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Yuquan Wang

Publications and source records attributed to Yuquan Wang.

16 recordsLinked to original sources

ReasoningGuard: Safeguarding Large Reasoning Models with Inference-time Safety Aha Moments

Large Reasoning Models (LRMs) have demonstrated impressive performance in reasoning-intensive tasks, but they remain vulnerable to harmful content generation, particularly in the mid-to-late steps of their reasoning processes. Current defense methods, however, depend on costly fine-tuning and additional expert knowledge, which limits their scalability. In this work, we propose ReasoningGuard, an inference-time safeguard for LRMs. It injects timely safety aha moments during the reasoning process to guide the model towards harmless yet helpful reasoning. Our approach leverages the internal attention mechanisms of the LRM to accurately identify key points in the reasoning path, triggering safety-oriented reflections. To safeguard both the subsequent reasoning steps and the final answers, we implement a scaling sampling strategy during decoding to select the optimal reasoning path. With minimal additional inference cost, ReasoningGuard effectively mitigates four types of jailbreak attacks, including recent ones targeting the reasoning process of LRMs. Our approach outperforms nine existing safeguards, providing state-of-the-art defenses while avoiding common exaggerated safety issues.

cs.CL

SixthSense: Task-Agnostic Proprioception-Only Whole-Body Wrench Estimation for Humanoids

Humanoid robots are entering our physical world at scale, yet as oversized toys--good at singing and dancing, but short on force-interaction capabilities for practical tasks. Bridging this gap necessitates prioritizing reliable contact perception as a fundamental requirement. Estimating external wrenches in humanoids is complicated by floating-base dynamics and indeterminate contact locations. Existing analytical frameworks require idealistic assumptions and hard-to-obtain measurements, which are often unavailable in practice. To bridge this gap, we propose SixthSense, a task-agnostic approach that infers whole-body contact timing, location, and wrenches from proprioception and IMU data alone. To capture the multi-modal dynamics between unstructured contact inputs and the uncertain motion outputs, we employ conditional flow matching to tokenize proprioceptive histories and estimate a spatiotemporally sparse contact-event flow. SixthSense serves as a plug-and-play perception module for applications including collision detection, physical human-robot interaction, and force-feedback teleoperation. Experiments across standing, walking, and whole-body motion-tracking policies showcased unprecedented performance in diverse behaviors.

cs.RO

The Illusionist's Prompt: Exposing the Factual Vulnerabilities of Large Language Models with Linguistic Nuances

As Large Language Models (LLMs) continue to advance, they are increasingly relied upon as real-time sources of information by non-expert users. To ensure the factuality of the information they provide, much research has focused on mitigating hallucinations in LLM responses, but only in the context of formal user queries, rather than maliciously crafted ones. In this study, we introduce The Illusionist's Prompt, a novel hallucination attack that incorporates linguistic nuances into adversarial queries, challenging the factual accuracy of LLMs against five types of fact-enhancing strategies. Our attack automatically generates highly transferrable illusory prompts to induce internal factual errors, all while preserving user intent and semantics. Extensive experiments confirm the effectiveness of our attack in compromising black-box LLMs, including commercial APIs like GPT-4o and Gemini-2.0, even with various defensive mechanisms.

cs.CL

One-Step Diffusion Model for Image Motion-Deblurring

Currently, methods for single-image deblurring based on CNNs and transformers have demonstrated promising performance. However, these methods often suffer from perceptual limitations, poor generalization ability, and struggle with heavy or complex blur. While diffusion-based methods can partially address these shortcomings, their multi-step denoising process limits their practical usage. In this paper, we conduct an in-depth exploration of diffusion models in deblurring and propose a one-step diffusion model for deblurring (OSDD), a novel framework that reduces the denoising process to a single step, significantly improving inference efficiency while maintaining high fidelity. To tackle fidelity loss in diffusion models, we introduce an enhanced variational autoencoder (eVAE), which improves structural restoration. Additionally, we construct a high-quality synthetic deblurring dataset to mitigate perceptual collapse and design a dynamic dual-adapter (DDA) to enhance perceptual quality while preserving fidelity. Extensive experiments demonstrate that our method achieves strong performance on both full and no-reference metrics. Our code and pre-trained model will be publicly available at https://github.com/xyLiu339/OSDD.

cs.CV

Integrated Hierarchical Decision-Making in Inverse Kinematic Planning and Control

This work presents a novel and efficient nonlinear programming framework that tightly integrates hierarchical decision-making with whole-body inverse kinematic planning and control. Decision-making plays a central role in many aspects of robotics, from sparse inverse kinematic control with a minimal number of joints, to inverse kinematic planning while simultaneously selecting a discrete end-effector location from multiple candidates. Current approaches often rely on heavy computations using mixed-integer nonlinear programming, separate decision-making from inverse kinematics (some times approximated by reachability methods), or employ efficient but less versatile $\ell_1$-norm formulations of linear sparse programming, without addressing the underlying nonlinear problem formulations. In contrast, the proposed sparse hierarchical nonlinear programming solver is efficient, versatile, and accurate by exploiting sparse hierarchical structure and leveraging the $\ell_0$-norm which is rarely used in robotics. The solver efficiently tackles complex nonlinear hierarchical decision-making problems previously unaddressed in the literature, such as inverse kinematic planning with simultaneous prioritized selection of end-effector locations from a large set of candidates, or inverse kinematic control with simultaneous selection of bi-manual grasp locations on a randomly rotated box.

