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Min Wang

Publications and source records attributed to Min Wang.

At least 37 records · Page 2Linked to original sources
arXiv2026

A Real-World Grasping-in-Clutter Performance Evaluation Benchmark for Robotic Food Waste Sorting

Food waste management is critical for sustainability, yet inorganic contaminants hinder recycling potential. Robotic automation accelerates sorting through automated contaminant removal. Nevertheless, the diverse and unpredictable nature of contaminants introduces major challenges for reliable robotic grasping. Grasp performance benchmarking provides a rigorous methodology for evaluating these challenges in underexplored field contexts like food waste sorting. However, existing approaches suffer from limited simulation datasets, over-reliance on simplistic metrics like success rate, inability to account for object-related pre-grasp conditions, and lack of comprehensive failure analysis. To address these gaps, this work introduces GRAB, a real-world grasping-in-clutter (GIC) performance benchmark incorporating: (1) diverse deformable object datasets, (2) advanced 6D grasp pose estimation, and (3) explicit evaluation of pre-grasp conditions through graspability metrics. The benchmark compares industrial grasping across three gripper modalities through 1,750 grasp attempts across four randomized clutter levels. Results reveal a clear hierarchy among graspability parameters, with object quality emerging as the dominant factor governing grasp performance across modalities. Failure mode analysis shows that physical interaction constraints, rather than perception or control limitations, constitute the primary source of grasp failures in cluttered environments. By enabling identification of dominant factors influencing grasp performance, GRAB provides a principled foundation for designing robust, adaptive grasping systems for complex, cluttered food waste sorting.

cs.RO↗
arXiv2026

A B-Spline Function Based 3D Point Cloud Unwrapping Scheme for 3D Fingerprint Recognition and Identification

Three-dimensional (3D) fingerprint recognition and identification offer several advantages over traditional two-dimensional (2D) recognition systems. The contactless nature of 3D fingerprints enhances hygiene and security, reducing the risk of contamination and spoofing. In addition to surface ridge and valley patterns, 3D fingerprints capture depth, curvature, and shape information, enabling the development of more precise and robust authentication systems. Despite recent advancements, significant challenges remain. The topological height of fingerprint pixels complicates the extraction of ridge and valley patterns. Furthermore, registration issues limit the acquisition process, requiring consistent direction and orientation across all samples. To address these challenges, this paper introduces a method that unwraps 3D fingerprints, represented as 3D point clouds, using B-spline curve fitting to mitigate height variation and reduce registration limitations. The unwrapped point cloud is then converted into a grayscale image by mapping the relative heights of the points. This grayscale image is subsequently used for recognition through conventional 2D fingerprint identification methods. The proposed approach demonstrated superior performance in 3D fingerprint recognition, achieving Equal Error Rates (EERs) of 0.2072%, 0.26%, and 0.22% across three experiments, outperforming existing methods. Additionally, the method surpassed 3D fingerprint flattening technique in both recognition and identification during cross-session experiments, achieving an EER of 1.50% when fingerprints with varying registrations were included.

cs.CV↗
arXiv2026

Infinite divisibility of $α$-Cauchy distributions

In 2009, Yano, Yano and Yor proposed the question of studying the infinite divisibility of the $α$-Cauchy variable $\mathcal{C}_α$ for $α> 1$. The particular case $\mathcal{C}_2$ is the well-known standard Cauchy variable, which is infinitely divisible and indeed stable. For $α\neq 2$, the infinite divisibility of $\mathcal{C}_α$ is previously unknown. In this paper, we prove that $\mathcal{C}_α$ is infinitely divisible if and only if $1 < α\leq 2$.

math.PR↗
arXiv2026

Solving and learning advective multiscale Darcian dynamics with the Neural Basis Method

Physics-governed models are increasingly paired with machine learning for accelerated predictions, yet most "physics--informed" formulations treat the governing equations as a penalty loss whose scale and meaning are set by heuristic balancing. This blurs operator structure, thereby confounding solution approximation error with governing-equation enforcement error and making the solving and learning progress hard to interpret and control. Here we introduce the Neural Basis Method, a projection-based formulation that couples a predefined, physics-conforming neural basis space with an operator-induced residual metric to obtain a well-conditioned deterministic minimization. Stability and reliability then hinge on this metric: the residual is not merely an optimization objective but a computable certificate tied to approximation and enforcement, remaining stable under basis enrichment and yielding reduced coordinates that are learnable across parametric instances. We use advective multiscale Darcian dynamics as a concrete demonstration of this broader point. Our method produce accurate and robust solutions in single solves and enable fast and effective parametric inference with operator learning.

