arXiv subjects

Tianyang Chen

Publications and source records attributed to Tianyang Chen.

13 recordsLinked to original sources

arXiv2026

An encoded asymmetric ligand for metal-selective topological assembly of two-dimensional metal-organic frameworks

Two-dimensional metal-organic frameworks (2D MOFs), with diverse topological architectures, provide a powerful platform for exploring unconventional electronic and lattice-dynamical responses. Yet their structural diversity remains fundamentally constrained by the fixed geometry of high-symmetry ligands. Here, we introduce an encoded asymmetric ligand, benzo[b]triphenylene-2,3,6,7,11,12-hexaol (BTH), for metal-selective topological assembly. By integrating multi-site coordination fields with sterically differentiated environments, BTH exhibits distinct topological programmability: different divalent metal ions direct divergent framework architectures. Specifically, coordination of BTH with divalent Cu(II) and Zn(II) ions assembles Cu-BTH-MOF with a dual-mode hexagonal pore topology and Zn-BTH-MOF with uniform hexagonal channels, respectively, as supported by PXRD Pawley refinement, structural simulations, and pore-size distribution analysis. Furthermore, this topological divergence is accompanied by a significant divergence in charge-transport properties, with Cu-BTH-MOF reaching an electrical conductivity of 1.186 x 10-3 S cm-1, more than six orders of magnitude higher than that of Zn-BTH-MOF (3.38 x 10-10 S cm-1). This work establishes ligand desymmetrization as a programmable strategy for metal-selective topological diversification in 2D MOFs.

cond-mat.mtrl-sci↗

arXiv2026

AgilePE: Autonomous UAV Pursuit-Evasion via Self-Play Reinforcement Learning

Autonomous pursuit-evasion is a fundamental challenge for Unmanned Aerial Vehicles (UAVs), requiring rapid decision-making under tightly coupled dynamics and continuously changing opponent behaviors. Traditional rule-based or differential-game approaches often struggle with high-dimensional aerial interactions and agile maneuvering. We present AgilePE, a complete system for autonomous UAV pursuit-evasion via self-play reinforcement learning. AgilePE integrates agile low-level control, competitive policy optimization, and sim-to-real deployment in a unified framework. The policy directly maps onboard state observations to Collective Thrust and Body Rates (CTBR) commands, enabling end-to-end agile maneuvering without intermediate trajectory planners or waypoint controllers. For training, we use competitive self-play with Prioritized Fictitious Self-Play (PFSP) and a diversified opponent pool, enabling agents to improve against historical policies while stabilizing optimization and reducing policy oscillation. This process leads to the emergence of sophisticated pursuit and evasion strategies. For real-world deployment, we develop a hardware-aligned simulation pipeline that models actuator-response dynamics, communication latency, and domain randomization. The learned policies transfer zero-shot to real quadrotors without task-specific tuning. Real-world experiments reproduce pursuit-evasion tactics observed in simulation, including rapid dodging and flanking, and demonstrate interactive two-agent zero-shot deployment.

cs.RO↗

arXiv2026

Towards Precise Intent-Aligned VLA Aerial Navigation via Expert-Guided GRPO

Vision-Language-Action (VLA) models offer a promising end-to-end paradigm for unmanned aerial vehicles (UAVs) to accomplish complex tasks specified by fine-grained instructions. However, standard supervised fine-tuning (SFT) suffers from data scarcity, limited generalization, and weak supervision for nuanced and complicated human intents. Reinforcement fine-tuning offers a natural way to mitigate these challenges and align policy behaviors with human intents through designable feedback, but applying it to aerial navigation remains challenging due to inefficient exploration in expansive continuous spaces. To address these challenges, we introduce an efficient reinforcement learning (RL) framework for VLA-based aerial navigation. At its core, we propose EG-GRPO (Expert-Guided Group Relative Policy Optimization) to augment online rollouts with few-shot expert data. Additionally, we design a heterogeneous pipeline enabling parallel simulation and inference, which reduces rollout time by 43.5%. Across multiple tasks specified by complex human intents, EG-GRPO improves the success rate to 2.13x that of the SFT baseline, while improving intent alignment performance by 60.9%. These results demonstrate that our framework can move aerial navigation toward precise intent-aligned flight.

