arXiv subjects

Yan Pan

Publications and source records attributed to Yan Pan.

At least 19 recordsLinked to original sources

arXiv2026

PAMoR: Parameterized Affective Motion Generation in Real Time for Humanoid Robots

People read a humanoid robot's motion in social settings not only for the action performed but for the affect conveyed. Motion carrying that affect has so far been generated for human avatars, where style is taken from a reference clip or an emotion word, neither of which can be quantitatively parameterized. We present PAMoR, which turns affect into a measured control parameter: a valence-arousal (V-A) coordinate computed natively on robot kinematics. It is obtained in closed form from postural expansion and movement energy, and these measurements serve directly as generation conditions, with no human annotation. An action prior and two affect priors, trained in a shared latent space, are composed at each denoising step: the action prior fixes what is performed, the affect priors modulate how. Whole-body motion rolls out autoregressively on a 29-DoF Unitree G1 in real time, with action and affect both editable. Generated motion tracks the commanded V-A over its full range while text-to-motion fidelity still matches text-only baselines. In a perceptual study, raters identify the commanded emotion on 0.38 of trials, above both baselines and approaching the 0.44 reported for acted human bodies.

cs.RO↗

arXiv2026

Calf-Integrated Arms for Bimanual Quadruped Loco-Manipulation

Most quadruped loco-manipulation designs trade manipulation capability against stance. A trunk-mounted arm sits high and usually carries a single arm; using the legs as manipulators lifts the manipulating leg off the ground; and even leg-mounted grippers reach two-handed tasks only by rearing onto the hind legs. This paper integrates a manipulator with a prismatic slider, two revolute joints, and a gripper into each front calf of a Unitree Go2. The two arms grasp objects at ground level and manipulate with both hands while all four feet stay planted, without rearing. With one arm carrying, the base stays free to walk. A vision-language model sequences skills from a predefined library at each skill boundary, conditioned on the head-camera image and task state, for long-horizon autonomy. In simulation, the design performs three bimanual tasks: a long-horizon cabinet task under autonomous skill selection, a cooperative two-handed lift, and an inter-arm handover.

cs.RO↗

arXiv2026

ERNIE-Image Technical Report

We introduce ERNIE-Image, an open-source text-to-image generation model built upon an 8B single-stream DiT architecture. ERNIE-Image aims to bridge the gap between current open-source models and leading closed-source systems through more effective mining of large-scale pre-training data and improved supervision quality throughout training. During pre-training, we adopt a bottom-up data construction pipeline that combines fine-grained image categorization, rich caption annotation, aesthetic assessment, and hierarchical sampling. This strategy reduces data noise while preserving long-tail concepts and detailed real-world knowledge, providing a stronger foundation for complex generation tasks. In the post-training stage, we use a top-down data construction pipeline for high-demand scenarios, diversify prompt annotations to better match real user inputs, and apply a stabilized DPO strategy to align the model with human aesthetic preferences. We further train ERNIE-Image-Turbo for efficient 8-NFE generation and propose MT-DMD to mitigate capability drift during distillation. To make the model easier to use in practical scenarios, we equip it with a lightweight Prompt Enhancer that expands concise user intents into structured visual descriptions. In addition, we develop ERNIE-Image-Aes, an industrial-grade aesthetic model, together with ERNIE-Image-Aes-1K, a human-annotated benchmark for realistic aesthetic evaluation. Extensive qualitative and quantitative experiments show that ERNIE-Image achieves leading performance among open-source models and approaches top-tier commercial models in instruction following, text rendering, and aesthetic quality. We release the trained models and aesthetic resources to facilitate further academic research and technical progress in the AIGC community.

cs.CV↗

arXiv2026

Accelerating Locality-Driven Integration in Quantum Chemistry with Block-Structured Matrix Multiplication

