arXiv subjects

Yuxiang Yang

Publications and source records attributed to Yuxiang Yang.

At least 55 records · Page 3Linked to original sources

arXiv2025

Advances in Radiance Field for Dynamic Scene: From Neural Field to Gaussian Field

Dynamic scene representation and reconstruction have undergone transformative advances in recent years, catalyzed by breakthroughs in neural radiance fields and 3D Gaussian splatting techniques. While initially developed for static environments, these methodologies have rapidly evolved to address the complexities inherent in 4D dynamic scenes through an expansive body of research. Coupled with innovations in differentiable volumetric rendering, these approaches have significantly enhanced the quality of motion representation and dynamic scene reconstruction, thereby garnering substantial attention from the computer vision and graphics communities. This survey presents a systematic analysis of over 200 papers focused on dynamic scene representation using radiance field, spanning the spectrum from implicit neural representations to explicit Gaussian primitives. We categorize and evaluate these works through multiple critical lenses: motion representation paradigms, reconstruction techniques for varied scene dynamics, auxiliary information integration strategies, and regularization approaches that ensure temporal consistency and physical plausibility. We organize diverse methodological approaches under a unified representational framework, concluding with a critical examination of persistent challenges and promising research directions. By providing this comprehensive overview, we aim to establish a definitive reference for researchers entering this rapidly evolving field while offering experienced practitioners a systematic understanding of both conceptual principles and practical frontiers in dynamic scene reconstruction.

cs.CV↗

arXiv2025

Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning

Sim-to-real discrepancies hinder learning-based policies from achieving high-precision tasks in the real world. While Domain Randomization (DR) is commonly used to bridge this gap, it often relies on heuristics and can lead to overly conservative policies with degrading performance when not properly tuned. System Identification (Sys-ID) offers a targeted approach, but standard techniques rely on differentiable dynamics and/or direct torque measurement, assumptions that rarely hold for contact-rich legged systems. To this end, we present SPI-Active (Sampling-based Parameter Identification with Active Exploration), a two-stage framework that estimates physical parameters of legged robots to minimize the sim-to-real gap. SPI-Active robustly identifies key physical parameters through massive parallel sampling, minimizing state prediction errors between simulated and real-world trajectories. To further improve the informativeness of collected data, we introduce an active exploration strategy that maximizes the Fisher Information of the collected real-world trajectories via optimizing the input commands of an exploration policy. This targeted exploration leads to accurate identification and better generalization across diverse tasks. Experiments demonstrate that SPI-Active enables precise sim-to-real transfer of learned policies to the real world, outperforming baselines by 42-63% in various locomotion tasks.

cs.RO↗

arXiv2025

Seismic analysis based on a new interval method with incomplete information

For seismic analysis in engineering structures, it is essential to consider the dynamic responses under seismic excitation, necessitating the description of seismic accelerations. Limit seismics samples lead to incomplete uncertainty information, which is described by the non-probabilistic method reasonable. This study employs the minimum interval radius-based interval process (MRIP) based on the convex model to describe the time-variant uncertain seismic acceleration, subsequently conducting uncertainty analysis for seismic structures. However, the Monte Carlo simulation for uncertainty analysis requires extensive deterministic computations to ensure accuracy, exhibiting poor computational efficiency. To address this issue, this paper first improves the covariance matrix adaptation evolution strategy (CMA-ES) through the dynamic evolution sequence, proposing DES-ES, whose efficiency is validated to be higher than that of CMA-ES. Furthermore, leveraging the dependency of the responses, a computational framework named DES-ES-SS is proposed. Numerical experiments demonstrate that DES-ES-SS improves computational efficiency while maintaining the accuracy of the interval uncertainty analysis of the seismic structures whether the seismic acceleration is stationary or non-stationary.

cs.CE↗

arXiv2025

Noise-Agnostic Quantum Error Mitigation with Data Augmented Neural Models

Quantum error mitigation, a data processing technique for recovering the statistics of target processes from their noisy version, is a crucial task for near-term quantum technologies. Most existing methods require prior knowledge of the noise model or the noise parameters. Deep neural networks have a potential to lift this requirement, but current models require training data produced by ideal processes in the absence of noise. Here we build a neural model that achieves quantum error mitigation without any prior knowledge of the noise and without training on noise-free data. To achieve this feature, we introduce a quantum augmentation technique for error mitigation. Our approach applies to quantum circuits and to the dynamics of many-body and continuous-variable quantum systems, accommodating various types of noise models. We demonstrate its effectiveness by testing it both on simulated noisy circuits and on real quantum hardware.

