arXiv subjects

Qi Ye

Publications and source records attributed to Qi Ye.

At least 37 records · Page 2Linked to original sources

arXiv2025

The Developments and Challenges towards Dexterous and Embodied Robotic Manipulation: A Survey

Achieving human-like dexterous robotic manipulation remains a central goal and a pivotal challenge in robotics. The development of Artificial Intelligence (AI) has allowed rapid progress in robotic manipulation. This survey summarizes the evolution of robotic manipulation from mechanical programming to embodied intelligence, alongside the transition from simple grippers to multi-fingered dexterous hands, outlining key characteristics and main challenges. Focusing on the current stage of embodied dexterous manipulation, we highlight recent advances in two critical areas: dexterous manipulation data collection (via simulation, human demonstrations, and teleoperation) and skill-learning frameworks (imitation and reinforcement learning). Then, based on the overview of the existing data collection paradigm and learning framework, three key challenges restricting the development of dexterous robotic manipulation are summarized and discussed.

cs.RO↗

arXiv2025

Simultaneous variances of Pauli strings, weighted independence numbers, and a new kind of perfection of graphs

A set of Pauli stings is well characterized by the graph that encodes its commutatitivity structure, i.e., by its frustration graph. This graph provides a natural interface between graph theory and quantum information, which we explore in this work. We investigate all aspects of this interface for a special class of graphs that bears tight connections between the groundstate structures of a spin systems and topological structure of a graph. We call this class $\hbar$-perfect, as it extends the class of perfect and $h$-perfect graphs. Having an $\hbar$-perfect graph opens up several applications: we find efficient schemes for entanglement detection, a connection to the complexity of shadow tomography, tight uncertainty relations and a construction for computing good lower on bounds ground state energies. Conversely this also induces quantum algorithms for computing the independence number. Albeit those algorithms do not immediately promise an advantage in runtime, we show that an approximate Hamilton encoding of the independence number can be achieved with an amount of qubits that typically scales logarithmically in the number of vertices. We also we also determine the behavior of $\hbar$-perfectness under basic graph operations and evaluate their prevalence among all graphs.

quant-ph↗

arXiv2025

Orientation Learning and Adaptation towards Simultaneous Incorporation of Multiple Local Constraints

Orientation learning plays a pivotal role in many tasks. However, the rotation group SO(3) is a Riemannian manifold. As a result, the distortion caused by non-Euclidean geometric nature introduces difficulties to the incorporation of local constraints, especially for the simultaneous incorporation of multiple local constraints. To address this issue, we propose the Angle-Axis Space-based orientation representation method to solve several orientation learning problems, including orientation adaptation and minimization of angular acceleration. Specifically, we propose a weighted average mechanism in SO(3) based on the angle-axis representation method. Our main idea is to generate multiple trajectories by considering different local constraints at different basepoints. Then these multiple trajectories are fused to generate a smooth trajectory by our proposed weighted average mechanism, achieving the goal to incorporate multiple local constraints simultaneously. Compared with existing solution, ours can address the distortion issue and make the off-theshelf Euclidean learning algorithm be re-applicable in non-Euclidean space. Simulation and Experimental evaluations validate that our solution can not only adapt orientations towards arbitrary desired via-points and cope with angular acceleration constraints, but also incorporate multiple local constraints simultaneously to achieve extra benefits, e.g., achieving smaller acceleration costs.

cs.RO↗

arXiv2025

Exponential Advantage from One More Replica in Estimating Nonlinear Properties of Quantum States

Inferring nonlinear features of quantum states is fundamentally important across quantum information science, but remains challenging due to the intrinsic linearity of quantum mechanics. It is widely recognized that quantum memory and coherent operations help avoid exponential sample complexity, by mapping nonlinear properties onto linear observables over multiple copies of the target state. In this work, we prove that such a conversion is not only sufficient but also necessary. Specifically, we prove that the estimation of $\mathrm{tr}(ρ^{k} O)$ for a broad class of observables $O$ is exponentially hard for any protocol restricted to $(k-1)$-replica joint measurements, whereas access to one additional replica reduces the complexity to a constant. These results establish, for the first time, an exponential separation between $(k-1)$- and $k$-replica protocols for any integer $k>2$, thereby introducing a fine-grained hierarchy of replica-based quantum advantage and resolving an open question in the literature. The technical core is a general indistinguishability principle showing that any ensemble constructed from large Haar random states via tensor products and mixtures is hard to distinguish from its average. Leveraging this principle, we further prove that $k$-replica joint measurements are also necessary for distinguishing rank-$k$ density matrices from rank-$(k-1)$ ones. Overall, our work delineates sharp boundaries on the power of joint measurements, highlighting resource-complexity trade-offs in quantum learning theory and deepening the understanding of quantum mechanics' intrinsic linearity.

