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Qi Lu

Publications and source records attributed to Qi Lu.

At least 19 recordsLinked to original sources

TempJail: Temporal Jailbreak Attacks against Image-to-Video Generation Models

In recent years, image-to-video (I2V) generation models have made remarkable progress in subject consistency and temporal coherence, enabling high quality video synthesis. However, these advances also introduce new safety risks. Existing studies mainly focus on jailbreak attacks involving single frame violations, while largely overlooking the temporal dimension unique to video generation models. In this paper, we investigate three attack scenarios and uncover a temporal vulnerability in I2V systems: unsafe semantics may emerge not from a single frame, but from semantic composition over time. We further identify two key challenges in such attacks: temporal abstraction and semantic camouflage. To address these issues, we propose TempJail, a novel temporal jailbreak framework for I2V systems. For temporal abstraction, we decompose a target malicious caption into an initial frame visual condition and a temporal text instruction. For semantic camouflage, on the image side we model semantic injection as controlled latent perturbation in diffusion sampling and introduce gradient guidance from pretrained encoders. On the text side, we rewrite the caption into an innocuous ``subject-action-scene'' template that bypasses safety filters while preserving temporal guidance. In the black-box inference phase, these two modalities jointly enable malicious semantics to be gradually triggered over time. Experiments on closed-source commercial models, including Kling, Seedance, Veo and PixVerse, show that TempJail improves attack success rate over prior state-of-the-art methods by 23.3\% under GPT-5.2 evaluation and 22.0\% under human evaluation. Our codes are available at \href{https://github.com/luqi-glory/TempJail}{GitHub}.

cs.CV

ScentEcho: Exploring Adsorbent Materials for Accurate Odor Collection and Playback

Delivering odors that feel realistic and recognizable remains a core challenge for olfactory interaction systems, particularly in applications that demand precise scent delivery. A key limitation lies in the difficulty of capturing, preserving, and playing back real-world scent sources in a reliable and scalable manner. This study explores the potential of adsorbent materials for supporting realistic scent playback. We present ScentEcho, a portable system that enables modular scent collection and release. Through user evaluations, we identify which adsorbent materials tend to perform better for specific odors, and observe that perceived intensity strongly influences similarity ratings. In addition, odor recognition follows a graded pattern, with users moving from broad category identification to more specific source recognition as similarity increases. These findings offer practical insights for designing olfactory interfaces that are both expressive and perceptually aligned with user expectations.

cs.HC

Adaptive Repulsive Pheromone Clustering for Foraging Robot Swarms

The Central Place Foraging Algorithm (CPFA) combines site fidelity, pheromone-guided navigation, and uninformed random search to enable decentralized resource collection in robot swarms. However, CPFA often revisits previously explored regions while leaving other areas insufficiently searched, reducing efficiency as resources become scarce. In this paper, we propose Adaptive Repulsive Pheromone Clustering (ARPC), a bio-inspired method in which robots deposit repulsive pheromone waypoints to mark previously explored locations. These waypoints are clustered around the nest to estimate low-value search regions, allowing robots to be redirected toward likely unvisited areas. By integrating the exploitation of known resources with systematic avoidance of redundant exploration, ARPC improves search diversity and resource discovery efficiency. Extensive simulations in ARGoS across varying arena sizes, resource densities, and clustered, random, and power-law spatial distributions demonstrate that ARPC consistently outperforms CPFA and the Grid-Based CPFA (GPFA). In particular, ARPC yields significant gains during both early discovery (10\%) and late-stage (up to 60\%) collection, where conventional methods typically degrade. These results indicate that ARPC provides a scalable and robust strategy for large-scale heterogeneous swarm foraging environments.

cs.RO

Grouping Auction-Consensus Algorithm for Decentralized Task Allocation in Multi-Robot Systems

