arXiv subjects

Zhigang Wang

Publications and source records attributed to Zhigang Wang.

At least 55 records · Page 3Linked to original sources

arXiv2025

HAQA: A Hardware-Guided and Fidelity-Aware Strategy for Efficient Qubit Mapping Optimization

Quantum algorithms rely on quantum computers for implementation, but the physical connectivity constraints of modern quantum processors impede the efficient realization of quantum algorithms. Qubit mapping, a critical technology for practical quantum computing applications, directly determines the execution efficiency and feasibility of algorithms on superconducting quantum processors. Existing mapping methods overlook intractable quantum hardware fidelity characteristics, reducing circuit execution quality. They also exhibit prolonged solving times or even failure to complete when handling large-scale quantum architectures, compromising efficiency. To address these challenges, we propose a novel qubit mapping method HAQA. HAQA first introduces a community-based iterative region identification strategy leveraging hardware connection topology, achieving effective dimensionality reduction of mapping space. This strategy avoids global search procedures, with complexity analysis demonstrating quadratic polynomial-level acceleration. Furthermore, HAQA implements a hardware-characteristic-based region evaluation mechanism, enabling quantitative selection of mapping regions based on fidelity metrics. This approach effectively integrates hardware fidelity information into the mapping process, enabling fidelity-aware qubit allocation. Experimental results demonstrate that HAQA significantly improves solving speed and fidelity while ensuring solution quality. When applied to state-of-the-art quantum mapping techniques Qsynth-v2 and TB-OLSQ2, HAQA achieves acceleration ratios of 632.76 and 286.87 respectively, while improving fidelity by up to 52.69% and 238.28%

quant-ph↗

arXiv2025

COHERENT: Collaboration of Heterogeneous Multi-Robot System with Large Language Models

Leveraging the powerful reasoning capabilities of large language models (LLMs), recent LLM-based robot task planning methods yield promising results. However, they mainly focus on single or multiple homogeneous robots on simple tasks. Practically, complex long-horizon tasks always require collaboration among multiple heterogeneous robots especially with more complex action spaces, which makes these tasks more challenging. To this end, we propose COHERENT, a novel LLM-based task planning framework for collaboration of heterogeneous multi-robot systems including quadrotors, robotic dogs, and robotic arms. Specifically, a Proposal-Execution-Feedback-Adjustment (PEFA) mechanism is designed to decompose and assign actions for individual robots, where a centralized task assigner makes a task planning proposal to decompose the complex task into subtasks, and then assigns subtasks to robot executors. Each robot executor selects a feasible action to implement the assigned subtask and reports self-reflection feedback to the task assigner for plan adjustment. The PEFA loops until the task is completed. Moreover, we create a challenging heterogeneous multi-robot task planning benchmark encompassing 100 complex long-horizon tasks. The experimental results show that our work surpasses the previous methods by a large margin in terms of success rate and execution efficiency. The experimental videos, code, and benchmark are released at https://github.com/MrKeee/COHERENT.

cs.RO↗

arXiv2025

Tunable Fano and Dicke effects in quantum transport of double quantum dots sandwiched between topological insulators

We study the quantum transport in double quantum dots (DQD) sandwiched between surfaces of topological insulator (TI) Bi$_{2}$Te$_{3}$, which possess strong spin-orbit coupling (SOC) and $^{d}$C$_{3v}$ double group symmetry. Different from the spin-conserved case with two-dimensional electron gas (2DEG) electrodes, the conductance displays a universal scaling relation for different Fermi energy associated with the topological nature/linear dispersion of topological surface states. The interplay between direct inter-dot tunneling and surface state mediated interaction leads to tunable Dicke and Fano effects with changing the inter-dot distance. We propose nano-rulers with different measurement range and resolution based on the Fano $q$-factor. Furthermore, when applying an in-plane Zeeman field, a crossover from a double-peak shape to a quad-peak shape in conductance curve appears. Moreover, the rotational symmetry of the system could also be revealed from the conductance pattern. Our findings contribute to a better understanding of the quantum transport in the presence of electrode's SOC topological states.

cond-mat.mes-hall↗

arXiv2025

MoMa-Kitchen: A 100K+ Benchmark for Affordance-Grounded Last-Mile Navigation in Mobile Manipulation