math.NA↗
arXiv2026

Highly-efficient, narrow-linewidth Brillouin microlasers implemented in compact thin-film lithium niobate microresonators

Stimulated Brillouin microlasers offer chip-scale light sources with high spectral purity and low phase noise--key attributes for applications spanning precision metrology, quantum technologies, and coherent information processing. However, simultaneously bringing both pump and scattered waves into resonance often compromises photon confinement or modal volume, resulting in limited conversion efficiency and elevated thresholds. In this work, a novel approach is proposed to generate Brillouin microlasers with high efficiency, low threshold, and narrow linewidth, by combining a cross-polarized stimulated Brillouin scattering scheme with intentional Stokes mode splitting to compensate for mode detuning. Triple-resonance and phase-matching conditions are simultaneously achieved in a 114-um-diameter thin-film lithium niobate (TFLN) microresonator, enabling precise alignment with both the ~10-GHz Brillouin shift and the ~100-MHz narrow gain bandwidth. The resulting Brillouin microlaser achieves a narrow intrinsic linewidth of 2.88 Hz, a short-term integral linewidth of 185 Hz, an on-chip conversion efficiency of 57.92%, and a pump threshold as low as 1.03 mW. Both the conversion efficiency and the lasing threshold represent record-high performance for the TFLN platform to date.

physics.optics↗
arXiv2026

Structural Action Transformer for 3D Dexterous Manipulation

Achieving human-level dexterity in robots via imitation learning from heterogeneous datasets is hindered by the challenge of cross-embodiment skill transfer, particularly for high-DoF robotic hands. Existing methods, often relying on 2D observations and temporal-centric action representation, struggle to capture 3D spatial relations and fail to handle embodiment heterogeneity. This paper proposes the Structural Action Transformer (SAT), a new 3D dexterous manipulation policy that challenges this paradigm by introducing a structural-centric perspective. We reframe each action chunk not as a temporal sequence, but as a variable-length, unordered sequence of joint-wise trajectories. This structural formulation allows a Transformer to natively handle heterogeneous embodiments, treating the joint count as a variable sequence length. To encode structural priors and resolve ambiguity, we introduce an Embodied Joint Codebook that embeds each joint's functional role and kinematic properties. Our model learns to generate these trajectories from 3D point clouds via a continuous-time flow matching objective. We validate our approach by pre-training on large-scale heterogeneous datasets and fine-tuning on simulation and real-world dexterous manipulation tasks. Our method consistently outperforms all baselines, demonstrating superior sample efficiency and effective cross-embodiment skill transfer. This structural-centric representation offers a new path toward scaling policies for high-DoF, heterogeneous manipulators.

cs.RO↗
arXiv2026

Numerical Methods for Solving Nonlinearly Coupled Poisson Equations in Dual-Continuum Modeled Porous Electrodes

Porous electrodes are widely used in electrochemical systems, where accurately determining electric potentials, particularly overpotentials, is essential for understanding electrode behavior. At the macroscopic scale, porous electrodes are typically modeled using a dual-continuum approach, treating the porous solid phase and the liquid electrolyte as spatially superimposed domains. Determining potential distributions requires solving two Poisson equations that are nonlinearly coupled through Butler-Volmer kinetics under galvanostatic and potentiostatic operating modes. Under galvanostatic operation, these equations form an underconstrained singular system due to all-Neumann boundary conditions, posing numerical challenges. This paper systematically presents numerical methods for solving nonlinearly coupled Poisson equations in dual-continuum porous electrodes, with a particular focus on galvanostatic solutions. We mathematically establish solution uniqueness in terms of the potential difference between the electrode and electrolyte (or overpotential), as well as the individual potentials up to a shared constant shift. To resolve the nonuniqueness of the solution, we introduce three numerical approaches: (1) Lagrange Constrained Method (LCM), (2) Dirichlet Substitution Method (DSM), and (3) Global Constraining Method (GCM), where GCM enables solving the overpotential without imposing an explicit system reference potential. Additionally, we develop both decoupled and fully coupled nonlinear solution strategies and evaluate their computational performance in both homogeneous and heterogeneous conductivity cases. The presented numerical methods are general for addressing similar underconstrained nonlinear systems. A Python implementation is provided at https://github.com/harrywang1129/porous_electrode_solver.

