arXiv subjects

Yuntian Wang

Publications and source records attributed to Yuntian Wang.

At least 19 recordsLinked to original sources

arXiv2026

Wavelength-Multiplexed Nonlinear Computing with a Single-Layer Diffractive Optical Processor

Diffractive optical processors provide a promising platform for high-throughput, low-latency analog computing by exploiting engineered wave propagation to transform optical fields. However, implementing nonlinear mappings in optical hardware remains challenging. Here, we introduce a wavelength-multiplexed encoding-and-decoding (E+D) diffractive processor that exploits multiple illumination wavelengths to enhance the nonlinear function-approximation capability of a compact single-layer diffractive architecture, without cascading multiple diffractive layers or increasing the trainable degrees of freedom. Under sequential wavelength scanning, each wavelength-detector channel implements a distinct nonlinear function at the output of the diffractive processor. Numerical simulations using 100 wavelength channels and 10,000 spatial detector regions at the output of the diffractive processor demonstrate the implementation of one million distinct nonlinear functions through wavelength multiplexing. We also demonstrate a simultaneous multiwavelength illumination configuration in which the E+D diffractive processor performs wavelength-division multiplexing and nonlinear function approximation concurrently. This multiwavelength illumination configuration is experimentally validated by optically implementing 64 distinct nonlinear functions under simultaneous illumination at eight wavelengths from 495 to 635 nm. Through numerical simulations and visible-light experimental demonstrations, our results indicate that this wavelength-multiplexed nonlinear function approximation framework provides a scalable route toward compact, high-capacity diffractive processors for large-scale analog optical computing and optical information processing.

physics.optics↗

arXiv2026

Uncertainty-Guided Sparse Refinement for Action Chunking Transformer Policies

Learning chunk-based visuomotor policies for long-horizon robot manipulation remains challenging. Recent action-chunking methods have shown promising performance by predicting temporally extended action sequences. However, their failures are often dominated by prediction errors at a small number of critical timesteps rather than uniformly poor predictions across the entire action chunk, making uniform refinement inefficient and insufficiently targeted. To address this bottleneck, we propose Uncertainty-Guided Refinement (UGR), a sparse refinement framework for chunk-based visuomotor policies. Specifically, UGR follows a coarse-to-refine design: it first predicts a full action chunk, estimates per-step temporal uncertainty from the coarse hidden states, and applies residual correction only to the most uncertain timesteps selected by a binary mask. The uncertainty branch is decoupled from the coarse action predictor, enabling clean attribution of the refinement gains to uncertainty-guided correction rather than additional predictor capacity. Extensive experiments on five dual-arm manipulation tasks from the RoboTwin benchmark show that UGR achieves the best success rate on four tasks, improves over the ACT baseline by up to 13% absolute, and outperforms both full-chunk and position-agnostic block refinement in ablation studies.

cs.RO↗

arXiv2026

ARP: Enhancing Quantized Skill Abstractions via Visual Alignment and Iterative Refinement for Robotic Manipulation

Learning visuomotor policies for long-horizon manipulation remains a fundamental challenge. Recent skill-based imitation learning methods based on discrete quantization have shown promising results by representing complex behaviors as temporally extended skills. However, most existing approaches primarily encode action trajectories into latent skills, yielding weak visual-semantic grounding and limiting the ability to leverage visual observations for skill selection. Moreover, discrete tokenization inevitably incurs precision errors during continuous action generation. To alleviate these issues, we propose Aligned Refinement Policy (ARP), a discrete-skill framework that couples semantic grounding with execution-level refinement. Specifically, ARP introduces (i) a visual--action alignment objective that contrastively aligns visual embeddings with pre-quantized action representations in a shared latent space while preserving a state-independent skill decoder, and (ii) a lightweight Iterative Residual Head (IRH) that performs a two-step refinement to recover fine-grained control for precise execution. Extensive experiments show that ARP achieves state-of-the-art performance on the LIBERO and Meta-World benchmarks. Moreover, real-robot experiments on the Kuavo 4 Pro humanoid platform further validate its effectiveness, yielding consistent performance gains over several baselines on two challenging manipulation tasks.

cs.RO↗

arXiv2026

UMI-Bench 1.0: An Open and Reproducible Real-World Benchmark for Tabletop Robotic Manipulation with UMI Data