cs.RO↗

arXiv2026

Measurement-Adapted Eigentask Representations for Photon-Limited Optical Readout

Optical readout in low-light imaging is fundamentally limited by measurement noise, including photon shot noise, detector noise, and quantization error. In this regime, downstream inference depends not only on the optical front end, but also on how noisy high-dimensional sensor measurements are represented before classification or decision-making. Here we show that eigentasks provide a measurement-adapted representation for optical sensor outputs by ordering readout features according to their resolvability under noise. Using experimental data from a lens-based optical imaging system and a reanalysis of published data from a single-photon-detection neural network, we find that eigentask representations frequently outperform standard baselines including principal component analysis and filtering-based compression. The advantage is most pronounced in photon-limited, few-shot, and higher-difficulty classification regimes. In few-shot MPEG-7 classification, for example, the advantage over other methods reaches about 10 percentage points as the number of classes increases. In these settings, eigentasks yield more informative low-dimensional features and improve sample-efficient downstream learning. These results identify measurement-adapted representation as a promising strategy for optical inference when photon budget, acquisition time, and task complexity are constrained.

physics.optics↗

arXiv2026

Vision-Language-Action in Robotics: A Survey of Datasets, Benchmarks, and Data Engines

Despite remarkable progress in Vision--Language--Action (VLA) models, a central bottleneck remains underexamined: the data infrastructure that underlies embodied learning. In this survey, we argue that future advances in VLA will depend less on model architecture and more on the co-design of high-fidelity data engines and structured evaluation protocols. To this end, we present a systematic, data-centric analysis of VLA research organized around three pillars: datasets, benchmarks, and data engines. For datasets, we categorize real-world and synthetic corpora along embodiment diversity, modality composition, and action space formulation, revealing a persistent fidelity-cost trade-off that fundamentally constrains large-scale collection. For benchmarks, we analyze task complexity and environment structure jointly, exposing structural gaps in compositional generalization and long-horizon reasoning evaluation that existing protocols fail to address. For data engines, we examine simulation-based, video-reconstruction, and automated task-generation paradigms, identifying their shared limitations in physical grounding and sim-to-real transfer. Synthesizing these analyses, we distill four open challenges: representation alignment, multimodal supervision, reasoning assessment, and scalable data generation. Addressing them, we argue, requires treating data infrastructure as a first-class research problem rather than a background concern.

cs.RO↗

arXiv2026

Atomic-scale origin of charge density wave-driven metal-semiconductor transition in an incommensurately modulated metal-organic framework

The intrinsic incommensurate charge density wave in metal-organic frameworks has remained elusive due to the lack of direct evidence linking atomic-scale structural modulation to macroscopic electronic properties. Using high-quality Pr3HHTP2 (HHTP = 2,3,6,7,10,11-hexahydroxytriphenylene) single crystals as a model system, we precisely resolve, for the first time, the incommensurately modulated structure of a conductive metal-organic framework at 100 K (modulation vector q = 0.39143(12) c*) via temperature-dependent single-crystal X-ray diffraction. The subsequent observation of a reversible metal-semiconductor transition around 350 K, which perfectly synchronizes with the disappearance of the structural modulation, provides convincing evidence for the electronic origin of the lattice distortion. Guest water molecules stabilize the modulated phase by synergistically regulating the relative rotation of the linkers and the interlayer spacing, thereby optimizing the inter-linker interactions. This work establishes a concrete experimental criterion for one-dimensional charge density wave in metal-organic frameworks and provides an ideal platform for probing coupled electronic-lattice modulations.