Decentralized multi-robot task allocation (MRTA) is essential for scalable and resilient autonomous systems. The Consensus-Based Bundle Algorithm (CBBA) is a widely adopted decentralized baseline. However, its individual task-level bidding is poorly aligned with the min-sum objective of minimizing total team travel distance, leading to suboptimal allocations in spatially distributed environments. This paper introduces the Grouping Auction-Consensus Algorithm (GACA). This decentralized MRTA framework adopts the two-phase auction-consensus architecture of CBBA while fundamentally redesigning its bidding mechanism to reason over groups of spatially proximate tasks. A nearest-neighbor preprocessing step partitions tasks into spatially coherent groups before allocation. Agents then iteratively propose structured group-level actions: claiming unassigned groups, acquiring partial groups, or contesting groups held by other agents. Competing actions are resolved through a consensus phase. Operating in the MT-SR-IA problem class, GACA is evaluated against CBBA using a Mixed-Integer Linear Program as the ground-truth optimality reference. Across four swarm sizes and 4,000 test worlds, GACA achieves a median percent optimality of approximately 97% compared to 81--84% for CBBA, while converging in equal or fewer iterations. A scalability evaluation over 3,280 additional problem instances spanning swarm sizes of 5 to 20 agents and task counts of 10 to 50 confirms that these gains generalize robustly across a wide range of problem configurations.

cs.RO

High-dimensional Supermode Photonics Enabled by Hierarchical Supersymmetric Transformation

Modes provide a fundamental degree of freedom for photonic information processing, yet conventional multimode waveguides exhibit non-equidistant effective-index distributions, making closely spaced modes vulnerable to intermodal crosstalk. Supermode photonics can overcome this limitation by geometrically engineering coupled waveguide arrays to realize large and equidistant effective-index spacing, but precise supermode excitation and detection remain challenging at the subwavelength scale. Here, we report a hierarchical second-order discrete supersymmetric (DSUSY) transformation method that enables high-purity excitation and extraction of arbitrary target supermodes in a compact and scalable architecture. We experimentally demonstrate six-supermode multiplexing systems on silicon-on-insulator and silicon nitride platforms. Benefiting from the large supermode index spacing and the isospectrality of DSUSY transformations, the fabricated devices exhibit low insertion losses (<2.6 dB) and intermodal crosstalk (<-11.1 dB) for all channels over a 100-nm wavelength range. A high-speed transmission experiment on the silicon device achieves an aggregate data rate of 1.2 Tbit/s, with all channel bit error rates below the 7% hard-decision forward-error-correction threshold. The method can further support polarization-insensitive architectures, enabling compact polarization-supermode hybrid multiplexing. This work provides a scalable route toward high-dimensional supermode photonics for high-capacity optical interconnects, highly parallel AI optical computing, and high-dimensional quantum information processing.

physics.optics

Video-DeepResearch: Towards the Next-Generation Multimodal Deepresearch Agent

We introduce Video-DeepResearch (Video-DR), extending multimodal agents from static images to continuous video streams, a setting that demands dense spatiotemporal grounding coupled with open-web exploration. Preliminary evaluations reveal two critical bottlenecks in current models: (1) modality bias, where agents bypass visual tools in favor of textual search, and (2) parametric knowledge leakage, where models rely on internal memory rather than genuine tool-augmented execution. To address these challenges, we propose Video-DR, featuring a decoupled perception-exploration pipeline with stage-wise tool unlocking that compels exhaustive cross-frame visual grounding prior to web retrieval. Our framework adopts a two-stage training recipe: supervised fine-tuning followed by Group Relative Policy Optimization (GRPO), enabling autonomous exploration that breaks the imitation-learning ceiling. Furthermore, we curate Video-DR-Bench, a human-AI collaborative benchmark comprising 200 complex, multi-hop VQA instances. Empirical results demonstrate that our Video-DeepResearch-35B-A3B establishes a new state-of-the-art of 64.0% average accuracy, surpassing proprietary Claude-4.5-Sonnet (59.0%) by 5.0 points and significantly outperforming GPT-5 (52.5%) and Gemini 2.5 Pro (57.5%). The 30B-A3B variant achieves 59.3%, competitive with Claude-4.5-Sonnet and demonstrating the effectiveness of our training paradigm even at compact scale. Code: https://github.com/Osilly/Vision-DeepResearch.

