arXiv subjects

Xiaolong Wang

Publications and source records attributed to Xiaolong Wang.

At least 91 records · Page 5Linked to original sources

arXiv2025

R&D of KLM Upgrade for Direct Measurement of Neutral Hadron Momentum via Time-of-Flight in Belle II

Accurate momentum determination of a neutral hadron, such as a KL meson or a neutron, remains a significant challenge in particle physics and nuclear physics experiments. The Belle II experiment presents an opportunity to address this challenge through an upgrade incorporating Time-of-Flight (TOF) capability for its large KL and Muon Detector (KLM). We investigate the feasibility of momentum determination via TOF measurement. To achieve high time resolution for the KLM upgrade, we conduct research and development of cost-effective plastic scintillators in collaboration with GaoNengKeDi Company, and technology utilizing silicon photomultipliers(SiPMs) arrays. A bulk attenuation length of 120 \pm 7 cm has been achieved with a 135 cm-long sample, along with a time resolution of 70 \pm 7 ps at its midpoint. A 50 cm-long scintillator demonstrates an exceptional time resolution of 47 \pm 2 ps. These results highlight the potential of the proposed technology for improving neutral hadron momentum measurements in an upgraded Belle II KLM detector.

physics.ins-det↗

arXiv2025

GMT: General Motion Tracking for Humanoid Whole-Body Control

The ability to track general whole-body motions in the real world is a useful way to build general-purpose humanoid robots. However, achieving this can be challenging due to the temporal and kinematic diversity of the motions, the policy's capability, and the difficulty of coordination of the upper and lower bodies. To address these issues, we propose GMT, a general and scalable motion-tracking framework that trains a single unified policy to enable humanoid robots to track diverse motions in the real world. GMT is built upon two core components: an Adaptive Sampling strategy and a Motion Mixture-of-Experts (MoE) architecture. The Adaptive Sampling automatically balances easy and difficult motions during training. The MoE ensures better specialization of different regions of the motion manifold. We show through extensive experiments in both simulation and the real world the effectiveness of GMT, achieving state-of-the-art performance across a broad spectrum of motions using a unified general policy. Videos and additional information can be found at https://gmt-humanoid.github.io.

cs.RO↗

arXiv2025

Co-Design of Soft Gripper with Neural Physics

For robot manipulation, both the controller and end-effector design are crucial. Soft grippers are generalizable by deforming to different geometries, but designing such a gripper and finding its grasp pose remains challenging. In this paper, we propose a co-design framework that generates an optimized soft gripper's block-wise stiffness distribution and its grasping pose, using a neural physics model trained in simulation. We derived a uniform-pressure tendon model for a flexure-based soft finger, then generated a diverse dataset by randomizing both gripper pose and design parameters. A neural network is trained to approximate this forward simulation, yielding a fast, differentiable surrogate. We embed that surrogate in an end-to-end optimization loop to optimize the ideal stiffness configuration and best grasp pose. Finally, we 3D-print the optimized grippers of various stiffness by changing the structural parameters. We demonstrate that our co-designed grippers significantly outperform baseline designs in both simulation and hardware experiments. More info: http://yswhynot.github.io/codesign-soft/

cs.RO↗

arXiv2025

ManiFlow: A General Robot Manipulation Policy via Consistency Flow Training

This paper introduces ManiFlow, a visuomotor imitation learning policy for general robot manipulation that generates precise, high-dimensional actions conditioned on diverse visual, language and proprioceptive inputs. We leverage flow matching with consistency training to enable high-quality dexterous action generation in just 1-2 inference steps. To handle diverse input modalities efficiently, we propose DiT-X, a diffusion transformer architecture with adaptive cross-attention and AdaLN-Zero conditioning that enables fine-grained feature interactions between action tokens and multi-modal observations. ManiFlow demonstrates consistent improvements across diverse simulation benchmarks and nearly doubles success rates on real-world tasks across single-arm, bimanual, and humanoid robot setups with increasing dexterity. The extensive evaluation further demonstrates the strong robustness and generalizability of ManiFlow to novel objects and background changes, and highlights its strong scaling capability with larger-scale datasets. Our website: maniflow-policy.github.io.

cs.RO↗

arXiv2025

Learning to (Learn at Test Time): RNNs with Expressive Hidden States

Self-attention performs well in long context but has quadratic complexity. Existing RNN layers have linear complexity, but their performance in long context is limited by the expressive power of their hidden states. We present a practical framework for instantiating sequence modeling layers with linear complexity and expressive hidden states. The key idea is to make the hidden state a machine learning model itself, and the update rule a step of self-supervised learning. Since the hidden state is updated by training even on test sequences, our layers are called Test-Time Training (TTT) layers. We consider two instantiations: TTT-Linear and TTT-MLP, whose hidden state is a linear model and a two-layer MLP respectively. We evaluate our instantiations at the scale of 125M to 1.3B parameters, comparing with a strong Transformer and Mamba, a modern RNN. Similar to Transformer, TTT-Linear and TTT-MLP can keep reducing perplexity by conditioning on more tokens, while Mamba cannot after 16k context. TTT-MLP still faces challenges in memory I/O, but shows larger potential in long context, pointing to a promising direction for future research.