Real-robot evaluation is essential for understanding whether learned manipulation policies can operate reliably outside curated demonstrations. This need is particularly pressing for Universal Manipulation Interface (UMI)-style policies, whose performance depends on the coupling between wrist-view observations, action representation, data collection, and physical deployment. Existing real-world benchmarks have made important progress, but they are not designed around this UMI data-to-deployment setting. We present UMI-Bench 1.0, a local-first real-robot benchmark for standardized evaluation of UMI-style manipulation policies. To the best of our knowledge, this is the first benchmark dedicated to real-world evaluation of UMI-based manipulation models. UMI-Bench aligns data collection, scene reset, policy execution, result logging, and task-factor analysis within a unified protocol. By making the full evaluation process reproducible and auditable, UMI-Bench provides a practical testbed for measuring how UMI-trained policies generalize to real physical manipulation.

cs.RO↗

arXiv2026

Breaking the Cascade: Compact Nonlinear Optical Computing with Single-Layer Encoder-Decoder Co-Localization

We demonstrate that nonlinear computing can be achieved with a single linear diffractive surface under coherent illumination. We introduce a compact encoder-decoder co-localization (E+D) architecture in which an input-dependent dynamic encoder and a static optimized decoder are integrated within the same phase-only diffractive plane. Following free-space propagation, coherent interference between the encoder and decoder fields, combined with intensity detection, generates programmable nonlinear input-output mappings without requiring nonlinear optical materials or multiple diffractive layers. We prove that the proposed E+D optical processor is a universal approximator for arbitrary real-valued band-limited nonlinear functions and identify the physical factors governing its approximation fidelity, including the decoder degrees-of-freedom, detector aperture, and axial propagation distance. Crucially, we demonstrate that introducing a trained, frozen phase bias to the encoder region systematically enhances functional expressivity, providing robustness against coarse phase quantization on spatial light modulators. Using this framework, we accurately synthesize diverse nonlinear functions, including commonly used neural network activation functions and complex-valued nonlinear functions. Finally, we experimentally validate the proposed approach using a visible-light optical set-up trained through in situ learning, demonstrating the parallel approximation of 9 nonlinear functions in a single optical forward pass. By collapsing nonlinear optical computation into a single diffractive surface, the E+D architecture substantially reduces hardware and alignment complexity while preserving powerful function-approximation capabilities, providing a compact and scalable framework for analog information processing.

physics.optics↗

arXiv2026

Large-scale nonlinear optical computing with incoherent light via linear diffractive systems

Nonlinear computation is essential for various information processing tasks. Optical implementations are attractive because passive light propagation can manipulate high-dimensional signals with extreme throughput and parallelism; yet realizing nonlinear mappings in optical hardware remains challenging due to the weak nonlinearity of optical materials and the large intensities required to induce nonlinear interactions. This challenge is further amplified in many systems that operate with incoherent illumination, motivating a coherence-aware framework for scalable optical nonlinear processing. Here, we show that linear optical systems, in particular, optimized diffractive processors comprising passive surfaces, can perform large-scale nonlinear function approximation under spatially incoherent or partially coherent illumination, when preceded by intensity-only input encoding. We quantify how the accuracy of the nonlinear function approximation varies with the degree of parallelism, the number of diffractive layers, and the number of trainable diffractive features. Numerical results demonstrate snapshot computation of up to one million distinct nonlinear functions in a single forward pass through a diffractive processor, with the function outputs spatially multiplexed and read out using densely packed detectors at the output. We further provide a proof-of-concept experimental demonstration under incoherent illumination from a liquid crystal display (LCD), enabled by a model-free in situ learning strategy that jointly optimizes the diffractive profile and detector readout geometry in the presence of hardware imperfections and misalignments. Our findings establish diffractive processors as a massively parallel universal function approximator for both spatially incoherent and partially coherent illumination.

physics.optics↗

arXiv2026

Compressive single-pixel imaging via a wavelength-multiplexed spatially incoherent diffractive optical processor

Despite offering high sensitivity, a high signal-to-noise ratio, and a broad spectral range, single-pixel imaging (SPI) is limited by low measurement efficiency and long data-acquisition times. To address this, we propose a wavelength-multiplexed, spatially incoherent diffractive optical processor combined with a compact/shallow digital artificial neural network (ANN) to implement compressive SPI. Specifically, we model the bucket detection process in conventional SPI as a linear intensity transformation with spatially and spectrally varying point-spread functions. This transformation matrix is treated as a learnable parameter and jointly optimized with a shallow digital ANN composed of 2 hidden nonlinear layers. The wavelength-multiplexed diffractive processor is then configured via data-free optimization to approximate this pre-trained transformation matrix; after this optimization, the diffractive processor remains static/fixed. Upon multi-wavelength illumination and diffractive modulation, the target spatial information of the input object is spectrally encoded. A single-pixel detector captures the output spectral power at each illumination band, which is then rapidly decoded by the jointly trained digital ANN to reconstruct the input image. In addition to our numerical analyses demonstrating the feasibility of this approach, we experimentally validated its proof-of-concept using an array of light-emitting diodes (LEDs). Overall, this work demonstrates a computational imaging framework for compressive SPI that can be useful in applications such as biomedical imaging, autonomous devices, and remote sensing.