Locality-driven integration is a pervasive computational pattern in quantum chemistry, arising whenever spatially localized basis functions interact through numerical quadrature or integral screening. The dominant matrix multiplications in these tasks exhibit dynamic, structured sparsity driven by spatial locality, posing significant challenges for both dense batched kernels and generic sparse formats on GPUs. We present KerneLDI, a GPU-oriented framework that addresses this regime by co-designing data layout, screening logic, and matrix-computation operators to realize block-structured matrix multiplication for locality-driven integration. KerneLDI reorganizes operand matrices into a unified block-filtered representation that retains only spatially relevant blocks, and executes the resulting contractions with customized dense block multipliers that adapt proven dense-matmul optimizations to retained block pairs. We develop and evaluate KerneLDI on exchange--correlation (EXC) integration in Kohn--Sham density functional theory, a representative and computationally critical instance of this pattern. Across diverse molecular systems, KerneLDI preserves numerical accuracy while delivering up to 10$\times$ speedup for EXC evaluation over a dense GPU baseline, scales favorably with increasing system size and multi-GPU parallelism, accelerates end-to-end self-consistent field calculations, and yields nearly 6$\times$ throughput improvement for ab initio molecular dynamics.

physics.comp-ph↗

arXiv2026

Safety-Critical LiDAR-Inertial Odometry with On-Manifold Deterministic Protection Level

In safety-critical scenarios, the protection level of the autonomous navigation system is crucial for enabling mobile robots to perform safe tasks. However, existing studies on probabilistic navigation systems for robots usually perform offline accuracy evaluations using limited datasets and assume that the results can be applied to unknown real-world environments. As a result, current autonomous mobile robots often lack protection levels for online safety assessment. To fill this gap, we propose a safety-critical LiDAR-inertial odometry (LIO) that provides deterministic protection levels based on on-manifold deterministic state estimation. By adopting the unknown but bounded assumption, we derive a neat closed-form relationship between point cloud noise and the uncertainty of the estimation from the iterated closest point algorithm. Using this relationship, we design an on-manifold ellipsoidal set-membership filter and implement it within the LIO system. Leveraging the properties of the set-membership filter, our system offers the feasible sets of the estimated locations as the deterministic protection levels, serving as safety references for the robots' downstream autonomous operations. The experimental results show that our system can provide effective deterministic online safety references for diverse robots in various environments.

cs.RO↗

arXiv2026

Performance Analysis and Optimization for Laser-Phase-Noise based Quantum Random Number Generation

The quantum random number generation based on laser phase noise, which is featured with high random number generation rate and ease for photonic integration, has been extensively investigated and demonstrated. Despite these advancements, a theoretical model to achieve optimal performance in terms of maximizing the random number generation rate is still incomplete. In this work, a comprehensive physical model for this scheme is introduced to accurately predict the power spectrum of entropy source and probability distribution of raw data, based on which the entropy source bandwidth and extractable randomness can be accordingly estimated and thus the system performance can be quantitatively evaluated and optimized. The model is sufficiently validated through both simulation and experiment with significant agreement under various typical setups. Furthermore, our proposal enables the proactive design of experimental parameters to achieve optimal system performance, which is crucial for the design and practical implementation of photonics integrated quantum random number generations.

quant-ph↗

arXiv2026

TriDeliver: Cooperative Air-Ground Instant Delivery with UAVs, Couriers, and Crowdsourced Ground Vehicles

Instant delivery, shipping items before critical deadlines, is essential in daily life. While multiple delivery agents, such as couriers, Unmanned Aerial Vehicles (UAVs), and crowdsourced agents, have been widely employed, each of them faces inherent limitations (e.g., low efficiency/labor shortages, flight control, and dynamic capabilities, respectively), preventing them from meeting the surging demands alone. This paper proposes TriDeliver, the first hierarchical cooperative framework, integrating human couriers, UAVs, and crowdsourced ground vehicles (GVs) for efficient instant delivery. To obtain the initial scheduling knowledge for GVs and UAVs as well as improve the cooperative delivery performance, we design a Transfer Learning (TL)-based algorithm to extract delivery knowledge from couriers' behavioral history and transfer their knowledge to UAVs and GVs with fine-tunings, which is then used to dispatch parcels for efficient delivery. Evaluated on one-month real-world trajectory and delivery datasets, it has been demonstrated that 1) by integrating couriers, UAVs, and crowdsourced GVs, TriDeliver reduces the delivery cost by $65.8\%$ versus state-of-the-art cooperative delivery by UAVs and couriers; 2) TriDeliver achieves further improvements in terms of delivery time ($-17.7\%$), delivery cost ($-9.8\%$), and impacts on original tasks of crowdsourced GVs ($-43.6\%$), even with the representation of the transferred knowledge by simple neural networks, respectively.

