arXiv subjects

Qipeng Liu

Publications and source records attributed to Qipeng Liu.

At least 19 recordsLinked to original sources

arXiv2026

Triplet2Track: A Hierarchical System with Object-Centric Representations for Reliable Long-Horizon Manipulation

Ensuring reliability in uncertain environments remains difficult for long-horizon robotic manipulation. End-to-end VLA models are data-heavy and opaque, making diagnosis and verification difficult. Hierarchical pipelines are more interpretable, but their plans are often weakly grounded in observations, weakly aligned with low-level actions, and computed without online feedback, leading to open-loop behavior and hallucinations. To address these issues, we introduce the Triplet-to-Track System (TTS), a closed-loop long-horizon imitation learning system that uses human videos to reduce reliance on robot-collected data. TTS represents high-level subgoals as instance-grounded triplets, translates them into continuous track priors for execution, and monitors task progress from observations for online replanning. Across diverse real-world long-horizon tasks, TTS achieves a 74.8\% average success rate and supports object-level and compositional generalization.

cs.RO↗

arXiv2026

Parallel Quantum Advantage with Limited Adaptivity Requires Structure

Aaronson and Ambainis (Theory of Computing, 2014) conjectured that quantum query algorithms admit efficient almost-everywhere classical simulation: for any $T$-query quantum algorithm, its acceptance probability can be approximated on a $(1-\delta)$ fraction of inputs, up to $\epsilon$ additive error, using $\mathrm{poly}(T, 1/\epsilon, 1/\delta)$ classical queries. At a high level, the conjecture suggests that exponential quantum speedups are possible only on sufficiently structured inputs. In this work, we make progress on this conjecture by proving it for quantum algorithms that make massively parallel quantum queries. In contrast, Yamakawa and Zhandry (Journal of the ACM, 2024) showed that quantum algorithms restricted to parallel queries can still achieve exponential speedups over classical algorithms for sampling problems. We establish our simulation theorem by proving the stronger statement that parallel-query quantum algorithms cannot distinguish the uniform distribution over oracles from oracles drawn from so-called "dense distributions". Our main technical contribution is a coupling theorem that relates the uniform distribution over oracles to oracles drawn from dense distributions. We further extend this approach beyond the purely parallel setting, obtaining simulation theorems both for algorithms with a bounded quantum-query prefix followed by a massively parallel quantum-query stage, and for hybrid algorithms that make an arbitrary polynomial number of adaptive classical queries before the massively parallel quantum-query stage. Finally, using the parallel-query simulation theorem as a base case, we obtain simulation theorems for quantum algorithms with constant rounds of adaptivity.

quant-ph↗

arXiv2026

Unclonable encryption from BB84 states: a simultaneous Goldreich-Levin reduction

Goldreich-Levin reductions are ubiquitous in cryptography: they convert an algorithm capable of guessing $\langle r, m \rangle$ (mod $2$) for a hidden string $m$ and a random challenge $r$, to one that is capable of extracting the entirety of $m$. Here, we describe a "simultaneous" Goldreich-Levin reduction for two entangled parties who are capable of guessing $\langle r, m \rangle$ given uniformly random identical challenges $r$. This allows to upgrade any unclonable encryption scheme satisfying "search" security to one satisfying the gold standard of unclonable "indistinguishability". As a corollary, we show that the simplest candidate unclonable encryption scheme from BB84 states satisfies unclonable indistinguishability. This result was discovered by GPT-5.6 Ultra after a few interactions. Our prompts included recent results on unclonable encryption by Ananth and Sahai, and Ragavan.

quant-ph↗

arXiv2026

Impossibility of Perfectly Complete Many-Round Key Agreement in the QROM

This paper proves that it is impossible to construct perfectly complete quantum key agreement protocols (QKA) from quantumly secure one-way functions (OWFs) in a black-box manner. Specifically, consider any protocol in which Alice and Bob exchange only classical messages, make at most $q_{\mathsf{A}}$ and $q_{\mathsf{B}}$ quantum queries, respectively, to a Boolean-valued random oracle, and agree on a shared key with certainty. This paper shows that there exists an eavesdropper, given the classical messages, that can recover the shared key with certainty using $O((q_{\mathsf{A}}+q_{\mathsf{B}})^5)$ classical oracle queries. The bound is independent of the number of rounds, transcript length, key length, and oracle-domain size. Previous results only applies to two-round key agreement (Li et al. CRYPTO 26) or relies on unproven conjectures (Austrin et al. CRYPTO 22). GPT-5.6 Sol Ultra found this proof in a one-shot conversation and drafted a preliminary version of this paper. The authors are fully responsible for the correctness, writing and discussions of this paper.

