arXiv subjects

Yuxuan Yan

Publications and source records attributed to Yuxuan Yan.

At least 19 recordsLinked to original sources

arXiv2026

When Multi-Robot Systems Meet Agentic AI:Towards Embodied Collective Intelligence

Embodied AI is increasingly becoming agentic, shifting robots from perception--control pipelines towards closed-loop systems that can retrieve context, deliberate during execution, monitor feedback, and refine future behavior. In parallel, robotics research has also moved from single-robot autonomy towards multi-robot systems, driven by the need for wider sensing, distributed action, heterogeneous capabilities, and fault tolerance. As AI agents move from single-agent use towards multi-agent collaboration, robotics faces a parallel challenge: robot teams must move beyond sharing maps, task assignments, and datasets towards sharing the state produced by embodied agent loops. This article explores Embodied Collective Intelligence (ECI), a future multi-robot paradigm in which a robot team accumulates and uses world context, task progress, and skill experience as shared resources. Specifically, we first review how embodied AI is becoming agentic and how multi-robot cooperation has evolved. We then present Embodied Collective Intelligence through Co-Perception, Co-Action, and Co-Evolution. Finally, we use an illustrative navigation study to examine one concrete component of the concept: shared world-memory inheritance. The study shows that a newly added robot can benefit from merged team memory, but it is not intended as a full evaluation of the ECI framework. Taken together, the review and conceptual framework motivate Embodied Collective Intelligence as a direction for embodied multi-agent intelligence, while the case study grounds one measurable part of the concept.

cs.RO↗

arXiv2026

Denoising Tells When to Replan: Denoising-Variance Adaptive Chunking for Flow-Based Robot Policies

Action chunking has become a common inference strategy for flow-based robot policies, improving action coherence by modeling multi-step temporal dependencies in demonstrations. However, the execution horizon is still typically set as an empirical fixed value, overlooking that predictable free-space motions and precision-critical interaction phases often require different replanning frequencies. In this work, we first show that the denoising process of flow-based policies contains an intrinsic signal of task phases: clean-action estimates remain stable during predictable motion phases, but fluctuate more strongly around contact-rich or precision-sensitive operations. Motivated by this observation, we propose DVAC (Denoising-Variance Adaptive Chunking), a test-time method that adaptively determines how many actions to execute from each predicted chunk. DVAC measures the variance of clean-action estimates over the final denoising steps, executes the stable low-variance prefix, and replans before high-variance future actions are committed. To transfer across tasks and rollouts, DVAC further calibrates the threshold with a rolling estimate of the local variance scale. Experiments on LIBERO, RoboTwin, CALVIN, and real-world manipulation show that DVAC improves task success while reducing replanning frequency. With a $\pi_{0.5}$-based policy, DVAC improves LIBERO success from 94.75% to 98.00% and reduces replanning by 43.0%, while also yielding aggregate gains on RoboTwin and CALVIN and improving real-world execution efficiency.

cs.RO↗

arXiv2026

Distilling the knowledge with quantum neural networks

Quantum Neural Networks (QNNs) are a promising class of quantum machine learning models with potential quantum advantages when implemented on scalable, error-corrected quantum computers. However, as system sizes increase, deploying QNNs becomes challenging. Similar to their classical counterparts, a key obstacle to their practical applications is that large-scale QNNs may not be easily deployed on smaller systems that have limited resources. Here, we tackle this challenge by compressing QNNs via knowledge distillation. We demonstrate how well-trained QNNs on large systems can be distilled into smaller architectures with similar configurations. We numerically show that knowledge distillation helps reduce the training cost of QNNs in terms of the number of qubits and circuit depth. Additionally, we find that a self-knowledge-distillation approach can accelerate training convergence. We believe our results offer new strategies for the efficient compression and practical deployment of QNNs.

quant-ph↗

arXiv2026

TensorCircuit-NG: A Universal, Composable, and Scalable Platform for Quantum Computing and Quantum Simulation