quant-ph↗

arXiv2025

Learning Multi-Agent Loco-Manipulation for Long-Horizon Quadrupedal Pushing

Recently, quadrupedal locomotion has achieved significant success, but their manipulation capabilities, particularly in handling large objects, remain limited, restricting their usefulness in demanding real-world applications such as search and rescue, construction, industrial automation, and room organization. This paper tackles the task of obstacle-aware, long-horizon pushing by multiple quadrupedal robots. We propose a hierarchical multi-agent reinforcement learning framework with three levels of control. The high-level controller integrates an RRT planner and a centralized adaptive policy to generate subgoals, while the mid-level controller uses a decentralized goal-conditioned policy to guide the robots toward these sub-goals. A pre-trained low-level locomotion policy executes the movement commands. We evaluate our method against several baselines in simulation, demonstrating significant improvements over baseline approaches, with 36.0% higher success rates and 24.5% reduction in completion time than the best baseline. Our framework successfully enables long-horizon, obstacle-aware manipulation tasks like Push-Cuboid and Push-T on Go1 robots in the real world.

cs.RO↗

arXiv2025

QuietPaw: Learning Quadrupedal Locomotion with Versatile Noise Preference Alignment

When operating at their full capacity, quadrupedal robots can produce loud footstep noise, which can be disruptive in human-centered environments like homes, offices, and hospitals. As a result, balancing locomotion performance with noise constraints is crucial for the successful real-world deployment of quadrupedal robots. However, achieving adaptive noise control is challenging due to (a) the trade-off between agility and noise minimization, (b) the need for generalization across diverse deployment conditions, and (c) the difficulty of effectively adjusting policies based on noise requirements. We propose QuietPaw, a framework incorporating our Conditional Noise-Constrained Policy (CNCP), a constrained learning-based algorithm that enables flexible, noise-aware locomotion by conditioning policy behavior on noise-reduction levels. We leverage value representation decomposition in the critics, disentangling state representations from condition-dependent representations and this allows a single versatile policy to generalize across noise levels without retraining while improving the Pareto trade-off between agility and noise reduction. We validate our approach in simulation and the real world, demonstrating that CNCP can effectively balance locomotion performance and noise constraints, achieving continuously adjustable noise reduction.

cs.RO↗

arXiv2025

Compression of quantum shallow-circuit states

Shallow quantum circuits feature not only computational advantages over their classical counterparts but also cutting-edge applications. Storing quantum information generated by shallow circuits is a fundamental question of both theoretical and practical importance that remained largely unexplored. In this work, we show that $N$ copies of an unknown $n$-qubit state generated by a fixed-depth circuit can be compressed into a hybrid memory of $O(n \log_2 N)$ (qu)bits, which achieves the optimal scaling of memory cost. Our work shows that the computational complexity of resources can significantly impact the rate of quantum information processing, offering a unique and unified view of quantum Shannon theory and quantum computing.

quant-ph↗

arXiv2024

Efficient tensor networks for control-enhanced quantum metrology

Optimized quantum control can enhance the performance and noise resilience of quantum metrology. However, the optimization quickly becomes intractable when multiple control operations are applied sequentially. In this work, we propose efficient tensor network algorithms for optimizing strategies of quantum metrology enhanced by a long sequence of control operations. Our approach covers a general and practical scenario where the experimenter applies $N-1$ interleaved control operations between $N$ queries of the channel to estimate and uses no or bounded ancilla. Tailored to different experimental capabilities, these control operations can be generic quantum channels or variational unitary gates. Numerical experiments show that our algorithm has a good performance in optimizing the metrological strategy for as many as $N=100$ queries. In particular, our algorithm identifies a strategy that can outperform the state-of-the-art strategy when $N$ is finite but large.