cs.CV

Deformation effects on reaction observables of beryllium nuclei from ab initio densities

We combine three-dimensional intrinsic densities from ab initio nuclear lattice effective field theory with a deformed Glauber model to study high-energy reactions of {7-12}Be. To connect the correlated many-body configurations to the core-plus-neutron reaction formalism without imposing a single-particle orbital, we introduce a configuration-resolved prescription that identifies the spatially outermost valence neutron after the two-cluster decomposition. For Be projectiles on 12C and 9Be targets at 790 MeV/A, explicit orientation averaging lowers the calculated reaction cross section of 11Be by up to approximately 50 mb relative to a calculation with the spherically averaged density. The deformed calculation reproduces the pronounced increase from 10Be to the established one-neutron halo nucleus 11Be for both targets. We further calculate the momentum distribution of the fragments after the one-neutron removal reaction of 11Be + 9Be , finding good agreement in shape with the measurement at 63 MeV/A and providing a prediction at 790 MeV/A. These results quantify how intrinsic deformation and weak binding are transmitted from microscopic many-body densities to reaction observables.

nucl-th

Imperceptible and Reversible Adversarial Examples against Vision-Language Models for Privacy Protection

Vision Language Models (VLMs) offer powerful multimodal ability but also expose users to text-based privacy attacks where adversaries crawl online photos and query VLMs to extract sensitive attributes. Existing reversible adversarial example (RAE) methods protect images in purely visual tasks but fail in multimodal settings, and current adversarial examples on VLMs rely on high frequency noise that severely degrades visual quality. We propose CloakDiff, the first framework for reversible, high fidelity privacy protection against text-based query attacks in VLMs. CloakDiff produces imperceptible adversarial examples by combining diffusion based adversarial editing with an invertible network that embeds the original image for lossless recovery. It perturbs both pixel space embeddings and manipulates latent cross attention maps to ensure strong cross-model and cross-prompt transferability while preserving global visual structure. To further enhance fidelity, we design EDM Heuristic Sampling, a principled diffusion schedule for adversarial guidance. Experiments on multiple datasets and VLMs demonstrate that CloakDiff delivers multimodal privacy preservation with high visual quality and reversibility.

cs.CV

VLA-Corrector: Lightweight Detect-and-Correct Inference for Adaptive Action Horizon

Vision-Language-Action (VLA) foundation models have recently achieved strong progress in embodied intelligence. To reduce policy-call frequency while preserving temporal coherence, most generative policies adopt an action chunk mechanism, executing multiple future actions in an open-loop manner under a fixed action horizon. However, this "predict-then-blindly-execute" paradigm sacrifices closed-loop reactivity: in contact-rich physical interactions, even small local perturbations can rapidly amplify within the open-loop blind spot, leading to compounding errors and ultimately task failure. To address this limitation, we propose VLA-Corrector, a lightweight corrective inference framework for action-chunked VLA policies. Without modifying the backbone policy weights, VLA-Corrector introduces a lightweight Latent-space Vision Monitor (LVM) that continuously compares predicted and actual visual feature evolution, enabling online detection of visual dynamics deviations. Once persistent deviation is detected, the system triggers a truncation event, discards the remaining stale actions, and invokes corrective replanning via Online Gradient Guidance (OGG). The detect-and-correct mechanism of VLA-Corrector naturally induces an event-triggered adaptive action horizon: it preserves long-horizon execution when the current chunk remains reliable, and invokes short-horizon corrective replanning when execution begins to drift. In doing so, VLA-Corrector mitigates the trade-off imposed by static horizons between execution robustness and policy-call frequency. It can be integrated into different VLA models without further retraining the VLA backbone, interrupting compounding errors while preserving much of the efficiency benefit of action chunking and substantially improving robustness in long-horizon, contact-rich robotic manipulation tasks.

cs.RO

Non-Contact Vibration-Based Damage Detection of Civil Structures Using a Cost-Effective Autonomous UAV

