arXiv subjects

Qiuyue Liu

Publications and source records attributed to Qiuyue Liu.

7 recordsLinked to original sources

arXiv2026

FT-WBC: Learning Fault-Tolerant Whole-Body Control for Legged Loco-Manipulation

Legged manipulators combine the mobility of legged platforms with the manipulation capability of robotic arms. However, arm-induced Center-of-Mass shifts and dynamic disturbances make the system more prone to instability under actuator failures, potentially leading to falls, task failures, or safety risks. Existing fault-tolerant control methods mainly focus on locomotion alone, leaving the coupled problem of whole-body stability and arm reachability in fault-tolerant loco-manipulation largely unaddressed. To bridge this gap, we propose FT-WBC, a fault-tolerant loco-manipulation framework for robust whole-body control of legged manipulators under actuator failures. FT-WBC adopts a decoupled upper- and lower-body policy architecture and introduces two key modules: a Fault Estimator (FE) and a Posture Adaptation Module (PAM). The FE predicts faulty joints from lower-body proprioceptive histories, while the PAM uses this fault information to adapt the base posture plan generated by the arm policy, converting potentially unstable posture requests into safe and executable base posture commands. Through this fault-aware posture adaptation mechanism, FT-WBC synthesizes compensatory gaits under actuator failures and preserves as much arm workspace as possible while maintaining whole-body stability. Simulation and real-world experiments show that FT-WBC significantly improves survival rate and workspace under weakening or locked failures, and transfers zero-shot to a real legged manipulator in the real world.

cs.RO↗

arXiv2025

On the Unimodular Isomorphism Problem of Convex Lattice Polytopes

This paper studies the \emph{unimodular isomorphism problem} (UIP) of convex lattice polytopes: given two convex lattice polytopes $P$ and $P'$, decide whether there exists a unimodular affine transformation mapping $P$ to $P'$. We show that UIP is graph isomorphism hard, while the polytope congruence problem and the combinatorial polytope isomorphism problem (Akutsu, 1998; Kaibel, Schwartz, 2003) were shown to be graph isomorphism complete, and both the lattice isomorphism problem ( $\mathrm{Sikiri\acute{c}}$, $\mathrm{Sch\ddot{u}rmann}$, Vallentin, 2009) and the projective/affine polytope isomorphism problem (Kaibel, Schwartz, 2003) were shown to be graph isomorphism hard. Furthermore, inspired by protocols for lattice (non-) isomorphism (Ducas, van Woerden, 2022; Haviv, Regev, 2014), we present a statistical zero-knowledge proof system for unimodular isomorphism of lattice polytopes. Finally, we propose an algorithm that given two lattice polytopes computes all unimodular affine transformations mapping one polytope to another and, in particular, decides UIP.

math.MG↗

arXiv2024

On the classification of lattice polytopes via affine equivalence

In 1980, V. I. Arnold studied the classification problem for convex lattice polygons of a given area. Since then, this problem and its analogues have been studied by many authors, including Bárány, Lagarias, Pach, Santos, Ziegler and Zong. Despite extensive study, the structure of the representative sets in the classifications remains unclear, indicating a need for refined classification methods. In this paper, we propose a novel classification framework based on affine equivalence, which offers a fresh perspective on the problem. Our approach yields several classification results that extend and complement Bárány's work on volume and Zong's work on cardinality. These new results provide a more nuanced understanding of the structure of the representative set, offering deeper insights into the classification problem.

