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Mingjie Zhang

Publications and source records attributed to Mingjie Zhang.

At least 19 recordsLinked to original sources

SHIFT: Self-reconstruction Harnesses Implicit Fine-grained Thinking for Retrieval

LLM-based retrievers have become a fundamental component of modern information retrieval systems. The paradigm of "rewrite-then-retriev" introduces explicit reasoning before retrieval. In addition, implicit-reasoning retrievers such as GIRCSE and LaSER improve efficiency by replacing explicit reasoning with soft tokens. Although these methods demonstrated competitive performance on reasoning-intensive retrieval benchmarks, they struggle to address the mismatch between the objectives of retrieval and generation. In this work, we propose SHIFT ($\textbf{S}$elf-reconstruction $\textbf{H}$arnesses $\textbf{I}$mplicit $\textbf{F}$ine-grained $\textbf{T}$hinking for Retrieval), a retrieval training framework based on LLMs. Firstly, we transfer LLMs into reasoning-efficient retrievers with residual projection and task-oriented bidirectional attention aggregation in the latent space. Secondly, we alleviate the mismatch between contrastive learning and implicit reasoning using fine-grained next-token-prediction-based reconstruction. Extensive experiments on reasoning-intensive retrieval benchmarks show that SHIFT consistently outperforms other widely used retrievers. We also carried out a detailed analysis to illustrate how our method works.

cs.IR

Ultrafast programmable Bragg reflection in photonic integrated circuits

Distributed Bragg reflectors (DBRs) are foundational building blocks of classical and quantum photonic technologies. However, their optical responses are typically fixed upon fabrication, limiting circuit robustness, reconfigurability, and functionality in applications from high-speed communications to quantum computing. Here, we demonstrate photonic chip-based programmable DBRs at telecommunications wavelengths, which are formed by electro-optically inducing refractive index contrast between periodic ferroelectric domains in thin-film lithium niobate waveguides. We achieve voltage-controlled Bragg reflection from zero to near-unity, and gigahertz-speed reflectivity modulation. Our results bring DBRs into the ultrafast programmable regime, opening new opportunities in topological photonics, cavity quantum electrodynamics, integrated lasers, and optical interconnects. The interplay between nanoscale ferroelectric domain engineering and strong electro-optic nonlinearity establishes a new design strategy for nanophotonic devices, otherwise inaccessible in bulk media.

physics.optics

A multi-scale feature enhanced graph neural network for fluid dynamics prediction in complex geometries

Industrial design in fields such as vehicle and aerospace engineering often relies on large-scale numerical simulations to evaluate fluid dynamics performance, which can incur substantial computational costs. Deep neural networks have shown promise in improving simulation efficiency, especially graph neural networks (GNNs), which demonstrate great potential due to their flexibility with unstructured data. However, GNNs face challenges when dealing with tasks involving complex geometries and large-scale meshes. In this paper, we propose the Multi-scale Feature Enhanced Graph Neural Network (ME-GNN) to tackle these challenges. ME-GNN employs a graph neural network with a two-step message-passing mechanism to capture detailed local features effectively. Additionally, it integrates an Attention U-Net with uniform grid discretization, enabling the extraction of both fine and coarse features. The model also utilizes K-hop sampling to construct subgraphs, facilitating efficient training on large datasets while preserving detailed local features. We evaluated ME-GNN on three benchmark datasets and achieved state-of-the-art results: a relative L2 error of 0.0196 for the velocity field and 0.0556 for the surface pressure on ShapeNet-Car, a normalized mean squared error of 0.0033 for the flow field on AirfRANS, and a relative L2 error of 0.1416 for the surface pressure on DrivAerNet.

cs.LG

Supermoiré Chern mosaic in helical trilayer WSe2

Helically twisted multilayers offer access to moiré physics beyond the single-superlattice paradigm, yet their correlated and topological transport properties remain largely unexplored in semiconductor moiré materials. Here we report magnetotransport measurements of helical trilayer WSe2, in which two coupled moiré patterns relax into a supermoiré landscape composed of inequivalent local topological domains with distinct electronic structures and unequal spatial areas. By electrostatic tuning, we identify a trilayer-hybridized regime where interactions and real-space reconstruction combine to generate a plethora of magnetic and topological states absent in the twisted bilayers. At moiré filling factor $ν$ = -1, we observe a ferromagnetic insulating state that is robust against magnetic field and accompanied by a non-quantized anomalous Hall response ~-4 kOhms. This behaviour is consistent with a time-reversal-symmetry-breaking supermoiré Chern mosaic, in which the Hall response arises from the non-cancelling contributions of local domains with opposite Chern character arranged by the relaxed structure. Under strong magnetic fields, a symmetry-broken Chern insulating state (C = 1) emerges near $ν$ = -2/3, displaying a much larger positive Hall response together with strongly enhanced longitudinal resistance, suggestive of field-reconstructed topological minibands and domain-boundary scattering. These results establish relaxed supermoiré semiconductor trilayers as a platform for spatially organized magnetism and topology beyond the bilayer limit.

