arXiv subjects

Meng Guo

Publications and source records attributed to Meng Guo.

At least 37 records · Page 2Linked to original sources

arXiv2026

BodyGuards: Escorting by Multiple Robots in Unknown Environment under Limited Communication

Multi-robot systems are increasingly deployed in high-risk missions such as reconnaissance, disaster response, and subterranean operations. Protecting a human operator while navigating unknown and adversarial environments remains a critical challenge, especially when the communication among the operator and robots is restricted. Unlike existing collaborative exploration methods that aim for complete coverage, this work focuses on task-oriented exploration to minimize the navigation time of the operator to reach its goal while ensuring safety under adversarial threats. A novel escorting framework BodyGuards, is proposed to explicitly integrate seamlessly collaborative exploration, inter-robot-operator communication and escorting. The framework consists of three core components: (I) a dynamic movement strategy for the operator that maintains a local map with risk zones for proactive path planning; (II) a dual-mode robotic strategy combining frontier based exploration with optimized return events to balance exploration, threat detection, and intermittent communication; and (III) multi-robot coordination protocols that jointly plan exploration and information sharing for efficient escorting. Extensive human-in-the-loop simulations and hardware experiments demonstrate that the method significantly reduces operator risk and mission time, outperforming baselines in adversarial and constrained environments.

cs.RO↗

arXiv2026

Discovery of a millisecond pulsar with a CO white dwarf companion

We report the discovery and characterization of PSR J1810-0623, a fully recycled millisecond pulsar with a spin period of 4.55 ms, discovered with the Five-hundred-meter Aperture Spherical radio Telescope (FAST) and followed up with FAST and the Green Bank Telescope (GBT). A phase-connected timing solution spanning over 6.5 years reveals a 15.4-day binary orbit with extremely low eccentricity (about 1.5E-5). Assuming a neutron star mass of 1.4 Msun, the inferred companion median mass (about 0.64 Msun) is consistent with a carbon-oxygen white dwarf, indicating an evolutionary origin in an intermediate mass Xray binary. The system's properties closely resemble those of other massive white dwarf binaries thought to form via Case A Roche lobe overflow, suggesting a prolonged accretion phase during which the neutron star was efficiently recycled. Polarimetric analysis of FAST data yields a moderate degree of linear polarization and a rotation measure of 86.6 pm 0.6 rad/m^2, offering constraints on the Galactic magnetic field. The inferred characteristic age (about 32 Gyr) and low surface magnetic field (about 1E8 G) indicate a highly recycled pulsar. Proper-motion measurements imply a modest transverse velocity, consistent with those of recycled millisecond pulsars in the Galactic field. Although the proximity of the globular cluster Pal 7 raises the possibility of a dynamical origin, discrepancies in dispersion measure and proper motion argue against a physical association. PSR J1810-0623 adds to the rare class of long-orbital period MSP-COWD systems and provides a valuable laboratory for studying pulsar recycling, binary evolution, and Galactic structure.

astro-ph.HE↗

arXiv2026

A Photometric and Spectroscopic investigation of 11 TESS eclipsing contact binaries

By cross-matching the eclipsing binary catalog provided by Prsa et al. (2022) with LAMOST medium resolution spectra, we obtained 11 targets. Combining light and radial velocity curves analysis, we have derived accurate physical parameters for these 11 targets. The results indicate that there are 3 deep contact binaries, 3 moderate ones, and 5 shallow ones. Among them, 3 targets exhibit the O'Connell effect, which is attributed to the presence of star-spot on the component's surface. One target is a low-mass ratio deep contact binary and may be contact binary merging candidates. The evolutionary status of these 11 targets was studied using the mass-luminosity and mass-radius relation diagrams. Based on the O-C (Observed minus Calculated) analysis of 10 targets, we found that the orbital periods of 5 contact binaries show a long-term decreasing trend, likely due to the combined effects of mass transfer between the two components and loss of angular momentum. Meanwhile, the orbital periods of the other 4 stars are continuously increasing, which is attributed to mass transfer. Besides, the O-C curves of 3 targets show clear periodic changes, which might result from the Applegate mechanism or the light travel time effect.