quant-ph↗

arXiv2025

One Gate Scheme to Rule Them All: Introducing a Complex Yet Reduced Instruction Set for Quantum Computing

The design and architecture of a quantum instruction set are paramount to the performance of a quantum computer. This work introduces a gate scheme for qubits with $XX+YY$ coupling that directly and efficiently realizes any two-qubit gate up to single-qubit gates. First, this scheme enables high-fidelity execution of quantum operations and achieves minimum possible gate times. Second, since the scheme spans the entire $\textbf{SU}(4)$ group of two-qubit gates, we can use it to attain the optimal two-qubit gate count for algorithm implementation. These two advantages in synergy give rise to a quantum Complex yet Reduced Instruction Set Computer (CRISC). Though the gate scheme is compact, it supports a comprehensive array of quantum operations. This may seem paradoxical but is realizable due to the fundamental differences between quantum and classical computer architectures. Using our gate scheme, we observe marked improvements across various applications, including generic $n$-qubit gate synthesis, quantum volume, and qubit routing. Furthermore, the proposed scheme also realizes a gate locally equivalent to the commonly used CNOT gate with a gate time of $\fracπ{2g}$, where $g$ is the two-qubit coupling. The AshN scheme is also completely impervious to $ZZ$ error, the main coherent error in transversely coupled systems, as the control parameters implementing the gates can be easily adjusted to take the $ZZ$ term into account.

quant-ph↗

arXiv2025

STARec: An Efficient Agent Framework for Recommender Systems via Autonomous Deliberate Reasoning

While modern recommender systems are instrumental in navigating information abundance, they remain fundamentally limited by static user modeling and reactive decision-making paradigms. Current large language model (LLM)-based agents inherit these shortcomings through their overreliance on heuristic pattern matching, yielding recommendations prone to shallow correlation bias, limited causal inference, and brittleness in sparse-data scenarios. We introduce STARec, a slow-thinking augmented agent framework that endows recommender systems with autonomous deliberative reasoning capabilities. Each user is modeled as an agent with parallel cognitions: fast response for immediate interactions and slow reasoning that performs chain-of-thought rationales. To cultivate intrinsic slow thinking, we develop anchored reinforcement training - a two-stage paradigm combining structured knowledge distillation from advanced reasoning models with preference-aligned reward shaping. This hybrid approach scaffolds agents in acquiring foundational capabilities (preference summarization, rationale generation) while enabling dynamic policy adaptation through simulated feedback loops. Experiments on MovieLens 1M and Amazon CDs benchmarks demonstrate that STARec achieves substantial performance gains compared with state-of-the-art baselines, despite using only 0.4% of the full training data.

cs.AI↗

arXiv2025

Compiling Arbitrary Single-Qubit Gates Via the Phase-Shifts of Microwave Pulses

We give an arbitrary single-qubit gate compilation scheme on superconducting processors that takes advantage of tuning the phase shift of microwave pulses to obtain a continuous gate set. This scheme is compatible with any two-qubit gate, and we only need to calibrate the $X_π$ and $X_{π/2}$ pulses. We implement this on fluxonium and obtain state-of-the-art fidelities. We give two other schemes: the first requires one $X_π$ pulse and one pulse with a variable rotation angle, and the second requires four $X_{π/2}$ pulses. We also find that if we can do virtual $Z$ gates, then we can also do virtual gates around any axis. Our results apply to any physical platform that natively supports virtual $Z$.

quant-ph↗

arXiv2025

CMQCIC-Bench: A Chinese Benchmark for Evaluating Large Language Models in Medical Quality Control Indicator Calculation