cond-mat.str-el

FlexNPU: Transparent NPU Virtualization for Dynamic LLM Prefill-Decode Co-location

Modern AI serving increasingly relies on NPUs for conventional inference and large language model serving. However, current NPU deployments commonly expose physical devices directly to applications, which limits runtime control over scheduling and makes it difficult to adapt execution to phase-level workload behavior. This limitation is particularly evident in LLM serving, where the prefill phase is compute-intensive while the decode phase is often constrained by memory bandwidth and KV-cache accesses. Static prefill-decode (PD) disaggregation reduces phase interference, but can introduce resource imbalance and unnecessary data movement. We present FlexNPU, a transparent user-space virtualization layer for Ascend NPUs. FlexNPU interposes on AscendCL APIs and routes NPU operations through per-device daemons, decoupling unmodified from physical NPU devices without modifying model code, AI frameworks, or NPU drivers. This runtime boundary allows FlexNPU to virtualize NPU objects, control operator dispatch, and support phase-aware scheduling for LLM serving. In particular, FlexNPU enables dynamic PD co-location, which adapts scheduling between prefill and decode according to their complementary resource characteristics. We implement FlexNPU on Huawei Ascend NPUs and evaluate it with typical LLM workloads. Compared with direct NPU passthrough, FlexNPU introduces no measurable inference overhead and slightly improves throughput in some scenarios. On a 384-card Ascend 910C deployment of DeepSeek-R1, FlexNPU improves throughput over static PD disaggregation by 5.15% and 26.33%. On Qwen2.5-7B, compared with static PD co-location, FlexNPU maintains comparable throughput while reducing TTFT by over 92% across tested workloads with nearly unchanged TPOT. These results show that transparent NPU virtualization is a practical substrate for efficient and responsive LLM serving.

cs.DC

Optimize discrete loss with finite-difference physics constraint and time-stepping for PDE solving

Computational Fluid Dynamics (CFD) is an important approach for analyzing flow phenomena and predicting engineering-relevant quantities. The governing physics is formulated as partial differential equations(PDEs) and solved numerically on computational grids. Physics-informed neural networks(PINNs) have emerged as a popular optimization-based approach for solving PDEs, but they often suffer from ill-conditioned objectives and the high cost of automatic differentiation. Optimization-based discretizations such as ODIL mitigate several PINN drawbacks by optimizing discrete variables directly, yet accuracy and efficiency remain limited on body-fitted geometries and for time-dependent problems. This paper proposes FDTO, a finite-difference time-stepping loss-optimization solver that defines physics losses from discrete residuals. FDTO couples curvilinear coordinate transforms with body-fitted structured grids and decomposes long-horizon evolution into sequential, well-conditioned subproblems consistent with time marching. The method is primarily evaluated on incompressible Navier-Stokes flows, including lid-driven cavity benchmarks, external airfoil aerodynamics (lift/drag consistency), and a cylinder case on a multi-block structured mesh with cross-block coherent solutions. Additional validations on diffusion and flow-mixing problems further demonstrate generality. Compared with representative PINN-based solvers, FDTO reduces GPU memory by about 82.6% on the lid-driven cavity case and achieves 3-5 times lower relative error on the flow-mixing problem. These results indicate that FDTO enables accurate, stable, and memory-efficient discrete-loss optimization for incompressible-flow solutions, while remaining applicable to other PDE models.

