arXiv subjects

Lu Shi

Publications and source records attributed to Lu Shi.

At least 19 recordsLinked to original sources

arXiv2026

Try Once, Then Optimal: De-Redundified Procedure Memory for Cross-Episode Exploration Amortization

Manipulating objects with hidden internal state, such as a latched microwave, forces a robot to probe before it can act. Yet a robot that has solved an instance once re-runs the same probes whenever it encounters that instance again, because existing cross-episode memories target task success and organize reuse around states, not the object or the cost of re-exploring it. We present Instance-Oriented Memory (IOM), an object-centric framework that amortizes this exploration: from a single encounter that uncovers the hidden state, whether or not it succeeds, IOM records a short procedure for manipulating that instance, keys it on the object's identifiable features, and injects it as a soft bias on a procedure-conditioned policy. A later encounter recognizes the object and recalls its procedure instead of re-exploring. We instantiate this distillation with an off-the-shelf vision-language model (VLM) that parses each encounter into the procedure without task-specific training. Across four articulated-object tasks, two in simulation (microwave, door) and two on a real robot (bottle, cabinet), an oracle procedure memory cuts manipulation operations by 16-30% over re-exploration at non-regressing success, and the VLM instantiation recovers 69-88% of that saving out of the box. Because the procedure is a soft bias on a feedback-driven policy, an incorrect memory is recovered from rather than obeyed: success holds even when a retrieved procedure is wrong, as for $\approx$12% of door instances. Across all tasks the benefit is purely one of efficiency: success never regresses, and on the real robot even improves. Code will be released upon acceptance.

cs.RO↗

arXiv2026

Atomically Thin Amorphous Carbon with an Ultralow Dielectric Constant

Two-dimensional (2D) materials exhibit excellent properties at monolayer thickness and are viable replacements for various microelectronic components as scaling gradually approaches the atomic limit. Despite significant advancements in the ongoing 2D revolution of integrated circuits, one crucial building block, namely a 2D ultralow-k (ULK) dielectric, remains unreported. The challenge lies in achieving a dielectric constant less than 3, as traditional low-k dielectrics are inherently unstable at the 2D limit due to their amorphous or porous nature. The realisation of ultrathin dielectrics with low-k is also needed to address current bottlenecks in integrated circuits scaling. Specifically, low-k materials are necessary to minimise parasitic capacitances as the distance between conductive elements shrinks below 10 nm. Moreover, advanced architectures like gate-all-around field effect transistors (GAA FET) require even lower dielectric constants (k<2) at sub-3nm thickness. Here, we show that layer-by-layer grown multilayer amorphous carbon (ML-AC), as thin as 0.8 nm, is a mechanically robust 2D ULK dielectric with k of 1.35 and dielectric strength of 28-31 MV cm-1. The lack of any long-range order, its intrinsic 2D nature, sp2 carbon character and low density are all essential for minimising dielectric permittivity. Moreover, ML-AC overcomes the vulnerability of existing dielectrics to ion diffusion degradation with a record metal ion diffusion time to failure (TTF) of 10^10 s for even a single layer. Therefore, otherwise necessary additional layers occupying up to 3 nm can be eliminated, which is especially significant as metal line widths approach 10 nm. Combined with its low-temperature, direct and conformal growth even on a dielectric, these critical features enable substantial improvements in silicon-based semiconductor electronics and ensure compatibility with future 2D electronics.

cond-mat.mtrl-sci↗

arXiv2026

Covariance-Regulated Recursive Koopman Learning for Nonlinear Systems with Uncertain Time-Varying Dynamics

Offline models for autonomous robots often fail under time-varying dynamics outside their training distribution. Koopman operator theory offers a linear representation of nonlinear dynamics via lifting, but its transition to real-time recursive estimation may suffer numerical vulnerabilities: covariance windup under low excitation when using exponential forgetting, and vanishing gain without forgetting. This paper introduces a Covariance-Regulated Recursive Koopman Learning (CR-RKL) framework with two complementary strategies--error dead-zone gating and constant-trace normalization--each independently capable of preventing covariance explosion and parameter freezing, with the latter additionally preserving the geometric structure of uncertainty. Validated on a non-holonomic differential-drive robot with wheel slip and Stribeck friction and on a 26-gram butterfly-inspired flapping-wing micro aerial vehicle, CR-RKL achieves numerically stable and accurate online modeling, and when embedded in model predictive control, it maintains reliable tracking performance under uncertain, time-varying dynamics.

cs.RO↗

arXiv2026

When Video Misreads: Closed-Loop Distillation of Reading Heuristics for Exploratory Manipulation Trace QA

