arXiv subjects

Shuo Liu

Publications and source records attributed to Shuo Liu.

At least 91 records · Page 5Linked to original sources

arXiv2025

Learning-Enabled Iterative Convex Optimization for Safety-Critical Model Predictive Control

Safety remains a central challenge in control of dynamical systems, particularly when the boundaries of unsafe sets are complex (e.g., nonconvex, nonsmooth) or unknown. This paper proposes a learning-enabled framework for safety-critical Model Predictive Control (MPC) that integrates Discrete-Time High-Order Control Barrier Functions (DHOCBFs) with iterative convex optimization. Unlike existing methods that primarily address CBFs of relative degree one with fully known unsafe set boundaries, our approach generalizes to arbitrary relative degrees and addresses scenarios where the unsafe set boundaries must be inferred. We extract pixel-based data specifically from unsafe set boundaries and train a neural network to approximate local linearizations of these boundaries. The learned models are incorporated into the linearized DHOCBF constraints at each time step, enabling real-time constraint satisfaction within the MPC framework. An iterative convex optimization procedure is developed to accelerate computation while maintaining formal safety guarantees. The benefits of computational performance and safe avoidance of obstacles with diverse shapes are examined and confirmed through numerical results. By bridging model-based control with learning-based environment modeling, this framework advances safe autonomy for discrete-time systems operating in complex and partially known settings.

eess.SY↗

arXiv2025

Control Barrier Functions via Minkowski Operations for Safe Navigation among Polytopic Sets

Safely navigating around obstacles while respecting the dynamics, control, and geometry of the underlying system is a key challenge in robotics. Control Barrier Functions (CBFs) generate safe control policies by considering system dynamics and geometry when calculating safe forward-invariant sets. Existing CBF-based methods often rely on conservative shape approximations, like spheres or ellipsoids, which have explicit and differentiable distance functions. In this paper, we propose an optimization-defined CBF that directly considers the exact Signed Distance Function (SDF) between a polytopic robot and polytopic obstacles. Inspired by the Gilbert-Johnson-Keerthi (GJK) algorithm, we formulate both (i) minimum distance and (ii) penetration depth between polytopic sets as convex optimization problems in the space of Minkowski difference operations (the MD-space). Convenient geometric properties of the MD-space enable the derivatives of implicit SDF between two polytopes to be computed via differentiable optimization. We demonstrate the proposed framework in three scenarios including pure translation, initialization inside an unsafe set, and multi-obstacle avoidance. These three scenarios highlight the generation of a non-conservative maneuver, a recovery after starting in collision, and the consideration of multiple obstacles via pairwise CBF constraint, respectively.

cs.RO↗

arXiv2025

Enhanced Mean Field Game for Interactive Decision-Making with Varied Stylish Multi-Vehicles

This paper presents an MFG-based decision-making framework for autonomous driving in heterogeneous traffic. To capture diverse human behaviors, we propose a quantitative driving style representation that maps abstract traits to parameters such as speed, safety factors, and reaction time. These parameters are embedded into the MFG through a spatial influence field model. To ensure safe operation in dense traffic, we introduce a safety-critical lane-changing algorithm that leverages dynamic safety margins, time-to-collision analysis, and multi-layered constraints. Real-world NGSIM data is employed for style calibration and empirical validation. Experimental results demonstrate zero collisions across six style combinations, two 15-vehicle scenarios, and NGSIM-based trials, consistently outperforming conventional game-theoretic baselines. Overall, our approach provides a scalable, interpretable, and behavior-aware planning framework for real-world autonomous driving applications.

cs.RO↗

arXiv2025

Traj-MLLM: Can Multimodal Large Language Models Reform Trajectory Data Mining?

