arXiv subjects

Yue Qu

Publications and source records attributed to Yue Qu.

3 recordsLinked to original sources

arXiv2026

Ultra-high-speed line-scan Raman imaging

Raman spectroscopic imaging has emerged as a potent tool due to its non-invasive nature and capability for chemical composition analysis. Line-scan Raman spectroscopy accelerates imaging speed by two orders of magnitude compared to point detection Raman methods. However, further enhancements in imaging speed were constrained by the readout speed of typically used charge-coupled device (CCD) spectroscopic detectors. We developed an ultra-fast line-scan Raman imaging technique based on recently available complementary metal-oxide-semiconductor (CMOS) detectors with low cost and read noise, and fast readout during exposure combined with a global shutter. Employing a high-efficiency transmissiongrating imaging spectrometer, we demonstrate imaging speeds up to two orders of magnitude faster than traditional line scan Raman imaging techniques and up to four orders of magnitude faster than point scan Raman methods, achieving Raman imaging up to 80 kHz spectral rate. We demonstrate that this technology is applicable to a variety of samples, including microplastics, biological cells, and tablets, creating images in an extremely short time frame, showcasing exceptional detection capabilities and the ability to reveal detailed information.

physics.optics↗

arXiv2026

Grounding Generative Planners in Verifiable Logic: A Hybrid Architecture for Trustworthy Embodied AI

Large Language Models (LLMs) show promise as planners for embodied AI, but their stochastic nature lacks formal reasoning, preventing strict safety guarantees for physical deployment. Current approaches often rely on unreliable LLMs for safety checks or simply reject unsafe plans without offering repairs. We introduce the Verifiable Iterative Refinement Framework (VIRF), a neuro-symbolic architecture that shifts the paradigm from passive safety gatekeeping to active collaboration. Our core contribution is a tutor-apprentice dialogue where a deterministic Logic Tutor, grounded in a formal safety ontology, provides causal and pedagogical feedback to an LLM planner. This enables intelligent plan repairs rather than mere avoidance. We also introduce a scalable knowledge acquisition pipeline that synthesizes safety knowledge bases from real-world documents, correcting blind spots in existing benchmarks. In challenging home safety tasks, VIRF achieves a perfect 0 percent Hazardous Action Rate (HAR) and a 77.3 percent Goal-Condition Rate (GCR), which is the highest among all baselines. It is highly efficient, requiring only 1.1 correction iterations on average. VIRF demonstrates a principled pathway toward building fundamentally trustworthy and verifiably safe embodied agents.

cs.AI↗

arXiv2025

TransMPC: Transformer-based Explicit MPC with Variable Prediction Horizon

Traditional online Model Predictive Control (MPC) methods often suffer from excessive computational complexity, limiting their practical deployment. Explicit MPC mitigates online computational load by pre-computing control policies offline; however, existing explicit MPC methods typically rely on simplified system dynamics and cost functions, restricting their accuracy for complex systems. This paper proposes TransMPC, a novel Transformer-based explicit MPC algorithm capable of generating highly accurate control sequences in real-time for complex dynamic systems. Specifically, we formulate the MPC policy as an encoder-only Transformer leveraging bidirectional self-attention, enabling simultaneous inference of entire control sequences in a single forward pass. This design inherently accommodates variable prediction horizons while ensuring low inference latency. Furthermore, we introduce a direct policy optimization framework that alternates between sampling and learning phases. Unlike imitation-based approaches dependent on precomputed optimal trajectories, TransMPC directly optimizes the true finite-horizon cost via automatic differentiation. Random horizon sampling combined with a replay buffer provides independent and identically distributed (i.i.d.) training samples, ensuring robust generalization across varying states and horizon lengths. Extensive simulations and real-world vehicle control experiments validate the effectiveness of TransMPC in terms of solution accuracy, adaptability to varying horizons, and computational efficiency.

cs.RO↗