arXiv subjects

Pengfei Qi

Publications and source records attributed to Pengfei Qi.

15 recordsLinked to original sources

arXiv2026

TONAV: Task-Oriented Navigation and Action-Velocity Chunk Learning for Articulated Object Quadrupedal Mobile Manipulation

Quadruped mobile manipulation requires two tightly coupled capabilities: reaching manipulation-ready configurations and maintaining stable contact throughout articulated-object interaction. However, existing methods often terminate navigation near the target, leaving a gap between reachability and manipulation readiness, while tracking lag, motion jitter, and contact instability limit continuous interaction. To address these challenges, we present TONAV, a unified framework integrating task-oriented navigation with action-velocity chunk learning. First, we introduce a position-velocity-coupled teleoperation framework that explicitly captures motion dynamics to improve master-follower consistency and collect smooth, temporally consistent demonstrations. Next, task-oriented navigation leverages vision-language reasoning to decompose high-level instructions into executable subgoals and adaptively refine the robot base toward a manipulation-ready configuration. Finally, action-velocity chunk learning jointly models joint positions and their temporal transitions under velocity supervision, enabling smooth and stable sustained-contact manipulation. Real-world experiments across diverse articulated-object tasks demonstrate that TONAV achieves higher success rates in both task-oriented navigation and complete mobile manipulation, mitigating the navigation-manipulation gap and improving continuous-contact interaction. The project page is at https://haochen611.github.io/TONAV.

cs.RO↗

arXiv2026

REC-RL: Referring expression counting via Gaussian and range-based reward optimization

Referring expression counting (REC) is an intention-driven task that requires context-aware visual reasoning. While recent vision-language models incorporate language for visual understanding, most existing REC methods rely on rulebased reinforcement learning with rewards focused primarily on final accuracy, overlooking the quality of intermediate reasoning. We propose REC-RL, a reinforcement learning framework that introduces a think-range-answer paradigm to explicitly optimize the visual reasoning process. RECRL employs Group Relative Policy Optimization and two lightweight rewards: an accuracy reward that combines range-based interval supervision with Gaussian-based precision guidance, and a format reward that enforces structured outputs. By modeling intermediate focus prediction as internal decision-making, REC-RL avoids additional annotations and better aligns with human perception. Extensive experiments demonstrate consistent improvements over strong baselines and robust generalization across benchmarks.

cs.CV↗

arXiv2025

Intense THz s-SNOM for nonlinearity engineering in nanoscale

Terahertz (THz) nonlinear optics offer powerful tools to investigate and manipulate electronic dynamics in condensed matter. Confining high-peak-power THz pulses within near field can effectively generates extremely localized electromagnetic fields in spatio-temporal, enabling to precisely explore and control carrier transient dynamics from THz nonlinearity perspective. However, the combination of the high peak power THz pulses and the near-field optic techniques remains challenging due to the incompatibility between low repetition THz pulses and typical near-field demodulation schemes. Here, we construct high peak power THz scattering scanning near-field microscopy (THz s-SNOM) by combining THz pulses emitted from two-color femtosecond laser filaments with a tapping mode atomic force microscopy (AFM) and explore efficient THz third harmonics generation (THG) from the Cd3As2 film in nanoscale. The power-law dependence of the THz harmonics and theoretical calculation reveals a convincing third harmonic generation that is attributed to the nonequilibrium intraband dynamics driven by the strong THz pulses. Especially, the nanoscopic near-field THz third harmonic imaging with resolution of 200 nm ({\lambda}/3000) of 3D Dirac semimetal are demonstrated. The high peak power THz s-SNOM can provide a great platform for exploring and manipulating the nonlinear physics, carrier dynamics and quantum coherent phenomena driven by the localized THz field with nanoscale resolution, thereby guiding the development of the integrated high-performance nonlinear photonic devices.

