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Xing Pan

Publications and source records attributed to Xing Pan.

At least 19 recordsLinked to original sources
arXiv2026

EgoLive: A Large-Scale Egocentric Dataset from Real-World Human Tasks

The advancement of robot learning is currently hindered by the scarcity of large-scale, high-quality datasets. While established data collection methods such as teleoperation and universal manipulation interfaces dominate current datasets, they suffer from inherent limitations in scalability and real-world deployability. Human egocentric video collection, by contrast, has emerged as a promising approach to enable scalable, natural and in-the-wild data collection. As such, we present EgoLive, a large-scale, high-quality egocentric dataset designed explicitly for robot manipulation learning. EgoLive establishes three distinctive technical advantages over existing egocentric datasets: first, it represents the largest open-source annotated egocentric dataset focused on real-world task-oriented human routines to date; second, it delivers leading data quality via a customized head-mounted capture device and comprehensive high-precision multi-modal annotations; third, all data is collected exclusively in unconstrained real-world scenarios and encompasses vertical field human working data, including home service, retail, and other practical work scenarios, providing superior diversity and ecological validity. With the introduction of EgoLive, we aim to provide the research community with a scalable, high-quality dataset that accelerates breakthroughs in generalizable robotic models and facilitates the real-world deployment of robot systems.

cs.RO↗
arXiv2026

JoyAI-RA 0.1: A Foundation Model for Robotic Autonomy

Robotic autonomy in open-world environments is fundamentally limited by insufficient data diversity and poor cross-embodiment generalization. Existing robotic datasets are often limited in scale and task coverage, while relatively large differences across robot embodiments impede effective behavior knowledge transfer. To address these challenges, we propose JoyAI-RA, a vision-language-action (VLA) embodied foundation model tailored for generalizable robotic manipulation. JoyAI-RA presents a multi-source multi-level pretraining framework that integrates web data, large-scale egocentric human manipulation videos, simulation-generated trajectories, and real-robot data. Through training on heterogeneous multi-source data with explicit action-space unification, JoyAI-RA effectively bridges embodiment gaps, particularly between human manipulation and robotic control, thereby enhancing cross-embodiment behavior learning. JoyAI-RA outperforms state-of-the-art methods in both simulation and real-world benchmarks, especially on diverse tasks with generalization demands.

cs.RO↗
arXiv2026

Steady-State Statistical Modeling of Digitally Stabilized Laser Frequency with Markov-State Feedback

Laser frequency stabilization is conventionally analyzed using continuous-time control theory, which accurately models analog feedback but is insufficient for digital implementations where quantization, sampling, and stochastic noise shape the dynamics. In modern digital laser systems, such as Photonic Integrated Circuit (PIC)-based lasers, finite discriminator and actuator resolution, sampling delays, and measurement noise introduce stochastic behavior that deterministic models do not capture. We present a discrete-time Markov-state framework that models the evolution of the quantized actuator in a digital laser frequency lock, with state-transition probabilities determined by the frequency discriminator response, noise statistics, and implemented digital control logic. The steady-state actuator and locked-laser frequency distributions are obtained directly from the unit-eigenvalue solution of the transition matrix, providing immediate access to key stability metrics without long time-domain simulations. For white frequency noise, we show that the Markov formulation is exact under decorrelated sampling and update schemes, while correlated discriminator sampling introduces a predictable inflation of actuator variance without shifting the operating point. In the presence of colored noise, long-range temporal correlations induce sampling-dependent deviations in both actuator mean and variance, defining the regime of validity of the memoryless Markov description. This framework provides a compact and physically transparent tool for analyzing and optimizing digitally stabilized lasers in integrated photonic systems.