Building a general model capable of analyzing human trajectories across different geographic regions and different tasks becomes an emergent yet important problem for various applications. However, existing works suffer from the generalization problem, \ie, they are either restricted to train for specific regions or only suitable for a few tasks. Given the recent advances of multimodal large language models (MLLMs), we raise the question: can MLLMs reform current trajectory data mining and solve the problem? Nevertheless, due to the modality gap of trajectory, how to generate task-independent multimodal trajectory representations and how to adapt flexibly to different tasks remain the foundational challenges. In this paper, we propose \texttt{Traj-MLLM}}, which is the first general framework using MLLMs for trajectory data mining. By integrating multiview contexts, \texttt{Traj-MLLM}} transforms raw trajectories into interleaved image-text sequences while preserving key spatial-temporal characteristics, and directly utilizes the reasoning ability of MLLMs for trajectory analysis. Additionally, a prompt optimization method is proposed to finalize data-invariant prompts for task adaptation. Extensive experiments on four publicly available datasets show that \texttt{Traj-MLLM}} outperforms state-of-the-art baselines by $48.05\%$, $15.52\%$, $51.52\%$, $1.83\%$ on travel time estimation, mobility prediction, anomaly detection and transportation mode identification, respectively. \texttt{Traj-MLLM}} achieves these superior performances without requiring any training data or fine-tuning the MLLM backbones.

cs.MM↗

arXiv2025

$X$-evolve: Solution space evolution powered by large language models

While combining large language models (LLMs) with evolutionary algorithms (EAs) shows promise for solving complex optimization problems, current approaches typically evolve individual solutions, often incurring high LLM call costs. We introduce $X$-evolve, a paradigm-shifting method that instead evolves solution spaces $X$ (sets of individual solutions) - subsets of the overall search space $S$. In $X$-evolve, LLMs generate tunable programs wherein certain code snippets, designated as parameters, define a tunable solution space. A score-based search algorithm then efficiently explores this parametrically defined space, guided by feedback from objective function scores. This strategy enables broader and more efficient exploration, which can potentially accelerate convergence at a much lower search cost, requiring up to two orders of magnitude fewer LLM calls than prior leading methods. We demonstrate $X$-evolve's efficacy across three distinct hard optimization problems. For the cap set problem, we discover a larger partial admissible set, establishing a new tighter asymptotic lower bound for the cap set constant ($C \ge 2.2203$). In information theory, we uncover a larger independent set for the 15-vertex cycle graph ($\mathcal{C}_{15}^{\boxtimes 5}$, size 19,946), thereby raising the known lower bound on its Shannon capacity. Furthermore, for the NP-hard online bin packing problem, we generate heuristics that consistently outperform standard strategies across established benchmarks. By evolving solution spaces, our method considerably improves search effectiveness, making it possible to tackle high-dimensional problems that were previously computationally prohibitive.

cs.AI↗

arXiv2025

Supersymmetry dynamics on Rydberg atom arrays

Spacetime supersymmetry (SUSY) that interchanges fermions and bosons is of great theoretical importance but has not yet been revealed experimentally in particle physics. It has also been desired to explore quantum-mechanical SUSY in microscopic lattice models. Inspired by the recent experiments of Floquet engineering of Rydberg atom arrays, we propose to simulate quantum mechanical supersymmetric model and realize quantum mechanical SUSY in Floquet Rydberg atom arrays. Moreover, we utilize the supercharge dynamics to demonstrate the SUSY property of the model under investigation: the expectation value of supercharge freezes under time evolution for supersymmetric lattice models in contrast to the trivial oscillation for generic nonsupersymmetric lattice models. The proposal is validated on direct simulation of Rydberg atom arrays' dynamics and ready for experiments. This work sheds light on the future experimental exploration of SUSY with the help of Rydberg atom arrays.

cond-mat.str-el↗

arXiv2025

Quantum Mpemba Effects from Symmetry Perspectives

Non-equilibrium dynamics have become a central research focus, exemplified by the counterintuitive Mpemba effect where initially hotter systems can cool faster than colder ones. Studied extensively in both classical and quantum regimes, this phenomenon reveals diverse and complex behaviors across different systems. This review provides a concise overview of the quantum Mpemba effect (QME), specifically emphasizing its connection to symmetry breaking and restoration in closed quantum many-body systems. We begin by outlining the classical Mpemba effect and its quantum counterparts, summarizing key findings. Subsequently, we introduce entanglement asymmetry and charge variance as key metrics for probing the QME from symmetry perspectives. Leveraging these tools, we analyze the early- and late-time dynamics of these quantities under Hamiltonian evolution and random unitary circuits. We conclude by discussing significant challenges and promising avenues for future research.