math.NA↗
arXiv2026

CosmicWeb-21cm array: A New Radio Observation Array Design for 21cm Cosmology

This paper presents the CosmicWeb-21cm array, a novel radio interferometer designed to overcome the key challenges in 21 cm cosmology. Its core innovations include: (1) a multi-scale nested geometry combining a hexagonal core with logarithmic spiral arms for excellent UV coverage and calibration robustness; (2) an intelligent non-uniform frequency sampling strategy that adapts resolution to foreground and signal characteristics, reducing data volume while preserving information; and (3) a machine-learning-enhanced, physics-informed processing pipeline that achieves 99.7\% foreground removal efficiency; (4) a dual-polarization crossed dipole integrated with a dielectric lens and cryogenically cooled LNA, achieving stable beam patterns and low noise temperature ($<35$ K) across 50-250 MHz. These co-designed advances enable high sensitivity mapping of the Epoch of Reionization, dark energy constraints and cosmic-web structure.

astro-ph.IM↗
arXiv2026

Primary-Fine Decoupling for Action Generation in Robotic Imitation

Multi-modal distribution in robotic manipulation action sequences poses critical challenges for imitation learning. To this end, existing approaches often model the action space as either a discrete set of tokens or a continuous, latent-variable distribution. However, both approaches present trade-offs: some methods discretize actions into tokens and therefore lose fine-grained action variations, while others generate continuous actions in a single stage tend to produce unstable mode transitions. To address these limitations, we propose Primary-Fine Decoupling for Action Generation (PF-DAG), a two-stage framework that decouples coarse action consistency from fine-grained variations. First, we compress action chunks into a small set of discrete modes, enabling a lightweight policy to select consistent coarse modes and avoid mode bouncing. Second, a mode conditioned MeanFlow policy is learned to generate high-fidelity continuous actions. Theoretically, we prove PF-DAG's two-stage design achieves a strictly lower MSE bound than single-stage generative policies. Empirically, PF-DAG outperforms state-of-the-art baselines across 56 tasks from Adroit, DexArt, and MetaWorld benchmarks. It further generalizes to real-world tactile dexterous manipulation tasks. Our work demonstrates that explicit mode-level decoupling enables both robust multi-modal modeling and reactive closed-loop control for robotic manipulation.

cs.RO↗
arXiv2026

Implicit-Explicit Scheme with Multiscale Vanka Two-Grid Solver for Heterogeneous Unsaturated Poroelasticity

We consider a coupled nonlinear system of equations that describe unsaturated flow in heterogeneous poroelastic media. For the numerical solution, we use a finite element approximation in space and present an efficient multiscale two-grid solver for solving the coupled system of equations. The proposed two-grid solver contains two main parts: (i) accurate coarse grid approximation based on local spectral spaces and (ii) coupled smoothing iterations based on an overlapping multiscale Vanka method. A Vanka smoother and local spectral coarse grids come with significant computational cost in the setup phase. To avoid constructing a new solver for each time step and/or nonlinear iteration, we utilize an implicit-explicit integration scheme in time, where we partition the nonlinear operator as a sum of linear and nonlinear parts. In particular, we construct an implicit linear approximation of the stiff components that remains fixed across all time, while treating the remaining nonlinear residual explicitly. This allows us to construct a robust two-grid solver offline and utilize it for fast and efficient online time integration. A linear stability analysis of the proposed novel coupled scheme is presented based on the representation of the system as a two-step scheme. We show that the careful decomposition of linear and nonlinear parts guarantees a linearly stable scheme. A numerical study is presented for a two-dimensional nonlinear coupled test problem of unsaturated flow in heterogeneous poroelastic media. We demonstrate the robustness of the two-grid solver, particularly the efficacy of block smoothing compared with simple pointwise smoothing, and illustrate the accuracy and stability of implicit-explicit time integration.

math.NA↗
arXiv2026

Offline Meta-Reinforcement Learning with Flow-Based Task Inference and Adaptive Correction of Feature Overgeneralization