physics.optics↗

arXiv2024

An Attribute-Enriched Dataset and Auto-Annotated Pipeline for Open Detection

Detecting objects of interest through language often presents challenges, particularly with objects that are uncommon or complex to describe, due to perceptual discrepancies between automated models and human annotators. These challenges highlight the need for comprehensive datasets that go beyond standard object labels by incorporating detailed attribute descriptions. To address this need, we introduce the Objects365-Attr dataset, an extension of the existing Objects365 dataset, distinguished by its attribute annotations. This dataset reduces inconsistencies in object detection by integrating a broad spectrum of attributes, including color, material, state, texture and tone. It contains an extensive collection of 5.6M object-level attribute descriptions, meticulously annotated across 1.4M bounding boxes. Additionally, to validate the dataset's effectiveness, we conduct a rigorous evaluation of YOLO-World at different scales, measuring their detection performance and demonstrating the dataset's contribution to advancing object detection.

cs.CV↗

arXiv2023

Acoustic diagnostics of femtosecond laser filamentation

The promising application of femtosecond laser filamentation in atmospheric remote sensing brings imperative demand for diagnosing the spatiotemporal dynamics of filamentation. Acoustic emission (AE) during filamentation opens a door to give the insight into the dynamic evolution of filaments in air. In particular, the frequency features of the acoustic emission provide relevant information on the conversion of laser energy to acoustic energy. Here, the acoustic emission of femtosecond laser filament manipulated by energy and the focal lengths was measured quantitatively by a broadband microphone, and the acoustic parameters were compared and analyzed. Our results showed that the acoustic power presents a squared dependence on the laser energy and the bandwidth of the acoustic spectrum showed a significant positive correlation with laser energy deposition. It was found that the spectrum of the acoustic pulse emitted from the middle of the filament has a larger bandwidth compared to those emitted from the ends of the filament and the spectrum of the acoustic pulse is also an indicator of the filament intensity distribution. These findings are helpful for studying the plasma filament properties and complex dynamic processes through acoustic parameters and allow the optimization of remote applications.

physics.optics↗

arXiv2023

Nanotips for 0.5THz scattering scanning near field microscopy

This manuscript demonstrates the theory, design, and simulation of scattering scanning near field microscopy (s-SNOM) in 0.5THz. A comprehensive simulation model of nanotips' geometry, sample materials, and incident field is established to significantly improve the scattering efficiency and spatial resolution to achieve optimal performance. The theoretical model is based on full-wave simulation and dipole moment analysis which can describe the overall nanotip's geometry information to screen the optimal parameters corresponding to the 0.5THz, which is the center frequency of most THz sources. The customized nanotip can achieve 40 nm $(λ/ 15000)$ spatial resolution while maintaining an excellent scattering efficiency. This nanotip design method doesn't depend on the homogenization commercial AFM tips, providing an approach for customized nanotip design of THz wave scattering near field microscopy.

physics.optics↗

arXiv2023

Femtosecond Laser Filamentation in Atmospheric Turbulence

The effects of turbulence intensity and turbulence region on the distribution of femtosecond laser filaments are experimentally elaborated. Through the ultrasonic signals emitted by the filaments, and it is observed that increasing turbulence intensity and expanding turbulence active region cause an increase in the start position of the filament, and a decrease in filament length, which can be well explained by the theoretical calculation. It is also observed that the random perturbation of the air refractive index caused by atmospheric turbulence expanded the spot size of the filament. Additionally, when turbulence intensity reaches , multiple filaments are formed. Furthermore, the standard deviation of the transverse displacement of filament is found to be proportional to the square root of turbulent structure constant under the experimental turbulence parameters in this paper. These results contribute to the study of femtosecond laser propagation mechanisms in complex atmospheric turbulence conditions

physics.optics↗

arXiv2023

Coupled air lasing gain and Mie scattering loss: aerosol effect in filament-induced plasma spectroscopy