quant-ph↗

arXiv2026

Practice Makes Policies: Bootstrapping and Consolidating Robotic Capabilities from Zero Human Demonstrations

General-purpose robotic manipulation requires robots to perform diverse tasks in open-world environments while improving their skills over time. Despite recent progress in robotic manipulation, existing systems still primarily acquire manipulation skills in a static manner, where capabilities are learned for specific tasks or settings rather than adaptively evolving through physical interaction. Resembling how repeated practice enables humans to develop muscle memory, advanced manipulation proficiency requires an autonomous capability evolution mechanism that allows robots to progressively transform interaction experiences into increasingly effective manipulation abilities. To this end, we propose HERO, a self-improving hierarchical embodied agent that enables autonomous capability evolution from zero human demonstrations. HERO organizes heuristic reasoning, exemplar reuse, and reflexive execution into a unified orchestration framework, allowing robots to autonomously bootstrap manipulation experience, rapidly accumulate reusable behaviors through experience transfer, and progressively consolidate recurring interactions into efficient closed-loop visuomotor policies. By tightly coupling autonomous data collection with task execution, HERO continuously expands and dynamically schedules manipulation capabilities according to different stages of experience accumulation and execution requirements. Extensive experiments demonstrate that HERO substantially reduces human intervention during robotic data collection while achieving robust manipulation across diverse tasks, providing a promising path toward self-improving robotic systems.

cs.RO↗

arXiv2026

FAWAM: Force-Aware World Action Models for Closed-Loop Contact-Rich Manipulation

Force signals provide critical interaction cues for contact-rich robotic manipulation. However, existing methods mostly use force as an additional observation modality, without fully exploiting its role in modeling future interaction dynamics or guiding execution-time feedback correction. In this paper, we propose FAWAM, a force-aware world action model that incorporates force information at three levels: perception, prediction, and closed-loop execution. FAWAM first encodes historical 6-axis force/torque signals to modulate action generation, then jointly predicts future actions and end-effector wrenches to explicitly model contact evolution. It further introduces a residual correction module that uses the predicted wrench trajectory as an execution-time reference to refine actions online based on real-time force feedback. Real-world experiments across multiple contact-rich tasks show that FAWAM improves the average success rate by 36.25% over vision-only baselines and 21.25% over existing force-aware baselines, demonstrating the effectiveness of our force-aware framework for robust contact-rich manipulation.

cs.RO↗

arXiv2026

On the Need for (Quantum) Memory with Short Outputs

In this work, we establish the first separation between computation with bounded and unbounded space, for problems with short outputs (i.e., working memory can be exponentially larger than output size), both in the classical and the quantum setting. Towards that, we introduce a problem called nested collision finding, and show that optimal query complexity can not be achieved without exponential memory. Our result is based on a novel ``two-oracle recording'' technique, where one oracle ``records'' the computation's long outputs under the other oracle, effectively reducing the time-space trade-off for short-output problems to that of long-output problems. We believe this technique will be of independent interest for establishing time-space tradeoffs in other short-output settings.

cs.CC↗

arXiv2026

CLASH: Collision Learning via Augmented Sim-to-real Hybridization to Bridge the Reality Gap

The sim-to-real gap, particularly in the inaccurate modeling of contact-rich dynamics like collisions, remains a primary obstacle to deploying robot policies trained in simulation. Conventional physics engines often trade accuracy for computational speed, leading to discrepancies that prevent direct policy transfer. To address this, we introduce Collision Learning via Augmented Sim-to-real Hybridization (CLASH), a data-efficient framework that learns a parameter-conditioned impulsive collision surrogate model and integrates it as a plug-in module within a standard simulator. CLASH first distills a base model from an imperfect simulator (MuJoCo) using large-scale simulated collisions to capture reusable physical priors. Given only a handful of real collisions (e.g., 10 samples), it then (i) performs gradient-based identification of key contact parameters and (ii) applies small-step, early-stopped fine-tuning to correct residual sim-to-real mismatches while avoiding overfitting. The resulting hybrid simulator not only achieves higher post-impact prediction accuracy but also reduces the wall-clock time of collision-heavy CMA-ES search by 42-48% compared to MuJoCo. We demonstrate that policies obtained with our hybrid simulator transfer more robustly to the real world, doubling the success rate in sequential pushing tasks with reinforcement learning and significantly increase the task performance with model-based control.

