arXiv subjects

Xueying Sun

Publications and source records attributed to Xueying Sun.

7 recordsLinked to original sources

arXiv2026

NebulaVLA: A Dual-Frequency Vision-Language-Action Model With Guide Action for Robotic Manipulation

Real-world deployment of Vision-Language-Action (VLA) models is often bottlenecked by efficiency-performance trade-offs, cross-embodiment generalization, and execution smoothness. We present NebulaVLA, an asynchronous dual-frequency architecture that decouples high-level semantic reasoning from low-level action control, optimizing computational resources and modularity. To bridge semantic gaps across heterogeneous robots, we introduce GESTURE-7, a unified language-grounded action representation. Furthermore, our Guide Action algorithm enforces kinematic continuity via mask-based smoothness constraints. Comprehensive evaluations demonstrate that NebulaVLA significantly outperforms synchronous baselines, achieving an 85.5\% average success rate on LIBERO-Plus and accelerating action generation by \textasciitilde 2.7$\times$. This asynchronous design enables highly efficient and responsive control for practical robotics.

cs.RO↗

arXiv2026

Mid-infrared-to-ultraviolet supercontinuum generation in low-loss tantalum pentoxide nanophotonic waveguides

Optical frequency combs on photonic integrated platforms are revolutionizing precision metrology, bio-imaging, atomic and molecular sensing, and ultrafast photonics, yet most remain confined to the near-infrared. This restriction prevents access to the ultraviolet, visible, and mid-infrared bands critical for a vast array of quantum, atomic, and molecular systems. The fundamental obstacle has been the lack of a nanophotonic waveguide that simultaneously provides an ultra-broad transparency window, engineered dispersion, ultra-low propagation loss, and a strong Kerr nonlinearity, all while suppressing detrimental two-photon absorption at short wavelengths. Here, we overcome this challenge by exploring tantalum pentoxide for ultra-broadband supercontinuum spanning continuously from the ultraviolet to the mid-infrared, leveraging its broad transparency window (300-8000 nm), a high nonlinear refractive index three times larger than that of silicon nitride, and a wide bandgap that suppresses two-photon absorption. Critically, by using a photolithography assisted chemo-mechanical etching process that avoids a lossy SiO2 upper cladding, we achieve dispersion engineered waveguides with record-low propagation losses of 0.066 dB/cm at telecom wavelengths and 0.43 dB/cm at 780 nm, significantly facilitating the supercontinuum spectral extension into the ultraviolet and the mid-infrared. Pumping these anomalous-dispersion waveguides with femtosecond pulses at 1550 nm yields a gap-free, 3.2-octave supercontinuum spanning from 350 to 3200 nm via a soliton-based dynamics at only 54 pJ pulse energy, representing the broadest comb spectrum on this platform. We further demonstrate a relatively flat spectrum with a -30 dB bandwidth of 1182 nm by engineering normal dispersion, validate the comb coherence via heterodyne detection, and achieve soliton-effect pulse self-compression from 126.7 fs to 19.2 fs.

physics.optics↗

arXiv2026

Geometric Stratification for Singular Configurations of the P3P Problem via Local Dual Space

This paper investigates singular configurations of the P3P problem. Using local dual space, a systematic algebraic-computational framework is proposed to give a complete geometric stratification for the P3P singular configurations with respect to the multiplicity $\mu$ of the camera center $O$: for $\mu\ge 2$, $O$ lies on the ``danger cylinder'', for $\mu\ge 3$, $O$ lies on one of three generatrices of the danger cylinder associated with the first Morley triangle or the circumcircle, and for $\mu\ge 4$, $O$ lies on the circumcircle which indeed corresponds to infinite P3P solutions. Furthermore, a geometric stratification for the complementary configuration $O^\prime$ associated with a singular configuration $O$ is studied as well: for $\mu\ge 2$, $O^\prime$ lies on a deltoidal surface associated with the danger cylinder, and for $\mu\ge 3$, $O^\prime$ lies on one of three cuspidal curves of the deltoidal surface.

cs.CV↗

arXiv2026

An AI-guided mechanotyping instrument for fully automated oocyte quality assessment