Offline meta-reinforcement learning (OMRL) combines the strengths of learning from diverse datasets in offline RL with the adaptability to new tasks of meta-RL, promising safe and efficient knowledge acquisition by RL agents. However, OMRL still suffers extrapolation errors due to out-of-distribution (OOD) actions, compromised by broad task distributions and Markov Decision Process (MDP) ambiguity in meta-RL setups. Existing research indicates that the generalization of the $Q$ network affects the extrapolation error in offline RL. This paper investigates this relationship by decomposing the $Q$ value into feature and weight components, observing that while decomposition enhances adaptability and convergence in the case of high-quality data, it often leads to policy degeneration or collapse in complex tasks. We observe that decomposed $Q$ values introduce a large estimation bias when the feature encounters OOD samples, a phenomenon we term ''feature overgeneralization''. To address this issue, we propose FLORA, which identifies OOD samples by modeling feature distributions and estimating their uncertainties. FLORA integrates a return feedback mechanism to adaptively adjust feature components. Furthermore, to learn precise task representations, FLORA explicitly models the complex task distribution using a chain of invertible transformations. We theoretically and empirically demonstrate that FLORA achieves rapid adaptation and meta-policy improvement compared to baselines across various environments.

cs.LG↗
arXiv2026

Fed-SE: Federated Self-Evolution for Privacy-Constrained Multi-Environment LLM Agents

LLM agents are widely deployed in complex interactive tasks, yet privacy constraints often preclude centralized optimization and co-evolution across dynamic environments. Despite the demonstrated success of Federated Learning (FL) on static datasets, its effectiveness in open-ended, self-evolving agent systems remains largely unexplored. In such settings, the direct application of standard FL is particularly challenging, as heterogeneous tasks and sparse, trajectory-level reward signals give rise to severe gradient instability, which undermines the global optimization process. To bridge this gap, we propose Fed-SE, a Federated Self-Evolution framework for LLM agents that establishes a local evolution-global aggregation paradigm. Locally, agents employ parameter-efficient fine-tuning on filtered, high-return trajectories to achieve stable gradient updates. Globally, Fed-SE aggregates updates within a low-rank subspace, reducing communication cost across clients. Experiments across five heterogeneous environments demonstrate that Fed-SE improves average task success rates by 10\% over the state-of-the-art FedIT, validating its effectiveness in cross-environment knowledge transfer under privacy constraints.

cs.LG↗
arXiv2025

Quantum-Classical Hybrid Algorithm for Solving the Learning-With-Errors Problem on NISQ Devices

The Learning-With-Errors (LWE) problem is a fundamental computational challenge with implications for post-quantum cryptography and computational learning theory. Here we propose a quantum-classical hybrid algorithm with Ising model to address LWE, transforming it into the Shortest Vector Problem and using variable qubits to encode lattice vectors into an Ising Hamiltonian. By identifying low-energy Hamiltonian levels, the solution is extracted, making the method suitable for noisy intermediate-scale quantum devices. The required number of qubits is less than $m(m+1)$, where $m$ is the number of samples. Our heuristic algorithm's time complexity depends on the specific quantum eigensolver used to find low-energy levels, and the performance when using the Quantum Approximate Optimization Algorithm is investigated. We validate the algorithm by solving a $2$-dimensional LWE problem on a $5$-qubit quantum device, demonstrating its potential for solving meaningful LWE instances on near-term quantum devices.

quant-ph↗
arXiv2025

High-Q Lithium Niobate Microring Resonator with Electro-Optically Reconfigurable Coupling Strength

The development of sophisticated integrated photonic circuits demands microresonators that combine exceptional optical confinement with dynamic operational flexibility. Here, we demonstrate a racetrack resonator on the thin-film lithium niobate platform that achieves an electro-optically tunable coupling strength while maintaining a stable, high intrinsic Q factor on the order of 10^6. By incorporating a Mach-Zehnder interferometer into the coupling region, the device facilitates a continuous and reversible transition across the entire coupling spectrum from under-coupling and critical coupling to deep over-coupling. To ensure high spectral purity, we employ Euler bends to facilitate an adiabatic transition between the straight and curved waveguide sections. This design effectively suppresses the excitation of higher-order modes, resulting in a clean transmission spectrum characterized by exclusive fundamental mode operation. At the critical coupling point, the resonator exhibits a high extinction ratio exceeding 30 dB. The integration of stable ultra-high Q, single-mode purity, and full-range coupling reconfigurability positions this device as a vital component for adaptive microwave photonics, high-efficiency nonlinear optics, and programmable quantum photonic networks.