quant-ph↗

arXiv2024

The behavior of rich-club coefficient in scale-free networks

The rich-club phenomenon, which provides information about the association between nodes, is a useful method to study the hierarchy structure of networks. In this work, we explore the behavior of rich-club coefficient (RCC) in scale-free networks, and find that the degree-based RCC is a power function of degree centrality with power exponent $β$ and the betweenness-based RCC is a linear function of betweenness centrality with slope $θ$. Moreover, we calculate the value of RCC in a BA network by deleting nodes and obtain a general expression for RCC as a function of node sequence. On this basis, the solution of RCC for centrality is also obtained, which shows that the curve of RCC is determined by the centrality distribution. In the numerical simulation, we observe: $β$ and $γ$ (the degree distribution exponent) increase together, $θ$ increases with the average degree and decreases to convergence as $γ$ increases.

physics.soc-ph↗

arXiv2024

ReDAN: An Empirical Study on Remote DoS Attacks against NAT Networks

In this paper, we conduct an empirical study on remote DoS attacks targeting NAT networks. We show that Internet attackers operating outside local NAT networks can remotely identify a NAT device and subsequently terminate TCP connections initiated from the identified NAT device to external servers. Our attack involves two steps. First, we identify NAT devices on the Internet by exploiting inadequacies in the PMTUD mechanism within NAT specifications. This deficiency creates a fundamental side channel that allows Internet attackers to distinguish if a public IPv4 address serves a NAT device or a separate IP host, aiding in the identification of target NAT devices. Second, we launch a remote DoS attack to terminate TCP connections on the identified NAT devices. While recent NAT implementations may include protective measures, such as packet legitimacy validation to prevent malicious manipulations on NAT mappings, we discover that these safeguards are not widely adopted in real world. Consequently, attackers can send crafted packets to deceive NAT devices into erroneously removing innocent TCP connection mappings, thereby disrupting the NATed clients to access remote TCP servers. Our experimental results reveal widespread security vulnerabilities in existing NAT devices. After testing 8 types of router firmware and 30 commercial NAT devices from 14 vendors, we identify vulnerabilities in 6 firmware types and 29 NAT devices. Moreover, our measurements reveal a stark reality: 166 out of 180 (over 92%) tested real-world NAT networks, comprising 90 4G LTE/5G networks, 60 public Wi-Fi networks, and 30 cloud VPS networks, are susceptible to exploitation. We responsibly disclosed the vulnerabilities to affected vendors and received a significant number of acknowledgments. Finally, we propose our countermeasures against the identified DoS attack.

cs.CR↗

arXiv2024

Autoencoder-assisted study of directed percolation with spatial long-range interactions

Spatial L{é}vy-like flights are introduced as a way in the absorbing phase transitions to produce non-local interactions. We utilize the autoencoder, an unsupervised learning method, to predict the critical points for $(1+1)$-d directed percolation with such spatial long-range interactions. After making a global coverage of the reaction-diffusion distance and taking a series of different values for the parameter $β$ in the distribution $P(r){\sim}1/r^β$, the critical points $P_c$ that can be continuously varied are obtained. And the dynamic decay of the particle density under the critical points was counted as a way to determine the critical exponent $δ$ of the survival rate. We also investigate the active behavior of the system's particles under the critical point with increasing time steps, which allows us to determine the characteristic time $t_f$ of the finite-scale systems. And the dynamic exponents $z$ are obtained using the scaling relation $t_f{\sim}L^{z}$. We find that the autoencoder can identify this characteristic evolutionary behavior of particles. Finally, we discuss the compliance of the scaling form $1/δ-(β-2)/δz=2$ in different $β$ intervals as well as a method to introduce a global scaling mechanism by generating a random walking step using the L{é}vy distribution.

cond-mat.stat-mech↗

arXiv2024

LocoMan: Advancing Versatile Quadrupedal Dexterity with Lightweight Loco-Manipulators

Quadrupedal robots have emerged as versatile agents capable of locomoting and manipulating in complex environments. Traditional designs typically rely on the robot's inherent body parts or incorporate top-mounted arms for manipulation tasks. However, these configurations may limit the robot's operational dexterity, efficiency and adaptability, particularly in cluttered or constrained spaces. In this work, we present LocoMan, a dexterous quadrupedal robot with a novel morphology to perform versatile manipulation in diverse constrained environments. By equipping a Unitree Go1 robot with two low-cost and lightweight modular 3-DoF loco-manipulators on its front calves, LocoMan leverages the combined mobility and functionality of the legs and grippers for complex manipulation tasks that require precise 6D positioning of the end effector in a wide workspace. To harness the loco-manipulation capabilities of LocoMan, we introduce a unified control framework that extends the whole-body controller (WBC) to integrate the dynamics of loco-manipulators. Through experiments, we validate that the proposed whole-body controller can accurately and stably follow desired 6D trajectories of the end effector and torso, which, when combined with the large workspace from our design, facilitates a diverse set of challenging dexterous loco-manipulation tasks in confined spaces, such as opening doors, plugging into sockets, picking objects in narrow and low-lying spaces, and bimanual manipulation.

