arXiv subjects

Shengbo Wang

Publications and source records attributed to Shengbo Wang.

At least 37 records · Page 2Linked to original sources

arXiv2025

Preference is More Than Comparisons: Rethinking Dueling Bandits with Augmented Human Feedback

Interactive preference elicitation (IPE) aims to substantially reduce human effort while acquiring human preferences in wide personalization systems. Dueling bandit (DB) algorithms enable optimal decision-making in IPE building on pairwise comparisons. However, they remain inefficient when human feedback is sparse. Existing methods address sparsity by heavily relying on parametric reward models, whose rigid assumptions are vulnerable to misspecification. In contrast, we explore an alternative perspective based on feedback augmentation, and introduce critical improvements to the model-free DB framework. Specifically, we introduce augmented confidence bounds to integrate augmented human feedback under generalized concentration properties, and analyze the multi-factored performance trade-off via regret analysis. Our prototype algorithm achieves competitive performance across several IPE benchmarks, including recommendation, multi-objective optimization, and response optimization for large language models, demonstrating the potential of our approach for provably efficient IPE in broader applications.

cs.LG↗

arXiv2025

Physiology-informed layered sensing for intelligent human-exoskeleton interaction

Wearable exoskeletons hold transformative promise for restoring mobility across diverse users with muscular weakness or other impairments. However, their translation beyond laboratory environments remains limited by sensing systems that capture movement but not underlying physiology. Here, we present a soft, lightweight smart leg sleeve that achieves anatomically aligned, layered multimodal sensing by integrating textile-based surface electromyography (sEMG) electrodes, ultrasensitive textile strain sensors, and inertial measurement units (IMUs). Each sensing modality targets a distinct physiological layer: IMUs track joint kinematics at the skeletal level, sEMG monitors muscle activation at the muscular level, and strain sensors detect skin deformation at the cutaneous level. Together, these sensors provide real-time perception to support three core objectives: controlling personalized assistance, optimizing user effort, and safeguarding against injury risks. The system is skin-conformal, mechanically compliant, and seamlessly integrated with a custom exoskeleton ($<20$~g total sensor and electronics weight). We demonstrate: (1) accurate ankle joint moment estimation (RMSE = 0.13~Nm/kg), (2) real-time classification of metabolic trends (accuracy = 97.1\%), and (3) injury risk detection within 100~ms (recall = 0.96), all validated on unseen users using a leave-one-subject-out protocol. This work establishes a physiology-aligned sensing architecture that reframes exoskeleton perception from motion tracking to real-time physiological decoding, offering a pathway towards intelligent, adaptive, and personalized wearable robotics.

eess.SY↗

arXiv2025

An AI-Driven Multimodal Smart Home Platform for Continuous Monitoring and Assistance in Post-Stroke Motor Impairment

At-home rehabilitation for post-stroke patients presents significant challenges, as continuous, personalized care is often limited outside clinical settings. Moreover, the lack of integrated solutions capable of simultaneously monitoring motor recovery and providing intelligent assistance in home environments hampers rehabilitation outcomes. Here, we present a multimodal smart home platform designed for continuous, at-home rehabilitation of post-stroke patients, integrating wearable sensing, ambient monitoring, and adaptive automation. A plantar pressure insole equipped with a machine learning pipeline classifies users into motor recovery stages with up to 94\% accuracy, enabling quantitative tracking of walking patterns during daily activities. An optional head-mounted eye-tracking module, together with ambient sensors such as cameras and microphones, supports seamless hands-free control of household devices with a 100\% success rate and sub-second response time. These data streams are fused locally via a hierarchical Internet of Things (IoT) architecture, ensuring low latency and data privacy. An embedded large language model (LLM) agent, Auto-Care, continuously interprets multimodal data to provide real-time interventions -- issuing personalized reminders, adjusting environmental conditions, and notifying caregivers. Implemented in a post-stroke context, this integrated smart home platform increased mean user satisfaction from 3.9 $\pm$ 0.8 in conventional home environments to 8.4 $\pm$ 0.6 with the full system ($n=20$). Beyond stroke, the system offers a scalable, patient-centered framework with potential for long-term use in broader neurorehabilitation and aging-in-place applications.

cs.HC↗

arXiv2025

EvolMathEval: Towards Evolvable Benchmarks for Mathematical Reasoning via Evolutionary Testing