physics.optics↗
arXiv2026

JoyAI-LLM Flash: Advancing Mid-Scale LLMs with Token Efficiency

We introduce JoyAI-LLM Flash, an efficient Mixture-of-Experts (MoE) language model designed to redefine the trade-off between strong performance and token efficiency in the sub-50B parameter regime. JoyAI-LLM Flash is pretrained on a massive corpus of 20 trillion tokens and further optimized through a rigorous post-training pipeline, including supervised fine-tuning (SFT), Direct Preference Optimization (DPO), and large-scale reinforcement learning (RL) across diverse environments. To improve token efficiency, JoyAI-LLM Flash strategically balances \emph{thinking} and \emph{non-thinking} cognitive modes and introduces FiberPO, a novel RL algorithm inspired by fibration theory that decomposes trust-region maintenance into global and local components, providing unified multi-scale stability control for LLM policy optimization. To enhance architectural sparsity, the model comprises 48B total parameters while activating only 2.7B parameters per forward pass, achieving a substantially higher sparsity ratio than contemporary industry leading models of comparable scale. To further improve inference throughput, we adopt a joint training-inference co-design that incorporates dense Multi-Token Prediction (MTP) and Quantization-Aware Training (QAT). We release the checkpoints for both JoyAI-LLM-48B-A3B Base and its post-trained variants on Hugging Face to support the open-source community.

cs.CL↗
arXiv2026

ALMA Central molecular zone Exploration Survey (ACES) V: CS(2-1), SO(2_3-1_2), CH3CHO(5_1,4-4_1,3), HC3N(11-10), and H40a lines data

We present data from the ALMA Central Molecular Zone Exploration Survey (ACES) Large Program, which provides broad spectral-line and 3 mm continuum coverage of the Central Molecular Zone (CMZ) at a spatial resolution of 0.1 pc. The survey delivers homogeneous, wide-field mosaics that enable direct comparisons of the physical and chemical conditions across diverse environments in the Galactic center. In this data release paper, we present the CS(2-1), SO(2_3-1_2), CH3CHO(5_1,4-4_1,3), HC3N(11-10), and H40a lines observed simultaneously within two broad spectral windows. These lines reveal pronounced spatial and chemical variations across the CMZ, tracing distinct components of molecular gas, shock-affected regions, and ionized structures. The high angular resolution and multi-line capability of the ACES dataset make it a powerful resource for future studies of gas dynamics, star formation activity, and the physical connection between the CMZ and Sgr A*.

astro-ph.GA↗
arXiv2026

ALMA Central Molecular Zone Exploration Survey (ACES)-IV. Data of the two intermediate-width spectral windows

We release the intermediate-width spectral window data from the ALMA Central Molecular Zone Exploration Survey (ACES) Large Program, which covers SiO(2-1), SO(2_2-1_1), H13CO+(1-0), H13CN(1-0), HN13C(1-0), and HC15N (1-0), among other molecular line transitions, with an angular resolution of ~2 arcsec and a velocity resolution of 1.7 km s-1 . The full cubes of the two spectral windows as well as the key data products will be available to the community. We also present the integrated brightness, peak brightness, centroid velocity, and Galactic longitude-velocity maps of the six lines. We briefly discuss morphological correlations between the continuum and the molecular line emission, and brightness ratios between pairs of isotopologue or isotopomer lines. We highlight features and trends in the data that will be followed up in upcoming ACES science papers.

astro-ph.GA↗
arXiv2026

ALMA Central Molecular Zone Exploration Survey (ACES) II: 3mm continuum images

The ALMA Central Molecular Zone Exploration Survey, ACES, has mapped $\gtrsim1000$ square arcminutes at 3 mm toward the center of our Galaxy. ACES provides the first large-scale, high-resolution ($\sim2.5$") view of the central $\sim200$ parsecs of the Milky Way. In this work, we describe the continuum data processing and present the continuum data products. In the combined mosaic of 45 individual ALMA mosaics, the typical RMS noise achieved is $\sim0.1$ mJy per $\sim2.5$" beam, though there is a tail of substantially higher noise toward regions with bright continuum structure, especially around Sgr A* and Sgr B2. In-band spectral indices are measurable for a small fraction of the brightest and most compact sources, enabling distinction between dust-dominated and free-free- or synchrotron-dominated sources. To recover emission on large angular scales, we present the GBT MUSTANG-2 Three millimeter Extended Nucleus Survey (TENS), a new 10"resolution survey of the CMZ, which we combine with the ACES image by feathering. To demonstrate the quality and reliability of the ACES data, we compare to previously-published ALMA data obtained with higher resolution and sensitivity, finding overall good agreement with past results, but some disagreement toward the brightest sources.