cond-mat.mtrl-sci↗

arXiv2026

Precise Aggressive Aerial Maneuvers with Sensorimotor Policies

Precise aggressive maneuvers with lightweight onboard sensors remains a key bottleneck in fully exploiting the maneuverability of drones. Such maneuvers are critical for expanding the systems' accessible area by navigating through narrow openings in the environment. Among the most relevant problems, a representative one is aggressive traversal through narrow gaps with quadrotors under SE(3) constraints, which require the quadrotors to leverage a momentary tilted attitude and the asymmetry of the airframe to navigate through gaps. In this paper, we achieve such maneuvers by developing sensorimotor policies directly mapping onboard vision and proprioception into low-level control commands. The policies are trained using reinforcement learning (RL) with end-to-end policy distillation in simulation. We mitigate the fundamental hardness of model-free RL's exploration on the restricted solution space with an initialization strategy leveraging trajectories generated by a model-based planner. Careful sim-to-real design allows the policy to control a quadrotor through narrow gaps with low clearances and high repeatability. For instance, the proposed method enables a quadrotor to navigate a rectangular gap at a 5 cm clearance, tilted at up to 90-degree orientation, without knowledge of the gap's position or orientation. Without training on dynamic gaps, the policy can reactively servo the quadrotor to traverse through a moving gap. The proposed method is also validated by training and deploying policies on challenging tracks of narrow gaps placed closely. The flexibility of the policy learning method is demonstrated by developing policies for geometrically diverse gaps, without relying on manually defined traversal poses and visual features.

cs.RO↗

arXiv2025

Evaluating Large Language Models in Scientific Discovery

Large language models (LLMs) are increasingly applied to scientific research, yet prevailing science benchmarks probe decontextualized knowledge and overlook the iterative reasoning, hypothesis generation, and observation interpretation that drive scientific discovery. We introduce a scenario-grounded benchmark that evaluates LLMs across biology, chemistry, materials, and physics, where domain experts define research projects of genuine interest and decompose them into modular research scenarios from which vetted questions are sampled. The framework assesses models at two levels: (i) question-level accuracy on scenario-tied items and (ii) project-level performance, where models must propose testable hypotheses, design simulations or experiments, and interpret results. Applying this two-phase scientific discovery evaluation (SDE) framework to state-of-the-art LLMs reveals a consistent performance gap relative to general science benchmarks, diminishing return of scaling up model sizes and reasoning, and systematic weaknesses shared across top-tier models from different providers. Large performance variation in research scenarios leads to changing choices of the best performing model on scientific discovery projects evaluated, suggesting all current LLMs are distant to general scientific "superintelligence". Nevertheless, LLMs already demonstrate promise in a great variety of scientific discovery projects, including cases where constituent scenario scores are low, highlighting the role of guided exploration and serendipity in discovery. This SDE framework offers a reproducible benchmark for discovery-relevant evaluation of LLMs and charts practical paths to advance their development toward scientific discovery.

cs.AI↗

arXiv2025

GroundSight: Augmenting Vision-Language Models with Grounding Information and De-hallucination

We propose a method to improve Visual Question Answering (VQA) with Retrieval-Augmented Generation (RAG) by introducing text-grounded object localization. Rather than retrieving information based on the entire image, our approach enables the model to generate a bounding box around the object most relevant to the question, allowing for targeted image cropping and focused retrieval. This reduces background noise, improves alignment between visual and textual cues, and helps mitigate hallucinations. Our RAG method enhances context-aware VQA responses increased the accuracy from 22.19% to 25.64%, with an absolute increase of 3.45 percentage points, compared to the baseline Llama-3.2-Vision-11B agent. We also proposed a de-hallucination method based on question type which can effectively reduce the hallucination rate from 65.79% to 13.88% and improves the truthfulness score.