astro-ph.SR↗

arXiv2026

CoCoPlan: Adaptive Coordination and Communication for Multi-robot Systems in Dynamic and Unknown Environments

Multi-robot systems can greatly enhance efficiency through coordination and collaboration, yet in practice, full-time communication is rarely available and interactions are constrained to close-range exchanges. Existing methods either maintain all-time connectivity, rely on fixed schedules, or adopt pairwise protocols, but none adapt effectively to dynamic spatio-temporal task distributions under limited communication, resulting in suboptimal coordination. To address this gap, we propose CoCoPlan, a unified framework that co-optimizes collaborative task planning and team-wise intermittent communication. Our approach integrates a branch-and-bound architecture that jointly encodes task assignments and communication events, an adaptive objective function that balances task efficiency against communication latency, and a communication event optimization module that strategically determines when, where and how the global connectivity should be re-established. Extensive experiments demonstrate that it outperforms state-of-the-art methods by achieving a 22.4% higher task completion rate, reducing communication overhead by 58.6%, and improving the scalability by supporting up to 100 robots in dynamic environments. Hardware experiments include the complex 2D office environment and large-scale 3D disaster-response scenario.

cs.RO↗

arXiv2026

SLEI3D: Simultaneous Exploration and Inspection via Heterogeneous Fleets under Limited Communication

Robotic fleets such as unmanned aerial and ground vehicles have been widely used for routine inspections of static environments, where the areas of interest are known and planned in advance. However, in many applications, such areas of interest are unknown and should be identified online during exploration. Thus, this paper considers the problem of simultaneous exploration, inspection of unknown environments and then real-time communication to a mobile ground control station to report the findings. The heterogeneous robots are equipped with different sensors, e.g., long-range lidars for fast exploration and close-range cameras for detailed inspection. Furthermore, global communication is often unavailable in such environments, where the robots can only communicate with each other via ad-hoc wireless networks when they are in close proximity and free of obstruction. This work proposes a novel planning and coordination framework (SLEI3D) that integrates the online strategies for collaborative 3D exploration, adaptive inspection and timely communication (via the intermit-tent or proactive protocols). To account for uncertainties w.r.t. the number and location of features, a multi-layer and multi-rate planning mechanism is developed for inter-and-intra robot subgroups, to actively meet and coordinate their local plans. The proposed framework is validated extensively via high-fidelity simulations of numerous large-scale missions with up to 48 robots and 384 thousand cubic meters. Hardware experiments of 7 robots are also conducted. Project website is available at https://junfengchen-robotics.github.io/SLEI3D/.

cs.RO↗

arXiv2025

Seedream 4.0: Toward Next-generation Multimodal Image Generation

We introduce Seedream 4.0, an efficient and high-performance multimodal image generation system that unifies text-to-image (T2I) synthesis, image editing, and multi-image composition within a single framework. We develop a highly efficient diffusion transformer with a powerful VAE which also can reduce the number of image tokens considerably. This allows for efficient training of our model, and enables it to fast generate native high-resolution images (e.g., 1K-4K). Seedream 4.0 is pretrained on billions of text-image pairs spanning diverse taxonomies and knowledge-centric concepts. Comprehensive data collection across hundreds of vertical scenarios, coupled with optimized strategies, ensures stable and large-scale training, with strong generalization. By incorporating a carefully fine-tuned VLM model, we perform multi-modal post-training for training both T2I and image editing tasks jointly. For inference acceleration, we integrate adversarial distillation, distribution matching, and quantization, as well as speculative decoding. It achieves an inference time of up to 1.8 seconds for generating a 2K image (without a LLM/VLM as PE model). Comprehensive evaluations reveal that Seedream 4.0 can achieve state-of-the-art results on both T2I and multimodal image editing. In particular, it demonstrates exceptional multimodal capabilities in complex tasks, including precise image editing and in-context reasoning, and also allows for multi-image reference, and can generate multiple output images. This extends traditional T2I systems into an more interactive and multidimensional creative tool, pushing the boundary of generative AI for both creativity and professional applications. We further scale our model and data as Seedream 4.5. Seedream 4.0 and Seedream 4.5 are accessible on Volcano Engine https://www.volcengine.com/experience/ark?launch=seedream.