cs.RO↗

arXiv2025

An Iteration-Free Fixed-Point Estimator for Diffusion Inversion

Diffusion inversion aims to recover the initial noise corresponding to a given image such that this noise can reconstruct the original image through the denoising diffusion process. The key component of diffusion inversion is to minimize errors at each inversion step, thereby mitigating cumulative inaccuracies. Recently, fixed-point iteration has emerged as a widely adopted approach to minimize reconstruction errors at each inversion step. However, it suffers from high computational costs due to its iterative nature and the complexity of hyperparameter selection. To address these issues, we propose an iteration-free fixed-point estimator for diffusion inversion. First, we derive an explicit expression of the fixed point from an ideal inversion step. Unfortunately, it inherently contains an unknown data prediction error. Building upon this, we introduce the error approximation, which uses the calculable error from the previous inversion step to approximate the unknown error at the current inversion step. This yields a calculable, approximate expression for the fixed point, which is an unbiased estimator characterized by low variance, as shown by our theoretical analysis. We evaluate reconstruction performance on two text-image datasets, NOCAPS and MS-COCO. Compared to DDIM inversion and other inversion methods based on the fixed-point iteration, our method achieves consistent and superior performance in reconstruction tasks without additional iterations or training.

cs.CV↗

arXiv2025

GAFD-CC: Global-Aware Feature Decoupling with Confidence Calibration for OOD Detection

Out-of-distribution (OOD) detection is paramount to ensuring the reliability and robustness of learning models in real-world applications. Existing post-hoc OOD detection methods detect OOD samples by leveraging their features and logits information without retraining. However, they often overlook the inherent correlation between features and logits, which is crucial for effective OOD detection. To address this limitation, we propose Global-Aware Feature Decoupling with Confidence Calibration (GAFD-CC). GAFD-CC aims to refine decision boundaries and increase discriminative performance. Firstly, it performs global-aware feature decoupling guided by classification weights. This involves aligning features with the direction of global classification weights to decouple them. From this, GAFD-CC extracts two types of critical information: positively correlated features that promote in-distribution (ID)/OOD boundary refinement and negatively correlated features that suppress false positives and tighten these boundaries. Secondly, it adaptively fuses these decoupled features with multi-scale logit-based confidence for comprehensive and robust OOD detection. Extensive experiments on large-scale benchmarks demonstrate GAFD-CC's competitive performance and strong generalization ability compared to those of state-of-the-art methods.

cs.CV↗

arXiv2025

A $1000\times$ Faster LLM-enhanced Algorithm For Path Planning in Large-scale Grid Maps

Path planning in grid maps, arising from various applications, has garnered significant attention. Existing methods, such as A*, Dijkstra, and their variants, work well for small-scale maps but fail to address large-scale ones due to high search time and memory consumption. Recently, Large Language Models (LLMs) have shown remarkable performance in path planning but still suffer from spatial illusion and poor planning performance. Among all the works, LLM-A* \cite{meng2024llm} leverages LLM to generate a series of waypoints and then uses A* to plan the paths between the neighboring waypoints. In this way, the complete path is constructed. However, LLM-A* still suffers from high computational time for large-scale maps. To fill this gap, we conducted a deep investigation into LLM-A* and found its bottleneck, resulting in limited performance. Accordingly, we design an innovative LLM-enhanced algorithm, abbr. as iLLM-A*. iLLM-A* includes 3 carefully designed mechanisms, including the optimization of A*, an incremental learning method for LLM to generate high-quality waypoints, and the selection of the appropriate waypoints for A* for path planning. Finally, a comprehensive evaluation on various grid maps shows that, compared with LLM-A*, iLLM-A* \textbf{1) achieves more than $1000\times$ speedup on average, and up to $2349.5\times$ speedup in the extreme case, 2) saves up to $58.6\%$ of the memory cost, 3) achieves both obviously shorter path length and lower path length standard deviation.}