cs.RO↗

arXiv2026

From Digital to Physical: Digital Agents as Autonomous Coaches for Physical Intelligence

The field of Embodied AI is witnessing a rapid evolution toward general-purpose robotic systems, fueled by high-fidelity simulation and large-scale data collection. However, this scaling capability remains severely bottlenecked by a reliance on labor-intensive manual oversight from intricate reward shaping to hyperparameter tuning across heterogeneous backends. Inspired by LLMs' success in software automation and science discovery, we introduce \textsc{EmboCoach-Bench}, a benchmark evaluating the capacity of LLM agents to autonomously engineer embodied policies. Spanning 32 expert-curated RL and IL tasks, our framework posits executable code as the universal interface. We move beyond static generation to assess a dynamic closed-loop workflow, where agents leverage environment feedback to iteratively draft, debug, and optimize solutions, spanning improvements from physics-informed reward design to policy architectures such as diffusion policies. Extensive evaluations yield three critical insights: (1) autonomous agents can qualitatively surpass human-engineered baselines by 26.5\% in average success rate; (2) agentic workflow with environment feedback effectively strengthens policy development and substantially narrows the performance gap between open-source and proprietary models; and (3) agents exhibit self-correction capabilities for pathological engineering cases, successfully resurrecting task performance from near-total failures through iterative simulation-in-the-loop debugging. Ultimately, this work establishes a foundation for self-evolving embodied intelligence, accelerating the paradigm shift from labor-intensive manual tuning to scalable, autonomous engineering in embodied AI field.

cs.AI↗

arXiv2025

NISQ Security and Complexity via Simple Classical Reasoning

We give novel lifting theorems for security games in the quantum random oracle model (QROM) in Noisy Intermediate-Scale Quantum (NISQ) settings such as the hybrid query model, the noisy oracle and the bounded-depth models. We provide, for the first time, a hybrid lifting theorem for hybrid algorithms that can perform both quantum and classical queries, as well as a lifting theorem for quantum algorithms with access to noisy oracles or bounded quantum depth. At the core of our results lies a novel measure-and-reprogram framework, called hybrid coherent measure-and-reprogramming, tailored specifically for hybrid algorithms. Equipped with the lifting theorem, we are able to prove directly NISQ security and complexity results by calculating a single combinatorial quantity, relying solely on classical reasoning. As applications, we derive the first direct product theorems in the average case, in the hybrid setting-i.e., an enabling tool to determine the hybrid hardness of solving multi-instance security games. This allows us to derive in a straightforward manner the NISQ hardness of various security games, such as (i) the non-uniform hardness of salted games, (ii) the hardness of specific cryptographic tasks such as the multiple instance version of one-wayness and collision-resistance, and (iii) uniform or non-uniform hardness of many other games.

quant-ph↗

arXiv2025

Improved Quantum Lifting by Coherent Measure-and-Reprogram

We give a tighter lifting theorem for security games in the quantum random oracle model. At the core of our main result lies a novel measure-and-reprogram framework that we call coherent reprogramming. This framework gives a tighter lifting theorem for query complexity problems, that only requires purely classical reasoning. As direct applications of our lifting theorem, we first provide a quantum direct product theorem in the average case - i.e., an enabling tool to determine the hardness of solving multi-instance security games. This allows us to derive in a straightforward manner the hardness of various security games, for example (i) the non-uniform hardness of salted games, (ii) the hardness of specific cryptographic tasks such as the multiple instance version of one-wayness and collision-resistance, and (iii) uniform or non-uniform hardness of many other games.