cs.LG↗

arXiv2025

Two-sided Riemannian optimization model order reduction for linear systems with quadratic outputs

This paper investigates structure-preserving $H_2$-optimal model order reduction (MOR) for linear systems with quadratic outputs. Within a Petrov-Galerkin projection framework, the $H_2$-optimal MOR problem is first formulated as an optimization problem on the Grassmann manifold, for which a corresponding bivariable alternating optimization algorithm is proposed. Furthermore, to explicitly guarantee the asymptotic stability of the reduced-order model, a second approach is introduced by imposing specific constraints on the projection matrices. We reformulate the problem as a novel optimization task on the Stiefel manifold and construct a corresponding solution algorithm. The computational bottleneck in both iterative methods is addressed by developing an approximate solver for Sylvester equations based on orthogonal polynomial expansions, which significantly enhances the overall efficiency. Numerical experiments validate that the obtained reduced models provide significant advantages in approximation accuracy and computational efficiency.

math.OC↗

arXiv2025

EgoVLA: Learning Vision-Language-Action Models from Egocentric Human Videos

Real robot data collection for imitation learning has led to significant advancements in robotic manipulation. However, the requirement for robot hardware in the process fundamentally constrains the scale of the data. In this paper, we explore training Vision-Language-Action (VLA) models using egocentric human videos. The benefit of using human videos is not only for their scale but more importantly for the richness of scenes and tasks. With a VLA trained on human video that predicts human wrist and hand actions, we can perform Inverse Kinematics and retargeting to convert the human actions to robot actions. We fine-tune the model using a few robot manipulation demonstrations to obtain the robot policy, namely EgoVLA. We propose a simulation benchmark called Ego Humanoid Manipulation Benchmark, where we design diverse bimanual manipulation tasks with demonstrations. We fine-tune and evaluate EgoVLA with Ego Humanoid Manipulation Benchmark and show significant improvements over baselines and ablate the importance of human data. Videos can be found on our website: https://rchalyang.github.io/EgoVLA

cs.RO↗

arXiv2025

FlexEdit: Marrying Free-Shape Masks to VLLM for Flexible Image Editing

Combining Vision Large Language Models (VLLMs) with diffusion models offers a powerful method for executing image editing tasks based on human language instructions. However, language instructions alone often fall short in accurately conveying user requirements, particularly when users want to add, replace elements in specific areas of an image. Luckily, masks can effectively indicate the exact locations or elements to be edited, while they require users to precisely draw the shapes at the desired locations, which is highly user-unfriendly. To address this, we propose FlexEdit, an end-to-end image editing method that leverages both free-shape masks and language instructions for Flexible Editing. Our approach employs a VLLM in comprehending the image content, mask, and user instructions. Additionally, we introduce the Mask Enhance Adapter (MEA) that fuses the embeddings of the VLLM with the image data, ensuring a seamless integration of mask information and model output embeddings. Furthermore, we construct FSMI-Edit, a benchmark specifically tailored for free-shape mask, including 8 types of free-shape mask. Extensive experiments show that our method achieves state-of-the-art (SOTA) performance in LLM-based image editing, and our simple prompting technique stands out in its effectiveness. The code and data can be found at https://github.com/A-new-b/flex_edit.

cs.CV↗

arXiv2025

Dex1B: Learning with 1B Demonstrations for Dexterous Manipulation

Generating large-scale demonstrations for dexterous hand manipulation remains challenging, and several approaches have been proposed in recent years to address this. Among them, generative models have emerged as a promising paradigm, enabling the efficient creation of diverse and physically plausible demonstrations. In this paper, we introduce Dex1B, a large-scale, diverse, and high-quality demonstration dataset produced with generative models. The dataset contains one billion demonstrations for two fundamental tasks: grasping and articulation. To construct it, we propose a generative model that integrates geometric constraints to improve feasibility and applies additional conditions to enhance diversity. We validate the model on both established and newly introduced simulation benchmarks, where it significantly outperforms prior state-of-the-art methods. Furthermore, we demonstrate its effectiveness and robustness through real-world robot experiments. Our project page is at https://jianglongye.com/dex1b