quant-ph↗

arXiv2025

Subsystem Information Capacity in Random Circuits and Hamiltonian Dynamics

In this study, we explore the information capacity of open quantum systems, focusing on the effective channels formed by the subsystem of random quantum circuits and quantum Hamiltonian evolution. By analyzing the subsystem information capacity, which is closely linked to quantum coherent information of these effective quantum channels, we uncover a diverse range of dynamical and steady behaviors depending on the types of evolution. Therefore, the subsystem information capacity serves as a valuable tool for studying the intrinsic nature of various dynamical phases, such as integrable, localized, thermalized, and topological systems. We also reveal the impact of different initial information encoding schemes on information dynamics including one-to-one, one-to-many, and many-to-many. To support our findings, we provide representative examples for numerical simulations, including random quantum circuits with or without mid-circuit measurements, random Clifford Floquet circuits, free and interacting Aubry-André models, and Su-Schrieffer-Heeger models. These numerical results are further quantitatively explained using the effective statistical model mapping and the quasiparticle picture in the cases of random circuits and non-interacting Hamiltonian dynamics, respectively.

quant-ph↗

arXiv2025

VIMS: A Visual-Inertial-Magnetic-Sonar SLAM System in Underwater Environments

In this study, we present a novel simultaneous localization and mapping (SLAM) system, VIMS, designed for underwater navigation. Conventional visual-inertial state estimators encounter significant practical challenges in perceptually degraded underwater environments, particularly in scale estimation and loop closing. To address these issues, we first propose leveraging a low-cost single-beam sonar to improve scale estimation. Then, VIMS integrates a high-sampling-rate magnetometer for place recognition by utilizing magnetic signatures generated by an economical magnetic field coil. Building on this, a hierarchical scheme is developed for visual-magnetic place recognition, enabling robust loop closure. Furthermore, VIMS achieves a balance between local feature tracking and descriptor-based loop closing, avoiding additional computational burden on the front end. Experimental results highlight the efficacy of the proposed VIMS, demonstrating significant improvements in both the robustness and accuracy of state estimation within underwater environments.

cs.RO↗

arXiv2025

Startup Acquisitions: Acquihires and Talent Hoarding

We study how competitive forces may drive firms to inefficiently acquire startup talent. In our model, two rival firms have the capacity to acquire and integrate a startup operating in an orthogonal market. We show that firms may pursue such acquihires primarily as a preemptive strategy, even when they appear unprofitable in isolation. Thus, acquihires, even absent traditional competition-reducing effects, need not be benign, as they can lead to inefficient talent allocation. Additionally, our analysis underscores that such talent hoarding can diminish consumer surplus and exacerbate job volatility for acquihired employees.

econ.GN↗

arXiv2025

dots.llm1 Technical Report

Mixture of Experts (MoE) models have emerged as a promising paradigm for scaling language models efficiently by activating only a subset of parameters for each input token. In this report, we present dots.llm1, a large-scale MoE model that activates 14B parameters out of a total of 142B parameters, delivering performance on par with state-of-the-art models while reducing training and inference costs. Leveraging our meticulously crafted and efficient data processing pipeline, dots.llm1 achieves performance comparable to Qwen2.5-72B after pretraining on 11.2T high-quality tokens and post-training to fully unlock its capabilities. Notably, no synthetic data is used during pretraining. To foster further research, we open-source intermediate training checkpoints at every one trillion tokens, providing valuable insights into the learning dynamics of large language models.

cs.CL↗

arXiv2025

MiMo: Unlocking the Reasoning Potential of Language Model -- From Pretraining to Posttraining

