arXiv subjects

Shuo Liu

Publications and source records attributed to Shuo Liu.

At least 109 records · Page 6Linked to original sources

arXiv2025

A-OctoMap: An Adaptive OctoMap for Online Path Planning

Downsampling and path planning are essential in robotics and autonomous systems, as they enhance computational efficiency and enable effective navigation in complex environments. However, current downsampling methods often fail to preserve crucial geometric information while maintaining computational efficiency, leading to challenges such as information loss during map reconstruction and the need to balance precision with computational demands. Similarly, current graph-based search algorithms for path planning struggle with fixed resolutions in complex environments, resulting in inaccurate obstacle detection and suboptimal or failed pathfinding. To address these issues, we introduce an adaptive OctoMap that utilizes a hierarchical data structure. This innovative approach preserves key geometric information during downsampling and offers a more flexible representation for pathfinding within fixed-resolution maps, all while maintaining high computational efficiency. Simulations validate our method, showing significant improvements in reducing information loss, enhancing precision, and boosting the computational efficiency of map reconstruction compared to state-of-the-art methods. For path planning, our approach enhances Jump Point Search (JPS) by increasing the success rate of pathfinding and reducing path lengths, enabling more reliable navigation in complex scenes.

cs.RO↗

arXiv2025

Preference Diffusion for Recommendation

Recommender systems predict personalized item rankings based on user preference distributions derived from historical behavior data. Recently, diffusion models (DMs) have gained attention in recommendation for their ability to model complex distributions, yet current DM-based recommenders often rely on traditional objectives like mean squared error (MSE) or recommendation objectives, which are not optimized for personalized ranking tasks or fail to fully leverage DM's generative potential. To address this, we propose PreferDiff, a tailored optimization objective for DM-based recommenders. PreferDiff transforms BPR into a log-likelihood ranking objective and integrates multiple negative samples to better capture user preferences. Specifically, we employ variational inference to handle the intractability through minimizing the variational upper bound and replaces MSE with cosine error to improve alignment with recommendation tasks. Finally, we balance learning generation and preference to enhance the training stability of DMs. PreferDiff offers three key benefits: it is the first personalized ranking loss designed specifically for DM-based recommenders and it improves ranking and faster convergence by addressing hard negatives. We also prove that it is theoretically connected to Direct Preference Optimization which indicates that it has the potential to align user preferences in DM-based recommenders via generative modeling. Extensive experiments across three benchmarks validate its superior recommendation performance and commendable general sequential recommendation capabilities. Our codes are available at https://github.com/lswhim/PreferDiff.

cs.IR↗

arXiv2025

Asynchronous BFT Consensus Made Wireless

Asynchronous Byzantine fault-tolerant (BFT) consensus protocols, known for their robustness in unpredictable environments without relying on timing assumptions, are becoming increasingly vital for wireless applications. While these protocols have proven effective in wired networks, their adaptation to wireless environments presents significant challenges. Asynchronous BFT consensus, characterized by its N parallel consensus components (e.g., asynchronous Byzantine agreement, reliable broadcast), suffers from high message complexity, leading to network congestion and inefficiency, especially in resource-constrained wireless networks. Asynchronous Byzantine agreement (ABA) protocols, a foundational component of asynchronous BFT, require careful balancing of message complexity and cryptographic overhead to achieve efficient implementation in wireless settings. Additionally, the absence of dedicated testbeds for asynchronous wireless BFT consensus protocols hinders development and performance evaluation. To address these challenges, we propose a consensus batching protocol (ConsensusBatcher), which supports both vertical and horizontal batching of multiple parallel consensus components. We leverage ConsensusBatcher to adapt three asynchronous BFT consensus protocols (HoneyBadgerBFT, BEAT, and Dumbo) from wired networks to resource-constrained wireless networks. To evaluate the performance of ConsensusBatcher-enabled consensus protocols in wireless environments, we develop and open-source a testbed for deployment and performance assessment of these protocols. Using this testbed, we demonstrate that ConsensusBatcher-based consensus reduces latency by 48% to 59% and increases throughput by 48% to 62% compared to baseline consensus protocols.