cs.RO↗

arXiv2024

Off-Path TCP Hijacking in Wi-Fi Networks: A Packet-Size Side Channel Attack

In this paper, we unveil a fundamental side channel in Wi-Fi networks, specifically the observable frame size, which can be exploited by attackers to conduct TCP hijacking attacks. Despite the various security mechanisms (e.g., WEP and WPA2/WPA3) implemented to safeguard Wi-Fi networks, our study reveals that an off path attacker can still extract sufficient information from the frame size side channel to hijack the victim's TCP connection. Our side channel attack is based on two significant findings: (i) response packets (e.g., ACK and RST) generated by TCP receivers vary in size, and (ii) the encrypted frames containing these response packets have consistent and distinguishable sizes. By observing the size of the victim's encrypted frames, the attacker can detect and hijack the victim's TCP connections. We validate the effectiveness of this side channel attack through two case studies, i.e., SSH DoS and web traffic manipulation. Precisely, our attack can terminate the victim's SSH session in 19 seconds and inject malicious data into the victim's web traffic within 28 seconds. Furthermore, we conduct extensive measurements to evaluate the impact of our attack on real-world Wi-Fi networks. We test 30 popular wireless routers from 9 well-known vendors, and none of these routers can protect victims from our attack. Besides, we implement our attack in 80 real-world Wi-Fi networks and successfully hijack the victim's TCP connections in 75 (93.75%) evaluated Wi-Fi networks. We have responsibly disclosed the vulnerability to the Wi-Fi Alliance and proposed several mitigation strategies to address this issue.

cs.NI↗

arXiv2024

Agile Continuous Jumping in Discontinuous Terrains

We focus on agile, continuous, and terrain-adaptive jumping of quadrupedal robots in discontinuous terrains such as stairs and stepping stones. Unlike single-step jumping, continuous jumping requires accurately executing highly dynamic motions over long horizons, which is challenging for existing approaches. To accomplish this task, we design a hierarchical learning and control framework, which consists of a learned heightmap predictor for robust terrain perception, a reinforcement-learning-based centroidal-level motion policy for versatile and terrain-adaptive planning, and a low-level model-based leg controller for accurate motion tracking. In addition, we minimize the sim-to-real gap by accurately modeling the hardware characteristics. Our framework enables a Unitree Go1 robot to perform agile and continuous jumps on human-sized stairs and sparse stepping stones, for the first time to the best of our knowledge. In particular, the robot can cross two stair steps in each jump and completes a 3.5m long, 2.8m high, 14-step staircase in 4.5 seconds. Moreover, the same policy outperforms baselines in various other parkour tasks, such as jumping over single horizontal or vertical discontinuities. Experiment videos can be found at https://yxyang.github.io/jumping_cod/

cs.RO↗

arXiv2024

Fully-Optimized Quantum Metrology: Framework, Tools, and Applications

This tutorial introduces a systematic approach for addressing the key question of quantum metrology: For a generic task of sensing an unknown parameter, what is the ultimate precision given a constrained set of admissible strategies. The approach outputs the maximal attainable precision (in terms of the maximum of quantum Fisher information) as a semidefinite program and optimal strategies as feasible solutions thereof. Remarkably, the approach can identify the optimal precision for different sets of strategies, including parallel, sequential, quantum SWITCH-enhanced, causally superposed, and generic indefinite-causal-order strategies. The tutorial consists of a pedagogic introduction to the background and mathematical tools of optimal quantum metrology, a detailed derivation of the main approach, and various concrete examples. As shown in the tutorial, applications of the approach include, but are not limited to, strict hierarchy of strategies in noisy quantum metrology, memory effect in non-Markovian metrology, and designing optimal strategies. Compared with traditional approaches, the approach here yields the exact value of the optimal precision, offering more accurate criteria for experiments and practical applications. It also allows for the comparison between conventional strategies and the recently discovered causally-indefinite strategies, serving as a powerful tool for exploring this new area of quantum metrology.