astro-ph.GA↗
arXiv2026

ALMA Central molecular zone Exploration Survey (ACES) VI: ALMA Large Program Reveals a Highly Filamentary Central Molecular Zone

The Central Molecular Zone (CMZ) of the Milky Way is the way station that primarily controls how much gas flows from the disk of the Galaxy towards the central nucleus. While this region is well documented to have extreme gas properties that clearly distinguish it from the rest of the Galaxy, the properties of the bulk molecular gas at high angular resolution are relatively unexplored. Band 3 data from the ALMA (Atacama Large Millimeter/Submillimeter Array) large program ACES (ALMA CMZ Exploration Survey) reveal the highly filamentary nature of CMZ molecular gas at high resolution (3" or 0.1pc) across the entire CMZ. Visual inspection of these data suggests that there are at least two general classes of elongated structures, which we identify as: i) large-scale (10 pc) filamentary structures (LFs) and ii) a ubiquitous population of small-scale (about 1 pc) filamentary structures (SFs). We present detailed morphological and kinematic properties towards three structures in each category, as well as their association with magnetic fields and the correlation of HNCO 4(0,4)-3(0,3) with other molecular species. Our investigation reveals that these structures are largely coherent in position-position-velocity space. The alignment with the magnetic field structure is mixed, with some parallel, some perpendicular, and some intermediate alignments. We find that LFs likely trace pieces of contiguous CMZ orbital structures and are a manifestation of global CMZ dynamics. The second class, SFs, are pervasive and may be the result of complicated turbulence and shearing dynamics in the CMZ gas flows, as seen in numerical simulations.

astro-ph.GA↗
arXiv2026

ALMA Central molecular zone Exploration Survey (ACES) III: Molecular line data reduction and HNCO and HCO$^{+}$ data

The ALMA Central molecular zone Exploration Survey (ACES) large program has observed the inner ~ 200 pc of the Milky Way at 3 mm (Band 3) using ALMA's 12m, 7m, and Total Power arrays. With an angular resolution of ~ 2", ACES provides a contiguous, multi-scale view of the Central Molecular Zone (CMZ) via the dust continuum and a suite of molecular lines. We present an overview of the molecular line data processing for ACES and describe the first data release. We showcase the HNCO (4-3) and HCO$^{+}$ (1-0) data, which were targeted at high spectral resolution (0.2 km s$^{-1}$) to trace the kinematics of the molecular gas in the CMZ. The HNCO and HCO$^{+}$ maps are compared with previous single-dish CMZ surveys and discrete ALMA observations of CMZ clouds to demonstrate the quality of the data. We highlight the ubiquity of parsec-scale, linear absorption features traced by HCO$^{+}$. Their origin is unknown, and ACES provides the first opportunity to study these enigmatic features throughout the CMZ. We release the HNCO and HCO$^{+}$ cubes for all 45 ACES fields, along with the full cube mosaics which combine all fields into a contiguous mosaic of the CMZ. We additionally provide advanced products of these full mosaics, including integrated and peak intensity, noise, and position-velocity maps. These products provide substantial legacy value for the community, offering an unparalleled view of the physical and kinematic structure of the dense gas in the CMZ.