cs.DC↗

arXiv2025

Semantic Direct Modeling

Current direct modeling systems limit users to low-level interactions with vertices, edges, and faces, forcing designers to manage detailed geometric elements rather than focusing on high-level design intent. This paper introduces semantic direct modeling (SDM), a novel approach that lifts direct modeling from low-level geometric modifications to high-level semantic interactions. This is achieved by utilizing a large language model (LLM) fine-tuned with CAD-specific prompts, which can guide the LLM to reason through design intent and accurately interpret CAD commands, thereby allowing designers to express their intent using natural language. Additionally, SDM maps design intent to the corresponding geometric features in the CAD model through a new conditional, context-sensitive feature recognition method, which uses generative AI to dynamically assign feature labels based on design intent. Together, they enable a seamless flow from high-level design intent to low-level geometric modifications, bypassing tedious software interactions. The effectiveness of SDM has been validated through real mechanical design cases.

cs.HC↗

arXiv2025

OpenING: A Comprehensive Benchmark for Judging Open-ended Interleaved Image-Text Generation

Multimodal Large Language Models (MLLMs) have made significant strides in visual understanding and generation tasks. However, generating interleaved image-text content remains a challenge, which requires integrated multimodal understanding and generation abilities. While the progress in unified models offers new solutions, existing benchmarks are insufficient for evaluating these methods due to limitations in data size and diversity. To bridge this gap, we introduce OpenING, a comprehensive benchmark comprising 5,400 high-quality human-annotated instances across 56 real-world tasks. OpenING covers diverse daily scenarios such as travel guide, design, and brainstorming, offering a robust platform for challenging interleaved generation methods. In addition, we present IntJudge, a judge model for evaluating open-ended multimodal generation methods. Trained with a novel data pipeline, our IntJudge achieves an agreement rate of 82.42% with human judgments, outperforming GPT-based evaluators by 11.34%. Extensive experiments on OpenING reveal that current interleaved generation methods still have substantial room for improvement. Key findings on interleaved image-text generation are further presented to guide the development of next-generation models.

cs.CV↗

arXiv2025

Exploring and Lifting the Robustness of LLM-powered Automated Program Repair with Metamorphic Testing

In recent years, Large language model-powered Automated Program Repair (LAPR) techniques have achieved state-of-the-art bug-fixing performance and have been pervasively applied and studied in both industry and academia. Nonetheless, LLMs were proved to be highly sensitive to input prompts, with slight differences in the expressions of semantically equivalent programs potentially causing repair failures. Therefore, it is crucial to conduct robustness testing on LAPR techniques before their practical deployment. However, related research is scarce. To this end, we propose MT-LAPR, a Metamorphic Testing framework exclusively for LAPR techniques, which summarizes nine widely-recognized Metamorphic Relations (MRs) by developers across three perturbation levels: token, statement, and block. Afterward, our proposed MRs are applied to buggy codes to generate test cases, which are semantically equivalent yet to affect the inference of LAPR. Experiments are carried out on two extensively examined bug-fixing datasets, i.e., Defect4J and QuixBugs, and four bug-fixing abled LLMs released recently, demonstrating that 34.4% - 48.5% of the test cases expose the instability of LAPR techniques on average, showing the effectiveness of MT-LAPR and uncovering a positive correlation between code readability and the robustness of LAPR techniques. Inspired by the above findings, this paper uses the test cases generated by MT-LAPR as samples to train a CodeT5-based code editing model aiming at improving code readability and then embeds it into the LAPR workflow as a data preprocessing step. Extensive experiments demonstrate that this approach significantly enhances the robustness of LAPR by 49.32% at most.

cs.SE↗

arXiv2025

Auxiliary-Variable Adaptive Control Barrier Functions

This paper addresses the challenge of ensuring safety and feasibility in control systems using Control Barrier Functions (CBFs). Existing CBF-based Quadratic Programs (CBF-QPs) often encounter feasibility issues due to mixed relative degree constraints, input nullification problems, and the presence of tight or time-varying control bounds, which can lead to infeasible solutions and compromised safety. To address these challenges, we propose Auxiliary-Variable Adaptive Control Barrier Functions (AVCBFs), a novel framework that introduces auxiliary variables in auxiliary functions to dynamically adjust CBF constraints without the need of excessive additional constraints. The AVCBF method ensures that all components of the control input explicitly appear in the desired-order safety constraint, thereby improving feasibility while maintaining safety guarantees. Additionally, we introduce an automatic tuning method that iteratively adjusts AVCBF hyperparameters to ensure feasibility and safety with less conservatism. We demonstrate the effectiveness of the proposed approach in adaptive cruise control and obstacle avoidance scenarios, showing that AVCBFs outperform existing CBF methods by reducing infeasibility and enhancing adaptive safety control under tight or time-varying control bounds.