Medical quality control indicators are essential to assess the qualifications of healthcare institutions for medical services. With the impressive performance of large language models (LLMs) like GPT-4 in the medical field, leveraging these technologies for the Medical Quality Control Indicator Calculation (MQCIC) presents a promising approach. In this work, (1) we introduce a real-world task MQCIC and propose an open-source Chinese electronic medical records (EMRs)-based dataset (CMQCIC-Bench) comprising 785 instances and 76 indicators. (2) We propose a semi-automatic method to enhance the rule representation. Then we propose the Clinical Facts-based Inferential Rule (CF-IR) method that disentangles the clinical fact verification and inferential rule reasoning actions. (3) We conduct comprehensive experiments on 20 representative LLMs, covering general and medical models. Our findings reveal that CF-IR outperforms Chain-of-Thought methods in MQCIC tasks. (4) We conduct an error analysis and investigate the capabilities of clinical fact verification and inferential rule reasoning, providing insights to improve performance in the MQCIC further. The dataset and code is available in this repository https://github.com/YuY-2001/C-MQCIC.

cs.CL↗

arXiv2025

Ansatz-free Hamiltonian learning with Heisenberg-limited scaling

Learning the unknown interactions that govern a quantum system is crucial for quantum information processing, device benchmarking, and quantum sensing. The problem, known as Hamiltonian learning, is well understood under the assumption that interactions are local, but this assumption may not hold for arbitrary Hamiltonians. Previous methods all require high-order inverse polynomial dependency with precision, unable to surpass the standard quantum limit and reach the gold standard Heisenberg-limited scaling. Whether Heisenberg-limited Hamiltonian learning is possible without prior assumptions about the interaction structures, a challenge we term \emph{ansatz-free Hamiltonian learning}, remains an open question. In this work, we present a quantum algorithm to learn arbitrary sparse Hamiltonians without any structure constraints using only black-box queries of the system's real-time evolution and minimal digital controls to attain Heisenberg-limited scaling in estimation error. Our method is also resilient to state-preparation-and-measurement errors, enhancing its practical feasibility. We numerically demonstrate our ansatz-free protocol for learning physical Hamiltonians and validating analog quantum simulations, benchmarking our performance against the state-of-the-art Heisenberg-limited learning approach. Moreover, we establish a fundamental trade-off between total evolution time and quantum control on learning arbitrary interactions, revealing the intrinsic interplay between controllability and total evolution time complexity for any learning algorithm. These results pave the way for further exploration into Heisenberg-limited Hamiltonian learning in complex quantum systems under minimal assumptions, potentially enabling new benchmarking and verification protocols.

quant-ph↗

arXiv2025

MinosEval: Distinguishing Factoid and Non-Factoid for Tailored Open-Ended QA Evaluation with LLMs

Open-ended question answering (QA) is a key task for evaluating the capabilities of large language models (LLMs). Compared to closed-ended QA, it demands longer answer statements, more nuanced reasoning processes, and diverse expressions, making refined and interpretable automatic evaluation both crucial and challenging. Traditional metrics like ROUGE and BERTScore struggle to capture semantic similarities due to different patterns between model responses and reference answers. Current LLM-based evaluation approaches, such as pairwise or listwise comparisons of candidate answers, lack intuitive interpretability. While pointwise scoring of each response provides some descriptions, it fails to adapt across different question contents. Most notably, existing methods overlook the distinction between factoid and non-factoid questions. To address these challenges, we propose \textbf{MinosEval}, a novel evaluation method that first distinguishes open-ended questions and then ranks candidate answers using different evaluation strategies. For factoid questions, it applies an adaptive key-point scoring strategy, while for non-factoid questions, it uses an instance-aware listwise ranking strategy. Experiments on multiple open-ended QA datasets, including self-built ones with more candidate responses to complement community resources, show that MinosEval better aligns with human annotations and offers more interpretable results.

cs.CL↗

arXiv2025

Neuro-Symbolic Query Compiler

Precise recognition of search intent in Retrieval-Augmented Generation (RAG) systems remains a challenging goal, especially under resource constraints and for complex queries with nested structures and dependencies. This paper presents QCompiler, a neuro-symbolic framework inspired by linguistic grammar rules and compiler design, to bridge this gap. It theoretically designs a minimal yet sufficient Backus-Naur Form (BNF) grammar $G[q]$ to formalize complex queries. Unlike previous methods, this grammar maintains completeness while minimizing redundancy. Based on this, QCompiler includes a Query Expression Translator, a Lexical Syntax Parser, and a Recursive Descent Processor to compile queries into Abstract Syntax Trees (ASTs) for execution. The atomicity of the sub-queries in the leaf nodes ensures more precise document retrieval and response generation, significantly improving the RAG system's ability to address complex queries.

