presents a novel data-driven multi-layered planning and control framework for the safe navigation of a class of unmanned ground vehicles (UGVs) in the presence of unknown stationary obstacles and additive modeling uncertainties. The foundation of this framework is a novel robust model predictive planner, designed to generate optimal collision-free trajectories given an occupancy grid map, and a paired ancillary controller, augmented to provide robustness against model uncertainties extracted from learning data. To tackle modeling discrepancies, we identify both matched (input discrepancies) and unmatched model residuals between the true and the nominal reduced-order models using closed-loop tracking errors as training data. Utilizing conformal prediction, we extract probabilistic upper bounds for the unknown model residuals, which serve to construct a robustifying ancillary controller. Further, we also determine maximum tracking discrepancies, also known as the robust control invariance tube, under the augmented policy, formulating them as collision buffers. Employing a LiDAR-based occupancy map to characterize the environment, we construct a discrepancy-aware cost map that incorporates these collision buffers. This map is then integrated into a sampling-based model predictive path planner that generates optimal and safe trajectories that can be robustly tracked by the augmented ancillary controller in the presence of model mismatches. The effectiveness of the framework is experimentally validated for autonomous high-speed trajectory tracking in a cluttered environment with four different vehicle-terrain configurations. We also showcase the framework's versatility by reformulating it as a driver-assist program, providing collision avoidance corrections based on user joystick commands.

cs.RO↗

arXiv2024

IR-STP: Enhancing Autonomous Driving with Interaction Reasoning in Spatio-Temporal Planning

Considerable research efforts have been devoted to the development of motion planning algorithms, which form a cornerstone of the autonomous driving system (ADS). Nonetheless, acquiring an interactive and secure trajectory for the ADS remains challenging due to the complex nature of interaction modeling in planning. Modern planning methods still employ a uniform treatment of prediction outcomes and solely rely on collision-avoidance strategies, leading to suboptimal planning performance. To address this limitation, this paper presents a novel prediction-based interactive planning framework for autonomous driving. Our method incorporates interaction reasoning into spatio-temporal (s-t) planning by defining interaction conditions and constraints. Specifically, it records and continually updates interaction relations for each planned state throughout the forward search. We assess the performance of our approach alongside state-of-the-art methods in the CommonRoad environment. Our experiments include a total of 232 scenarios, with variations in the accuracy of prediction outcomes, modality, and degrees of planner aggressiveness. The experimental findings demonstrate the effectiveness and robustness of our method. It leads to a reduction of collision times by approximately 17.6% in 3-modal scenarios, along with improvements of nearly 7.6% in distance completeness and 31.7% in the fail rate in single-modal scenarios. For the community's reference, our code is accessible at https://github.com/ChenYingbing/IR-STP-Planner.

cs.RO↗

arXiv2024

DRL-Based Orchestration of Multi-User MISO Systems with Stacked Intelligent Metasurfaces

Stacked intelligent metasurfaces (SIM) represents an advanced signal processing paradigm that enables over-the-air processing of electromagnetic waves at the speed of light. Its multi-layer structure exhibits customizable increased computational capability compared to conventional single-layer reconfigurable intelligent surfaces and metasurface lenses. In this paper, we deploy SIM to improve the performance of multi-user multiple-input single-output (MISO) wireless systems with low complexity transmit radio frequency (RF) chains. In particular, an optimization formulation for the joint design of the SIM phase shifts and the transmit power allocation is presented, which is efficiently solved via a customized deep reinforcement learning (DRL) approach that continuously observes pre-designed states of the SIM-parametrized smart wireless environment. The presented performance evaluation results showcase the proposed method's capability to effectively learn from the wireless environment while outperforming conventional precoding schemes under low transmit power conditions. Finally, a whitening process is presented to further augment the robustness of the proposed scheme.

eess.SP↗