physics.flu-dyn

Synergizing Efficiency and Reliability for Continuous Mobile Manipulation

Humans seamlessly fuse anticipatory planning with immediate feedback to perform successive mobile manipulation tasks without stopping, achieving both high efficiency and reliability. Replicating this fluid and reliable behavior in robots remains fundamentally challenging, not only due to conflicts between long-horizon planning and real-time reactivity, but also because excessively pursuing efficiency undermines reliability in uncertain environments: it impairs stable perception and the potential for compensation, while also increasing the risk of unintended contact. In this work, we present a unified framework that synergizes efficiency and reliability for continuous mobile manipulation. It features a reliability-aware trajectory planner that embeds essential elements for reliable execution into spatiotemporal optimization, generating efficient and reliability-promising global trajectories. It is coupled with a phase-dependent switching controller that seamlessly transitions between global trajectory tracking for efficiency and task-error compensation for reliability. We also investigate a hierarchical initialization that facilitates online replanning despite the complexity of long-horizon planning problems. Real-world evaluations demonstrate that our approach enables efficient and reliable completion of successive tasks under uncertainty (e.g., dynamic disturbances, perception and control errors). Moreover, the framework generalizes to tasks with diverse end-effector constraints. Compared with state-of-the-art baselines, our method consistently achieves the highest efficiency while improving the task success rate by 26.67\%--81.67\%. Comprehensive ablation studies further validate the contribution of each component. The source code will be released.

cs.RO

OnFly: Onboard Zero-Shot Aerial Vision-Language Navigation toward Safety and Efficiency

Aerial vision-language navigation (AVLN) enables UAVs to follow natural-language instructions in complex 3D environments. However, existing zero-shot AVLN methods often suffer from unstable single-stream Vision-Language Model decision-making, unreliable long-horizon progress monitoring, and a trade-off between safety and efficiency. We propose OnFly, a fully onboard, real-time framework for zero-shot AVLN. OnFly adopts a shared-perception dual-agent architecture that decouples high-frequency target generation from low-frequency progress monitoring, thereby stabilizing decision-making. It further employs a hybrid keyframe-recent-frame memory to preserve global trajectory context while maintaining KV-cache prefix stability, enabling reliable long-horizon monitoring with termination and recovery signals. In addition, a semantic-geometric verifier refines VLM-predicted targets for instruction consistency and geometric safety using VLM features and depth cues, while a receding-horizon planner generates optimized collision-free trajectories under geometric safety constraints, improving both safety and efficiency. In simulation, OnFly improves task success from 26.4% to 67.8%, compared with the strongest state-of-the-art baseline, while fully onboard real-world flights validate its feasibility for real-time deployment. The code will be released at https://github.com/Robotics-STAR-Lab/OnFly

cs.RO

C$^2$-Explorer: Contiguity-Driven Task Allocation with Connectivity-Aware Task Representation for Decentralized Multi-UAV Exploration

Efficient multi-UAV exploration under limited communication is severely bottlenecked by inadequate task representation and allocation. Previous task representations either impose heavy communication requirements for coordination or lack the flexibility to handle complex environments, often leading to inefficient traversal. Furthermore, short-horizon allocation strategies neglect spatiotemporal contiguity, causing non-contiguous assignments and frequent cross-region detours. To address this, we propose C$^2$-Explorer, a decentralized framework that constructs a connectivity graph to decompose disconnected unknown components into independent task units. We then introduce a contiguity-driven allocation formulation with a graph-based neighborhood penalty to discourage non-adjacent assignments, promoting more contiguous task sequences over time. Extensive simulation experiments show that C$^2$-Explorer consistently outperforms state-of-the-art (SOTA) baselines, reducing average exploration time by 43.1\% and path length by 33.3\%. Real-world flights further demonstrate the system's feasibility. The code will be released at https://github.com/Robotics-STAR-Lab/C2-Explorer

cs.RO

Micro-expression Recognition Based on Dual-branch Feature Extraction and Fusion

Micro-expressions, characterized by transience and subtlety, pose challenges to existing optical flow-based recognition methods. To address this, this paper proposes a dual-branch micro-expression feature extraction network integrated with parallel attention. Key contributions include: 1) a residual network designed to alleviate gradient anishing and network degradation; 2) an Inception network constructed to enhance model representation and suppress interference from irrelevant regions; 3) an adaptive feature fusion module developed to integrate dual-branch features. Experiments on the CASME II dataset demonstrate that the proposed method achieves 74.67% accuracy, outperforming LBP-TOP (by 11.26%), MSMMT (by 3.36%), and other comparative methods.