We present TensorCircuit-NG, a next-generation quantum software platform designed to bridge the gap between quantum physics, artificial intelligence, and high-performance computing. Moving beyond the scope of traditional circuit simulators, TensorCircuit-NG establishes a unified, tensor-native programming paradigm where quantum circuits, tensor networks, and neural networks fuse into a single, end-to-end differentiable computational graph. Built upon industry-standard machine learning backends (JAX, TensorFlow, PyTorch), the framework introduces comprehensive capabilities for approximate circuit simulation, analog dynamics, fermion Gaussian states, qudit systems, and scalable noise modeling. To tackle the exponential complexity of deep quantum circuits, TensorCircuit-NG implements advanced distributed computing strategies, including automated data parallelism and model-parallel tensor network slicing. We validate these capabilities on GPU clusters, demonstrating a near-linear speedup in distributed variational quantum algorithms. TensorCircuit-NG enables flagship applications, including end-to-end QML for CIFAR-100 computer vision, efficient pipelines from quantum states to neural networks via classical shadows, and differentiable optimization of tensor network states for many-body physics.

quant-ph↗

arXiv2025

Bypassing the protection-sensitivity incompatibility in quantum-error-corrected metrology via asymmetric codes

Quantum metrology surpasses the classical precision limit by encoding signals in a probe state such that signal contributions are indistinguishable and their phases accumulate coherently as a collective response. In realistic settings, scalable quantum metrology requires quantum error correction to protect the probe against noise. However, quantum error correction relies on syndrome information that distinguishes errors for identification and correction. Because signals and errors act on the same physical degrees of freedom, there is a structural incompatibility between signal-sensitivity and noise-protection in quantum-error-corrected metrology. We quantify this incompatibility by establishing trade-offs between code distance and the quantum Fisher information of code states for non-degenerate codes, quantum low-density parity-check codes, and generalized Shor codes. We bypass this limitation with asymmetric quantum error correction, in which protection is relaxed along the signal direction while being maintained in complementary directions. We construct such codes for local sensing Hamiltonians, restoring Heisenberg-limited precision while retaining a growing distance and hence protection against local perturbations in complementary directions. Strongly asymmetric quantum low-density parity-check and concatenated asymmetric constructions make the framework sparse, scalable, and continuously tunable. The associated probe states can be prepared by constant-depth adaptive circuits with optimal resource scaling.

quant-ph↗

arXiv2025

AdaNav: Adaptive Reasoning with Uncertainty for Vision-Language Navigation

Vision Language Navigation (VLN) requires agents to follow natural language instructions by grounding them in sequential visual observations over long horizons. Explicit reasoning could enhance temporal consistency and perception action alignment, but reasoning at fixed steps often leads to suboptimal performance and unnecessary computation. To address this, we propose AdaNav, an uncertainty-based adaptive reasoning framework for VLN. At its core is the Uncertainty Adaptive Reasoning Block (UAR), a lightweight plugin that dynamically triggers reasoning. We introduce Action Entropy as a policy prior for UAR and progressively refine it through a Heuristics to RL training method, enabling agents to learn difficulty aware reasoning policies under the strict data limitations of embodied tasks. Results show that with only 6K training samples, AdaNav achieves substantial gains over closed source models trained on million scale data, improving success rate by 20% on R2R val-unseen, 11.7% on RxR-CE, and 11.4% in real world scenes. The code is available at https://github.com/xinding-sys/AdaNav.

cs.RO↗

arXiv2025

DGRAG: Distributed Graph-based Retrieval-Augmented Generation in Edge-Cloud Systems

Retrieval-Augmented Generation (RAG) improves factuality by grounding LLMs in external knowledge, yet conventional centralized RAG requires aggregating distributed data, raising privacy risks and incurring high retrieval latency and cost. We present DGRAG, a distributed graph-driven RAG framework for edge-cloud collaborative systems. Each edge device organizes local documents into a knowledge graph and periodically uploads subgraph-level summaries to the cloud for lightweight global indexing without exposing raw data. At inference time, queries are first answered on the edge; a gate mechanism assesses the confidence and consistency of multiple local generations to decide whether to return a local answer or escalate the query. For escalated queries, the cloud performs summary-based matching to identify relevant edges, retrieves supporting evidence from them, and generates the final response with a cloud LLM. Experiments on distributed question answering show that DGRAG consistently outperforms decentralized baselines while substantially reducing cloud overhead.