cs.RO

Impact-Aware Task-Space Quadratic-Programming Control

Robots usually establish contacts at rigid surfaces with near-zero relative velocities. Otherwise, impact-induced energy propagates in the robot's linkage and may cause irreversible damage to the hardware. Moreover, abrupt changes in task-space contact velocity and peak impact forces also result in abrupt changes in robot joint velocities and torques; which can compromise controllers' stability, especially for those based on smooth models. In reality, several tasks would require establishing contact with moderately high velocity. We propose to enhance task-space multi-objective controllers formulated as a quadratic program to be resilient to frictional impacts in three dimensions. We devise new constraints and reformulate the usual ones to be robust to the abrupt joint state changes mentioned earlier. The impact event becomes a controlled process once the optimal control search space is aware of: (1) the hardware-affordable impact bounds and (2) analytically-computed feasible set (polyhedra) that constrain post-impact critical states. Prior to and nearby the targeted contact spot, we assume, at each control cycle, that the impact will occur at the next iteration. This somewhat one-step preview makes our controller robust to impact time and location. To assess our approach, we experimented its resilience to moderate impacts with the Panda manipulator and achieved swift grabbing tasks with the HRP-4 humanoid robot.

cs.RO

A Manipulator-Assisted Multiple UAV Landing System for USV Subject to Disturbance

Marine waves significantly disturb the unmanned surface vehicle (USV) motion. An unmanned aerial vehicle (UAV) can hardly land on a USV that undergoes irregular motion. An oversized landing platform is usually necessary to guarantee the landing safety, which limits the number of UAVs that can be carried. We propose a landing system assisted by tether and robot manipulation. The system can land multiple UAVs without increasing the USV's size. An MPC controller stabilizes the end-effector and tracks the UAVs, and an adaptive estimator addresses the disturbance caused by the base motion. The working strategy of the system is designed to plan the motion of each device. We have validated the manipulator controller through simulations and well-controlled indoor experiments. During the field tests, the proposed system caught and placed the UAVs when the disturbed USV roll range was approximately 12 degrees.

cs.RO

Impact-Aware Multi-Contact Balance Criteria

Intentionally applying impacts while maintaining balance is challenging for legged robots. This study originated from observing experimental data of the humanoid robot HRP-4 intentionally hitting a wall with its right arm while standing on two feet. Strangely, violating the usual zero moment point balance criteria did not systematically result in a fall. To investigate this phenomenon, we propose the zero-step capture region for non-coplanar contacts, defined as the center of mass (CoM) velocity area, and validated it with push-recovery experiments employing the HRP-4 balancing on two non-coplanar contacts. To further enable on-purpose impacts, we compute the set of candidate post-impact CoM velocities accounting for frictional-impact dynamics in three dimensions, and restrict the entire set within the CoM velocity area to maintain balance with the sustained contacts during and after impacts. We illustrate the maximum contact velocity for various HRP-4 stances in simulation, indicating potential for integration into other task-space whole-body controllers or planners. This study is the first to address the challenging problem of applying an intentional impact with a kinematic-controlled humanoid robot on non-coplanar contacts.

cs.RO

Towards a General Pre-training Framework for Adaptive Learning in MOOCs

Adaptive learning aims to stimulate and meet the needs of individual learners, which requires sophisticated system-level coordination of diverse tasks, including modeling learning resources, estimating student states, and making personalized recommendations. Existing deep learning methods have achieved great success over statistical models; however, they still lack generalization for diverse tasks and suffer from insufficient capacity since they are composed of highly-coupled task-specific architectures and rely on small-scale, coarse-grained recommendation scenarios. To realize the idea of general adaptive systems proposed in pedagogical theory, with the emerging pre-training techniques in NLP, we try to conduct a practical exploration on applying pre-training to adaptive learning, to propose a unified framework based on data observation and learning style analysis, properly leveraging heterogeneous learning elements. Through a series of downstream tasks of Learning Recommendation, Learning Resource Evaluation, Knowledge Tracing, and Dropout Prediction, we find that course structures, text, and knowledge are helpful for modeling and inherently coherent to student non-sequential learning behaviors and that indirectly relevant information included in the pre-training foundation can be shared across downstream tasks to facilitate effectiveness. We finally build a simplified systematic application of adaptive learning and reflect on the insights brought back to pedagogy. The source code and dataset will be released.

cs.CY

Predicting Impact-Induced Joint Velocity Jumps on Kinematic-Controlled Manipulator