Exploratory manipulation often turns an apparent failed attempt into the key evidence for what to do next. For example, a robot pulls a locked cabinet drawer, fails, and only succeeds after opening the lock. The failed pull reveals a latent precondition (the drawer is locked) that determines the minimal-success action chain (the fewest actions that complete the task), here [lock-open, drawer-pull]. Correctly reading this trace is therefore the prerequisite for recovering that chain. We formalize this setting as Exploratory Manipulation Trace QA (EMT-QA): given synchronized video and proprioception from an exploratory trace, predict the minimal-success action chain under the latent precondition revealed by the probe. However, even state-of-the-art VLMs and embodied multimodal LLMs misread this evidence: they do not reliably recover the chain from raw video, raw proprioception, or their combination. We introduce Closed-Loop Trace Distillation, a pipeline that uses a per-task coding agent to inspect labeled training traces and distill a one-line natural-language prompt over the trace, which we call the Distilled Reading Heuristic (DRH). At inference, no agent is invoked and no model weights are updated; a frozen VLM receives the raw trace plus the DRH as a prompt entry. Across three simulator and two real-robot tasks, the DRH improves chain accuracy by +0.38 to +0.47 over the best raw-modality baseline. The same DRH also serves as the sole specification for one-shot programmatic classifiers that match the prompted VLM.

cs.RO↗

arXiv2026

Koopman Identification of Nonlinear Systems via Reservoir Liftings

Learning tractable linear representations of nonlinear dynamical systems via Koopman operator theory is often hindered by dictionary selection, temporal memory encoding, and numerical ill-conditioning. Inspired by Reservoir Computing (RC) paradigm, this paper introduces the RC-Koopman framework, which interprets reservoir as a stateful, finite-dimensional Koopman dictionary whose temporal depth is explicitly controlled by its spectral radius. We show that the Echo State Property (ESP) guarantees well-posedness and favorable numerical conditioning of the lifted Koopman approximation. A correlation-based spectral radius selection algorithm aligns reservoir memory with dominant system timescales. Analysis reveals how the finite memory of the reservoir determines which Koopman eigenfunctions remain observable from the lifted features. Evaluation on synthetic benchmarks demonstrates that RC-Koopman achieves a favorable balance between reconstruction accuracy of the underlying nonlinear dynamics and dynamical stability, compared to Extended Dynamic Mode Decomposition (EDMD) and Hankel-based lifting approaches. Code available at: https://github.com/NEAR-the-future/RC-Koopman.git

cs.LG↗

arXiv2026

GS-Playground: A High-Throughput Photorealistic Simulator for Vision-Informed Robot Learning

Embodied AI research is undergoing a shift toward vision-centric perceptual paradigms. While massively parallel simulators have catalyzed breakthroughs in proprioception-based locomotion, their potential remains largely untapped for vision-informed tasks due to the prohibitive computational overhead of large-scale photorealistic rendering. Furthermore, the creation of simulation-ready 3D assets heavily relies on labor-intensive manual modeling, while the significant sim-to-real physical gap hinders the transfer of contact-rich manipulation policies. To address these bottlenecks, we propose GS-Playground, a multi-modal simulation framework designed to accelerate end-to-end perceptual learning. We develop a novel high-performance parallel physics engine, specifically designed to integrate with a batch 3D Gaussian Splatting (3DGS) rendering pipeline to ensure high-fidelity synchronization. Our system achieves a breakthrough throughput of 10^4 FPS at 640x480 resolution, significantly lowering the barrier for large-scale visual RL. Additionally, we introduce an automated Real2Sim workflow that reconstructs photorealistic, physically consistent, and memory-efficient environments, streamlining the generation of complex simulation-ready scenes. Extensive experiments on locomotion, navigation, and manipulation demonstrate that GS-Playground effectively bridges the perceptual and physical gaps across diverse embodied tasks. Project homepage: https://gsplayground.github.io.