The rapid advancement of Large Language Models (LLMs) poses a significant challenge to existing mathematical reasoning benchmarks. However, these benchmarks tend to become easier over time as LLMs can learn from the published benchmarks. This limitation hinder the precise evaluation of the true capabilities of SOTA models. To address this challenge, this paper introduces EvolMathEval, an automated mathematical benchmark generation and evolution framework based on evolutionary testing. Experimental results demonstrate that EvolMathEval can not only generate a large volume of high-difficulty problems through continuous self-iteration, but it can also significantly enhance the complexity of public datasets like GSM8K through evolution, reducing model accuracy by an average of 48\%. Deeper investigation reveals that when solving these evolved problems, LLMs tend to bypass complex multi-step logical reasoning by relying on simplistic and fuzzy conditions, consequently leading to incorrect solutions. We define this phenomenon as the ``Pseudo Aha Moment", which we find accounts for 77\% to 100\% of errors on targeted problems. Code and resources are available at: https://anonymous.4open.science/r/EvolMathEval

cs.AI↗

arXiv2025

Flight Dynamics to Sensing Modalities: Exploiting Drone Ground Effect for Accurate Edge Detection

Drone-based rapid and accurate environmental edge detection is highly advantageous for tasks such as disaster relief and autonomous navigation. Current methods, using radars or cameras, raise deployment costs and burden lightweight drones with high computational demands. In this paper, we propose AirTouch, a system that transforms the ground effect from a stability "foe" in traditional flight control views, into a "friend" for accurate and efficient edge detection. Our key insight is that analyzing drone basic attitude sensor readings and flight commands allows us to detect ground effect changes. Such changes typically indicate the drone flying over a boundary of two materials, making this information valuable for edge detection. We approach this insight through theoretical analysis, algorithm design, and implementation, fully leveraging the ground effect as a new sensing modality without compromising drone flight stability, thereby achieving accurate and efficient scene edge detection. We also compare this new sensing modality with vision-based methods to clarify its exclusive advantages in resource efficiency and detection capability. Extensive evaluations demonstrate that our system achieves a high detection accuracy with mean detection distance errors of 0.051m, outperforming the baseline method performance by 86%. With such detection performance, our system requires only 43 mW power consumption, contributing to this new sensing modality for low-cost and highly efficient edge detection.

cs.RO↗

arXiv2025

On the Foundation of Distributionally Robust Reinforcement Learning

Motivated by the need for a robust policy in the face of environment shifts between training and deployment, we contribute to the theoretical foundation of distributionally robust reinforcement learning (DRRL). This is accomplished through a comprehensive modeling framework centered around robust Markov decision processes (RMDPs). This framework obliges the decision maker to choose an optimal policy under the worst-case distributional shift orchestrated by an adversary. By unifying and extending existing formulations, we rigorously construct RMDPs that embrace various modeling attributes for both the decision maker and the adversary. These attributes include the structure of information availability-covering history-dependent, Markov, and Markov time-homogeneous dynamics-as well as constraints on the shifts induced by the adversary, with a focus on SA- and S-rectangularity. Within this RMDP framework, we investigate conditions for the existence or absence of the dynamic programming principle (DPP). From an algorithmic standpoint, the existence of DPP holds significant implications, as the vast majority of existing data and computationally efficient DRRL algorithms are reliant on the DPP. To investigate its existence, we systematically analyze various combinations of controller and adversary attributes, presenting streamlined proofs based on a unified methodology. We then construct counterexamples for settings where a fully general DPP fails to hold and establish asymptotically optimal history-dependent policies for key scenarios where the DPP is absent.

cs.LG↗

arXiv2025

Fault-Free Analog Computing with Imperfect Hardware

The growing demand for edge computing and AI drives research into analog in-memory computing using memristors, which overcome data movement bottlenecks by computing directly within memory. However, device failures and variations critically limit analog systems' precision and reliability. Existing fault-tolerance techniques, such as redundancy and retraining, are often inadequate for high-precision applications or scenarios requiring fixed matrices and privacy preservation. Here, we introduce and experimentally demonstrate a fault-free matrix representation where target matrices are decomposed into products of two adjustable sub-matrices programmed onto analog hardware. This indirect, adaptive representation enables mathematical optimization to bypass faulty devices and eliminate differential pairs, significantly enhancing computational density. Our memristor-based system achieved >99.999% cosine similarity for a Discrete Fourier Transform matrix despite 39% device fault rate, a fidelity unattainable with conventional direct representation, which fails with single device faults (0.01% rate). We demonstrated 56-fold bit-error-rate reduction in wireless communication and >196% density with 179% energy efficiency improvements compared to state-of-the-art techniques. This method, validated on memristors, applies broadly to emerging memories and non-electrical computing substrates, showing that device yield is no longer the primary bottleneck in analog computing hardware.