physics.optics↗

arXiv2025

Structured Light at the Extreme: Harnessing Spatiotemporal Control for High-Field Laser-Matter Interactions

This review charts the emerging paradigm of intelligent structured light for high-field laser-matter interactions, where the precise spatiotemporal and vectorial control of light is a critical degree of freedom. We outline a transformative framework built upon three synergistic pillars. First, we survey the advanced electromagnetic toolkit, moving beyond conventional spatial light modulators to include robust static optics and the promising frontier of plasma light modulators. Second, we detail the optimization engine for this high-dimensional design space, focusing on physics-informed digital twins and AI-driven inverse design to automate the discovery of optimal light structures. Finally, we explore the groundbreaking applications enabled by this integrated approach, including programmable electron beams, orbital-angular-momentum-carrying γ-rays, compact THz accelerators, and robust communications. The path forward necessitates overcoming grand challenges in material science, real-time adaptive control at MHz rates, and the extension of these principles to the quantum realm. This review serves as a call to action for a coordinated, interdisciplinary effort to command, rather than merely observe, light-matter interactions at the extreme.

physics.optics↗

arXiv2025

Universal and Transferable Attacks on Pathology Foundation Models

We introduce Universal and Transferable Adversarial Perturbations (UTAP) for pathology foundation models that reveal critical vulnerabilities in their capabilities. Optimized using deep learning, UTAP comprises a fixed and weak noise pattern that, when added to a pathology image, systematically disrupts the feature representation capabilities of multiple pathology foundation models. Therefore, UTAP induces performance drops in downstream tasks that utilize foundation models, including misclassification across a wide range of unseen data distributions. In addition to compromising the model performance, we demonstrate two key features of UTAP: (1) universality: its perturbation can be applied across diverse field-of-views independent of the dataset that UTAP was developed on, and (2) transferability: its perturbation can successfully degrade the performance of various external, black-box pathology foundation models - never seen before. These two features indicate that UTAP is not a dedicated attack associated with a specific foundation model or image dataset, but rather constitutes a broad threat to various emerging pathology foundation models and their applications. We systematically evaluated UTAP across various state-of-the-art pathology foundation models on multiple datasets, causing a significant drop in their performance with visually imperceptible modifications to the input images using a fixed noise pattern. The development of these potent attacks establishes a critical, high-standard benchmark for model robustness evaluation, highlighting a need for advancing defense mechanisms and potentially providing the necessary assets for adversarial training to ensure the safe and reliable deployment of AI in pathology.

cs.CV↗

arXiv2025

The high order spectral radius of graphs without long cycles or paths

In 1959, Erdős and Gallai established two classic theorems, which determine the maximum number of edges in an $n$-vertex graph with no cycles of length at least $k$, and in an $n$-vertex graph with no paths on $k$ vertices, respectively. Subsequently, generalized and spectral versions of the Erdős-Gallai theorems have been investigated. A concept of a high order spectral radius for graphs was introduced in 2023, defined as the spectral radius of a tensor and termed the $t$-clique spectral radius $ρ_t(G)$. In this paper, we establish a high order spectral version of Erdős-Gallai theorems by employing the $t$-clique spectral radius, i.e., we determine the extremal graphs that attain the maximum $t$-clique spectral radius in the $n$-vertex graphs with no cycles of length at least $k$ and in the $n$-vertex graphs with no paths on $k$ vertices, respectively.