cs.RO↗

arXiv2025

Thinking Before You Speak: A Proactive Test-time Scaling Approach

Large Language Models (LLMs) often exhibit deficiencies with complex reasoning tasks, such as maths, which we attribute to the discrepancy between human reasoning patterns and those presented in the LLMs' training data. When dealing with complex problems, humans tend to think carefully before expressing solutions. However, they often do not articulate their inner thoughts, including their intentions and chosen methodologies. Consequently, critical insights essential for bridging reasoning steps may be absent in training data collected from human sources. To bridge this gap, we proposes inserting \emph{insight}s between consecutive reasoning steps, which review the status and initiate the next reasoning steps. Unlike prior prompting strategies that rely on a single or a workflow of static prompts to facilitate reasoning, \emph{insight}s are \emph{proactively} generated to guide reasoning processes. We implement our idea as a reasoning framework, named \emph{Thinking Before You Speak} (TBYS), and design a pipeline for automatically collecting and filtering in-context examples for the generation of \emph{insight}s, which alleviates human labeling efforts and fine-tuning overheads. Experiments on challenging mathematical datasets verify the effectiveness of TBYS. Project website: https://gitee.com/jswrt/TBYS

cs.CL↗

arXiv2025

Hierarchical Intention-Aware Expressive Motion Generation for Humanoid Robots

Effective human-robot interaction requires robots to identify human intentions and generate expressive, socially appropriate motions in real-time. Existing approaches often rely on fixed motion libraries or computationally expensive generative models. We propose a hierarchical framework that combines intention-aware reasoning via in-context learning (ICL) with real-time motion generation using diffusion models. Our system introduces structured prompting with confidence scoring, fallback behaviors, and social context awareness to enable intention refinement and adaptive response. Leveraging large-scale motion datasets and efficient latent-space denoising, the framework generates diverse, physically plausible gestures suitable for dynamic humanoid interactions. Experimental validation on a physical platform demonstrates the robustness and social alignment of our method in realistic scenarios.

cs.RO↗

arXiv2025

High-rate continuous-variable quantum key distribution over 100 km fiber with composable security

Quantum key distribution (QKD), providing a way to generate secret keys with information-theoretic security,is arguably one of the most significant achievements in quantum information. The continuous-variable QKD (CV-QKD) offers the potential advantage of achieving a higher secret key rate (SKR) within a metro area, as well as being compatible with the mature telecom industry. However, the SKR and transmission distance of state-of-the-art CV-QKD systems are currently limited. Here, based on the novelly proposed orthogonal-frequency-division-multiplexing (OFDM) CV-QKD protocol, we demonstrate for the first time a high-rate multi-carrier (MC) CV-QKD with a 10 GHz symbol rate that chieves Gbps SKR within 10km and Mbps SKR over 100 km in the finite-size regime under composable security against collective attacks. The record-breaking results are achieved by suitable optimization of subcarrier number and modulation variance, well-controlled excess noise induced by both OFDM mechanism and efficient DSP scheme, and high-performance post-processing capacity realized by heterogeneous computing scheme. The composable finite-size SKR reaches 1779.45 Mbps@5km, 1025.49 Mbps@10km, 370.50 Mbps@25km, 99.93 Mbps@50km, 25.70 Mbps@75km,and 2.25 Mbps@100km, which improves the SKR by two orders of magnitude and quintuples the maximal transmission distance compared to most recently reported CV-QKD results [Nature Communications, 13, 4740 (2022)]. Interestingly, it is experimentally verified that the SKR of the proposed MC CV-QKD can approach five times larger than that of the single-carrier CV-QKD with the same symbol rate without additional hardware costs. Our work constitutes a critical step towards future high-speed quantum metropolitan and access networks.

quant-ph↗

arXiv2025

High-rate discrete-modulated continuous-variable quantum key distribution with composable security

Continuous-variable quantum key distribution holds the potential to generate high secret key rates, making it a prime candidate for high-rate metropolitan quantum network applications. However, despite these promising opportunities, the realization of high-rate continuous-variable quantum key distribution systems with composable security remains an elusive goal. Here, we report a discrete-modulated continuous-variable quantum key distribution system with a composable secret key rate of 18.93 Mbps against collective attacks over a 25 km fiber channel. This record breaking rate is achieved through the probability shaped 16QAM-modulated protocol, which employs semidefinite programming to ensure its composable security. Furthermore, we have employed a fully digital and precise quantum signal processing technique to reduce excess noise to extremely low levels, thereby facilitating efficient broadband system operation. While ensuring low complexity and cost,our system achieves a performance advantage of over an order of magnitude compared to previous continuous-variable quantum key distribution systems, providing a promising solution for future deployment of quantum key distribution.