We present MiMo-7B, a large language model born for reasoning tasks, with optimization across both pre-training and post-training stages. During pre-training, we enhance the data preprocessing pipeline and employ a three-stage data mixing strategy to strengthen the base model's reasoning potential. MiMo-7B-Base is pre-trained on 25 trillion tokens, with additional Multi-Token Prediction objective for enhanced performance and accelerated inference speed. During post-training, we curate a dataset of 130K verifiable mathematics and programming problems for reinforcement learning, integrating a test-difficulty-driven code-reward scheme to alleviate sparse-reward issues and employing strategic data resampling to stabilize training. Extensive evaluations show that MiMo-7B-Base possesses exceptional reasoning potential, outperforming even much larger 32B models. The final RL-tuned model, MiMo-7B-RL, achieves superior performance on mathematics, code and general reasoning tasks, surpassing the performance of OpenAI o1-mini. The model checkpoints are available at https://github.com/xiaomimimo/MiMo.

cs.CL↗

arXiv2025

MiMo-VL Technical Report

We open-source MiMo-VL-7B-SFT and MiMo-VL-7B-RL, two powerful vision-language models delivering state-of-the-art performance in both general visual understanding and multimodal reasoning. MiMo-VL-7B-RL outperforms Qwen2.5-VL-7B on 35 out of 40 evaluated tasks, and scores 59.4 on OlympiadBench, surpassing models with up to 78B parameters. For GUI grounding applications, it sets a new standard with 56.1 on OSWorld-G, even outperforming specialized models such as UI-TARS. Our training combines four-stage pre-training (2.4 trillion tokens) with Mixed On-policy Reinforcement Learning (MORL) integrating diverse reward signals. We identify the importance of incorporating high-quality reasoning data with long Chain-of-Thought into pre-training stages, and the benefits of mixed RL despite challenges in simultaneous multi-domain optimization. We also contribute a comprehensive evaluation suite covering 50+ tasks to promote reproducibility and advance the field. The model checkpoints and full evaluation suite are available at https://github.com/XiaomiMiMo/MiMo-VL.

cs.CL↗

arXiv2025

Numerical instability of non-Hermitian Hamiltonian evolutions

The extreme sensitivity of non-Hermitian Hamiltonians exhibiting the non-Hermitian skin effect (NHSE) has been extensively studied in recent years with well-established theoretical explanations. However, this sensitivity is often overlooked in numerical simulations, leading to unreliable results. In this work, we reexamine Hatano-Nelson and symplectic Hatano-Nelson models studied in previous work [Kawabata \textit{et al}., Phys. Rev. X 13, 021007 (2023)], and compare their results with our high-precision calculations. We systematically investigate inaccuracies in physical results arising from numerical instability during diagonalization and non-Hermitian Hamiltonian evolution. We find that these instabilities arise from a large condition number that scales exponentially with system size due to the NHSE, signaling strong non-normality. Strikingly, a reliable spectrum alone is shown to be insufficient for accurate non-Hermitian evolution, while the reliability of wave functions plays a more critical role. Our findings underscore the necessity of evaluating the condition number to ensure the validity of numerical studies on systems with NHSE, implying that some prior numerical findings in this area may require careful reexamination.

quant-ph↗

arXiv2025

Quantum feedback induced entanglement relaxation and dynamical phase transition in monitored free fermion chains with Wannier-Stark ladder

In recent years, measurement induced entanglement transitions (MIETs) have attracted significant attention. However, the dynamical transition associated with the feedback induced skin effect, which exhibits a wealth of intriguing phenomena, has not been fully understood. In this work, we investigate a dynamical phase transition in a tilted free-fermion chain under measurement-feedback protocols, emphasizing the particle density and entanglement entropy dynamics. We reveal a feedback induced skin effect, enhanced by the Wannier-Stark ladder potential, that creates localization at one boundary and generates an effective pseudo edge under periodic conditions. The observables show a two-stage evolution: a rapid initial logarithmic growth followed by decay into an area-law steady state. Using a rescaling analysis, we pinpoint the critical behavior and offer an intuitive physical picture that links it to the feedback-driven suppression of quantum jump fluctuations. The resulting entanglement dynamics appear to be governed by a system-size-dependent delay, followed by a size-independent relaxation process. This behavior is consistent with the ballistic propagation of free fermions toward a domain-wall-like steady state and does not exhibit any signatures of nontrivial criticality. This work provides an effective supplement to the dynamical transition. It provides valuable references for linking the dynamical understanding of the role feedback plays in MIETs.