eess.SY↗

arXiv2025

Relaxation Critical Dynamics in Measurement-induced Phase Transitions

Measurement-induced phase transition (MIPT) describes the nonanalytical change of the entanglement entropy resulting from the interplay between measurement and unitary evolution. In this paper, we investigate the relaxation critical dynamics near the MIPT for different initial states in a one-dimensional quantum circuit. Specifically, when the initial state is in the volume-law phase with vanishing measurement probability, we find that the half-chain entanglement entropy $S$ decays as $S\propto t^{-1}$ with the coefficients proportional to the size of the system in the short-time stage; In contrast, when the initial state is the product state, $S$ increases with time as $S\propto \ln{t}$, consistent with previous studies. Despite these contrasting behaviors, we develop a unified scaling form to describe these scaling behaviors for different initial states where the off-critical-point effects can also be incorporated. This framework offers significant advantages for experimental MIPT detection. Our novel scheme, leveraging relaxation dynamical scaling, drastically reduces post-selection overhead, and can eliminate it completely with trackable classical simulation.

quant-ph↗

arXiv2025

Safety-Critical Planning and Control for Dynamic Obstacle Avoidance Using Control Barrier Functions

Dynamic obstacle avoidance is a challenging topic for optimal control and optimization-based trajectory planning problems. Many existing works use Control Barrier Functions (CBFs) to enforce safety constraints for control systems. CBFs are typically formulated based on the distance to obstacles, or integrated with path planning algorithms as a safety enhancement tool. However, these approaches usually require knowledge of the obstacle boundary equations or have very slow computational efficiency. In this paper, we propose a framework based on model predictive control (MPC) with discrete-time high-order CBFs (DHOCBFs) to generate a collision-free trajectory. The DHOCBFs are first obtained from convex polytopes generated through grid mapping, without the need to know the boundary equations of obstacles. Additionally, a path planning algorithm is incorporated into this framework to ensure the global optimality of the generated trajectory. We demonstrate through numerical examples that our framework allows a unicycle robot to safely and efficiently navigate tight, dynamically changing environments with both convex and nonconvex obstacles. By comparing our method to established CBF-based benchmarks, we demonstrate superior computing efficiency, length optimality, and feasibility in trajectory generation and obstacle avoidance.

cs.RO↗

arXiv2025

Field-induced phase transitions in the Kitaev-Heisenberg model: A sign-problem-free quantum Monte Carlo study and possible application to $α$-RuCl3

The frustrated magnet $α$-RuCl3 is one of the prime candidates for realizing a Kitaev quantum spin liquid (QSL). However, the existence of a field-induced intermediate QSL phase in this material remains under debate. Here, we employ sign-free numerically exact quantum Monte Carlo simulations to investigate the Kitaev-Heisenberg (KH) model on the honeycomb lattice with $K=-2J$ under an applied magnetic field along the z-direction. Our findings reveal that the system undergoes a direct quantum phase transition from a zigzag magnetically ordered phase to a spin-polarized phase at zero temperature, which belongs to the 3D XY universality class. At finite temperatures, a Berezinskii-Kosterlitz-Thouless transition line separates the spin-polarized phase from a quasi-long-range ordered state, eventually terminating at the quantum critical point. Our results convincingly show that there is no intermediate QSL phase in the KH model with a z-direction magnetic field, which we believe will shed important light on understanding experimental observations in $α$-RuCl3.

cond-mat.str-el↗

arXiv2025

Language Representation Favored Zero-Shot Cross-Domain Cognitive Diagnosis

Cognitive diagnosis aims to infer students' mastery levels based on their historical response logs. However, existing cognitive diagnosis models (CDMs), which rely on ID embeddings, often have to train specific models on specific domains. This limitation may hinder their directly practical application in various target domains, such as different subjects (e.g., Math, English and Physics) or different education platforms (e.g., ASSISTments, Junyi Academy and Khan Academy). To address this issue, this paper proposes the language representation favored zero-shot cross-domain cognitive diagnosis (LRCD). Specifically, LRCD first analyzes the behavior patterns of students, exercises and concepts in different domains, and then describes the profiles of students, exercises and concepts using textual descriptions. Via recent advanced text-embedding modules, these profiles can be transformed to vectors in the unified language space. Moreover, to address the discrepancy between the language space and the cognitive diagnosis space, we propose language-cognitive mappers in LRCD to learn the mapping from the former to the latter. Then, these profiles can be easily and efficiently integrated and trained with existing CDMs. Extensive experiments show that training LRCD on real-world datasets can achieve commendable zero-shot performance across different target domains, and in some cases, it can even achieve competitive performance with some classic CDMs trained on the full response data on target domains. Notably, we surprisingly find that LRCD can also provide interesting insights into the differences between various subjects (such as humanities and sciences) and sources (such as primary and secondary education).