cs.RO↗

arXiv2026

Not all tokens contribute equally to diffusion learning

With the rapid development of conditional diffusion models, significant progress has been made in text-to-video generation. However, we observe that these models often neglect semantically important tokens during inference, leading to biased or incomplete generations under classifier-free guidance. We attribute this issue to two key factors: distributional bias caused by the long-tailed token frequency in training data, and spatial misalignment in cross-attention where semantically important tokens are overshadowed by less informative ones. To address these issues, we propose Distribution-Aware Rectification and Spatial Ensemble (DARE), a unified framework that improves semantic guidance in diffusion models from the perspectives of distributional debiasing and spatial consistency. First, we introduce Distribution-Rectified Classifier-Free Guidance (DR-CFG), which regularizes the training process by dynamically suppressing dominant tokens with low semantic density, encouraging the model to better capture underrepresented semantic cues and learn a more balanced conditional distribution. This design mitigates the risk of the model distribution overfitting to tokens with low semantic density. Second, we propose Spatial Representation Alignment (SRA), which adaptively reweights cross-attention maps according to token importance and enforces representation consistency, enabling semantically important tokens to exert stronger spatial guidance during generation. This mechanism effectively prevents low semantic-density tokens from dominating the attention allocation, thereby avoiding the dilution of the spatial and distributional guidance provided by high semantic-density tokens. Extensive experiments on multiple benchmark datasets demonstrate that DARE consistently improves generation fidelity and semantic alignment, achieving significant gains over existing approaches.

cs.CV↗

arXiv2026

ScDiVa: Masked Discrete Diffusion for Joint Modeling of Single-Cell Identity and Expression

Single-cell RNA-seq profiles are high-dimensional, sparse, and unordered, causing autoregressive generation to impose an artificial ordering bias and suffer from error accumulation. To address this, we propose scDiVa, a masked discrete diffusion foundation model that aligns generation with the dropout-like corruption process by defining a continuous-time forward masking mechanism in token space. ScDiVa features a bidirectional denoiser that jointly models discrete gene identities and continuous values, utilizing entropy-normalized serialization and a latent anchor token to maximize information efficiency and preserve global cell identity. The model is trained via depth-invariant time sampling and a dual denoising objective to simulate varying sparsity levels while ensuring precise recovery of both identity and magnitude. Pre-trained on 59 million cells, scDiVa achieves strong transfer performance across major benchmarks, including batch integration, cell type annotation, and perturbation response prediction. These results suggest that masked discrete diffusion serves as a biologically coherent and effective alternative to autoregression.

cs.LG↗

arXiv2025

FILIC: Dual-Loop Force-Guided Imitation Learning with Impedance Torque Control for Contact-Rich Manipulation Tasks

Many contact-rich manipulation tasks require precise force regulation. However, most imitation learning (IL) policies remain position-centric and lack explicit force awareness, and adding force/torque sensors to collaborative robot arms is often costly and requires additional hardware design. To overcome these issues, we propose FILIC, a Force-guided Imitation Learning framework with impedance torque control. FILIC integrates a Transformer-based IL policy with an impedance controller in a dual-loop structure, enabling compliant force-informed, force-executed manipulation. For robots without force/torque sensors, we introduce a cost-effective end-effector force estimator using joint torque measurements through analytical Jacobian-based inversion while compensating with model-predicted torques from a digital twin. Experiments show that FILIC significantly outperforms vision-only and joint-torque-based methods, achieving safer, more compliant, and adaptable contact-rich manipulation. The source code is available at https://github.com/OpenGHz/mujoco-wrench-estimator.git.

cs.RO↗

arXiv2025

Dual-Thresholded Heatmap-Guided Proposal Clustering and Negative Certainty Supervision with Enhanced Base Network for Weakly Supervised Object Detection

Weakly supervised object detection (WSOD) has attracted significant attention in recent years, as it does not require box-level annotations. State-of-the-art methods generally adopt a multi-module network, which employs WSDDN as the multiple instance detection network module and uses multiple instance refinement modules to refine performance. However, these approaches suffer from three key limitations. First, existing methods tend to generate pseudo GT boxes that either focus only on discriminative parts, failing to capture the whole object, or cover the entire object but fail to distinguish between adjacent intra-class instances. Second, the foundational WSDDN architecture lacks a crucial background class representation for each proposal and exhibits a large semantic gap between its branches. Third, prior methods discard ignored proposals during optimization, leading to slow convergence. To address these challenges, we propose the Dual-thresholded heAtmap-guided proposal clustering and Negative Certainty supervision with Enhanced base network (DANCE) method for WSOD. Specifically, we first devise a heatmap-guided proposal selector (HGPS) algorithm, which utilizes dual thresholds on heatmaps to pre-select proposals, enabling pseudo GT boxes to both capture the full object extent and distinguish between adjacent intra-class instances. We then construct a weakly supervised basic detection network (WSBDN), which augments each proposal with a background class representation and uses heatmaps for pre-supervision to bridge the semantic gap between matrices. At last, we introduce a negative certainty supervision (NCS) loss on ignored proposals to accelerate convergence. Extensive experiments on the challenging PASCAL VOC and MS COCO datasets demonstrate the effectiveness and superiority of our method. Our code is publicly available at https://github.com/gyl2565309278/DANCE.