The mechanical properties of oocytes are regarded as important indicators of their developmental potential. During fertilization, deviations from the normal mechanical range can hinder sperm penetration, ultimately reducing fertilization efficiency and compromising embryo quality. However, current methods for measuring oocyte mechanics often suffer from serious cellular damage, low automation levels, and large measurement errors. To address these limitations, we developed an AI-guided micronewton-scale mechanical measurement system for safe and automated oocyte quality assessment. The system integrates voice interaction with automated experimental workflows to control a magnetically actuated microgripper, which applies defined loading forces to induce micron-scale compressive deformation of the oocyte. Combined with AI-assisted object detection and image segmentation algorithms, the system captures cellular deformation in real time, enabling precise calculation of the oocyte's compressive modulus. This measurement system enables automated, quantitative, and non-destructive evaluation of oocyte mechanical properties, providing an effective approach for oocyte quality screening in in vitro fertilization (IVF) and other assisted reproductive technologies (ART).

physics.bio-ph↗

arXiv2025

Inference in the $p_0$ model for directed networks under local differential privacy

We explore the edge-flipping mechanism, a type of input perturbation, to release the directed graph under edge-local differential privacy. By using the noisy bi-degree sequence from the output graph, we construct the moment equations to estimate the unknown parameters in the $p_0$ model, which is an exponential family distribution with the bi-degree sequence as the natural sufficient statistic. We show that the resulting private estimator is asymptotically consistent and normally distributed under some conditions. In addition, we compare the performance of input and output perturbation mechanisms for releasing bi-degree sequences in terms of parameter estimation accuracy and privacy protection. Numerical studies demonstrate our theoretical findings and compare the performance of the private estimates obtained by different types of perturbation methods. We apply the proposed method to analyze the UC Irvine message network.

math.ST↗

arXiv2025

1-GHz VIS-to-MIR frequency combs enabled by CMOS-compatible nanophotonic waveguides

A fully stabilized frequency comb is essential for precision metrology and coherent optical synthesis. However, fully-stabilized frequency combs generally require separate stages for supercontinuum generation (SCG) and self-referencing, largely limiting their compactness. Here, enabled by the low-threshold multi-octave supercontinuum generation and concurrent third-harmonic generation in low-loss silicon nitride waveguides, we present a novel approach to a self-referenced frequency comb source at 1 GHz repetition rate spanning from the full visible (VIS) to the mid-infrared (MIR). Our coherent comb is seeded by an all-polarization-maintaining ultrafast fiber laser at 1556 nm, with a pulse duration of 73 fs at 1 GHz repetition rate. With an injected energy of merely 110 pJ, the pulses propagate through dispersion-engineered Si3N4 waveguides, generating supercontinuum spanning over three octaves from 350-3280 nm i.e. 0.76 PHz of coherent bandwidth. Moreover, the on-chip third harmonic generation provides a carrier envelope offset beat note via f-3f with a signal-to-noise ratio of 43 dB. Fueled by the evolving photonic integration providing possibilities of on-chip filtering and photo-detectors, this approach for single-chip self-referencing of high-repetition-rate frequency combs paves the way for ultrabroadband comb sources with unprecedented compactness and field-readiness.

physics.optics↗

arXiv2025

2.7-octave supercontinuum generation spanning from ultraviolet to near-infrared in thin-film lithium niobate waveguides

Supercontinuum generation (SCG) with spectral coverage across the full visible and ultraviolet (UV) ranges is crucial for optical clocks, quantum computing and sensing. However, achieving such SCG in nanophotonic platforms is challenging due to the difficulties in spectrum broadening. Here, Such ultrabroad-bandwidth SCG was demonstrated in thin-film lithium niobate (TFLN) nanophotonic waveguides by dispersion management, without periodic poling for spectral broadening. Anomalous-dispersion waveguides were designed in the telecom band, simultaneously enabling dispersive wave emergence, modal-matched second harmonic generation, and third harmonic generation for spectrum broadening. Moreover, MgO was intentionally doped to mitigate the photorefractive effect of lithium niobate, which frequently results in un-sustained spectrum broadening and in turn limits the accessible SCG coverage. By leveraging photolithography assisted chemo-mechanical etching, low-loss MgO doped TFLN nanophotonic waveguides were fabricated. As a result, thanks to the utilization of the strong second-order and third-order nonlinear processes, gap-free 2.7-octave SCG spanning from 330 nm to 2250 nm was observed by pumping the waveguide with a 1550-nm femtosecond pulsed laser with 0.687 nJ, agreeing well with numerical simulation. This spectral coverage represents the state of the art in TFLN platforms without fine microdomains, and even close to the record in sophisticated chirped periodically poled TFLN waveguides.

physics.optics↗