quant-ph↗

arXiv2025

The curious case of "XOR repetition" of monogamy-of-entanglement games

In this work, we consider "decision" variants of a monogamy-of-entanglement game by Tomamichel, Fehr, Kaniewski, and Wehner [New Journal of Physics '13]. In its original "search" variant, Alice prepares a (possibly entangled) state on registers $\mathsf{ABC}$; register $\mathsf{A}$, consisting of $n$ qubits, is sent to a Referee, while $\mathsf{B}$ and $\mathsf{C}$ are sent to Bob and Charlie; the Referee then measures each qubit in the standard or Hadamard basis (chosen uniformly at random). The basis choices are sent to Bob and Charlie, whose goal is to simultaneously guess the Referee's $n$-bit outcome string $x$. Tomamichel et al. show that the optimal winning probability is $\cos^{2n} {(\frac{\pi}{8})}$, following a perfect parallel repetition theorem. We consider the following "decision" variants of this game: - Variant 1, "XOR repetition": Bob and Charlie's goal is to guess the XOR of all the bits of $x$. Ananth et al. [Asiacrypt '24] conjectured that the optimal advantage over random guessing decays exponentially in $n$. Surprisingly, we show that this conjecture is false, and, in fact, there is no decay at all: there exists a strategy that wins with probability $\cos^2{(\frac{\pi}{8})} \approx 0.85$ for any $n$. - Variant 2, "Goldreich-Levin": The Referee additionally samples a uniformly random $n$-bit string $r$ that is sent to Bob and Charlie along with the basis choices. Their goal is to guess the parity of $r\cdot x$. We show that the optimal advantage over random guessing decays exponentially in $n$ for the restricted class of adversaries that do not share entanglement. A similar result was already shown by Champion et al. and \c{C}akan et al.; we give a more direct proof. Additionally, we put forward a reasonably concrete conjecture that is equivalent to exponential decay for general adversaries.

quant-ph↗

arXiv2025

Quantum Lifting for Invertible Permutations and Ideal Ciphers

In this work, we derive the first lifting theorems for establishing security in the quantum random permutation and ideal cipher models. These theorems relate the success probability of an arbitrary quantum adversary to that of a classical algorithm making only a small number of classical queries. By applying these lifting theorems, we improve previous results and obtain new quantum query complexity bounds and post-quantum security results. Notably, we derive tight bounds for the quantum hardness of the double-sided zero search game and establish the post-quantum security for the preimage resistance, one-wayness, and multi-collision resistance of constant-round sponge, as well as the collision resistance of the Davies-Meyer construction.

quant-ph↗

arXiv2025

Cryptomania v.s. Minicrypt in a Quantum World

We prove that it is impossible to construct perfect-complete quantum public-key encryption (QPKE) with classical keys from quantumly secure one-way functions (OWFs) in a black-box manner, resolving a long-standing open question in quantum cryptography. Specifically, in the quantum random oracle model (QROM), no perfect-complete QPKE scheme with classical keys, and classical/quantum ciphertext can be secure. This improves the previous works which require either unproven conjectures or imposed restrictions on key generation algorithms. This impossibility extends to QPKE with quantum public key in natural settings, which is tight to all known QPKE constructions with quantum public key.

quant-ph↗

arXiv2024

Unclonable Secret Sharing

Unclonable cryptography utilizes the principles of quantum mechanics to addresses cryptographic tasks that are impossible classically. We introduce a novel unclonable primitive in the context of secret sharing, called unclonable secret sharing (USS). In a USS scheme, there are $n$ shareholders, each holding a share of a classical secret represented as a quantum state. They can recover the secret once all parties (or at least $t$ parties) come together with their shares. Importantly, it should be infeasible to copy their own shares and send the copies to two non-communicating parties, enabling both of them to recover the secret. Our work initiates a formal investigation into the realm of unclonable secret sharing, shedding light on its implications, constructions, and inherent limitations. ** Connections: We explore the connections between USS and other quantum cryptographic primitives such as unclonable encryption and position verification, showing the difficulties to achieve USS in different scenarios. **Limited Entanglement: In the case where the adversarial shareholders do not share any entanglement or limited entanglement, we demonstrate information-theoretic constructions for USS. **Large Entanglement: If we allow the adversarial shareholders to have unbounded entanglement resources (and unbounded computation), we prove that unclonable secret sharing is impossible. On the other hand, in the quantum random oracle model where the adversary can only make a bounded polynomial number of queries, we show a construction secure even with unbounded entanglement. Furthermore, even when these adversaries possess only a polynomial amount of entanglement resources, we establish that any unclonable secret sharing scheme with a reconstruction function implementable using Cliffords and logarithmically many T-gates is also unattainable.