cs.CV↗

arXiv2025

PushingBots: Collaborative Pushing via Neural Accelerated Combinatorial Hybrid Optimization

Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interact with and further change the environment. Existing work often assumes a set of predefined pushing modes and fixed-shape objects. This work tackles the general problem of controlling a robotic fleet to push collaboratively numerous arbitrary objects to respective destinations, within complex environments of cluttered and movable obstacles. It incorporates several characteristic challenges for multi-robot systems such as online task coordination under large uncertainties of cost and duration, and for contact-rich tasks such as hybrid switching among different contact modes, and under-actuation due to constrained contact forces. The proposed method is based on combinatorial hybrid optimization over dynamic task assignments and hybrid execution via sequences of pushing modes and associated forces. It consists of three main components: (I) the decomposition, ordering and rolling assignment of pushing subtasks to robot subgroups; (II) the keyframe guided hybrid search to optimize the sequence of parameterized pushing modes for each subtask; (III) the hybrid control to execute these modes and transit among them. Last but not least, a diffusion-based accelerator is adopted to predict the keyframes and pushing modes that should be prioritized during hybrid search; and further improve planning efficiency. The framework is complete under mild assumptions. Its efficiency and effectiveness under different numbers of robots and general-shaped objects are validated extensively in simulations and hardware experiments, as well as generalizations to heterogeneous robots, planar assembly and 6D pushing.

cs.RO↗

arXiv2025

Dependency of the Bar Formation Timescale On The Halo Spin

Bars are among the most prominent structures in disk galaxies. While the widely accepted swing-amplification theory provides a qualitative framework for their formation, the detailed physical processes remain incompletely understood. Previous studies have shown that the bar formation timescale in isolated galaxies depends exponentially on the disk mass fraction (the so-called "Fujii relation") and linearly on disk hotness and thickness. However, the influence of dark matter halo spin on bar formation has not been systematically investigated. In this work, we construct a suite of $N$-body models of disk and halo with varying disk mass fractions and amounts of random motions. By introducing prograde and retrograde spins in the dark matter halo, we explore how halo spin modifies the established empirical relations governing bar formation timescales. We find that these relations remain valid in both prograde and retrograde halo spin models. For rapid bar formation (short timescale), the effect of halo spin is nearly negligible. In contrast, for moderately slow bar formation, prograde (retrograde) halo spin tends to accelerate (suppress) bar onset. In cases of extremely slow bar formation, halo spin introduces a stronger but more stochastic influence. These trends might arise from the exchange of angular momentum between the stellar disk and the dark matter halo.