cs.RO↗

arXiv2025

Perspective Transition of Large Language Models for Solving Subjective Tasks

Large language models (LLMs) have revolutionized the field of natural language processing, enabling remarkable progress in various tasks. Different from objective tasks such as commonsense reasoning and arithmetic question-answering, the performance of LLMs on subjective tasks is still limited, where the perspective on the specific problem plays crucial roles for better interpreting the context and giving proper response. For example, in certain scenarios, LLMs may perform better when answering from an expert role perspective, potentially eliciting their relevant domain knowledge. In contrast, in some scenarios, LLMs may provide more accurate responses when answering from a third-person standpoint, enabling a more comprehensive understanding of the problem and potentially mitigating inherent biases. In this paper, we propose Reasoning through Perspective Transition (RPT), a method based on in-context learning that enables LLMs to dynamically select among direct, role, and third-person perspectives for the best way to solve corresponding subjective problem. Through extensive experiments on totally 12 subjective tasks by using both closed-source and open-source LLMs including GPT-4, GPT-3.5, Llama-3, and Qwen-2, our method outperforms widely used single fixed perspective based methods such as chain-of-thought prompting and expert prompting, highlights the intricate ways that LLMs can adapt their perspectives to provide nuanced and contextually appropriate responses for different problems.

cs.CL↗

arXiv2025

Data-driven balanced truncation for second-order systems via the approximate Gramians

This paper studies the data-driven balanced truncation (BT) method for second-order systems based on the measurements in the frequency domain. The basic idea is to approximate Gramians used the numerical quadrature rules, and establish the relationship between the main quantities in the procedure of BT with the sample data, which paves the way for the execution of BT in a nonintrusive manner. We construct the structure-preserving reduced models approximately based on the samples of second-order systems with proportional damping, and provide the detailed execution of the data-driven counterpart of BT in real-value arithmetic. The low-rank approximation to the solution of Sylvester equations is also introduced to speed up the process of the proposed approach when a large amount of samples involved in the modeling. The performance of our approach is illustrated in detail via two numerical examples.

math.NA↗

arXiv2025

Hierarchical World Models as Visual Whole-Body Humanoid Controllers

Whole-body control for humanoids is challenging due to the high-dimensional nature of the problem, coupled with the inherent instability of a bipedal morphology. Learning from visual observations further exacerbates this difficulty. In this work, we explore highly data-driven approaches to visual whole-body humanoid control based on reinforcement learning, without any simplifying assumptions, reward design, or skill primitives. Specifically, we propose a hierarchical world model in which a high-level agent generates commands based on visual observations for a low-level agent to execute, both of which are trained with rewards. Our approach produces highly performant control policies in 8 tasks with a simulated 56-DoF humanoid, while synthesizing motions that are broadly preferred by humans.

cs.LG↗

arXiv2025

SPOT: SE(3) Pose Trajectory Diffusion for Object-Centric Manipulation

We introduce SPOT, an object-centric imitation learning framework. The key idea is to capture each task by an object-centric representation, specifically the SE(3) object pose trajectory relative to the target. This approach decouples embodiment actions from sensory inputs, facilitating learning from various demonstration types, including both action-based and action-less human hand demonstrations, as well as cross-embodiment generalization. Additionally, object pose trajectories inherently capture planning constraints from demonstrations without the need for manually-crafted rules. To guide the robot in executing the task, the object trajectory is used to condition a diffusion policy. We systematically evaluate our method on simulation and real-world tasks. In real-world evaluation, using only eight demonstrations shot on an iPhone, our approach completed all tasks while fully complying with task constraints. Project page: https://nvlabs.github.io/object_centric_diffusion

cs.RO↗

arXiv2025

Identification of BHB stars using Synthetic SkyMapper colors from Gaia XP spectra

Blue horizontal-branch (BHB) stars are ideal tracers for mapping the structure of Galactic stellar halo. Traditionally, BHB sample stars are built from large-scale spectroscopic surveys utilizing their spectral features, however, the resulting sample sizes have been quite limited. In this paper, we construct a catalog of BHB stars based on synthetic colors $(u-v)_{0}$ and $(g-i)_{0}$ in SkyMapper photometric systems, which are convolved from Gaia XP spectra. A total of 49,733 BHB stars are selected from nearly the entire sky (excluding regions of low Galactic latitudes $|b| \le 8^{\circ}$ with heavy reddening), with a completeness and purity exceeding 90\%. Using member stars of globular clusters with precise distance determinations, we carefully calibrate the relationship between the $g$-band absolute magnitude and $(g-i)_{0}$, achieving a precision of 0.11\,mag, which corresponds to a 5\% uncertainty in distance. This relation is applied to derive distances for all BHB stars in the constructed sample. Given current capabilities of Gaia XP observations, the constructed BHB sample is primarily located within 20 kpc, enabling detailed mapping of the inner stellar halo. To extend this depth to the outer halo or even the edge of our Galaxy, we explore the potential of the Chinese Space Station Telescope (CSST) and its broad-band photometry for detecting BHB stars. Using mock data from synthetic spectra, we find that it is feasible to distinguish BHB stars from blue stragglers (BS) stars using CSST near-ultraviolet bands ($NUV, u$) photometry. Thanks to the deep limiting magnitude of CSST, its data will provide a groundbreaking perspective on our Galaxy, particularly regarding the outer halo, in an unprecedented volume.