astro-ph.GA↗
arXiv2026

ALMA Central Molecular Zone Exploration Survey (ACES) I: Overview

The mass flows and energy cycles within the inner regions of galaxies exert a powerful influence on the evolution of the galaxy population. The centre of the Milky Way is the only galactic nucleus for which it is possible to resolve the physical mechanisms that drive these cycles, namely star formation and feedback, while also tracing global (>100 pc) processes which determine where and when star formation and feedback occur. We present an overview of ACES, the 'Atacama Large Millimeter/submillimeter Array (ALMA) CMZ Exploration Survey', a ~1.5" angular resolution, 0.2-3 km/s spectral resolution ALMA Band 3 (85-102 GHz), survey of the 'Central Molecular Zone' (CMZ) -- the inner-100 pc of the Galaxy (l = 359.4 deg to 0.8 deg). ACES spectral setup is tuned to observe optimal tracers of the physical, chemical, and kinematic conditions in over 70 spectral features (e.g. HCO+, HNCO, SiO, H40alpha, complex molecules) of the gas in the CMZ, to derive the properties of all potentially star-forming Galactic Centre gas, from global scales (100 pc) to dense ~0.05 pc structures that are expected to host individual star-forming cores, down to sub-sonic (<0.4 km/s) velocity resolution. In this overview paper, we provide the scientific justification for the ACES survey, explain the choice of observational setup, and describe the data legacy products. Finally, we show some of the initial ACES data which highlight the power of ACES' combination of high angular resolution, unprecedented spatial dynamic range, sensitivity, spectral resolution and spectral bandwidth as an illustration of how ACES aims to understand how global processes set the location, intensity, and timescales for star formation and feedback in the CMZ.

astro-ph.GA↗
arXiv2026

ALMA Polarization Study of the Magnetic Fields in Two Massive Clumps in the 20 km s$^{-1}$ Cloud of the Central Molecular Zone

We present the Atacama Large Millimeter/submillimeter Array (ALMA) observations of linearly polarized 870 $\mu$m continuum emission at a resolution of $\sim$0.2$^{\prime\prime}$ (2000 au) toward the two massive clumps, Clump 1 and Clump 4, in the 20 km s$^{-1}$ cloud. The derived magnetic field strengths for both clumps range from $\sim$0.3 to 3.1 mG using the Angular Dispersion Function (ADF) method. The magnetic field orientations across multiple scales suggests that the magnetic field dominates at the cloud scale, whereas gravity likely governs the structures at the core (0.01$-$0.1 pc) and condensation ($\le$ 0.01 pc) scales. Furthermore, the study on the angular difference between the orientations of the local gravity gradient and the magnetic field suggests that the gravity predominantly governs the dynamics in the diffuse regions, while both gravity and star formation feedback become increasingly significant within the dense regions. The ratio of the magnetic field tension force $F_\mathrm{B}$ to the gravitational force $F_\mathrm{G}$ suggests that the magnetic field may provide some support against gravity, but it is insufficient to prevent gas from infalling toward the dense cores.

astro-ph.GA↗
arXiv2026

Unveiling Fiber Networks and Core Formation in the DR21 South Filament

We present high-resolution ($\sim$1000 AU) 3 mm observations with the NOrthern Extended Millimeter Array toward the DR21 South Filament, aiming to reveal its internal fragmentation and search for deeply embedded star-forming activities. Both the continuum and molecular line emissions align well with the filament axis traced by the low-resolution ($\sim$18$^{\prime\prime}$) column density map. The 3 mm continuum, CS (2$-$1), and HCO$^+$ (1$-$0) emissions reveal continuous and diffuse structures with measured FWHM widths of 0.054, 0.029, and 0.030 pc, respectively. In contrast, the H$^{13}$CO$^+$ (1$-$0) emission appears more clumpy and localized. The non-thermal motion in the filament is predominantly subsonic to transonic. We detect 13 dense cores in NH$_2$D (1$_{11}-1_{01}$), three of which coincide with continuum peaks; virial analysis suggests most are gravitationally bound. Using a friend-of-friend algorithm, we identify 32, 34, and 22 velocity-coherent fibers from the CS, HCO$^+$, and H$^{13}$CO$^+$ data, respectively. Compared to fibers traced by CS and HCO$^+$, H$^{13}$CO$^+$ fibers are more frequently associated with NH$_2$D cold cores and exhibit higher average mass-per-unit-length values. Differences among CS, HCO$^+$, and H$^{13}$CO$^+$ emissions likely arise from variations in effective critical densities. These results are consistent with a hierarchical structure, in which the 3.6-pc DR21SF contains velocity-coherent fibers and gravitationally bound dense cores.