astro-ph.GA↗

arXiv2025

ASTROFLOW: A Real-Time End-to-End Pipeline for Radio Single-Pulse Searches

Fast radio bursts (FRBs) are extremely bright, millisecond duration cosmic transients of unknown origin. The growing number of wide-field and high-time-resolution radio surveys, particularly with next-generation facilities such as the SKA and MeerKAT, will dramatically increase FRB discovery rates, but also produce data volumes that overwhelm conventional search pipelines. Real-time detection thus demands software that is both algorithmically robust and computationally efficient. We present Astroflow, an end-to-end, GPU-accelerated pipeline for single-pulse detection in radio time-frequency data. Built on a unified C++/CUDA core with a Python interface, Astroflow integrates RFI excision, incoherent dedispersion, dynamic-spectrum tiling, and a YOLO-based deep detector. Through vectorized memory access, shared-memory tiling, and OpenMP parallelism, it achieves 10x faster-than-real-time processing on consumer GPUs for a typical 150 s, 2048-channel observation, while preserving high sensitivity across a wide range of pulse widths and dispersion measures. These results establish the feasibility of a fully integrated, GPU-accelerated single-pulse search stack, capable of scaling to the data volumes expected from upcoming large-scale surveys. Astroflow offers a reusable and deployable solution for real-time transient discovery, and provides a framework that can be continuously refined with new data and models.

astro-ph.IM↗

arXiv2025

LOMORO: Long-term Monitoring of Dynamic Targets with Minimum Robotic Fleet under Resource Constraints

Long-term monitoring of numerous dynamic targets can be tedious for a human operator and infeasible for a single robot, e.g., to monitor wild flocks, detect intruders, search and rescue. Fleets of autonomous robots can be effective by acting collaboratively and concurrently. However, the online coordination is challenging due to the unknown behaviors of the targets and the limited perception of each robot. Existing work often deploys all robots available without minimizing the fleet size, or neglects the constraints on their resources such as battery and memory. This work proposes an online coordination scheme called LOMORO for collaborative target monitoring, path routing and resource charging. It includes three core components: (I) the modeling of multi-robot task assignment problem under the constraints on resources and monitoring intervals; (II) the resource-aware task coordination algorithm iterates between the high-level assignment of dynamic targets and the low-level multi-objective routing via the Martin's algorithm; (III) the online adaptation algorithm in case of unpredictable target behaviors and robot failures. It ensures the explicitly upper-bounded monitoring intervals for all targets and the lower-bounded resource levels for all robots, while minimizing the average number of active robots. The proposed methods are validated extensively via large-scale simulations against several baselines, under different road networks, robot velocities, charging rates and monitoring intervals.

cs.RO↗

arXiv2025

FlyKites: Human-centric Interactive Exploration and Assistance under Limited Communication

Fleets of autonomous robots have been deployed for exploration of unknown scenes for features of interest, e.g., subterranean exploration, reconnaissance, search and rescue missions. During exploration, the robots may encounter un-identified targets, blocked passages, interactive objects, temporary failure, or other unexpected events, all of which require consistent human assistance with reliable communication for a time period. This however can be particularly challenging if the communication among the robots is severely restricted to only close-range exchange via ad-hoc networks, especially in extreme environments like caves and underground tunnels. This paper presents a novel human-centric interactive exploration and assistance framework called FlyKites, for multi-robot systems under limited communication. It consists of three interleaved components: (I) the distributed exploration and intermittent communication (called the "spread mode"), where the robots collaboratively explore the environment and exchange local data among the fleet and with the operator; (II) the simultaneous optimization of the relay topology, the operator path, and the assignment of robots to relay roles (called the "relay mode"), such that all requested assistance can be provided with minimum delay; (III) the human-in-the-loop online execution, where the robots switch between different roles and interact with the operator adaptively. Extensive human-in-the-loop simulations and hardware experiments are performed over numerous challenging scenes.

cs.RO↗

arXiv2025

DEXTER-LLM: Dynamic and Explainable Coordination of Multi-Robot Systems in Unknown Environments via Large Language Models