math.CO↗

arXiv2025

Structural Vibration Monitoring with Diffractive Optical Processors

Structural Health Monitoring (SHM) is vital for maintaining the safety and longevity of civil infrastructure, yet current solutions remain constrained by cost, power consumption, scalability, and the complexity of data processing. Here, we present a diffractive vibration monitoring system, integrating a jointly optimized diffractive layer with a shallow neural network-based backend to remotely extract 3D structural vibration spectra, offering a low-power, cost-effective and scalable solution. This architecture eliminates the need for dense sensor arrays or extensive data acquisition; instead, it uses a spatially-optimized passive diffractive layer that encodes 3D structural displacements into modulated light, captured by a minimal number of detectors and decoded in real-time by shallow and low-power neural networks to reconstruct the 3D displacement spectra of structures. The diffractive system's efficacy was demonstrated both numerically and experimentally using millimeter-wave illumination on a laboratory-scale building model with a programmable shake table. Our system achieves more than an order-of-magnitude improvement in accuracy over conventional optics or separately trained modules, establishing a foundation for high-throughput 3D monitoring of structures. Beyond SHM, the 3D vibration monitoring capabilities of this cost-effective and data-efficient framework establish a new computational sensing modality with potential applications in disaster resilience, aerospace diagnostics, and autonomous navigation, where energy efficiency, low latency, and high-throughput are critical.

physics.optics↗

arXiv2025

Optimizing Structured Surfaces for Diffractive Waveguides

Waveguide design is crucial in developing efficient light delivery systems, requiring meticulous material selection, precise manufacturing, and rigorous performance optimization, including dispersion engineering. Here, we introduce universal diffractive waveguide designs that can match the performance of any conventional dielectric waveguide and achieve various functionalities. Optimized using deep learning, our diffractive waveguide designs can be cascaded to each other to form any desired length and are comprised of transmissive diffractive surfaces that permit the propagation of desired guided modes with low loss and high mode purity. In addition to guiding the targeted modes along the propagation direction through cascaded diffractive units, we also developed various waveguide components and introduced bent diffractive waveguides, rotating the direction of mode propagation, as well as spatial and spectral mode filtering and mode splitting diffractive waveguide designs, and mode-specific polarization-maintaining diffractive waveguides, showcasing the versatility of this platform. This diffractive waveguide framework was experimentally validated in the terahertz (THz) spectrum using 3D-printed diffractive layers to selectively pass certain spatial modes while rejecting others. Diffractive waveguides can be scaled to operate at different wavelengths, including visible and infrared parts of the spectrum, without the need for material dispersion engineering, providing an alternative to traditional waveguide components. This advancement will have potential applications in telecommunications, imaging, sensing and spectroscopy, among others.

physics.optics↗

arXiv2024

Unidirectional imaging with partially coherent light

Unidirectional imagers form images of input objects only in one direction, e.g., from field-of-view (FOV) A to FOV B, while blocking the image formation in the reverse direction, from FOV B to FOV A. Here, we report unidirectional imaging under spatially partially coherent light and demonstrate high-quality imaging only in the forward direction (A->B) with high power efficiency while distorting the image formation in the backward direction (B->A) along with low power efficiency. Our reciprocal design features a set of spatially engineered linear diffractive layers that are statistically optimized for partially coherent illumination with a given phase correlation length. Our analyses reveal that when illuminated by a partially coherent beam with a correlation length of ~1.5 w or larger, where w is the wavelength of light, diffractive unidirectional imagers achieve robust performance, exhibiting asymmetric imaging performance between the forward and backward directions - as desired. A partially coherent unidirectional imager designed with a smaller correlation length of less than 1.5 w still supports unidirectional image transmission, but with a reduced figure of merit. These partially coherent diffractive unidirectional imagers are compact (axially spanning less than 75 w), polarization-independent, and compatible with various types of illumination sources, making them well-suited for applications in asymmetric visual information processing and communication.

physics.optics↗

arXiv2024

RCooper: A Real-world Large-scale Dataset for Roadside Cooperative Perception

The value of roadside perception, which could extend the boundaries of autonomous driving and traffic management, has gradually become more prominent and acknowledged in recent years. However, existing roadside perception approaches only focus on the single-infrastructure sensor system, which cannot realize a comprehensive understanding of a traffic area because of the limited sensing range and blind spots. Orienting high-quality roadside perception, we need Roadside Cooperative Perception (RCooper) to achieve practical area-coverage roadside perception for restricted traffic areas. Rcooper has its own domain-specific challenges, but further exploration is hindered due to the lack of datasets. We hence release the first real-world, large-scale RCooper dataset to bloom the research on practical roadside cooperative perception, including detection and tracking. The manually annotated dataset comprises 50k images and 30k point clouds, including two representative traffic scenes (i.e., intersection and corridor). The constructed benchmarks prove the effectiveness of roadside cooperation perception and demonstrate the direction of further research. Codes and dataset can be accessed at: https://github.com/AIR-THU/DAIR-RCooper.

cs.CV↗

arXiv2024

Information hiding cameras: optical concealment of object information into ordinary images