astro-ph.GA↗
arXiv2025

ACES: The Magnetic Field in Large Filaments in the Galactic Center

The Galactic Center (GC) is an extreme region of the Milky Way that is host to a complex set of thermal and non-thermal structures. In particular, the GC contains high-density gas and dust that is collectively referred to as the Central Molecular Zone (CMZ). In this work, we study a subset of HNCO filaments identified in band 3 ALMA observations of the GC obtained by the ALMA CMZ Exploration Survey (ACES) that are comparable to high density filaments identified in the Galactic Disk. We compare the orientation of the magnetic field derived from 214 um SOFIA and 850 um JCMT observations with the filament orientation to determine which mechanisms dominate the formation of these filaments. We observe a large range of magnetic orientations in our observed filaments indicating the complex environments the filaments are located in. We also compare the observational results to synthetic data sets created using an MHD model of the GC. Our analysis reveals that the dominant mechanisms local to the HNCO filaments vary throughout the GC with some filaments being dominated by supersonic turbulence and others by subsonic turbulence. The comparison to synthetic observations indicates that the observed filaments are in magnetically dominated environments that could be supporting these filaments against collapse. Our results on the CMZ filaments are also compared to results obtained on similar filaments located in the Galactic Disk, and we find that the filaments studied here are possible CMZ analogs to the dense filamentary "bones" observed previously in the Galactic Disk.

astro-ph.GA↗
arXiv2025

Parallel Alignments between Magnetic Fields and Dense Structures in the Central Molecular Zone

The recent Far-Infrared Polarimetric Large-Area Central Molecular Zone Exploration (FIREPLACE) survey with SOFIA has mapped plane-of-the-sky magnetic field orientations within the Central Molecular Zone (CMZ) of the Milky Way. Applying the Histogram of Relative Orientation (HRO) analysis to the FIREPLACE data, we find that the relative orientation between magnetic fields and column density structures is random in low-density regions (2x10^22 10^23 cm^{-2}). This trend is in contrast with that of the nearby molecular clouds, where the relative orientation transitions from parallel to perpendicular with increasing column densities. However, the relative orientation varies between individual CMZ clouds. Comparisons with MHD simulations specific to the CMZ conditions suggest that the observed parallel alignment is intrinsic rather than artifacts caused by the projection effect. The origin of this parallel configuration may arise from the fact that most dense structures in the CMZ are not self-gravitating, as they are in super-virial states, except for the mini-starburst region Sgr B2. These findings are consistent with the low star formation efficiency observed in the CMZ compared to that in the Galactic disk.

astro-ph.GA↗
arXiv2025

HMVLM: Multistage Reasoning-Enhanced Vision-Language Model for Long-Tailed Driving Scenarios

We present HaoMo Vision-Language Model (HMVLM), an end-to-end driving framework that implements the slow branch of a cognitively inspired fast-slow architecture. A fast controller outputs low-level steering, throttle, and brake commands, while a slow planner-a large vision-language model-generates high-level intents such as "yield to pedestrian" or "merge after the truck" without compromising latency. HMVLM introduces three upgrades: (1) selective five-view prompting with an embedded 4s history of ego kinematics, (2) multi-stage chain-of-thought (CoT) prompting that enforces a Scene Understanding -> Driving Decision -> Trajectory Inference reasoning flow, and (3) spline-based trajectory post-processing that removes late-stage jitter and sharp turns. Trained on the Waymo Open Dataset, these upgrades enable HMVLM to achieve a Rater Feedback Score (RFS) of 7.7367, securing 2nd place in the 2025 Waymo Vision-based End-to-End (E2E) Driving Challenge and surpassing the public baseline by 2.77%.