math.MG↗

arXiv2024

Quadratic twists of tiling number elliptic curves

A positive integer $n$ is called a tiling number if the equilateral triangle can be dissected into $nk^2$ congruent triangles for some integer $k$. An integer $n>3$ is tiling number if and only if at least one of the elliptic curves $E^{(\pm n)}:\pm ny^2=x(x-1)(x+3)$ has positive Mordell-Weil rank. Let $A$ denote one of the two curves. In this paper, using Waldspurger formula and an induction method, for $n\equiv 3,7\mod 24$ positive square-free, as well as some other residue classes, we express the parity of analytic Sha of $A$ in terms of the genus number $g(m):=\#2\mathrm{Cl}(\mathbb{Q}(\sqrt{-m}))$ as $m$ runs over factors of $n$. Together with $2$-descent method which express $\mathrm{dim}_{\mathbb{F}_2}\mathrm{Sel}_2(A/\mathbb{Q})/A[2]$ in terms of the corank of a matrix of $\mathbb{F}_2$-coefficients, we show that for $n\equiv 3,7\mod 24$ positive square-free, the analytic Sha of $A$ being odd is equivalent to that $\mathrm{Sel}_2(A/\mathbb{Q})/A[2]$ being trivial, as predicted by the BSD conjecture. We also show that, among the residue classes $3$, resp. $7\mod 24$, the subset of $n$ such that both of $E^{(n)}$ and $E^{(-n)}$ have analytic Sha odd is of limit density $0.288\cdots$ and $0.144\cdots$, respectively, in particular, they are non-tiling numbers. This exhibits two new phenomena on tiling number elliptic curves: firstly, the limit density is different from the general phenomenon on elliptic curves predicted by Bhargava-Kane-Lenstra-Poonen-Rains; secondly, the joint distribution has different behavior among different residue classes.

math.NT↗

arXiv2023

Classification and enumeration of lattice polygons in a disc

In 1980, V. I. Arnold studied the classification problem for convex lattice polygons of given area. Since then, this problem and its analogues have been studied by many authors, including $\mathrm{B\acute{a}r\acute{a}ny}$, Lagarias, Pach, Santos, Ziegler and Zong. Recently, Zong proposed two computer programs to prove Hadwiger's covering conjecture and Borsuk's partition problem, respectively, based on enumeration of the convex lattice polytopes contained in certain balls. For this purpose, similar to $\mathrm{B\acute{a}r\acute{a}ny}$ and Pach's work on volume and Liu and Zong's work on cardinality, we obtain bounds on the number of non-equivalent convex lattice polygons in a given disc. Furthermore, we propose an algorithm to enumerate these convex lattice polygons.

math.MG↗

arXiv2021

Linear Complexity of Binary Interleaved Sequences of Period 4n

Binary periodic sequences with good autocorrelation property have many applications in many aspects of communication. In past decades many series of such binary sequences have been constructed. In the application of cryptography, such binary sequences are required to have larger linear complexity. Tang and Ding \cite{X. Tang} presented a method to construct a series of binary sequences with period 4$n$ having optimal autocorrelation. Such sequences are interleaved by two arbitrary binary sequences with period $n\equiv 3\pmod 4$ and ideal autocorrelation. In this paper we present a general formula on the linear complexity of such interleaved sequences. Particularly, we show that the linear complexity of such sequences with period 4$n$ is not bigger than $2n+2$. Interleaving by several types of known binary sequences with ideal autocorrelation ($m$-sequences, Legendre, twin-prime and Hall's sequences), we present many series of such sequences having the maximum value $2n+2$ of linear complexity which gives an answer of a problem raised by N. Li and X. Tang \cite{N. Li}. Finally, in the conclusion section we show that it can be seen easily that the 2-adic complexity of all such interleaved sequences reaches the maximum value $\log_{2}(2^{4n}-1)$.

cs.IT↗

arXiv2020

$θ$-Congruent Numbers, Tiling Numbers and the Selmer Rank of Related Elliptic Curves: odd n

Several discrete geometry problems are closely related to the arithmetic theory of elliptic curves defined on the rational fields $\mathbb{Q}$. In this paper we consider the $θ$-congruent number for $θ=\fracπ{3}$ and $\frac{2π}{3}$ and tiling number n. For the case that $n\geqslant 2$ is square-free odd integer, we determine all $n$ such that the Selmer rank of elliptic curve $E_{n,\fracπ{3}}:\ y^2=x(x-n)(x+3n)$ or/and $E_{n,\frac{2π}{3}}:\ y^2=x(x+n)(x-3n)$ is zero. From this, we provide several series of non $θ$-congruent numbers for $θ=\fracπ{3}$ and $\frac{2π}{3}$, and non tiling numbers n with arbitrary many of prime divisors.

math.NT↗