cs.ET↗

arXiv2025

Hardware-Adaptive and Superlinear-Capacity Memristor-based Associative Memory

Brain-inspired computing aims to mimic cognitive functions like associative memory, the ability to recall complete patterns from partial cues. Memristor technology offers promising hardware for such neuromorphic systems due to its potential for efficient in-memory analog computing. Hopfield Neural Networks (HNNs) are a classic model for associative memory, but implementations on conventional hardware suffer from efficiency bottlenecks, while prior memristor-based HNNs faced challenges with vulnerability to hardware defects due to offline training, limited storage capacity, and difficulty processing analog patterns. Here we introduce and experimentally demonstrate on integrated memristor hardware a new hardware-adaptive learning algorithm for associative memories that significantly improves defect tolerance and capacity, and naturally extends to scalable multilayer architectures capable of handling both binary and continuous patterns. Our approach achieves 3x effective capacity under 50% device faults compared to state-of-the-art methods. Furthermore, its extension to multilayer architectures enables superlinear capacity scaling (\(\propto N^{1.49}\ for binary patterns) and effective recalling of continuous patterns (\propto N^{1.74}\ scaling), as compared to linear capacity scaling for previous HNNs. It also provides flexibility to adjust capacity by tuning hidden neurons for the same-sized patterns. By leveraging the massive parallelism of the hardware enabled by synchronous updates, it reduces energy by 8.8x and latency by 99.7% for 64-dimensional patterns over asynchronous schemes, with greater improvements at scale. This promises the development of more reliable memristor-based associative memory systems and enables new applications research due to the significantly improved capacity, efficiency, and flexibility.

cs.LG↗

arXiv2025

Real-time raw signal genomic analysis using fully integrated memristor hardware

Advances in third-generation sequencing have enabled portable and real-time genomic sequencing, but real-time data processing remains a bottleneck, hampering on-site genomic analysis due to prohibitive time and energy costs. These technologies generate a massive amount of noisy analog signals that traditionally require basecalling and digital mapping, both demanding frequent and costly data movement on von Neumann hardware. To overcome these challenges, we present a memristor-based hardware-software co-design that processes raw sequencer signals directly in analog memory, effectively combining the separated basecalling and read mapping steps. Here we demonstrate, for the first time, end-to-end memristor-based genomic analysis in a fully integrated memristor chip. By exploiting intrinsic device noise for locality-sensitive hashing and implementing parallel approximate searches in content-addressable memory, we experimentally showcase on-site applications including infectious disease detection and metagenomic classification. Our experimentally-validated analysis confirms the effectiveness of this approach on real-world tasks, achieving a state-of-the-art 97.15% F1 score in virus raw signal mapping, with 51x speed up and 477x energy saving compared to implementation on a state-of-the-art ASIC. These results demonstrate that memristor-based in-memory computing provides a viable solution for integration with portable sequencers, enabling truly real-time on-site genomic analysis for applications ranging from pathogen surveillance to microbial community profiling.

cs.ET↗

arXiv2025

Optimal Parameter Adaptation for Safety-Critical Control via Safe Barrier Bayesian Optimization

Safety is of paramount importance in control systems to avoid costly risks and catastrophic damages. The control barrier function (CBF) method, a promising solution for safety-critical control, poses a new challenge of enhancing control performance due to its direct modification of original control design and the introduction of uncalibrated parameters. In this work, we shed light on the crucial role of configurable parameters in the CBF method for performance enhancement with a systematical categorization. Based on that, we propose a novel framework combining the CBF method with Bayesian optimization (BO) to optimize the safe control performance. Considering feasibility/safety-critical constraints, we develop a safe version of BO using the barrier-based interior method to efficiently search for promising feasible configurable parameters. Furthermore, we provide theoretical criteria of our framework regarding safety and optimality. An essential advantage of our framework lies in that it can work in model-agnostic environments, leaving sufficient flexibility in designing objective and constraint functions. Finally, simulation experiments on swing-up control and high-fidelity adaptive cruise control are conducted to demonstrate the effectiveness of our framework.

eess.SY↗

arXiv2025

Wearable intelligent throat enables natural speech in stroke patients with dysarthria