cs.CV↗

arXiv2025

Condition Weaving Meets Expert Modulation: Towards Universal and Controllable Image Generation

The image-to-image generation task aims to produce controllable images by leveraging conditional inputs and prompt instructions. However, existing methods often train separate control branches for each type of condition, leading to redundant model structures and inefficient use of computational resources. To address this, we propose a Unified image-to-image Generation (UniGen) framework that supports diverse conditional inputs while enhancing generation efficiency and expressiveness. Specifically, to tackle the widely existing parameter redundancy and computational inefficiency in controllable conditional generation architectures, we propose the Condition Modulated Expert (CoMoE) module. This module aggregates semantically similar patch features and assigns them to dedicated expert modules for visual representation and conditional modeling. By enabling independent modeling of foreground features under different conditions, CoMoE effectively mitigates feature entanglement and redundant computation in multi-condition scenarios. Furthermore, to bridge the information gap between the backbone and control branches, we propose WeaveNet, a dynamic, snake-like connection mechanism that enables effective interaction between global text-level control from the backbone and fine-grained control from conditional branches. Extensive experiments on the Subjects-200K and MultiGen-20M datasets across various conditional image generation tasks demonstrate that our method consistently achieves state-of-the-art performance, validating its advantages in both versatility and effectiveness. The code has been uploaded to https://github.com/gavin-gqzhang/UniGen.

cs.CV↗

arXiv2025

DISCOVERSE: Efficient Robot Simulation in Complex High-Fidelity Environments

We present the first unified, modular, open-source 3DGS-based simulation framework for Real2Sim2Real robot learning. It features a holistic Real2Sim pipeline that synthesizes hyper-realistic geometry and appearance of complex real-world scenarios, paving the way for analyzing and bridging the Sim2Real gap. Powered by Gaussian Splatting and MuJoCo, Discoverse enables massively parallel simulation of multiple sensor modalities and accurate physics, with inclusive supports for existing 3D assets, robot models, and ROS plugins, empowering large-scale robot learning and complex robotic benchmarks. Through extensive experiments on imitation learning, Discoverse demonstrates state-of-the-art zero-shot Sim2Real transfer performance compared to existing simulators. For code and demos: https://air-discoverse.github.io/.

cs.RO↗

arXiv2025

High mechanical strength Si anode synthesis with interlayer bonded expanded graphite structure for lithium-ion batteries

Despite advancements in silicon-based anodes for high-capacity lithium-ion batteries, their widespread commercial adoption is still hindered by significant volume expansion during cycling, especially at high active mass loadings crucial for practical use. The root of these challenges lies in the mechanical instability of the material, which subsequently leads to the structural failure of the electrode. Here, we present a novel synthesis of a composite combining expanded graphite and silicon nanoparticles. This composite features a unique interlayer-bonded graphite structure, achieved through the application of a modified spark plasma sintering method. Notably, this innovative structure not only facilitates efficient ion and electron transport but also provides exceptional mechanical strength (Vickers hardness: up to 658 MPa, Young's modulus: 11.6 GPa). This strength effectively accommodates silicon expansion, resulting in an impressive areal capacity of 2.9 mA h cm-2 (736 mA h g-1) and a steady cycle life (93% after 100 cycles). Such outstanding performance is paired with features appropriate for large-scale industrial production of silicon batteries, such as active mass loading of at least 3.9 mg cm-2, a high-tap density electrode material of 1.68 g cm-3 (secondary clusters: 1.12 g cm-3), and a production yield of up to 1 kg per day.

cond-mat.mtrl-sci↗

arXiv2025

A Koopman Operator-based NMPC Framework for Mobile Robot Navigation under Uncertainty

Mobile robot navigation can be challenged by system uncertainty. For example, ground friction may vary abruptly causing slipping, and noisy sensor data can lead to inaccurate feedback control. Traditional model-based methods may be limited when considering such variations, making them fragile to varying types of uncertainty. One way to address this is by leveraging learned prediction models by means of the Koopman operator into nonlinear model predictive control (NMPC). This paper describes the formulation of, and provides the solution to, an NMPC problem using a lifted bilinear model that can accurately predict affine input systems with stochastic perturbations. System constraints are defined in the Koopman space, while the optimization problem is solved in the state space to reduce computational complexity. Training data to estimate the Koopman operator for the system are given via randomized control inputs. The output of the developed method enables closed-loop navigation control over environments populated with obstacles. The effectiveness of the proposed method has been tested through numerical simulations using a wheeled robot with additive stochastic velocity perturbations, Gazebo simulations with a realistic digital twin robot, and physical hardware experiments without knowledge of the true dynamics.