In order to enable on-purpose robotic impact tasks, predicting joint-velocity jumps is essential to enforce controller feasibility and hardware integrity. We observe a considerable prediction error of a commonly-used approach in robotics compared against 250 benchmark experiments with the Panda manipulator. We reduce the average prediction error by 81.98% as follows: First, we focus on task-space equations without inverting the ill-conditioned joint-space inertia matrix. Second, before the impact event, we compute the equivalent inertial properties of the end-effector tip considering that a high-gains (stiff) kinematic-controlled manipulator behaves like a composite-rigid body.

cs.RO

On Inverse Inertia Matrix and Contact-Force Model for Robotic Manipulators at Normal Impacts

State-of-the-art impact dynamics models either apply for free-flying objects or do not account that a robotic manipulator is commonly high-stiffness controlled. Thus, we lack tailor-made models for manipulators mounted on a fixed base. Focusing on orthogonal point-to-surface impacts (no tangential velocities), we revisit two main elements of an impact dynamics model: the contact-force model and the inverse inertia matrix. We collect contact-force measurements by impacting a 7 DOF Panda robot against a sensorized rigid environment with various joint configurations and velocities. Evaluating the measurements from 150 trials, the best model-to-data matching suggests a viscoelastic contact-force model and computing the inverse inertia matrix assuming the robot is a composite-rigid body.

cs.RO

Impact-aware humanoid robot motion generation with a quadratic optimization controller

Impact-aware tasks (i.e. on purpose impacts) are not handled in multi-objective whole body controllers of hu-manoid robots. This leads to the fact that a humanoid robot typically operates at near-zero velocity to interact with the external environment. We explicitly investigate the propagation of the impact-induced velocity and torque jumps along the structure linkage and propose a set of constraints that always satisfy the hardware limits, sustain already established contacts and the stability measure, i.e. the zero moment point condition. Without assumptions on the impact location or timing, our proposed controller enables humanoid robots to generate non-zero contact velocity without breaking the established contacts or falling. The novelty of our approach lies in building on existing continuous dynamics whole body multi-objective controller without the need of reset-maps or hybrid control.

cs.RO

Spin-dependent Rotating Wigner Molecules in Quantum dots

The spin-dependent trial wave functions with rotational symmetry are introduced to describe rotating Wigner molecular states with spin degree of freedom in four- and five-electron quantum dots under magnetic fields. The functions are constructed with unrestricted Hartree-Fock orbits and projection technique in long-range interaction limit. They highly overlap with the exact-diagonalized ones and give the accurate energies in strong fields. The zero points, i.e. vortices of the functions have straightforward relations to the angular momenta of the states. The functions with different total spins automatically satisfy the angular momentum transition rules with the increase of magnetic fields and explicitly show magnetic couplings and characteristic oscillations with respect to the angular momenta. Based on the functions, it is demonstrated that the entanglement entropies of electrons depend on the z-component of total spin and rise with the increase of angular momenta.

cond-mat.str-el

Vortex structures in few-electron quantum dots with spin degree of freedom

The vortex structures and formations of the few-electron states in quantum dots without the Zeeman splitting are investigated. With spin degree of freedom, it is noticed that both the choices of probe electron and the ways to fix the other electrons in conditional single-particle wave functions affect the display of the vortex structures and behaviors. Then the vortex transitions in magnetic fields for the lowest states with different spins are studied. When the field is not very strong, with the increase of the field, the vortex number is monotone non-decreasing, and there are absent states although their angular momenta are in accordance with transition rules given by the theory of electron molecules. Different behaviors of the vortices with the change of interaction range reveal the respective analogies to the vortices of electrons and quasi-particles in fractional quantum Hall system. The separated vortices keep apart from the electrons even when the interaction is screened and such behavior can give an understanding of the absences of the angular momenta in the transition sequences.

cond-mat.str-el

Correlations and entanglements in a few-electron quantum dot without Zeeman splitting

We explore the correlations and entanglements of exact-diagonalized few-electron wave functions in a quantum dot in magnetic fields without the Zeeman splitting. With the increase of the field, the lowest states with different spins gradually form a narrow band and the electronic states undergo a transition from liquids to rotating Wigner molecules which are accompanied by different characters of charge correlations. For both the liquid and crystal states, the spin conditional probability densities show magnetic couplings between the particles which depend on the particle numbers, the total spins and the angular momenta of the states. The von Neumann entropies show the spin-dependent entanglements between electrons. The regular magnetic-coupling oscillations and converging entanglement entropies emerge in the rotating Wigner molecular states.

cond-mat.str-el

Aharonov-Bohm phase operations on a double-barrier nanoring charge qubit

We present a scheme for charge qubit implementation in a double-barrier nanoring. The logical states of the qubit are encoded in the spatial wavefunctions of the two lowest energy states of the system. The Aharonov-Bohm phase introduced by magnetic flux, instead of tunable tunnelings, along with electric fields can be used for implementing the quantum gate operations. During the operations, the external fields should be switched smoothly enough to avoid the errors caused by the transition to higher-lying states. The structure and field effects on the validity of the qubit are also studied.

cond-mat.mes-hall