Femtosecond laser filament-induced plasma spectroscopy (FIPS) demonstrates great potentials in the remote sensing for identifying atmospheric pollutant molecules. Due to the widespread aerosols in atmosphere, the remote detection based on FIPS would be affected from both the excitation and the propagation of fingerprint fluorescence, which still remain elusive. Here the physical model of filament-induced aerosol fluorescence is established to reveal the combined effect of Mie scattering and amplification spontaneous emission, which is then proved by the experimental results, the dependence of the backward fluorescence on the interaction length between filament and aerosols. These findings provide an insight into the complicated aerosol effect in the overall physical process of FIPS including propagation, excitation and emission, paving the way to its practical application in atmospheric remote sensing.

physics.optics↗

arXiv2023

Filament based Ionizing Radiation Sensing Technology

Accidental exposure to overdose ionizing radiation will inevitably lead to severe biological damage, thus detecting and localizing radiation is essential. Traditional measurement techniques are generally restricted to the limited detection range of few centimeters, posing a great risk to operators. The potential in remote sensing makes femtosecond laser filament technology great candidates for constructively address this challenge. Here we propose a novel filament-based ionizing radiation sensing technology (FIRST), and clarify the interaction mechanism between filaments and ionizing radiation. Specifically, it is demonstrated that the energetic electrons and ions produced by α radiation in air can be effectively accelerated within the filament, serving as seed electrons, which will markedly enhance nitrogen fluorescence. The extended nitrogen fluorescence lifetime of ~1 ns is also observed. These findings provide insights into the intricate interaction among ultra-strong light filed, plasma and energetic particle beam, and pave the way for the remote sensing of ionizing radiation.

physics.plasm-ph↗

arXiv2023

Remote Sensing of Trace Element in Sea Salt Aerosol with Sensitivity Level of 10 pg/m3

Sea salt aerosols composed mainly of micrometer-sized sodium chloride particles not only pose a potential threat to human health and traffic safety, but also directly affect climate prediction. The long-range and high-precision sensing of sea salt aerosols remains a challenge for existing composition analysis methods. As the development of ultrashort laser technology, femtosecond laser filamentation provides a new opportunity for molecular remote sensing in complex environments. However, the accuracy at long-distance of this method is still hard to meet the demand (<10 ng/m3) for the remote aerosol monitoring. To solve this problem, we built a remote detection system for sea salt aerosol fluorescence spectroscopy and obtained a very high system sensitivity by introducing a terawatt-class high-performance femtosecond laser and optimizing the filament and aerosol interaction length. The system achieves a Na+ detection limit of 0.015 ng/m3 at a detection distance of 30 m, and 0.006 ng/m3 when supplemented with a deep processing learning algorithm.

physics.ins-det↗

arXiv2022

Glance and Focus Networks for Dynamic Visual Recognition

Spatial redundancy widely exists in visual recognition tasks, i.e., discriminative features in an image or video frame usually correspond to only a subset of pixels, while the remaining regions are irrelevant to the task at hand. Therefore, static models which process all the pixels with an equal amount of computation result in considerable redundancy in terms of time and space consumption. In this paper, we formulate the image recognition problem as a sequential coarse-to-fine feature learning process, mimicking the human visual system. Specifically, the proposed Glance and Focus Network (GFNet) first extracts a quick global representation of the input image at a low resolution scale, and then strategically attends to a series of salient (small) regions to learn finer features. The sequential process naturally facilitates adaptive inference at test time, as it can be terminated once the model is sufficiently confident about its prediction, avoiding further redundant computation. It is worth noting that the problem of locating discriminant regions in our model is formulated as a reinforcement learning task, thus requiring no additional manual annotations other than classification labels. GFNet is general and flexible as it is compatible with any off-the-shelf backbone models (such as MobileNets, EfficientNets and TSM), which can be conveniently deployed as the feature extractor. Extensive experiments on a variety of image classification and video recognition tasks and with various backbone models demonstrate the remarkable efficiency of our method. For example, it reduces the average latency of the highly efficient MobileNet-V3 on an iPhone XS Max by 1.3x without sacrificing accuracy. Code and pre-trained models are available at https://github.com/blackfeather-wang/GFNet-Pytorch.