cs.CL↗

arXiv2025

Gapless Symmetry-Protected Topological States in Measurement-Only Circuits

Measurement-only quantum circuits offer a versatile platform for realizing intriguing quantum phases of matter. However, gapless symmetry-protected topological (gSPT) states remain insufficiently explored in these settings. In this Letter, we generalize the notion of gSPT to the critical steady state by investigating measurement-only circuits. Using large-scale Clifford circuit simulations, we investigate the steady-state phase diagram across several families of measurement-only circuits that exhibit topological nontrivial edge states at criticality. In the Ising cluster circuits, we uncover a symmetry-enriched non-unitary critical point, termed symmetry-enriched percolation, characterized by both topologically nontrivial edge states and string operator. Additionally, we demonstrate the realization of a steady-state gSPT phase in a $\mathbb Z_4$ circuit model. This phase features topological edge modes and persists within steady-state critical phases under symmetry-preserving perturbations. Furthermore, we provide a unified theoretical framework by mapping the system to the Majorana loop model, offering deeper insights into the underlying mechanisms.

cond-mat.str-el↗

arXiv2024

Effective and Efficient Representation Learning for Flight Trajectories

Flight trajectory data plays a vital role in the traffic management community, especially for downstream tasks such as trajectory prediction, flight recognition, and anomaly detection. Existing works often utilize handcrafted features and design models for different tasks individually, which heavily rely on domain expertise and are hard to extend. We argue that different flight analysis tasks share the same useful features of the trajectory. Jointly learning a unified representation for flight trajectories could be beneficial for improving the performance of various tasks. However, flight trajectory representation learning (TRL) faces two primary challenges, \ie unbalanced behavior density and 3D spatial continuity, which disable recent general TRL methods. In this paper, we propose Flight2Vec , a flight-specific representation learning method to address these challenges. Specifically, a behavior-adaptive patching mechanism is used to inspire the learned representation to pay more attention to behavior-dense segments. Moreover, we introduce a motion trend learning technique that guides the model to memorize not only the precise locations, but also the motion trend to generate better representations. Extensive experimental results demonstrate that Flight2Vec significantly improves performance in downstream tasks such as flight trajectory prediction, flight recognition, and anomaly detection.

cs.AI↗

arXiv2024

Tensor-involved peridynamics: A unified framework for isotropic and anisotropic materials

In this paper, we introduce tensor involved peridynamics, a unified framework for simulating both isotropic and anisotropic materials. While traditional peridynamics models effectively simulate isotropic materials, they face challenges with anisotropic materials and are prone to instability caused by zero energy modes. Our novel model extend the linear bond based peridynamics framework by incorporating the elastic tensor into the micrmodulus function, thereby ensuring stability for anisotropic materials without the need for additional corrections. For isotropic materials. the model mantains compatibility with conventional bond based peridynamics, assuming Possion's rations of 1/4 in 3D and 1/3 in 2D.Numerical experiments confirm the model's stability and accuracy across various scenarios. Additionally, we introduce a damage model for isotropic materials. validating its performance in predicting crack propagation paths in a 2D plate. The results show superior alignment with experimental date compared to traditional model.

cond-mat.mtrl-sci↗

arXiv2024

Partially Synchronous BFT Consensus Made Practical in Wireless Networks

Consensus is becoming increasingly important in wireless networks. Partially synchronous BFT consensus, a significant branch of consensus, has made considerable progress in wired networks. However, its implementation in wireless networks, especially in dynamic ad hoc wireless networks, remains challenging. Existing wireless synchronous consensus protocols, despite being well-developed, are not readily adaptable to partially synchronous settings. Additionally, reliable communication, a cornerstone of BFT consensus, can lead to high message and time complexity in wireless networks. To address these challenges, we propose a wireless communication protocol called ReduceCatch (Reduce and Catch) that supports reliable 1-to-N, N-to-1, and N-to-N communications. We employ ReduceCatch to tailor three partially synchronous BFT consensus protocols (PBFT, Tendermint, and HotStuff) for seamless adaptation from wired to ad hoc wireless networks. To evaluate the performance of the ReduceCatch-enabled consensus protocols, we develop a three-layer wireless consensus testbed, based on which we implement 20 distinct consensus protocols and measure their latency and throughput. The experimental results demonstrate the superiority of the ReduceCatch-based consensus protocol in terms of latency and throughput.