quant-ph↗

arXiv2025

High-rate discrete-modulated continuous-variable quantum key distribution with composable security

Continuous-variable quantum key distribution holds the potential to generate high secret key rates, making it a prime candidate for high-rate metropolitan quantum network applications. However, despite these promising opportunities, the realization of high-rate continuous-variable quantum key distribution systems with composable security remains an elusive goal. Here, we report a discrete-modulated continuous-variable quantum key distribution system with a composable secret key rate of 18.93 Mbps against collective attacks over a 25 km fiber channel. This record-breaking rate is achieved through the probability shaped 16QAM-modulated protocol, which employs semidefinite programming to ensure its composable security. Furthermore, we have employed a fully digital and precise quantum signal processing technique to reduce excess noise to extremely low levels, thereby facilitating efficient broadband system operation. While ensuring low complexity and cost, our system achieves a performance advantage of over an order of magnitude compared to previous continuous-variable quantum key distribution systems, providing a promising solution for future deployment of quantum key distribution.

quant-ph↗

arXiv2025

Enhanced Multi-Tuple Extraction for Alloys: Integrating Pointer Networks and Augmented Attention

Extracting high-quality structured information from scientific literature is crucial for advancing material design through data-driven methods. Despite the considerable research in natural language processing for dataset extraction, effective approaches for multi-tuple extraction in scientific literature remain scarce due to the complex interrelations of tuples and contextual ambiguities. In the study, we illustrate the multi-tuple extraction of mechanical properties from multi-principal-element alloys and presents a novel framework that combines an entity extraction model based on MatSciBERT with pointer networks and an allocation model utilizing inter- and intra-entity attention. Our rigorous experiments on tuple extraction demonstrate impressive F1 scores of 0.963, 0.947, 0.848, and 0.753 across datasets with 1, 2, 3, and 4 tuples, confirming the effectiveness of the model. Furthermore, an F1 score of 0.854 was achieved on a randomly curated dataset. These results highlight the model's capacity to deliver precise and structured information, offering a robust alternative to large language models and equipping researchers with essential data for fostering data-driven innovations.

cs.CL↗

arXiv2024

Flow Matching Posterior Sampling: A Training-free Conditional Generation for Flow Matching

Training-free conditional generation based on flow matching aims to leverage pre-trained unconditional flow matching models to perform conditional generation without retraining. Recently, a successful training-free conditional generation approach incorporates conditions via posterior sampling, which relies on the availability of a score function in the unconditional diffusion model. However, flow matching models do not possess an explicit score function, rendering such a strategy inapplicable. Approximate posterior sampling for flow matching has been explored, but it is limited to linear inverse problems. In this paper, we propose Flow Matching-based Posterior Sampling (FMPS) to expand its application scope. We introduce a correction term by steering the velocity field. This correction term can be reformulated to incorporate a surrogate score function, thereby bridging the gap between flow matching models and score-based posterior sampling. Hence, FMPS enables the posterior sampling to be adjusted within the flow matching framework. Further, we propose two practical implementations of the correction mechanism: one aimed at improving generation quality, and the other focused on computational efficiency. Experimental results on diverse conditional generation tasks demonstrate that our method achieves superior generation quality compared to existing state-of-the-art approaches, validating the effectiveness and generality of FMPS.

cs.CV↗

arXiv2024

ATI-CTLO:Adaptive Temporal Interval-based Continuous-Time LiDAR-Only Odometry

The motion distortion in LiDAR scans caused by aggressive robot motion and varying terrain features significantly impacts the positioning and mapping performance of 3D LiDAR odometry. Existing distortion correction solutions often struggle to balance computational complexity and accuracy. In this work, we propose an Adaptive Temporal Interval-based Continuous-Time LiDAR-only Odometry, utilizing straightforward and efficient linear interpolation. Our method flexibly adjusts the temporal intervals between control nodes according to the dynamics of motion and environmental characteristics. This adaptability enhances performance across various motion states and improves robustness in challenging, feature-sparse environments. We validate the effectiveness of our method on multiple datasets across different platforms, achieving accuracy comparable to state-of-the-art LiDAR-only odometry methods. Notably, in scenarios involving aggressive motion and sparse features, our method outperforms existing solutions.

cs.RO↗