Wearable silent speech systems hold significant potential for restoring communication in patients with speech impairments. However, seamless, coherent speech remains elusive, and clinical efficacy is still unproven. Here, we present an AI-driven intelligent throat (IT) system that integrates throat muscle vibrations and carotid pulse signal sensors with large language model (LLM) processing to enable fluent, emotionally expressive communication. The system utilizes ultrasensitive textile strain sensors to capture high-quality signals from the neck area and supports token-level processing for real-time, continuous speech decoding, enabling seamless, delay-free communication. In tests with five stroke patients with dysarthria, IT's LLM agents intelligently corrected token errors and enriched sentence-level emotional and logical coherence, achieving low error rates (4.2% word error rate, 2.9% sentence error rate) and a 55% increase in user satisfaction. This work establishes a portable, intuitive communication platform for patients with dysarthria with the potential to be applied broadly across different neurological conditions and in multi-language support systems.

eess.AS↗

arXiv2025

Direct Preference-Based Evolutionary Multi-Objective Optimization with Dueling Bandit

Optimization problems find widespread use in both single-objective and multi-objective scenarios. In practical applications, users aspire for solutions that converge to the region of interest (ROI) along the Pareto front (PF). While the conventional approach involves approximating a fitness function or an objective function to reflect user preferences, this paper explores an alternative avenue. Specifically, we aim to discover a method that sidesteps the need for calculating the fitness function, relying solely on human feedback. Our proposed approach entails conducting direct preference learning facilitated by an active dueling bandit algorithm. The experimental phase is structured into three sessions. Firstly, we assess the performance of our active dueling bandit algorithm. Secondly, we implement our proposed method within the context of Multi-objective Evolutionary Algorithms (MOEAs). Finally, we deploy our method in a practical problem, specifically in protein structure prediction (PSP). This research presents a novel interactive preference-based MOEA framework that not only addresses the limitations of traditional techniques but also unveils new possibilities for optimization problems.

cs.AI↗

arXiv2025

Neuromorphic spatiotemporal optical flow: Enabling ultrafast visual perception beyond human capabilities

Optical flow, inspired by the mechanisms of biological visual systems, calculates spatial motion vectors within visual scenes that are necessary for enabling robotics to excel in complex and dynamic working environments. However, current optical flow algorithms, despite human-competitive task performance on benchmark datasets, remain constrained by unacceptable time delays (~0.6 seconds per inference, 4X human processing speed) in practical deployment. Here, we introduce a neuromorphic optical flow approach that addresses delay bottlenecks by encoding temporal information directly in a synaptic transistor array to assist spatial motion analysis. Compared to conventional spatial-only optical flow methods, our spatiotemporal neuromorphic optical flow offers the spatial-temporal consistency of motion information, rapidly identifying regions of interest in as little as 1-2 ms using the temporal motion cues derived from the embedded temporal information in the two-dimensional floating gate synaptic transistors. Thus, the visual input can be selectively filtered to achieve faster velocity calculations and various task execution. At the hardware level, due to the atomically sharp interfaces between distinct functional layers in two-dimensional van der Waals heterostructures, the synaptic transistor offers high-frequency response (~100 μs), robust non-volatility (>10000 s), and excellent endurance (>8000 cycles), enabling robust visual processing. In software benchmarks, our system outperforms state-of-the-art algorithms with a 400% speedup, frequently surpassing human-level performance while maintaining or enhancing accuracy by utilizing the temporal priors provided by the embedded temporal information.

cs.CV↗

arXiv2024

Multi-AUV Cooperative Underwater Multi-Target Tracking Based on Dynamic-Switching-enabled Multi-Agent Reinforcement Learning

In recent years, autonomous underwater vehicle (AUV) swarms are gradually becoming popular and have been widely promoted in ocean exploration or underwater tracking, etc. In this paper, we propose a multi-AUV cooperative underwater multi-target tracking algorithm especially when the real underwater factors are taken into account. We first give normally modelling approach for the underwater sonar-based detection and the ocean current interference on the target tracking process. Then, based on software-defined networking (SDN), we regard the AUV swarm as a underwater ad-hoc network and propose a hierarchical software-defined multi-AUV reinforcement learning (HSARL) architecture. Based on the proposed HSARL architecture, we propose the "Dynamic-Switching" mechanism, it includes "Dynamic-Switching Attention" and "Dynamic-Switching Resampling" mechanisms which accelerate the HSARL algorithm's convergence speed and effectively prevents it from getting stuck in a local optimum state. Additionally, we introduce the reward reshaping mechanism for further accelerating the convergence speed of the proposed HSARL algorithm in early phase. Finally, based on a proposed AUV classification method, we propose a cooperative tracking algorithm called Dynamic-Switching-Based MARL (DSBM)-driven tracking algorithm. Evaluation results demonstrate that our proposed DSBM tracking algorithm can perform precise underwater multi-target tracking, comparing with many of recent research products in terms of various important metrics.