cs.NI↗

arXiv2024

Driven Critical Dynamics in Measurement-induced Phase Transitions

Measurement-induced phase transitions (MIPT), characterizing abrupt changes in entanglement properties in quantum many-body systems subjected to unitary evolution with interspersed projective measurements, have garnered increasing interest. In this work, we generalize the Kibble-Zurek (KZ) driven critical dynamics that has achieved great success in traditional quantum and classical phase transitions to MIPT. By linearly changing the measurement probability $p$ to cross the critical point $p_c$ with driving velocity $R$, we identify the dynamic scaling relation of the entanglement entropy $S$ versus $R$ at $p_c$. For decreasing $p$ from the area-law phase, $S$ satisfies $S\propto \ln R$; while for increasing $p$ from the volume-law phase, $S$ satisfies $S\propto R^{1/r}$ in which $r=z+1/ν$ with $z$ and $ν$ being the dynamic and correlation length exponents, respectively. Moreover, we find that the driven dynamics from the volume-law phase violates the adiabatic-impulse scenario of the KZ mechanism. In spite of this, a unified finite-time scaling (FTS) form can be developed to describe these scaling behaviors. Besides, the dynamic scaling of the entanglement entropy of an auxiliary qubit $S_Q$ is also investigated to further confirm the universality of the FTS form. By successfully establishing the driven dynamic scaling theory of this newfashioned entanglement transition, we bring a new fundamental perspective into MIPT that can be detected in fast-developing quantum computers.

quant-ph↗

arXiv2024

Symmetry restoration and quantum Mpemba effect in symmetric random circuits

Entanglement asymmetry, which serves as a diagnostic tool for symmetry breaking and a proxy for thermalization, has recently been proposed and studied in the context of symmetry restoration for quantum many-body systems undergoing a quench. In this Letter, we investigate symmetry restoration in various symmetric random quantum circuits, particularly focusing on the U(1) symmetry case. In contrast to non-symmetric random circuits where the U(1) symmetry of a small subsystem can always be restored at late times, we reveal that symmetry restoration can fail in U(1)-symmetric circuits for certain weak symmetry-broken initial states in finite-size systems. In the early-time dynamics, we observe an intriguing quantum Mpemba effect implying that symmetry is restored faster when the initial state is more asymmetric. Furthermore, we also investigate the entanglement asymmetry dynamics for SU(2) and $Z_{2}$ symmetric circuits and identify the presence and absence of the quantum Mpemba effect for the corresponding symmetries, respectively. A unified understanding of these results is provided through the lens of quantum thermalization with conserved charges.

quant-ph↗

arXiv2024

Co-clustering for Federated Recommender System

As data privacy and security attract increasing attention, Federated Recommender System (FRS) offers a solution that strikes a balance between providing high-quality recommendations and preserving user privacy. However, the presence of statistical heterogeneity in FRS, commonly observed due to personalized decision-making patterns, can pose challenges. To address this issue and maximize the benefit of collaborative filtering (CF) in FRS, it is intuitive to consider clustering clients (users) as well as items into different groups and learning group-specific models. Existing methods either resort to client clustering via user representations-risking privacy leakage, or employ classical clustering strategies on item embeddings or gradients, which we found are plagued by the curse of dimensionality. In this paper, we delve into the inefficiencies of the K-Means method in client grouping, attributing failures due to the high dimensionality as well as data sparsity occurring in FRS, and propose CoFedRec, a novel Co-clustering Federated Recommendation mechanism, to address clients heterogeneity and enhance the collaborative filtering within the federated framework. Specifically, the server initially formulates an item membership from the client-provided item networks. Subsequently, clients are grouped regarding a specific item category picked from the item membership during each communication round, resulting in an intelligently aggregated group model. Meanwhile, to comprehensively capture the global inter-relationships among items, we incorporate an additional supervised contrastive learning term based on the server-side generated item membership into the local training phase for each client. Extensive experiments on four datasets are provided, which verify the effectiveness of the proposed CoFedRec.

cs.IR↗