astro-ph.GA↗

arXiv2025

AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control

Humanoid robots derive much of their dexterity from hyper-dexterous whole-body movements, enabling tasks that require a large operational workspace: such as picking objects off the ground. However, achieving these capabilities on real humanoids remains challenging due to their high degrees of freedom (DoF) and nonlinear dynamics. We propose Adaptive Motion Optimization (AMO), a framework that integrates sim-to-real reinforcement learning (RL) with trajectory optimization for real-time, adaptive whole-body control. To mitigate distribution bias in motion imitation RL, we construct a hybrid AMO dataset and train a network capable of robust, on-demand adaptation to potentially O.O.D. commands. We validate AMO in simulation and on a 29-DoF Unitree G1 humanoid robot, demonstrating superior stability and an expanded workspace compared to strong baselines. Finally, we show that AMO's consistent performance supports autonomous task execution via imitation learning, underscoring the system's versatility and robustness.

cs.RO↗

arXiv2025

Generalized Animal Imitator: Agile Locomotion with Versatile Motion Prior

The agility of animals, particularly in complex activities such as running, turning, jumping, and backflipping, stands as an exemplar for robotic system design. Transferring this suite of behaviors to legged robotic systems introduces essential inquiries: How can a robot learn multiple locomotion behaviors simultaneously? How can the robot execute these tasks with a smooth transition? How to integrate these skills for wide-range applications? This paper introduces the Versatile Instructable Motion prior (VIM) - a Reinforcement Learning framework designed to incorporate a range of agile locomotion tasks suitable for advanced robotic applications. Our framework enables legged robots to learn diverse agile low-level skills by imitating animal motions and manually designed motions. Our Functionality reward guides the robot's ability to adopt varied skills, and our Stylization reward ensures that robot motions align with reference motions. Our evaluations of the VIM framework span both simulation and the real world. Our framework allows a robot to concurrently learn diverse agile locomotion skills using a single learning-based controller in the real world. Videos can be found on our website: https://rchalyang.github.io/VIM/

cs.RO↗

arXiv2025

Riemannian optimization for model order reduction of linear systems with quadratic outputs

This paper investigates the optimal $H_2$ model order reduction for linear systems with quadratic outputs. In the framework of Galerkin projection, we first formulate the optimal $H_2$ MOR as an unconstrained Riemannian optimization problem on the Stiefel manifold. The Riemannian gradient of the specific cost function is derived with the aid of Gramians of systems, and the Dai-Yuan-type Riemannian conjugate gradient method is adopted to generate structure-preserving reduced models. We also consider the optimal $H_2$ MOR based on the product manifold, where some coefficient matrices of reduced models are determined directly via the iteration of optimization problem, instead of the Galerkin projection method. In addition, we provide a scheme to compute low-rank approximate solutions of Sylvester equations based on the truncated polynomial expansions, which fully exploits the specific structure of Sylvester equations in the optimization problems, and enables an efficient execution of our approach. Finally, two numerical examples are simulated to demonstrate the efficiency of our methods.

math.OC↗

arXiv2025

ActiView: Evaluating Active Perception Ability for Multimodal Large Language Models

Active perception, a crucial human capability, involves setting a goal based on the current understanding of the environment and performing actions to achieve that goal. Despite significant efforts in evaluating Multimodal Large Language Models (MLLMs), active perception has been largely overlooked. To address this gap, we propose a novel benchmark named ActiView to evaluate active perception in MLLMs. We focus on a specialized form of Visual Question Answering (VQA) that eases and quantifies the evaluation yet challenging for existing MLLMs. Meanwhile, intermediate reasoning behaviors of models are also discussed. Given an image, we restrict the perceptual field of a model, requiring it to actively zoom or shift its perceptual field based on reasoning to answer the question successfully. We conduct extensive evaluation over 30 models, including proprietary and open-source models, and observe that restricted perceptual fields play a significant role in enabling active perception. Results reveal a significant gap in the active perception capability of MLLMs, indicating that this area deserves more attention. We hope that ActiView could help develop methods for MLLMs to understand multimodal inputs in more natural and holistic ways.

cs.CV↗