Online coordination of multi-robot systems in open and unknown environments faces significant challenges, particularly when semantic features detected during operation dynamically trigger new tasks. Recent large language model (LLMs)-based approaches for scene reasoning and planning primarily focus on one-shot, end-to-end solutions in known environments, lacking both dynamic adaptation capabilities for online operation and explainability in the processes of planning. To address these issues, a novel framework (DEXTER-LLM) for dynamic task planning in unknown environments, integrates four modules: (i) a mission comprehension module that resolves partial ordering of tasks specified by natural languages or linear temporal logic formulas (LTL); (ii) an online subtask generator based on LLMs that improves the accuracy and explainability of task decomposition via multi-stage reasoning; (iii) an optimal subtask assigner and scheduler that allocates subtasks to robots via search-based optimization; and (iv) a dynamic adaptation and human-in-the-loop verification module that implements multi-rate, event-based updates for both subtasks and their assignments, to cope with new features and tasks detected online. The framework effectively combines LLMs' open-world reasoning capabilities with the optimality of model-based assignment methods, simultaneously addressing the critical issue of online adaptability and explainability. Experimental evaluations demonstrate exceptional performances, with 100% success rates across all scenarios, 160 tasks and 480 subtasks completed on average (3 times the baselines), 62% less queries to LLMs during adaptation, and superior plan quality (2 times higher) for compound tasks. Project page at https://tcxm.github.io/DEXTER-LLM/

cs.RO↗

arXiv2025

Multi-UAV Deployment in Obstacle-Cluttered Environments with LOS Connectivity

A reliable communication network is essential for multiple UAVs operating within obstacle-cluttered environments, where limited communication due to obstructions often occurs. A common solution is to deploy intermediate UAVs to relay information via a multi-hop network, which introduces two challenges: (i) how to design the structure of multihop networks; and (ii) how to maintain connectivity during collaborative motion. To this end, this work first proposes an efficient constrained search method based on the minimumedge RRT? algorithm, to find a spanning-tree topology that requires a less number of UAVs for the deployment task. Then, to achieve this deployment, a distributed model predictive control strategy is proposed for the online motion coordination. It explicitly incorporates not only the inter-UAV and UAVobstacle distance constraints, but also the line-of-sight (LOS) connectivity constraint. These constraints are well-known to be nonlinear and often tackled by various approximations. In contrast, this work provides a theoretical guarantee that all agent trajectories are ensured to be collision-free with a teamwise LOS connectivity at all time. Numerous simulations are performed in 3D valley-like environments, while hardware experiments validate its dynamic adaptation when the deployment position changes online.

cs.RO↗

arXiv2025

Homotopy-aware Multi-agent Navigation via Distributed Model Predictive Control

Multi-agent trajectory planning requires ensuring both safety and efficiency, yet deadlocks remain a significant challenge, especially in obstacle-dense environments. Such deadlocks frequently occur when multiple agents attempt to traverse the same long and narrow corridor simultaneously. To address this, we propose a novel distributed trajectory planning framework that bridges the gap between global path and local trajectory cooperation. At the global level, a homotopy-aware optimal path planning algorithm is proposed, which fully leverages the topological structure of the environment. A reference path is chosen from distinct homotopy classes by considering both its spatial and temporal properties, leading to improved coordination among agents globally. At the local level, a model predictive control-based trajectory optimization method is used to generate dynamically feasible and collision-free trajectories. Additionally, an online replanning strategy ensures its adaptability to dynamic environments. Simulations and experiments validate the effectiveness of our approach in mitigating deadlocks. Ablation studies demonstrate that by incorporating time-aware homotopic properties into the underlying global paths, our method can significantly reduce deadlocks and improve the average success rate from 4%-13% to over 90% in randomly generated dense scenarios.