quant-ph↗

arXiv2024

SiamMo: Siamese Motion-Centric 3D Object Tracking

Current 3D single object tracking methods primarily rely on the Siamese matching-based paradigm, which struggles with textureless and incomplete LiDAR point clouds. Conversely, the motion-centric paradigm avoids appearance matching, thus overcoming these issues. However, its complex multi-stage pipeline and the limited temporal modeling capability of a single-stream architecture constrain its potential. In this paper, we introduce SiamMo, a novel and simple Siamese motion-centric tracking approach. Unlike the traditional single-stream architecture, we employ Siamese feature extraction for motion-centric tracking. This decouples feature extraction from temporal fusion, significantly enhancing tracking performance. Additionally, we design a Spatio-Temporal Feature Aggregation module to integrate Siamese features at multiple scales, capturing motion information effectively. We also introduce a Box-aware Feature Encoding module to encode object size priors into motion estimation. SiamMo is a purely motion-centric tracker that eliminates the need for additional processes like segmentation and box refinement. Without whistles and bells, SiamMo not only surpasses state-of-the-art methods across multiple benchmarks but also demonstrates exceptional robustness in challenging scenarios. SiamMo sets a new record on the KITTI tracking benchmark with 90.1\% precision while maintaining a high inference speed of 108 FPS. The code will be released at https://github.com/HDU-VRLab/SiamMo.

cs.CV↗

arXiv2024

BEVNav: Robot Autonomous Navigation Via Spatial-Temporal Contrastive Learning in Bird's-Eye View

Goal-driven mobile robot navigation in map-less environments requires effective state representations for reliable decision-making. Inspired by the favorable properties of Bird's-Eye View (BEV) in point clouds for visual perception, this paper introduces a novel navigation approach named BEVNav. It employs deep reinforcement learning to learn BEV representations and enhance decision-making reliability. First, we propose a self-supervised spatial-temporal contrastive learning approach to learn BEV representations. Spatially, two randomly augmented views from a point cloud predict each other, enhancing spatial features. Temporally, we combine the current observation with consecutive frames' actions to predict future features, establishing the relationship between observation transitions and actions to capture temporal cues. Then, incorporating this spatial-temporal contrastive learning in the Soft Actor-Critic reinforcement learning framework, our BEVNav offers a superior navigation policy. Extensive experiments demonstrate BEVNav's robustness in environments with dense pedestrians, outperforming state-of-the-art methods across multiple benchmarks. \rev{The code will be made publicly available at https://github.com/LanrenzzzZ/BEVNav.

cs.RO↗

arXiv2024

BTMuda: A Bi-level Multi-source unsupervised domain adaptation framework for breast cancer diagnosis

Deep learning has revolutionized the early detection of breast cancer, resulting in a significant decrease in mortality rates. However, difficulties in obtaining annotations and huge variations in distribution between training sets and real scenes have limited their clinical applications. To address these limitations, unsupervised domain adaptation (UDA) methods have been used to transfer knowledge from one labeled source domain to the unlabeled target domain, yet these approaches suffer from severe domain shift issues and often ignore the potential benefits of leveraging multiple relevant sources in practical applications. To address these limitations, in this work, we construct a Three-Branch Mixed extractor and propose a Bi-level Multi-source unsupervised domain adaptation method called BTMuda for breast cancer diagnosis. Our method addresses the problems of domain shift by dividing domain shift issues into two levels: intra-domain and inter-domain. To reduce the intra-domain shift, we jointly train a CNN and a Transformer as two paths of a domain mixed feature extractor to obtain robust representations rich in both low-level local and high-level global information. As for the inter-domain shift, we redesign the Transformer delicately to a three-branch architecture with cross-attention and distillation, which learns domain-invariant representations from multiple domains. Besides, we introduce two alignment modules - one for feature alignment and one for classifier alignment - to improve the alignment process. Extensive experiments conducted on three public mammographic datasets demonstrate that our BTMuda outperforms state-of-the-art methods.

cs.CV↗