cs.AI↗

arXiv2025

Variational LOCC-assisted quantum circuits for long-range entangled states

Long-range entanglement is an important quantum resource, particularly for topological orders and quantum error correction. In reality, preparing long-range entangled states requires a deep unitary circuit, which poses significant experimental challenges. A promising avenue is offered by replacing some quantum resources with local operations and classical communication (LOCC). With these classical components, one can communicate outcomes of midcircuit measurements in distant subsystems, substantially reducing circuit depth in many important cases. However, to prepare general long-range entangled states, finding LOCC-assisted circuits of a short depth remains an open question. Here, to address this challenge, we propose a quantum-classical hybrid algorithm to find optimal LOCC protocols for preparing ground states of given Hamiltonians. In our algorithm, we introduce an efficient way to estimate parameter gradients and use such gradients for variational optimization. Theoretically, we establish the conditions for the absence of barren plateaus, ensuring trainability at a large system size. Numerically, the algorithm accurately solves the ground state of long-range entangled models, such as the perturbed Greenberger-Horne-Zeilinger state and surface code. Our results demonstrate the advantage of our method over conventional unitary variational circuits: the practical advantage in the accuracy of estimated ground-state energy and the theoretical advantage in creating long-range entanglement.

quant-ph↗

arXiv2025

AVA: Towards Agentic Video Analytics with Vision Language Models

AI-driven video analytics has become increasingly important across diverse domains. However, existing systems are often constrained to specific, predefined tasks, limiting their adaptability in open-ended analytical scenarios. The recent emergence of Vision Language Models (VLMs) as transformative technologies offers significant potential for enabling open-ended video understanding, reasoning, and analytics. Nevertheless, their limited context windows present challenges when processing ultra-long video content, which is prevalent in real-world applications. To address this, we introduce AVA, a VLM-powered system designed for open-ended, advanced video analytics. AVA incorporates two key innovations: (1) the near real-time construction of Event Knowledge Graphs (EKGs) for efficient indexing of long or continuous video streams, and (2) an agentic retrieval-generation mechanism that leverages EKGs to handle complex and diverse queries. Comprehensive evaluations on public benchmarks, LVBench and VideoMME-Long, demonstrate that AVA achieves state-of-the-art performance, attaining 62.3% and 64.1% accuracy, respectively-significantly surpassing existing VLM and video Retrieval-Augmented Generation (RAG) systems. Furthermore, to evaluate video analytics in ultra-long and open-world video scenarios, we introduce a new benchmark, AVA-100. This benchmark comprises 8 videos, each exceeding 10 hours in duration, along with 120 manually annotated, diverse, and complex question-answer pairs. On AVA-100, AVA achieves top-tier performance with an accuracy of 75.8%. The source code of AVA is available at https://github.com/I-ESC/Project-Ava. The AVA-100 benchmark can be accessed at https://huggingface.co/datasets/iesc/Ava-100.

cs.CV↗

arXiv2025

Graph Probability Aggregation Clustering

Traditional clustering methods typically focus on either cluster-wise global clustering or point-wise local clustering to reveal the intrinsic structures in unlabeled data. Global clustering optimizes an objective function to explore the relationships between clusters, but this approach may inevitably lead to coarse partition. In contrast, local clustering heuristically groups data based on detailed point relationships, but it tends to be less coherence and efficient. To bridge the gap between these two concepts and utilize the strengths of both, we propose Graph Probability Aggregation Clustering (GPAC), a graph-based fuzzy clustering algorithm. GPAC unifies the global clustering objective function with a local clustering constraint. The entire GPAC framework is formulated as a multi-constrained optimization problem, which can be solved using the Lagrangian method. Through the optimization process, the probability of a sample belonging to a specific cluster is iteratively calculated by aggregating information from neighboring samples within the graph. We incorporate a hard assignment variable into the objective function to further improve the convergence and stability of optimization. Furthermore, to efficiently handle large-scale datasets, we introduce an acceleration program that reduces the computational complexity from quadratic to linear, ensuring scalability. Extensive experiments conducted on synthetic, real-world, and deep learning datasets demonstrate that GPAC not only exceeds existing state-of-the-art methods in clustering performance but also excels in computational efficiency, making it a powerful tool for complex clustering challenges.

cs.LG↗

arXiv2025

Set a Thief to Catch a Thief: Combating Label Noise through Noisy Meta Learning

Learning from noisy labels (LNL) aims to train high-performance deep models using noisy datasets. Meta learning based label correction methods have demonstrated remarkable performance in LNL by designing various meta label rectification tasks. However, extra clean validation set is a prerequisite for these methods to perform label correction, requiring extra labor and greatly limiting their practicality. To tackle this issue, we propose a novel noisy meta label correction framework STCT, which counterintuitively uses noisy data to correct label noise, borrowing the spirit in the saying ``Set a Thief to Catch a Thief''. The core idea of STCT is to leverage noisy data which is i.i.d. with the training data as a validation set to evaluate model performance and perform label correction in a meta learning framework, eliminating the need for extra clean data. By decoupling the complex bi-level optimization in meta learning into representation learning and label correction, STCT is solved through an alternating training strategy between noisy meta correction and semi-supervised representation learning. Extensive experiments on synthetic and real-world datasets demonstrate the outstanding performance of STCT, particularly in high noise rate scenarios. STCT achieves 96.9% label correction and 95.2% classification performance on CIFAR-10 with 80% symmetric noise, significantly surpassing the current state-of-the-art.