physics.optics↗
arXiv2025

Robust Simultaneous Multislice MRI Reconstruction Using Slice-Wise Learned Generative Diffusion Priors

Simultaneous multislice (SMS) imaging is a powerful technique for accelerating magnetic resonance imaging (MRI) acquisitions. However, SMS reconstruction remains challenging due to complex signal interactions between and within the excited slices. In this study, we introduce ROGER, a robust SMS MRI reconstruction method based on deep generative priors. Utilizing denoising diffusion probabilistic models (DDPM), ROGER begins with Gaussian noise and gradually recovers individual slices through reverse diffusion iterations while enforcing data consistency from measured k-space data within the readout concatenation framework. The posterior sampling procedure is designed such that the DDPM training can be performed on single-slice images without requiring modifications for SMS tasks. Additionally, our method incorporates a low-frequency enhancement (LFE) module to address the practical issue that SMS-accelerated fast spin echo (FSE) and echo planar imaging (EPI) sequences cannot easily embed fully-sampled autocalibration signals. Extensive experiments on both retrospectively and prospectively accelerated datasets demonstrate that ROGER consistently outperforms existing methods, enhancing both anatomical and functional imaging with strong out-of-distribution generalization. The source code and sample data for ROGER are available at https://github.com/Solor-pikachu/ROGER.

eess.IV↗
arXiv2025

The Milky Way Imaging Scroll Painting Survey: Data Release 1

We present the first data release (DR1) of the Milky Way Imaging Scroll Painting (MWISP) survey, a mapping in the J=(1-0) transition lines of 12CO, 13CO, and C18O toward the northern Galactic plane during 2011-2022. The MWISP survey was conducted using the PMO 13.7 m telescope at a spatial resolution of approximately 50" and a velocity resolution of 0.16 km/s at 115 GHz. DR1 fully covered 2310 square degrees within the Galactic longitude (l) and latitude (b) range of 9.75 deg =< l =< 229.75 deg and |b| =< 5.25 deg. The surveyed area was divided into cell units of 30'x30' for practical purposes and On-The-Fly (OTF) mapping was performed toward each target cell unit. The data were regridded into a regular 3D datacube in l-b-V_LSR with a pixel size of 30" in l-b axes and 0.16 km/s in theV_LSR axis. The median rms noise is 0.47 K, 0.25 K, and 0.25 K for 12CO, 13CO, and C18O, respectively. The equivalent 3 sigma sensitivity in 12CO luminosity is approximately 0.23 K km/s, making MWISP the most sensitive survey of its kind. In this paper, we describe the survey data, including the calibration, data cleaning, data mosaic processes, and the data products. The final mosaicked data cubes contain about 3.33x10^7 spectra (pixels) for each CO isotopologue line. Color composite images, made from the intensities of the isotopologue lines, and some concise descriptions are provided. We constructed a molecular cloud catalog based on the mosaicked 12CO data cube using the clustering algorithm DBSCAN, detecting 103,517 molecular clouds, 10,790 of which exhibit 13CO emission and 304 of which show C18O emission. Based on the histogram of voxel brightness temperature, we estimated a total 12CO flux of 7.69+/-0.38x10^7 K km/s arcmin^2, 82% of which is captured by the DBSCAN algorithm. The data, together with the cloud sample, provide unique information on molecular gas in the northern Milky Way.

astro-ph.GA↗
arXiv2025

Near-Zero Crosstalk and Ultra-Low Loss Waveguide Crossings Enabled by three-dimensional Ta2O5-on-LNOI Integrated Photonic Platform

Waveguide crossings represent one of the most critical components in very-large-scale photonic integration (VLSPI). Three-dimensional waveguide crossings, which distribute optical pathways across multiple planes, can achieve near-zero crosstalk and extremely low crossing-induced loss. However, they face an intrinsic trade-off between interlayer crossing performance and coupling efficiency. To address this challenge, we developed a low-cost fabrication method for 3D waveguide crossings by exploiting the edge rounding effect inherent to chemical mechanical polishing (CMP). Using this method, we demonstrate waveguide crossings with average loss below 0.002 dB and crosstalk below -62 dB on Ta2O5-on-LNOI integrated photonic platform. Our method maintains full compatibility with conventional semiconductor manufacturing technology and paves the way for realizing VLSPI on the thin-film lithium niobate platform.

physics.optics↗