cs.RO↗

arXiv2025

An Real-Sim-Real (RSR) Loop Framework for Generalizable Robotic Policy Transfer with Differentiable Simulation

The sim-to-real gap remains a critical challenge in robotics, hindering the deployment of algorithms trained in simulation to real-world systems. This paper introduces a novel Real-Sim-Real (RSR) loop framework leveraging differentiable simulation to address this gap by iteratively refining simulation parameters, aligning them with real-world conditions, and enabling robust and efficient policy transfer. A key contribution of our work is the design of an informative cost function that encourages the collection of diverse and representative real-world data, minimizing bias and maximizing the utility of each data point for simulation refinement. This cost function integrates seamlessly into existing reinforcement learning algorithms (e.g., PPO, SAC) and ensures a balanced exploration of critical regions in the real domain. Furthermore, our approach is implemented on the versatile Mujoco MJX platform, and our framework is compatible with a wide range of robotic systems. Experimental results on several robotic manipulation tasks demonstrate that our method significantly reduces the sim-to-real gap, achieving high task performance and generalizability across diverse scenarios of both explicit and implicit environmental uncertainties.

cs.RO↗

arXiv2024

Bridging the Resource Gap: Deploying Advanced Imitation Learning Models onto Affordable Embedded Platforms

Advanced imitation learning with structures like the transformer is increasingly demonstrating its advantages in robotics. However, deploying these large-scale models on embedded platforms remains a major challenge. In this paper, we propose a pipeline that facilitates the migration of advanced imitation learning algorithms to edge devices. The process is achieved via an efficient model compression method and a practical asynchronous parallel method Temporal Ensemble with Dropped Actions (TEDA) that enhances the smoothness of operations. To show the efficiency of the proposed pipeline, large-scale imitation learning models are trained on a server and deployed on an edge device to complete various manipulation tasks.

cs.LG↗

arXiv2024

Aegis:An Advanced LLM-Based Multi-Agent for Intelligent Functional Safety Engineering

Functional safety is a critical aspect of automotive engineering, encompassing all phases of a vehicle's lifecycle, including design, development, production, operation, and decommissioning. This domain involves highly knowledge-intensive tasks. This paper introduces Aegis: An Advanced LLM-Based Multi-Agent for Intelligent Functional Safety Engineering. Aegis is specifically designed to support complex functional safety tasks within the automotive sector. It is tailored to perform Hazard Analysis and Risk Assessment(HARA), document Functional Safety Requirements(FSR), and plan test cases for Automatic Emergency Braking(AEB) systems. The most advanced version, Aegis-Max, leverages Retrieval-Augmented Generation(RAG) and reflective mechanisms to enhance its capability in managing complex, knowledge-intensive tasks. Additionally, targeted prompt refinement by professional functional safety practitioners can significantly optimize Aegis's performance in the functional safety domain. This paper demonstrates the potential of Aegis to improve the efficiency and effectiveness of functional safety processes in automotive engineering.

cs.MA↗

arXiv2024

Extracting the Potential of Emerging Hardware Accelerators for Symmetric Eigenvalue Decomposition

Benefiting from the advancement of hardware accelerators such as GPUs, deep neural networks and scientific computing applications can achieve superior performance. Recently, the computing capacity of emerging hardware accelerators has increased rapidly, while memory bandwidth has not kept pace with this growth. This disparity exacerbates the gap between computing and memory, leading to inefficiencies on conventional algorithms, as they're likely to be converted from compute-bound to memory-bound. Symmetric eigenvalue decomposition (EVD), a critical operation in various research domains including scientific computing, deep learning training, and inference algorithms, exhibits suboptimal performance due to achieving less than 3\% hardware computing utilization on the H100 GPU. In this paper, we analyze the features of emerging hardware accelerators to identify the bottlenecks inherent in conventional EVD algorithms. To improve EVD performance, we propose several algorithmic optimizations aimed at solving the memory-bound problem and providing a better utilization of the rich computing capacity and parallelism on the emerging hardware accelerators. Experimentally, our proposed method demonstrates significant speedups on tridiagonalization, which is the main workload that takes over 90\% elapsed time of EVD, compared to the SOTA cuSOLVER tridiagonalization, achieving up to 10.1x, 7.5x, and 2.3x improvements on H100, A100, and RTX 4090 GPUs, respectively. And the end-to-end the performance of EVD solver is also up to 4.1x faster than cuSOVLER.

cs.DC↗