quant-ph↗

arXiv2024

Tight Characterizations for Preprocessing against Cryptographic Salting

Cryptography often considers the strongest yet plausible attacks in the real world. Preprocessing (a.k.a. non-uniform attack) plays an important role in both theory and practice: an efficient online attacker can take advantage of advice prepared by a time-consuming preprocessing stage. Salting is a heuristic strategy to counter preprocessing attacks by feeding a small amount of randomness to the cryptographic primitive. We present general and tight characterizations of preprocessing against cryptographic salting, with upper bounds matching the advantages of the most intuitive attack. Our result quantitatively strengthens the previous work by Coretti, Dodis, Guo, and Steinberger (EUROCRYPT'18). Our proof exploits a novel connection between the non-uniform security of salted games and direct product theorems for memoryless algorithms. For quantum adversaries, we give similar characterizations for property finding games, resolving an open problem of the quantum non-uniform security of salted collision resistant hash by Chung, Guo, Liu, and Qian (FOCS'20). Our proof extends the compressed oracle framework of Zhandry (CRYPTO'19) to prove quantum strong direct product theorems for property finding games in the average-case hardness.

cs.CR↗

arXiv2024

How (not) to Build Quantum PKE in Minicrypt

The seminal work by Impagliazzo and Rudich (STOC'89) demonstrated the impossibility of constructing classical public key encryption (PKE) from one-way functions (OWF) in a black-box manner. However, the question remains: can quantum PKE (QPKE) be constructed from quantumly secure OWF? A recent line of work has shown that it is indeed possible to build QPKE from OWF, but with one caveat -- they rely on quantum public keys, which cannot be authenticated and reused. In this work, we re-examine the possibility of perfect complete QPKE in the quantum random oracle model (QROM), where OWF exists. Our first main result: QPKE with classical public keys, secret keys and ciphertext, does not exist in the QROM, if the key generation only makes classical queries. Therefore, a necessary condition for constructing such QPKE from OWF is to have the key generation classically ``un-simulatable''. Previous discussions (Austrin et al. CRYPTO'22) on the impossibility of QPKE from OWF rely on a seemingly strong conjecture. Our work makes a significant step towards a complete and unconditional quantization of Impagliazzo and Rudich's results. Our second main result extends to QPKE with quantum public keys. The second main result: QPKE with quantum public keys, classical secret keys and ciphertext, does not exist in the QROM, if the key generation only makes classical queries and the quantum public key is either pure or ``efficiently clonable''. The result is tight due to all existing QPKEs constructions. Our result further gives evidence on why existing QPKEs lose reusability. To achieve these results, we use a novel argument based on conditional mutual information and quantum Markov chain by Fawzi and Renner (Communications in Mathematical Physics). We believe the techniques used in the work will find other usefulness in separations in quantum cryptography/complexity.

quant-ph↗

arXiv2024

The NISQ Complexity of Collision Finding

Collision-resistant hashing, a fundamental primitive in modern cryptography, ensures that there is no efficient way to find distinct inputs that produce the same hash value. This property underpins the security of various cryptographic applications, making it crucial to understand its complexity. The complexity of this problem is well-understood in the classical setting and $Θ(N^{1/2})$ queries are needed to find a collision. However, the advent of quantum computing has introduced new challenges since quantum adversaries $\unicode{x2013}$ equipped with the power of quantum queries $\unicode{x2013}$ can find collisions much more efficiently. Brassard, Höyer and Tapp and Aaronson and Shi established that full-scale quantum adversaries require $Θ(N^{1/3})$ queries to find a collision, prompting a need for longer hash outputs, which impacts efficiency in terms of the key lengths needed for security. This paper explores the implications of quantum attacks in the Noisy-Intermediate Scale Quantum (NISQ) era. In this work, we investigate three different models for NISQ algorithms and achieve tight bounds for all of them: (1) A hybrid algorithm making adaptive quantum or classical queries but with a limited quantum query budget, or (2) A quantum algorithm with access to a noisy oracle, subject to a dephasing or depolarizing channel, or (3) A hybrid algorithm with an upper bound on its maximum quantum depth; i.e., a classical algorithm aided by low-depth quantum circuits. In fact, our results handle all regimes between NISQ and full-scale quantum computers. Previously, only results for the pre-image search problem were known for these models by Sun and Zheng, Rosmanis, Chen, Cotler, Huang and Li while nothing was known about the collision finding problem.

quant-ph↗