cs.LG↗

arXiv2024

Retrieval-augmented Generation for GenAI-enabled Semantic Communications

Semantic communication (SemCom) is an emerging paradigm aiming at transmitting only task-relevant semantic information to the receiver, which can significantly improve communication efficiency. Recent advancements in generative artificial intelligence (GenAI) have empowered GenAI-enabled SemCom (GenSemCom) to further expand its potential in various applications. However, current GenSemCom systems still face challenges such as semantic inconsistency, limited adaptability to diverse tasks and dynamic environments, and the inability to leverage insights from past transmission. Motivated by the success of retrieval-augmented generation (RAG) in the domain of GenAI, this paper explores the integration of RAG in GenSemCom systems. Specifically, we first provide a comprehensive review of existing GenSemCom systems and the fundamentals of RAG techniques. We then discuss how RAG can be integrated into GenSemCom. Following this, we conduct a case study on semantic image transmission using an RAG-enabled diffusion-based SemCom system, demonstrating the effectiveness of the proposed integration. Finally, we outline future directions for advancing RAG-enabled GenSemCom systems.

cs.NI↗

arXiv2024

Expectation value estimation with parametrized quantum circuits

Estimating properties of quantum states, such as fidelities, molecular energies, and correlation functions, is a fundamental task in quantum information science. Due to the limitation of practical quantum devices, including limited circuit depth and connectivity, estimating even linear properties encounters high sample complexity. To address this inefficiency, we propose a framework that optimizes sample complexity for estimating the expectation value of any observable using a shallow parameterized quantum circuit. Within this framework, we introduce two decomposition algorithms, a tensor network approach and a greedy projection approach that decompose the target observable into a linear combination of multiple observables, each of which can be diagonalized with the shallow circuit. Using this decomposition, we then apply an importance sampling algorithm to estimate the expectation value of the target observable. We numerically demonstrate the performance of our algorithm by estimating the expectation values of some specific Hamiltonians and inner product of a Slater determinant with a pure state, highlighting advantages compared to some conventional methods. Additionally, we derive the fundamental lower bound for the sample complexity required to estimate a target observable using a given shallow quantum circuit, thereby enhancing our understanding of the capabilities of shallow circuits in quantum learning tasks.

quant-ph↗

arXiv2024

Deep Online Probability Aggregation Clustering

Combining machine clustering with deep models has shown remarkable superiority in deep clustering. It modifies the data processing pipeline into two alternating phases: feature clustering and model training. However, such alternating schedule may lead to instability and computational burden issues. We propose a centerless clustering algorithm called Probability Aggregation Clustering (PAC) to proactively adapt deep learning technologies, enabling easy deployment in online deep clustering. PAC circumvents the cluster center and aligns the probability space and distribution space by formulating clustering as an optimization problem with a novel objective function. Based on the computation mechanism of the PAC, we propose a general online probability aggregation module to perform stable and flexible feature clustering over mini-batch data and further construct a deep visual clustering framework deep PAC (DPAC). Extensive experiments demonstrate that PAC has superior clustering robustness and performance and DPAC remarkably outperforms the state-of-the-art deep clustering methods.

cs.LG↗

arXiv2024

FeDeRA:Efficient Fine-tuning of Language Models in Federated Learning Leveraging Weight Decomposition