quant-ph↗

arXiv2025

Fixing Incomplete Value Function Decomposition for Multi-Agent Reinforcement Learning

Value function decomposition methods for cooperative multi-agent reinforcement learning compose joint values from individual per-agent utilities, and train them using a joint objective. To ensure that the action selection process between individual utilities and joint values remains consistent, it is imperative for the composition to satisfy the individual-global max (IGM) property. Although satisfying IGM itself is straightforward, most existing methods (e.g., VDN, QMIX) have limited representation capabilities and are unable to represent the full class of IGM values, and the one exception that has no such limitation (QPLEX) is unnecessarily complex. In this work, we present a simple formulation of the full class of IGM values that naturally leads to the derivation of QFIX, a novel family of value function decomposition models that expand the representation capabilities of prior models by means of a thin "fixing" layer. We derive multiple variants of QFIX, and implement three variants in two well-known multi-agent frameworks. We perform an empirical evaluation on multiple SMACv2 and Overcooked environments, which confirms that QFIX (i) succeeds in enhancing the performance of prior methods, (ii) learns more stably and performs better than its main competitor QPLEX, and (iii) achieves this while employing the simplest and smallest mixing models.

cs.LG↗

arXiv2025

Rapid diagnostics of reconfigurable intelligent surfaces using space-time-coding modulation

Reconfigurable intelligent surfaces (RISs) have emerged as a key technology for shaping smart wireless environments in next-generation wireless communication systems. To support the large-scale deployment of RISs, a reliable and efficient diagnostic method is essential to ensure optimal performance. In this work, a robust and efficient approach for RIS diagnostics is proposed using a space-time coding strategy with orthogonal codes. The method encodes the reflected signals from individual RIS elements into distinct code channels, enabling the recovery of channel power at the receiving terminals for fault identification. Theoretical analysis shows that the normally functioning elements generate high power in their respective code channels, whereas the faulty elements exhibit significantly lower power. This distinction enables rapid and accurate diagnostics of elements' operational states through simple signal processing techniques. Simulation results validate the effectiveness of the proposed method, even under high fault ratios and varying reception angles. Proof-of-principle experiments on two RIS prototypes are conducted, implementing two coding strategies: direct and segmented. Experimental results in a realistic scenario confirm the reliability of the diagnostic method, demonstrating its potential for large-scale RIS deployment in future wireless communication systems and radar applications.

physics.optics↗

arXiv2025

AlphaFuse: Learn ID Embeddings for Sequential Recommendation in Null Space of Language Embeddings

Recent advancements in sequential recommendation have underscored the potential of Large Language Models (LLMs) for enhancing item embeddings. However, existing approaches face three key limitations: 1) the degradation of the semantic space when high-dimensional language embeddings are mapped to lower-dimensional ID embeddings, 2) the underutilization of language embeddings, and 3) the reliance on additional trainable parameters, such as an adapter, to bridge the gap between the semantic and behavior spaces. In this paper, we introduce AlphaFuse, a simple but effective language-guided learning strategy that addresses these challenges by learning ID embeddings within the null space of language embeddings. Specifically, we decompose the semantic space of language embeddings via Singular Value Decomposition (SVD), distinguishing it into a semantic-rich row space and a semantic-sparse null space. Collaborative signals are then injected into the null space, while preserving the rich semantics of the row space. AlphaFuse prevents degradation of the semantic space, integrates the retained language embeddings into the final item embeddings, and eliminates the need for auxiliary trainable modules, enabling seamless adaptation to any sequential recommendation framework. We validate the effectiveness and flexibility of AlphaFuse through extensive experiments on three benchmark datasets, including cold-start user and long-tail settings, showcasing significant improvements in both discriminative and diffusion-based generative sequential recommenders. Our codes and datasets are available at https://github.com/Hugo-Chinn/AlphaFuse.

cs.IR↗