cs.CV

Emergence of a symmetry-broken Chern insulator near a moiré Kondo breakdown

Moiré semiconductors built on angle-aligned transition metal dichalcogenide (TMD) heterobilayers provide a physical realization of the Kondo lattice model, in which one TMD layer is prepared in a Mott insulating state supporting a lattice of local magnetic moments and the other layer in a metallic state supporting itinerant carriers. The artificial Kondo lattice enables the exploration of exotic states of matter near a continuously tunable Kondo breakdown. Here we report the emergence of a symmetry-broken Chern insulator at a moiré hole filling factor 4/3 in angle-aligned MoTe2/WSe2 moiré bilayers, which realize a chiral Kondo lattice. The symmetry-broken Chern insulator, which exhibits integer quantized Hall conductance at a fractional moiré filling, breaks the translational symmetry of the lattice spontaneously; it also appears only near a magnetic field-induced Kondo breakdown in the mixed-valence regime of the material. We further demonstrate that the magnetic field required to induce the Kondo breakdown and to stabilize the symmetry-broken Chern insulator is twist angle dependent. The results present new opportunities for exploring the subtle interplay between topology and Kondo interactions in moiré semiconductors.

cond-mat.mes-hall

ApexNav: An Adaptive Exploration Strategy for Zero-Shot Object Navigation with Target-centric Semantic Fusion

Navigating unknown environments to find a target object is a significant challenge. While semantic information is crucial for navigation, relying solely on it for decision-making may not always be efficient, especially in environments with weak semantic cues. Additionally, many methods are susceptible to misdetections, especially in environments with visually similar objects. To address these limitations, we propose ApexNav, a zero-shot object navigation framework that is both more efficient and reliable. For efficiency, ApexNav adaptively utilizes semantic information by analyzing its distribution in the environment, guiding exploration through semantic reasoning when cues are strong, and switching to geometry-based exploration when they are weak. For reliability, we propose a target-centric semantic fusion method that preserves long-term memory of the target and similar objects, enabling robust object identification even under noisy detections. We evaluate ApexNav on the HM3Dv1, HM3Dv2, and MP3D datasets, where it outperforms state-of-the-art methods in both SR and SPL metrics. Comprehensive ablation studies further demonstrate the effectiveness of each module. Furthermore, real-world experiments validate the practicality of ApexNav in physical environments. The code will be released at https://github.com/Robotics-STAR-Lab/ApexNav.

cs.RO

Transport Evidence for Wigner Crystals in Monolayer MoTe2

The crystallization of charge carriers, dubbed the Wigner crystal, is anticipated at low densities in clean two-dimensional electronic systems (2DES). While there has been extensive investigation across diverse platforms, probing spontaneous charge and spin ordering is hindered by disorder effects and limited interaction energies. Here, we report transport evidence for Wigner crystals with antiferromagnetic exchange interactions in high-quality, hexagonal boron nitride encapsulated monolayer MoTe2, a system that achieves a large interaction parameter (r_s) at proper hole densities. A density-tuned metal-insulator transition (MIT) occurring at 3.1E10^11 cm-2 (corresponding to r_s~32) and pronounced nonlinear charge transport in the insulating regime at low temperatures signify the formation of Wigner crystals. Thermal melting of the crystalline phase is observed below approximately 2 K via temperature-dependent nonlinear transport. Magnetoresistance measurements further reveal a substantial enhancement of spin susceptibility as approaching the MIT. The temperature dependence of spin susceptibility in the Wigner crystal phase closely follows the Curie-Weiss law, with the extracted negative Weiss constant illustrating antiferromagnetic exchange interactions. Furthermore, we have found the system exhibits metallic-like differential resistivity under finite DC bias, possibly indicating the existence of a non-equilibrium coherent state in the depinning of Wigner crystals. Our observations establish monolayer MoTe2 as a promising platform for exploring magnetic and dynamic properties of Wigner crystals.

cond-mat.str-el

Cooperative Aerial Robot Inspection Challenge: A Benchmark for Heterogeneous Multi-UAV Planning and Lessons Learned

We propose the Cooperative Aerial Robot Inspection Challenge (CARIC), a simulation-based benchmark for motion planning algorithms in heterogeneous multi-UAV systems. CARIC features UAV teams with complementary sensors, realistic constraints, and evaluation metrics prioritizing inspection quality and efficiency. It offers a ready-to-use perception-control software stack and diverse scenarios to support the development and evaluation of task allocation and motion planning algorithms. Competitions using CARIC were held at IEEE CDC 2023 and the IROS 2024 Workshop on Multi-Robot Perception and Navigation, attracting innovative solutions from research teams worldwide. This paper examines the top three teams from CDC 2023, analyzing their exploration, inspection, and task allocation strategies while drawing insights into their performance across scenarios. The results highlight the task's complexity and suggest promising directions for future research in cooperative multi-UAV systems.

cs.RO

FC-Planner: A Skeleton-guided Planning Framework for Fast Aerial Coverage of Complex 3D Scenes