This paper presents a non-contact approach for vibration-based structural damage detection using an autonomous and customized cost-effective unmanned aerial vehicle (UAV). Vibration signals are extracted from video recordings through vision-based motion tracking to identify shifts in natural frequencies indicative of structural degradation. A laboratory-scale frame structure is evaluated under healthy and simulated-damage conditions. The proposed system is validated through an experimental study involving two smartphones, a USB camera, and a custom-built low-cost UAV equipped with an onboard camera and an autonomous alignment system for operation in GPS-denied environments. The displacement time is extracted and analyzed in the frequency domain and compared to reference measurements from contact accelerometers and a finite element model. Experimental results show that all platforms successfully capture the fundamental frequency and its shift due to damage. Although the UAV exhibits slightly higher errors (up to 5.7%) due to platform-induced disturbances and sensing limitations, it reliably detects damage-induced frequency changes. Compared to commercial UAV systems, the proposed platform achieves comparable inspection performance at significantly lower cost. These results demonstrate that low-cost autonomous UAVs provide a practical, flexible, and scalable solution for structural health monitoring, particularly in scenarios where contact-based sensing is impractical. The findings also support the potential for the deployment of multiple cooperative UAVs to further enhance inspection coverage and robustness.

cs.RO

Auction-Consensus Algorithm with Learned Bidding Scheme for Multi-Robot Systems

Multi-Robot Task Allocation (MRTA) is a central challenge in decentralized multi-agent systems, where teams of robots must cooperatively assign and execute tasks under limited communication while optimizing global performance objectives. Auction-consensus algorithms, such as the Consensus-Based Bundle Algorithm (CBBA), provide scalable decentralized coordination with provable convergence, but rely on hand-crafted greedy scoring functions that often lead to suboptimal task allocations. This paper proposes a learning-enhanced auction-consensus framework in which CBBA's deterministic bidding mechanism is replaced by a neural bidding policy trained using reinforcement learning. Under a centralized training and decentralized execution paradigm, agents learn to compute task bids from partial local observations while retaining the standard auction and consensus phases for decentralized coordination. The learned bidding policy is trained using Proximal Policy Optimization with rewards shaped by proximity to globally optimal solutions obtained via mixed-integer linear programming. Multiple neural architectures are evaluated, including a Neural Additive Model, the Long Short-Term Memory (LSTM) model, and the Set Transformer Model. Experimental results across varying swarm sizes demonstrate that learned bidding policies can improve solution quality over classical CBBA while preserving decentralized execution. The proposed approach highlights the effectiveness of integrating reinforcement learning with classical distributed coordination algorithms, offering a scalable pathway toward higher-quality decentralized multi-robot task allocation.

cs.RO

A Visitation Grid for Complete Coverage Foraging in Robot Swarms

The complete collection of sparse resources in large, unknown environments remains a challenging problem for autonomous robot swarms. Previous studies have shown that a substantial portion of total mission time is consumed during the final stage of collection, where only a small fraction of randomly scattered resources remain. Consequently, many existing swarm foraging algorithms (search and collection) focus on collecting most resources within a limited time window, rather than improving end-stage efficiency for collecting all resources. We propose a grid-based stochastic foraging strategy that explicitly reduces redundant visits and accelerates late-stage collection. The unknown search area is partitioned into a grid map, which is maintained by a lightweight central server. To maintain scalability, both robots and the server operate within limited memory and computational constraints. The server updates the grid-level visitation counts based on robot-reported locations, producing a global estimate of the exploration density. For each new foraging trip, a robot selects its next search area from a local 3 X 3 neighborhood of grids probabilistically with the lowest visitation count, thus biasing exploration toward under-visited regions while maintaining stochasticity. Extensive simulation experiments demonstrate that the proposed strategy consistently outperforms the canonical centrally placed baseline foraging algorithm (CPFA). Compared to CPFA, the proposed method reduces the total collection time by up to 33% and improves collection efficiency by more than 48% during the final stage of the mission. These results indicate that the proposed strategy is robust, flexible, and scalable for near-complete and complete resource collection in robot swarms and can serve as a general enhancement for stochastic swarm foraging methods under limited onboard resources.