cs.CL↗

arXiv2025

Hierarchical Document Refinement for Long-context Retrieval-augmented Generation

Real-world RAG applications often encounter long-context input scenarios, where redundant information and noise results in higher inference costs and reduced performance. To address these challenges, we propose LongRefiner, an efficient plug-and-play refiner that leverages the inherent structural characteristics of long documents. LongRefiner employs dual-level query analysis, hierarchical document structuring, and adaptive refinement through multi-task learning on a single foundation model. Experiments on seven QA datasets demonstrate that LongRefiner achieves competitive performance in various scenarios while using 10x fewer computational costs and latency compared to the best baseline. Further analysis validates that LongRefiner is scalable, efficient, and effective, providing practical insights for real-world long-text RAG applications. Our code is available at https://github.com/ignorejjj/LongRefiner.

cs.CL↗

arXiv2025

Demonstration of low-overhead quantum error correction codes

Quantum computers hold the potential to surpass classical computers in solving complex computational problems. However, the fragility of quantum information and the error-prone nature of quantum operations make building large-scale, fault-tolerant quantum computers a prominent challenge. To combat errors, pioneering experiments have demonstrated a variety of quantum error correction codes. Yet, most of these codes suffer from low encoding efficiency, and their scalability is hindered by prohibitively high resource overheads. Here, we report the demonstration of two low-overhead quantum low-density parity-check (qLDPC) codes, a distance-4 bivariate bicycle code and a distance-3 qLDPC code, on our latest superconducting processor, Kunlun, featuring 32 long-range-coupled transmon qubits. Utilizing a two-dimensional architecture with overlapping long-range couplers, we demonstrate simultaneous measurements of all nonlocal weight-6 stabilizers via the periodic execution of an efficient syndrome extraction circuit. We achieve a logical error rate per logical qubit per cycle of $(8.91 \pm 0.17)\%$ for the distance-4 bivariate bicycle code with four logical qubits and $(7.77 \pm 0.12)\%$ for the distance-3 qLDPC code with six logical qubits. Our results establish the feasibility of implementing various qLDPC codes with long-range coupled superconducting processors, marking a crucial step towards large-scale low-overhead quantum error correction.

quant-ph↗

arXiv2025

AdaptiveFusion: Adaptive Multi-Modal Multi-View Fusion for 3D Human Body Reconstruction

Recent advancements in sensor technology and deep learning have led to significant progress in 3D human body reconstruction. However, most existing approaches rely on data from a specific sensor, which can be unreliable due to the inherent limitations of individual sensing modalities. Additionally, existing multi-modal fusion methods generally require customized designs based on the specific sensor combinations or setups, which limits the flexibility and generality of these methods. Furthermore, conventional point-image projection-based and Transformer-based fusion networks are susceptible to the influence of noisy modalities and sensor poses. To address these limitations and achieve robust 3D human body reconstruction in various conditions, we propose AdaptiveFusion, a generic adaptive multi-modal multi-view fusion framework that can effectively incorporate arbitrary combinations of uncalibrated sensor inputs. By treating different modalities from various viewpoints as equal tokens, and our handcrafted modality sampling module by leveraging the inherent flexibility of Transformer models, AdaptiveFusion is able to cope with arbitrary numbers of inputs and accommodate noisy modalities with only a single training network. Extensive experiments on large-scale human datasets demonstrate the effectiveness of AdaptiveFusion in achieving high-quality 3D human body reconstruction in various environments. In addition, our method achieves superior accuracy compared to state-of-the-art fusion methods.

cs.CV↗

arXiv2025

Motion planning for highly-dynamic unconditioned reflexes based on chained Signed Distance Functions

The unconditioned reflex (e.g., protective reflex), which is the innate reaction of the organism and usually performed through the spinal cord rather than the brain, can enable organisms to escape harms from environments. In this paper, we propose an online, highly-dynamic motion planning algorithm to endow manipulators the highly-dynamic unconditioned reflexes to humans and/or environments. Our method is based on a chained version of Signed Distance Functions (SDFs), which can be pre-computed and stored. Our proposed algorithm is divided into two stages. In the offline stage, we create 3 groups of local SDFs to store the geometric information of the manipulator and its working environment. In the online stage, the pre-computed local SDFs are chained together according the configuration of the manipulator, to provide global geometric information about the environment. While the point clouds of the dynamic objects serve as query points to look up these local SDFs for quickly generating escape velocity. Then we propose a modified geometric Jacobian matrix and use the Jacobian-pseudo-inverse method to generate real-time reflex behaviors to avoid the static and dynamic obstacles in the environment. The benefits of our method are validated in both static and dynamic scenarios. In the static scenario, our method identifies the path solutions with lower time consumption and shorter trajectory length compared to existing solutions. In the dynamic scenario, our method can reliably pursue the dynamic target point, avoid dynamic obstacles, and react to these obstacles within 1ms, which surpasses the unconditioned reflex reaction time of humans.