3D coverage path planning for UAVs is a crucial problem in diverse practical applications. However, existing methods have shown unsatisfactory system simplicity, computation efficiency, and path quality in large and complex scenes. To address these challenges, we propose FC-Planner, a skeleton-guided planning framework that can achieve fast aerial coverage of complex 3D scenes without pre-processing. We decompose the scene into several simple subspaces by a skeleton-based space decomposition (SSD). Additionally, the skeleton guides us to effortlessly determine free space. We utilize the skeleton to efficiently generate a minimal set of specialized and informative viewpoints for complete coverage. Based on SSD, a hierarchical planner effectively divides the large planning problem into independent sub-problems, enabling parallel planning for each subspace. The carefully designed global and local planning strategies are then incorporated to guarantee both high quality and efficiency in path generation. We conduct extensive benchmark and real-world tests, where FC-Planner computes over 10 times faster compared to state-of-the-art methods with shorter path and more complete coverage. The source code will be made publicly available to benefit the community. Project page: https://hkust-aerial-robotics.github.io/FC-Planner.

cs.RO

SOAR: Simultaneous Exploration and Photographing with Heterogeneous UAVs for Fast Autonomous Reconstruction

Unmanned Aerial Vehicles (UAVs) have gained significant popularity in scene reconstruction. This paper presents SOAR, a LiDAR-Visual heterogeneous multi-UAV system specifically designed for fast autonomous reconstruction of complex environments. Our system comprises a LiDAR-equipped explorer with a large field-of-view (FoV), alongside photographers equipped with cameras. To ensure rapid acquisition of the scene's surface geometry, we employ a surface frontier-based exploration strategy for the explorer. As the surface is progressively explored, we identify the uncovered areas and generate viewpoints incrementally. These viewpoints are then assigned to photographers through solving a Consistent Multiple Depot Multiple Traveling Salesman Problem (Consistent-MDMTSP), which optimizes scanning efficiency while ensuring task consistency. Finally, photographers utilize the assigned viewpoints to determine optimal coverage paths for acquiring images. We present extensive benchmarks in the realistic simulator, which validates the performance of SOAR compared with classical and state-of-the-art methods. For more details, please see our project page at https://sysu-star.github.io/SOAR}{sysu-star.github.io/SOAR.

cs.RO

On-Chip Multidimensional Dynamic Control of Twisted Moiré Photonic Crystal for Smart Sensing and Imaging

Reconfigurable optics, optical systems that have a dynamically tunable configuration, are emerging as a new frontier in photonics research. Recently, twisted moiré photonic crystal has become a competitive candidate for implementing reconfigurable optics because of its high degree of tunability. However, despite its great potential as versatile optics components, simultaneous and dynamic modulation of multiple degrees of freedom in twisted moiré photonic crystal has remained out of reach, severely limiting its area of application. In this paper, we present a MEMS-integrated twisted moiré photonic crystal sensor that offers precise control over the interlayer gap and twist angle between two photonic crystal layers, and demonstrate an active twisted moiré photonic crystal-based optical sensor that can simultaneously resolve wavelength and polarization. Leveraging twist- and gap-tuned resonance modes, we achieve high-accuracy spectropolarimetric reconstruction of light using an adaptive sensing algorithm over a broad operational bandwidth in the telecom range and full Poincaré sphere. Our research showcases the remarkable capabilities of multidimensional control over emergent degrees of freedom in reconfigurable nanophotonics platforms and establishes a scalable pathway towards creating comprehensive flat-optics devices suitable for versatile light manipulation and information processing tasks.

physics.optics

Three Dimensional Reconfigurable Optical Singularities in Bilayer Photonic Crystals

Metasurfaces and photonic crystals have revolutionized classical and quantum manipulation of light, and opened the door to studying various optical singularities related to phases and polarization states. However, traditional nanophotonic devices lack reconfigurability, hindering the dynamic switching and optimization of optical singularities. This paper delves into the underexplored concept of tunable bilayer photonic crystals (BPhCs), which offer rich interlayer coupling effects. Utilizing silicon nitride-based BPhCs, we demonstrate tunable bidirectional and unidirectional polarization singularities, along with spatiotemporal phase singularities. Leveraging these tunable singularities, we achieve dynamic modulation of bound-state-in-continuum states, unidirectional guided resonances, and both longitudinal and transverse orbital angular momentum. Our work paves the way for multidimensional control over polarization and phase, inspiring new directions in ultrafast optics, optoelectronics, and quantum optics.

physics.optics