cs.RO↗

arXiv2025

Customize Harmonic Potential Fields via Hybrid Optimization over Homotopic Paths

Safe navigation within a workspace is a fundamental skill for autonomous robots to accomplish more complex tasks. Harmonic potentials are artificial potential fields that are analytical, globally convergent and provably free of local minima. Thus, it has been widely used for generating safe and reliable robot navigation control policies. However, most existing methods do not allow customization of the harmonic potential fields nor the resulting paths, particularly regarding their topological properties. In this paper, we propose a novel method that automatically finds homotopy classes of paths that can be generated by valid harmonic potential fields. The considered complex workspaces can be as general as forest worlds consisting of numerous overlapping star-obstacles. The method is based on a hybrid optimization algorithm that searches over homotopy classes, selects the structure of each tree-of-stars within the forest, and optimizes over the continuous weight parameters for each purged tree via the projected gradient descent. The key insight is to transform the forest world to the unbounded point world via proper diffeomorphic transformations. It not only facilitates a simpler design of the multi-directional D-signature between non-homotopic paths, but also retain the safety and convergence properties. Extensive simulations and hardware experiments are conducted for non-trivial scenarios, where the navigation potentials are customized for desired homotopic properties. Project page: https://shuaikang-wang.github.io/CustFields.

cs.RO↗

arXiv2025

From 2D to 3D Cognition: A Brief Survey of General World Models

World models have garnered increasing attention in the development of artificial general intelligence (AGI), serving as computational frameworks for learning representations of the external world and forecasting future states. While early efforts focused on 2D visual perception and simulation, recent 3D-aware generative world models have demonstrated the ability to synthesize geometrically consistent, interactive 3D environments, marking a shift toward 3D spatial cognition. Despite rapid progress, the field lacks systematic analysis to categorize emerging techniques and clarify their roles in advancing 3D cognitive world models. This survey addresses this need by introducing a conceptual framework, providing a structured and forward-looking review of world models transitioning from 2D perception to 3D cognition. Within this framework, we highlight two key technological drivers, particularly advances in 3D representations and the incorporation of world knowledge, as fundamental pillars. Building on these, we dissect three core cognitive capabilities that underpin 3D world modeling: 3D physical scene generation, 3D spatial reasoning, and 3D spatial interaction. We further examine the deployment of these capabilities in real-world applications, including embodied AI, autonomous driving, digital twin, and gaming/VR. Finally, we identify challenges across data, modeling, and deployment, and outline future directions for advancing more robust and generalizable 3D world models.

cs.CV↗

arXiv2025

Early evolution of super-Eddington accretion flow in tidal disruption events

Tidal disruption events (TDEs) are luminous black hole (BH) transient sources, which are detected mainly in X-ray and optical bands. It is generally believed that the X-ray emission in TDEs is produced by an accretion disc formed as the stellar debris accreted onto the central BH. The origin of the optical emission is not determined, but could be explained by the `reprocessing' model with the X-ray emission reprocessed into optical band by a surrounding optically thick envelope or outflow. In this paper, we performed radiation hydrodynamic simulations of super-Eddington accretion flow with Athena++ code in the environment of TDEs, i.e., injecting a continuous mass flow rate at the circularization radius in the form of $\dot M_{\rm inject} \propto t^{-5/3}$ for the mass supply rate. We show that a significant fraction of the matter in the accretion inflow are blowed off forming outflow, and the properties of the outflow are viewing-angle dependent. We further calculate the emergent spectra of such an inflow/outflow system for different viewing angles with the method of Monto Carlo radiative transfer. Based on the emergent spectra, we show that the observed features of TDEs, such as the X-ray and optical luminosities, the blackbody temperature of X-ray and optical emission and the corresponding emission radii, the ratio of X-ray luminosity to optical luminosity, as well as the evolution of these quantities can be explained in the framework of viewing-angle effect of super-Eddington accretion around a BH.

astro-ph.HE↗

arXiv2025

Robust Visual Servoing under Human Supervision for Assembly Tasks

We propose a framework enabling mobile manipulators to reliably complete pick-and-place tasks for assembling structures from construction blocks. The picking uses an eye-in-hand visual servoing controller for object tracking with Control Barrier Functions (CBFs) to ensure fiducial markers in the blocks remain visible. An additional robot with an eye-to-hand setup ensures precise placement, critical for structural stability. We integrate human-in-the-loop capabilities for flexibility and fault correction and analyze robustness to camera pose errors, proposing adapted barrier functions to handle them. Lastly, experiments validate the framework on 6-DoF mobile arms.

eess.SY↗