Data protection methods like cryptography, despite being effective, inadvertently signal the presence of secret communication, thereby drawing undue attention. Here, we introduce an optical information hiding camera integrated with an electronic decoder, optimized jointly through deep learning. This information hiding-decoding system employs a diffractive optical processor as its front-end, which transforms and hides input images in the form of ordinary-looking patterns that deceive/mislead human observers. This information hiding transformation is valid for infinitely many combinations of secret messages, all of which are transformed into ordinary-looking output patterns, achieved all-optically through passive light-matter interactions within the optical processor. By processing these ordinary-looking output images, a jointly-trained electronic decoder neural network accurately reconstructs the original information hidden within the deceptive output pattern. We numerically demonstrated our approach by designing an information hiding diffractive camera along with a jointly-optimized convolutional decoder neural network. The efficacy of this system was demonstrated under various lighting conditions and noise levels, showing its robustness. We further extended this information hiding camera to multi-spectral operation, allowing the concealment and decoding of multiple images at different wavelengths, all performed simultaneously in a single feed-forward operation. The feasibility of our framework was also demonstrated experimentally using THz radiation. This optical encoder-electronic decoder-based co-design provides a novel information hiding camera interface that is both high-speed and energy-efficient, offering an intriguing solution for visual information security.

physics.optics↗

arXiv2020

Secure Multigroup Multicast Communication Systems via Intelligent Reflecting Surface

This paper considers a secure multigroup multicast multiple-input single-output (MISO) communication system aided by an intelligent reflecting surface (IRS). Specifically, we aim to minimize the transmit power at the Alice via jointly optimizing the transmit beamformer, AN vector and phase shifts at the IRS subject to the secrecy rate constraints as well as the unit modulus constraints of IRS phase shifts. However, the optimization problem is non-convex and directly solving it is intractable. To tackle the optimization problem, we first transform it into a semidefinite relaxation (SDR) problem, and then alternately update the transmit beamformer and AN matrix as well as the phase shifts at the IRS. In order to reduce the high computational complexity, we further propose a low-complexity algorithm based on second-order cone programming (SOCP). We decouple the optimization problem into two sub-problems and optimize the transmit beamformer, AN vector and the phase shifts alternately by solving two corresponding SOCP sub-problem. Simulation results show that the proposed SDR and SOCP schemes require half or less transmit power than the scheme without IRS, which demonstrates the advantages of introducing IRS and the effectiveness of the proposed methods.

eess.SP↗

arXiv2020

Efficient Receive Beamformers for Secure Spatial Modulation against a Malicious Full-duplex Attacker with Eavesdropping Ability

In this paper, we consider a new secure spatial modulation scenario with a full-duplex (FD) malicious attacker Mallory owning eavesdropping capacity, where Mallory works on FD model and transmits a malicious jamming such as artificial noise (AN) to interfere with Bob. To suppress the malicious jamming on Bob from Mallory, a conventional maximum receive power (Max-RP) at Bob is presented firstly. Subsequently, to exploit the colored property of noise plus interference at Bob, a whitening-filter-based Max-RP (Max-WFRP) is proposed with an obvious performance enhancement over Max-RP. To completely remove the malicious jamming from Mallory, a Max-RP with a constraint of forcing the malicious jamming from Mallory to zero at Bob is proposed. To further improve secrecy rate (SR) by removing the ZF contraint (ZFC), the maximum signal-to-jamming-plus-noise ratio (Max-SJNR) is proposed. Our proposed methods have closed-form expressions. From simulation results, the four receive beamforming methods have an increasing order in performance: Max-RP, Max-RP with ZFC and Max-SJNR$\approx$Max-WFRP. Additionally, the latter two harvest a substantial performance gains over Max-RP and Max-RP with ZFC in the low and medium signal-to-noise ratio regions.

cs.IT↗

arXiv2020

UAV-enabled Secure Communication with Finite Blocklength

In the finite blocklength scenario, which is suitable for practical applications, a method of maximizing the average effective secrecy rate (AESR) is proposed for a UAV-enabled secure communication by optimizing the UAV's trajectory and transmit power subject to the UAV's mobility constraints and transmit power constraints. To address the formulated non-convex optimization problem, it is first decomposed into two non-convex subproblems. Then the two subproblems are converted respectively into two convex subproblems via the first-order approximation. Finally, an alternating iteration algorithm is developed by solving the two subproblems iteratively using successive convex approximation (SCA) technique. Numerical results show that our proposed scheme achieves a better AESR performance than both the benchmark schemes.

eess.SP↗