cs.MA↗

arXiv2024

GEM: A GEneral Memristive Transistor Model

Neuromorphic devices, with their distinct advantages in energy efficiency and parallel processing, are pivotal in advancing artificial intelligence applications. Among these devices, memristive transistors have attracted significant attention due to their superior stability and operation flexibility compared to two-terminal memristors. However, the lack of a robust model that accurately captures their complex electrical behavior has hindered further exploration of their potential. In this work, we introduce the GEneral Memristive transistor (GEM) model to address this challenge. The GEM model incorporates time-dependent differential equation, a voltage-controlled moving window function, and a nonlinear current output function, enabling precise representation of both switching and output characteristics in memristive transistors. Compared to previous models, the GEM model demonstrates a 300% improvement in modeling the switching behavior, while effectively capturing the inherent nonlinearities and physical limits of these devices. This advancement significantly enhances the realistic simulation of memristive transistors, thereby facilitating further exploration and application development.

physics.app-ph↗

arXiv2024

High-Order Associative Learning Based on Memristive Circuits for Efficient Learning

Memristive associative learning has gained significant attention for its ability to mimic fundamental biological learning mechanisms while maintaining system simplicity. In this work, we introduce a high-order memristive associative learning framework with a biologically realistic structure. By utilizing memristors as synaptic modules and their state information to bridge different orders of associative learning, our design effectively establishes associations between multiple stimuli and replicates the transient nature of high-order associative learning. In Pavlov's classical conditioning experiments, our design achieves a 230% improvement in learning efficiency compared to previous works, with memristor power consumption in the synaptic modules remaining below 11 μW. In large-scale image recognition tasks, we utilize a 20*20 memristor array to represent images, enabling the system to recognize and label test images with semantic information at 100% accuracy. This scalability across different tasks highlights the framework's potential for a wide range of applications, offering enhanced learning efficiency for current memristor-based neuromorphic systems.

cs.NE↗

arXiv2024

An Efficient High-Dimensional Gradient Estimator for Stochastic Differential Equations

Overparameterized stochastic differential equation (SDE) models have achieved remarkable success in various complex environments, such as PDE-constrained optimization, stochastic control and reinforcement learning, financial engineering, and neural SDEs. These models often feature system evolution coefficients that are parameterized by a high-dimensional vector $θ\in \mathbb{R}^n$, aiming to optimize expectations of the SDE, such as a value function, through stochastic gradient ascent. Consequently, designing efficient gradient estimators for which the computational complexity scales well with $n$ is of significant interest. This paper introduces a novel unbiased stochastic gradient estimator--the generator gradient estimator--for which the computation time remains stable in $n$. In addition to establishing the validity of our methodology for general SDEs with jumps, we also perform numerical experiments that test our estimator in linear-quadratic control problems parameterized by high-dimensional neural networks. The results show a significant improvement in efficiency compared to the widely used pathwise differentiation method: Our estimator achieves near-constant computation times, increasingly outperforms its counterpart as $n$ increases, and does so without compromising estimation variance. These empirical findings highlight the potential of our proposed methodology for optimizing SDEs in contemporary applications.

math.OC↗

arXiv2024

Sample Complexity of Variance-reduced Distributionally Robust Q-learning

Dynamic decision-making under distributional shifts is of fundamental interest in theory and applications of reinforcement learning: The distribution of the environment in which the data is collected can differ from that of the environment in which the model is deployed. This paper presents two novel model-free algorithms, namely the distributionally robust Q-learning and its variance-reduced counterpart, that can effectively learn a robust policy despite distributional shifts. These algorithms are designed to efficiently approximate the $q$-function of an infinite-horizon $γ$-discounted robust Markov decision process with Kullback-Leibler ambiguity set to an entry-wise $ε$-degree of precision. Further, the variance-reduced distributionally robust Q-learning combines the synchronous Q-learning with variance-reduction techniques to enhance its performance. Consequently, we establish that it attains a minimax sample complexity upper bound of $\tilde O(|\mathbf{S}||\mathbf{A}|(1-γ)^{-4}ε^{-2})$, where $\mathbf{S}$ and $\mathbf{A}$ denote the state and action spaces. This is the first complexity result that is independent of the ambiguity size $δ$, thereby providing new complexity theoretic insights. Additionally, a series of numerical experiments confirm the theoretical findings and the efficiency of the algorithms in handling distributional shifts.

cs.LG↗