cs.RO

LLM-Foraging: Large Language Models for Decentralized Swarm Robot Foraging

Swarm foraging algorithms, such as the central-place foraging algorithm (CPFA), typically rely on offline parameter optimization using genetic algorithms (GA) or reinforcement learning, yielding policies tightly coupled to a specific combination of team size, arena size, and resource distribution. When deployment conditions change, performance degrades, and retraining is computationally expensive. We propose LLM-Foraging, a decentralized swarm controller that augments the CPFA state machine with a large language model (LLM) tactical decision-maker at three structured decision points, namely post-deposit, central-zone arrival, and search starvation. Each robot runs its own LLM client and queries it using only locally observable state, while the existing CPFA motion and sensing stack executes the selected action. Because the LLM serves as a general decision policy rather than parameters fitted to a single configuration, the controller is training-free at deployment and transfers across configurations without re-optimization. We evaluate LLM-Foraging in Gazebo with TurtleBot3 robots across 36 configurations spanning team sizes of 4 to 10 robots, arena sizes from 6x6 to 10x10 meters, and three resource distributions (clustered, powerlaw, random). LLM-Foraging collects more resources than the GA-tuned CPFA baseline across the evaluated configurations and is more consistent, a property that the GA's single-configuration tuning does not transfer.

cs.RO

Integrated Supermode Photonics Enabled by Supersymmetric Transformation

We report a systematic methodology to obtain supermodes with equidistant effective index distribution and to excite arbitrary target supermodes with high precision. By employing a multi-well optical potential realized by a judiciously designed waveguide array, the supported supermodes achieve maximal spacing and an equidistant distribution in effective index. More importantly, we develop a 2nd-order discrete supersymmetric (DSUSY) transformation method that enables the excitation and detection of two supermodes at the same time and can be extended to any number of supermodes via simple cascading. Together, these findings overcome the long-standing bottlenecks in integrated supermode photonics and provide an intrinsically scalable route towards harnessing supermodes as a new degree of freedom for encoding, transmitting, and processing information. We experimentally demonstrate the feasibility and universality of this method by realizing two- and four-supermode multiplexing systems. Benefitting from the large effective index spacing between supermodes and the isospectral nature of the DSUSY transformation, the fabricated devices show low insertion losses (< 2.48 dB at 1550 nm) and intermodal crosstalk (< -18 dB at 1550 nm) for all mode channels over a 100-nm wavelength range (1500-1600 nm). The high-speed data transmission experiment performed on the four-channel system achieves an aggregate data rate of 1.024 Tb/s while maintaining considerably low bit error rates, underscoring the potential of supermode photonics for high-capacity on-chip optical communications. This work lays the foundation for integrated supermode photonics, which uses supermodes as a new degree of freedom for light manipulation and opens new avenues for supermode-based applications including but not limited to on-chip optical communications, intelligent optical computing and quantum information technologies.

physics.optics

Scaling Video Pretraining for Surgical Foundation Models

Surgical video understanding is essential for computer-assisted interventions, yet existing surgical foundation models remain constrained by limited data scale, procedural diversity, and inconsistent evaluation, often lacking a reproducible training pipeline. We propose SurgRec, a scalable and reproducible pretraining recipe for surgical video understanding, instantiated with two variants: SurgRec-MAE and SurgRec-JEPA. We curate a large multi-source corpus of 10,535 videos and 214.5M frames spanning endoscopy, laparoscopy, cataract, and robotic surgery. Building on this corpus, we develop a unified pretraining pipeline with balanced sampling and standardize a reproducible benchmark across 16 downstream datasets and four clinical domains with consistent data splits. Across extensive comparisons against SSL baselines and vision-language models, SurgRec consistently achieves superior performance across downstream datasets. In contrast, VLMs prove unreliable for fine-grained temporal recognition, exhibiting both performance gaps and sensitivity to prompt phrasing. Our work provides a reproducible, scalable foundation for the community to build more general surgical video models. All code, models, and data will be publicly released.