cs.RO↗

arXiv2025

Quantum automated learning with provable and explainable trainability

Machine learning is widely believed to be one of the most promising practical applications of quantum computing. Existing quantum machine learning schemes typically employ a quantum-classical hybrid approach that relies crucially on gradients of model parameters. Such an approach lacks provable convergence to global minima and will become infeasible as quantum learning models scale up. Here, we introduce quantum automated learning, where no variational parameter is involved and the training process is converted to quantum state preparation. In particular, we encode training data into unitary operations and iteratively evolve a random initial state under these unitaries and their inverses, with a target-oriented perturbation towards higher prediction accuracy sandwiched in between. Under reasonable assumptions, we rigorously prove that the evolution converges exponentially to the desired state corresponding to the global minimum of the loss function. We show that such a training process can be understood from the perspective of preparing quantum states by imaginary time evolution, where the data-encoded unitaries together with target-oriented perturbations would train the quantum learning model in an automated fashion. We further prove that the quantum automated learning paradigm features good generalization ability with the generalization error upper bounded by the ratio between a logarithmic function of the Hilbert space dimension and the number of training samples. In addition, we carry out extensive numerical simulations on real-life images and quantum data to demonstrate the effectiveness of our approach and validate the assumptions. Our results establish an unconventional quantum learning strategy that is gradient-free with provable and explainable trainability, which would be crucial for large-scale practical applications of quantum computing in machine learning scenarios.

quant-ph↗

arXiv2024

RetroLLM: Empowering Large Language Models to Retrieve Fine-grained Evidence within Generation

Large language models (LLMs) exhibit remarkable generative capabilities but often suffer from hallucinations. Retrieval-augmented generation (RAG) offers an effective solution by incorporating external knowledge, but existing methods still face several limitations: additional deployment costs of separate retrievers, redundant input tokens from retrieved text chunks, and the lack of joint optimization of retrieval and generation. To address these issues, we propose \textbf{RetroLLM}, a unified framework that integrates retrieval and generation into a single, cohesive process, enabling LLMs to directly generate fine-grained evidence from the corpus with constrained decoding. Moreover, to mitigate false pruning in the process of constrained evidence generation, we introduce (1) hierarchical FM-Index constraints, which generate corpus-constrained clues to identify a subset of relevant documents before evidence generation, reducing irrelevant decoding space; and (2) a forward-looking constrained decoding strategy, which considers the relevance of future sequences to improve evidence accuracy. Extensive experiments on five open-domain QA datasets demonstrate RetroLLM's superior performance across both in-domain and out-of-domain tasks. The code is available at \url{https://github.com/sunnynexus/RetroLLM}.

cs.CL↗

arXiv2024

No-Free-Lunch Theories for Tensor-Network Machine Learning Models

Tensor network machine learning models have shown remarkable versatility in tackling complex data-driven tasks, ranging from quantum many-body problems to classical pattern recognitions. Despite their promising performance, a comprehensive understanding of the underlying assumptions and limitations of these models is still lacking. In this work, we focus on the rigorous formulation of their no-free-lunch theorem -- essential yet notoriously challenging to formalize for specific tensor network machine learning models. In particular, we rigorously analyze the generalization risks of learning target output functions from input data encoded in tensor network states. We first prove a no-free-lunch theorem for machine learning models based on matrix product states, i.e., the one-dimensional tensor network states. Furthermore, we circumvent the challenging issue of calculating the partition function for two-dimensional Ising model, and prove the no-free-lunch theorem for the case of two-dimensional projected entangled-pair state, by introducing the combinatorial method associated to the "puzzle of polyominoes". Our findings reveal the intrinsic limitations of tensor network-based learning models in a rigorous fashion, and open up an avenue for future analytical exploration of both the strengths and limitations of quantum-inspired machine learning frameworks.

quant-ph↗