Despite their exceptional performance on various tasks after fine-tuning, pre-trained language models (PLMs) face significant challenges due to growing privacy concerns with data in centralized training methods. We consider federated learning (FL) to fine-tune PLMs in this paper. However, the substantial number of parameters in PLMs poses significant difficulties for client devices with limited communication and computational resources. One promising solution is to exploit parameter-efficient fine-tuning (PEFT) into FL, which trains a much smaller set of parameters than full parameter fine-tuning (FFT). Although remarkably improving training efficiency, PEFT methods may lead to degraded performance especially when data across different clients are non i.i.d, as revealed by experimental results. To overcome this, we propose FeDeRA, which extends and improves a widely used PEFT method, i.e., low-rank adaption (LoRA). FeDeRA follows LoRA by decomposing the weight matrices of the PLMs into low-rank matrices, which allows for more efficient computation and parameter updates during fine-tuning. Different from LoRA which simply initializes these low-rank matrices by random sampling or zeros, the proposed FeDeRA initializes these matrices by the results of performing singular value decomposition (SVD) on the pre-trained weight matrices. Extensive experiments across various tasks and datasets show that FeDeRA outperforms the considered PEFT baselines and is comparable to or even surpasses FFT method within the FL setting in terms of task performance. Moreover, FeDeRA requires only 1% trainable paramentes compared to FFT, significantly reducing training time costs by more than 90% to achieve the same task performance level. The experimental results also highlight the robustness of FeDeRA against data heterogeneity, as it maintains stable task performance even as data heterogeneity increases.

cs.LG↗

arXiv2024

Magic of quantum hypergraph states

Magic, or nonstabilizerness, characterizes the deviation of a quantum state from the set of stabilizer states and plays a fundamental role from quantum state complexity to universal fault-tolerant quantum computing. However, analytical or even numerical characterizations of magic are very challenging, especially in the multi-qubit system, even with a moderate qubit number. Here we systemically and analytically investigate the magic resource of archetypal multipartite quantum states -- quantum hypergraph states, which can be generated by multi-qubit Controlled-phase gates encoded by hypergraphs. We first give the magic formula in terms of the stabilizer R$\mathrm{\acute{e}}$nyi-$α$ entropies for general quantum hypergraph states and prove the magic can not reach the maximal value, if the average degree of the corresponding hypergraph is constant. Then we investigate the statistical behaviors of random hypergraph states and prove the concentration result that typically random hypergraph states can reach the maximal magic. This also suggests an efficient way to generate maximal magic states with random diagonal circuits. Finally, we study some highly symmetric hypergraph states with permutation-symmetry, such as the one whose associated hypergraph is $3$-complete, i.e., any three vertices are connected by a hyperedge. Counterintuitively, such states can only possess constant or even exponentially small magic for $α\geq 2$. Our study advances the understanding of multipartite quantum magic and could lead to applications in quantum computing and quantum many-body physics.

quant-ph↗

arXiv2023

FaceStudio: Put Your Face Everywhere in Seconds

This study investigates identity-preserving image synthesis, an intriguing task in image generation that seeks to maintain a subject's identity while adding a personalized, stylistic touch. Traditional methods, such as Textual Inversion and DreamBooth, have made strides in custom image creation, but they come with significant drawbacks. These include the need for extensive resources and time for fine-tuning, as well as the requirement for multiple reference images. To overcome these challenges, our research introduces a novel approach to identity-preserving synthesis, with a particular focus on human images. Our model leverages a direct feed-forward mechanism, circumventing the need for intensive fine-tuning, thereby facilitating quick and efficient image generation. Central to our innovation is a hybrid guidance framework, which combines stylized images, facial images, and textual prompts to guide the image generation process. This unique combination enables our model to produce a variety of applications, such as artistic portraits and identity-blended images. Our experimental results, including both qualitative and quantitative evaluations, demonstrate the superiority of our method over existing baseline models and previous works, particularly in its remarkable efficiency and ability to preserve the subject's identity with high fidelity.

cs.CV↗

arXiv2023

Confidant: Customizing Transformer-based LLMs via Collaborative Edge Training

Transformer-based large language models (LLMs) have demonstrated impressive capabilities in a variety of natural language processing (NLP) tasks. Nonetheless, it is challenging to deploy and fine-tune LLMs on mobile edge devices with limited computing, memory, and energy budgets. In this paper, we propose Confidant, a multi-backend collaborative training framework for customizing state-of-the-art LLMs on commodity mobile devices like smartphones. Confidant partitions an LLM into several sub-models so that each fits into a mobile device's memory. A pipeline parallel training mechanism is further developed to ensure fast and efficient distributed training. In addition, we propose a novel backend scheduler to allocate different attention heads to heterogeneous compute hardware, including mobile CPU and GPUs, to maximize the compute resource utilization on each edge device. Our preliminary experimental results show that Confidant achieves at most 45.3% memory reduction and 8.03x inference speedup in practical settings.

cs.LG↗