cs.CV

Paint by Odor: An Exploration of Odor Visualization through Large Language Model and Generative AI

Odor visualization translates odor information and perception into visual outcomes and arouses the corresponding olfactory synesthesia, surpassing the spatial limitation that odors can only be perceived where they are present. Traditional odor visualization has typically relied on unidimensional mappings, such as odor-to-color associations, and has required extensive manual design efforts. However, the advent of generative AI (Gen AI) and large language models (LLMs) presents a new opportunity for automatic odor visualization. Nonetheless, gaps remain in bridging olfactory perception with generative tools to produce odor images. To address these gaps, this paper introduces Paint by Odor, a pipeline that leverages Gen AI and LLMs to transform olfactory perceptions into rich, aesthetically engaging visual representations. Two experiments were conducted, where 30 participants smelled real-world odors and provided descriptive data and 28 participants evaluated 560 generated odor images through seven systematically designed prompts. Our findings explored the capability of LLMs in producing olfactory perception by comparing it with human responses and revealed the underlying mechanisms and effects of language-based descriptions and several abstraction styles on odor visualization. Our work further discussed the possibility of automatic odor visualization without human participation. These explorations and results have bridged the research gap in odor visualization using LLMs and Gen AI, offering valuable design insights and various possibilities for future applications.

cs.HC

Quaternion optical computing chip for parallel high-dimensional data processing

Optical computing chips have emerged as a transformative computing technology due to their high computational density, low energy consumption, and compact footprint. While real- and complex-valued computing chips have been well developed, their fundamental limitations in representing high-dimensional data significantly constrain their applicability in modern signal processing. Quaternions enable direct operations on three- and four-dimensional data, powering high-dimensional processing in data analytics and artificial intelligence. Here we demonstrate a quaternion optical computing chip (QOCC) for the first time and benchmark its performance in several typical application scenarios: three-dimensional point cloud processing, RGB chromatic transformation, and quaternion convolutional neural network for color image recognition. The QOCC harnesses high parallelism of light by wavelength-division multiplexing, processing high-dimensional data simultaneously through multiple optical wavelength channels. Compared to the electronic computing counterpart, our QOCC achieves higher computational fidelity (root mean square error < 0.035) and substantially reduced computational load (2/3 lower). It paves the way towards next-generation optical computing, overcoming the limitations of traditional computing systems in high-dimensional data processing.

physics.optics

Nanosecond-Scale Proton Emission from Triaxially Deformed Lu-148 Predicted with High Accuracy Qp Value via Novel Bayesian Evaluation

The half-life of the odd-odd deformed proton emitter $^{148}$Lu is predicted to be $196_{-129}^{+420}$ ns via the Wentzel-Kramers-Brillouin (WKB) approximation, in which the potential is extracted from the triaxial relativistic Hartree-Bogoliubov theory in continuum (TRHBc) and the proton decay energy $Q_{\rm p}$ is computed as 2.015(89) MeV by the Bayesian Neural Network - Beihang (BNN-BH) model for the first time. As a decisive factor, the uncertainty of $S_{\rm p}$ has been improved from 411 keV (Bayesian Machine Learning, BML) to 89 keV (BNN-BH) by taking the ensemble uncertainty into account and confining the error estimation to the neighboring nuclei. In consequence, the magnitude of the half-life's uncertainty can be reduced from 4 orders to 1 order, compared to that ($5.5_{-5.3}^{+636}$ ns) with $S_{\rm p}$ from the BML model. We also found that the range of half-life predicted by the TRHBc + WKB approach is consistent with those from the deformed relativistic Hartree-Bogoliubov theory in continuum (DRHBc) + WKB approach, and with those from an empirical formalism with the $S_{\rm p}$ obtained with the BNN-BH model. Furthermore, the means from the above 3 ways agree well with the experimental data for $^{149}$Lu, which gives us confidence to recommend a measurement of the half-life of proton emitter $^{148}$Lu.

nucl-th