cs.CV↗
arXiv2025

HMAD: Advancing E2E Driving with Anchored Offset Proposals and Simulation-Supervised Multi-target Scoring

End-to-end autonomous driving faces persistent challenges in both generating diverse, rule-compliant trajectories and robustly selecting the optimal path from these options via learned, multi-faceted evaluation. To address these challenges, we introduce HMAD, a framework integrating a distinctive Bird's-Eye-View (BEV) based trajectory proposal mechanism with learned multi-criteria scoring. HMAD leverages BEVFormer and employs learnable anchored queries, initialized from a trajectory dictionary and refined via iterative offset decoding (inspired by DiffusionDrive), to produce numerous diverse and stable candidate trajectories. A key innovation, our simulation-supervised scorer module, then evaluates these proposals against critical metrics including no at-fault collisions, drivable area compliance, comfortableness, and overall driving quality (i.e., extended PDM score). Demonstrating its efficacy, HMAD achieves a 44.5% driving score on the CVPR 2025 private test set. This work highlights the benefits of effectively decoupling robust trajectory generation from comprehensive, safety-aware learned scoring for advanced autonomous driving.

cs.CV↗
arXiv2025

CogAD: Cognitive-Hierarchy Guided End-to-End Autonomous Driving

While end-to-end autonomous driving has advanced significantly, prevailing methods remain fundamentally misaligned with human cognitive principles in both perception and planning. In this paper, we propose CogAD, a novel end-to-end autonomous driving model that emulates the hierarchical cognition mechanisms of human drivers. CogAD implements dual hierarchical mechanisms: global-to-local context processing for human-like perception and intent-conditioned multi-mode trajectory generation for cognitively-inspired planning. The proposed method demonstrates three principal advantages: comprehensive environmental understanding through hierarchical perception, robust planning exploration enabled by multi-level planning, and diverse yet reasonable multi-modal trajectory generation facilitated by dual-level uncertainty modeling. Extensive experiments on nuScenes and Bench2Drive demonstrate that CogAD achieves state-of-the-art performance in end-to-end planning, exhibiting particular superiority in long-tail scenarios and robust generalization to complex real-world driving conditions.

cs.RO↗
arXiv2025

Surveys of clumps, cores, and condensations in Cygnus-X: Searching for Keplerian disks on the scale of 500 au

Over the past decades, observational evidence of circumstellar disks around massive protostars has been steadily accumulating. However, there have also been cases of non-detections in high-mass star-forming regions, leaving the role and prevalence of disks around massive protostars still uncertain. We used high-resolution (0.2") NOrthern Extended Millimeter Array (NOEMA) observations to study the 1.3 mm continuum and molecular line emission of five massive dense cores in the Cygnus-X cloud complex. Four cores host 2000-au-scale rotating structures previously identified as disk candidates in lower-resolution SMA observations, while the remaining core with no evidence for a disk serves as a comparison. With a resolution of 300 au, the 1.3 mm continuum emission reveals varying levels of fragmentation in our sample, with fragment radii ranging from 150 to 800 AU. In this work, we confirm the existence of two small, stable disks in Keplerian-like rotation at scales of 500 au out of four previously identified disk candidates from the SMA observations at coarser resolution. The lack of evidence for Keplerian disks in other disk candidates identified from the SMA data suggests that rotational signatures observed at 2000 au scales do not necessarily imply the presence of Keplerian disks at smaller scales. Therefore, higher-resolution and higher-sensitivity observations are essential to definitively identify Keplerian disks on smaller scales.

astro-ph.GA↗