cs.CV↗

arXiv2020

Spectral Domain Z-scan Technique

Characterizing the nonlinear optical properties of various materials plays a prerequisite role in nonlinear optics. Among different methods, the well-known Z-scan technique and the modified versions have been recognized as a simple and accurate method for measuring both the real and imaginary parts of the nonlinear refractive index. However, all the Z-scan methods based on detecting small beam variations put forward a severe restriction on the roughness of materials. Therefore, measuring nonlinear optical properties of highly scattering media still remain challenging. Inspired by the innovation of conventional Z-scan method that converting the wavefront phase shift to the easily measurable spatial pattern in far-field, the alternative spectral domain Z-scan technique was presented in this paper. It has a great potential for highly scattering medium, based on the scattering efficiency is insensitive to the wavelength for Mie scattering as the wavelengths are far smaller than the roughness. Moreover, to demonstrate the advantages of spectral domain Z-scan technique, the nonlinear refraction of polished slides and frosted slides was measured, which agrees well with previous reports.

physics.optics↗

arXiv2006

Hydrogenation and Hydro-Carbonation and Etching of Single-Walled Carbon Nanotubes

We present a systematic experimental investigation of the reactions between hydrogen plasma and single-walled carbon nanotubes (SWNTs) at various temperatures. Microscopy, infrared (IR) and Raman spectroscopy and electrical transport measurements are carried out to investigate the properties of SWNTs after hydrogenation. Structural deformations, drastically reduced electrical conductance and increased semiconducting nature of SWNTs upon sidewall hydrogenation are observed. These changes are reversible upon thermal annealing at 500C via dehydrogenation. Harsh plasma or high temperature reactions lead to etching of nanotube likely via hydro-carbonation. Smaller SWNTs are markedly less stable against hydro-carbonation than larger tubes. The results are fundamental and may have implications to basic and practical applications including hydrogen storage, sensing, band-gap engineering for novel electronics and new methods of manipulation, functionalization and etching of nanotubes.

cond-mat.mtrl-sci↗

arXiv2004

10 to 50 nm Long Quasi Ballistic Carbon Nanotube Devices Obtained Without Complex Lithography

A simple method combining photolithography and shadow (or angle) evaporation is developed to fabricate single-walled carbon nanotube (SWCNT) devices with tube lengths L~10-50 nm between metal contacts. Large numbers of such short devices are obtained without the need of complex tools such as electron beam lithography. Metallic SWCNTs with lengths ~ 10 nm, near the mean free path (mfp) of lop~15 nm for optical phonon scattering, exhibit near-ballistic transport at high biases and can carry unprecedented 100 mA currents per tube. Semiconducting SWCNT field-effect transistors (FETs) with ~ 50 nm channel lengths are routinely produced to achieve quasi-ballistic operations for molecular transistors. The results demonstrate highly length-scaled and high-performance interconnects and transistors realized with SWCNTs.

cond-mat.mtrl-sci↗

arXiv2004

Miniature Organic Transistors With Carbon Nanotubes as Quasi-One Dimensional Electrodes

As the dimensions of electronic devices approach those of molecules, the size, geometry and chemical composition of the contact electrodes play increasingly dominant roles in device functions. It is shown here that single-walled carbon nanotubes (SWNT) can be used as quasi one-dimensional (1D) electrodes to construct organic field effect transistors (FET) with molecular scale width (~2 nm) and channel length (1-3 nm). An important feature owing to the quasi 1D electrode geometry is the favorable gate electrostatics that allows for efficient switching of ultra-short organic channels. This affords room temperature conductance modulation by orders of magnitude for organic transistors that are only several-molecules in length, with switching characteristics superior to similar devices with lithographically patterned metal electrodes. With nanotubes, covalent carbon-carbon bonds could be utilized to form contacts to molecular materials. The unique geometrical, physical and chemical properties of carbon nanotube electrodes may lead to various interesting molecular devices.

cond-mat.mtrl-sci↗