cs.AI↗

arXiv2025

Scaling Laws of Quantum Information Lifetime in Monitored Quantum Dynamics

Quantum information is typically fragile under measurements and environmental coupling. Remarkably, we find that its lifetime can scale exponentially with system size when the environment is continuously monitored via mid-circuit measurements -- regardless of bath size. Starting from a maximally entangled state with a reference, we analytically prove this exponential scaling for typical Haar random unitaries and confirm it through numerical simulations in both random unitary circuits and chaotic Hamiltonian systems. In the absence of bath monitoring, the lifetime exhibits a markedly different scaling: it grows at most linearly -- or remains constant -- with system size and decays inversely with the bath size. We further extend our findings numerically to a broad class of initial states. In the intermediate regime of partial monitoring, we identify and prove a two-scale transition, where the QMI decays logarithmically at microscopic time scales but linearly at macroscopic time scales.} We discuss implications for {monitored quantum circuits in the weak measurement limit, quantum algorithms such as quantum diffusion models and quantum reservoir computing, and quantum communication. Finally, we experimentally verify the gap of persisted information on IBM Quantum hardwares.

quant-ph↗

arXiv2024

Whole-Body Control Through Narrow Gaps From Pixels To Action

Flying through body-size narrow gaps in the environment is one of the most challenging moments for an underactuated multirotor. We explore a purely data-driven method to master this flight skill in simulation, where a neural network directly maps pixels and proprioception to continuous low-level control commands. This learned policy enables whole-body control through gaps with different geometries demanding sharp attitude changes (e.g., near-vertical roll angle). The policy is achieved by successive model-free reinforcement learning (RL) and online observation space distillation. The RL policy receives (virtual) point clouds of the gaps' edges for scalable simulation and is then distilled into the high-dimensional pixel space. However, this flight skill is fundamentally expensive to learn by exploring due to restricted feasible solution space. We propose to reset the agent as states on the trajectories by a model-based trajectory optimizer to alleviate this problem. The presented training pipeline is compared with baseline methods, and ablation studies are conducted to identify the key ingredients of our method. The immediate next step is to scale up the variation of gap sizes and geometries in anticipation of emergent policies and demonstrate the sim-to-real transformation.

cs.RO↗

arXiv2024

Large Language Model based Situational Dialogues for Second Language Learning

In second language learning, scenario-based conversation practice is important for language learners to achieve fluency in speaking, but students often lack sufficient opportunities to practice their conversational skills with qualified instructors or native speakers. To bridge this gap, we propose situational dialogue models for students to engage in conversational practice. Our situational dialogue models are fine-tuned on large language models (LLMs), with the aim of combining the engaging nature of an open-ended conversation with the focused practice of scenario-based tasks. Leveraging the generalization capabilities of LLMs, we demonstrate that our situational dialogue models perform effectively not only on training topics but also on topics not encountered during training. This offers a promising solution to support a wide range of conversational topics without extensive manual work. Additionally, research in the field of dialogue systems still lacks reliable automatic evaluation metrics, leading to human evaluation as the gold standard (Smith et al., 2022), which is typically expensive. To address the limitations of existing evaluation methods, we present a novel automatic evaluation method that employs fine-tuned LLMs to efficiently and effectively assess the performance of situational dialogue models.

cs.CL↗

arXiv2024

The Power of Bamboo: On the Post-Compromise Security for Searchable Symmetric Encryption

Dynamic searchable symmetric encryption (DSSE) enables users to delegate the keyword search over dynamically updated encrypted databases to an honest-but-curious server without losing keyword privacy. This paper studies a new and practical security risk to DSSE, namely, secret key compromise (e.g., a user's secret key is leaked or stolen), which threatens all the security guarantees offered by existing DSSE schemes. To address this open problem, we introduce the notion of searchable encryption with key-update (SEKU) that provides users with the option of non-interactive key updates. We further define the notion of post-compromise secure with respect to leakage functions to study whether DSSE schemes can still provide data security after the client's secret key is compromised. We demonstrate that post-compromise security is achievable with a proposed protocol called ``Bamboo". Interestingly, the leakage functions of Bamboo satisfy the requirements for both forward and backward security. We conduct a performance evaluation of Bamboo using a real-world dataset and compare its runtime efficiency with the existing forward-and-backward secure DSSE schemes. The result shows that Bamboo provides strong security with better or comparable performance.

cs.CR↗