In mobile manipulation, navigation and manipulation are often treated as separate problems, resulting in a significant gap between merely approaching an object and engaging with it effectively. Many navigation approaches primarily define success by proximity to the target, often overlooking the necessity for optimal positioning that facilitates subsequent manipulation. To address this, we introduce MoMa-Kitchen, a benchmark dataset comprising over 100k samples that provide training data for models to learn optimal final navigation positions for seamless transition to manipulation. Our dataset includes affordance-grounded floor labels collected from diverse kitchen environments, in which robotic mobile manipulators of different models attempt to grasp target objects amidst clutter. Using a fully automated pipeline, we simulate diverse real-world scenarios and generate affordance labels for optimal manipulation positions. Visual data are collected from RGB-D inputs captured by a first-person view camera mounted on the robotic arm, ensuring consistency in viewpoint during data collection. We also develop a lightweight baseline model, NavAff, for navigation affordance grounding that demonstrates promising performance on the MoMa-Kitchen benchmark. Our approach enables models to learn affordance-based final positioning that accommodates different arm types and platform heights, thereby paving the way for more robust and generalizable integration of navigation and manipulation in embodied AI. Project page: \href{https://momakitchen.github.io/}{https://momakitchen.github.io/}.

cs.RO↗

arXiv2025

Multi-Grained Feature Pruning for Video-Based Human Pose Estimation

Human pose estimation, with its broad applications in action recognition and motion capture, has experienced significant advancements. However, current Transformer-based methods for video pose estimation often face challenges in managing redundant temporal information and achieving fine-grained perception because they only focus on processing low-resolution features. To address these challenges, we propose a novel multi-scale resolution framework that encodes spatio-temporal representations at varying granularities and executes fine-grained perception compensation. Furthermore, we employ a density peaks clustering method to dynamically identify and prioritize tokens that offer important semantic information. This strategy effectively prunes redundant feature tokens, especially those arising from multi-frame features, thereby optimizing computational efficiency without sacrificing semantic richness. Empirically, it sets new benchmarks for both performance and efficiency on three large-scale datasets. Our method achieves a 93.8% improvement in inference speed compared to the baseline, while also enhancing pose estimation accuracy, reaching 87.4 mAP on the PoseTrack2017 dataset.

cs.CV↗

arXiv2025

RobKiNet: Robotic Kinematics Informed Neural Network for Optimal Robot Configuration Prediction

Task and Motion Planning (TAMP) is essential for robots to interact with the world and accomplish complex tasks. The TAMP problem involves a critical gap: exploring the robot's configuration parameters (such as chassis position and robotic arm joint angles) within continuous space to ensure that task-level global constraints are met while also enhancing the efficiency of subsequent motion planning. Existing methods still have significant room for improvement in terms of efficiency. Recognizing that robot kinematics is a key factor in motion planning, we propose a framework called the Robotic Kinematics Informed Neural Network (RobKiNet) as a bridge between task and motion layers. RobKiNet integrates kinematic knowledge into neural networks to train models capable of efficient configuration prediction. We designed a Chassis Motion Predictor(CMP) and a Full Motion Predictor(FMP) using RobKiNet, which employed two entirely different sets of forward and inverse kinematics constraints to achieve loosely coupled control and whole-body control, respectively. Experiments demonstrate that CMP and FMP can predict configuration parameters with 96.67% and 98% accuracy, respectively. That means that the corresponding motion planning can achieve a speedup of 24.24x and 153x compared to random sampling. Furthermore, RobKiNet demonstrates remarkable data efficiency. CMP only requires 1/71 and FMP only requires 1/15052 of the training data for the same prediction accuracy compared to other deep learning methods. These results demonstrate the great potential of RoboKiNet in robot applications.

cs.RO↗

arXiv2025

FastUMI: A Scalable and Hardware-Independent Universal Manipulation Interface with Dataset

Real-world manipulation data involving robotic arms is crucial for developing generalist action policies, yet such data remains scarce since existing data collection methods are hindered by high costs, hardware dependencies, and complex setup requirements. In this work, we introduce FastUMI, a substantial redesign of the Universal Manipulation Interface (UMI) system that addresses these challenges by enabling rapid deployment, simplifying hardware-software integration, and delivering robust performance in real-world data acquisition. Compared with UMI, FastUMI has several advantages: 1) It adopts a decoupled hardware design and incorporates extensive mechanical modifications, removing dependencies on specialized robotic components while preserving consistent observation perspectives. 2) It also refines the algorithmic pipeline by replacing complex Visual-Inertial Odometry (VIO) implementations with an off-the-shelf tracking module, significantly reducing deployment complexity while maintaining accuracy. 3) FastUMI includes an ecosystem for data collection, verification, and integration with both established and newly developed imitation learning algorithms, accelerating policy learning advancement. Additionally, we have open-sourced a high-quality dataset of over 10,000 real-world demonstration trajectories spanning 22 everyday tasks, forming one of the most diverse UMI-like datasets to date. Experimental results confirm that FastUMI facilitates rapid deployment, reduces operational costs and labor demands, and maintains robust performance across diverse manipulation scenarios, thereby advancing scalable data-driven robotic learning.

cs.RO↗

arXiv2025

SpatioTemporal Learning for Human Pose Estimation in Sparsely-Labeled Videos

Human pose estimation in videos remains a challenge, largely due to the reliance on extensive manual annotation of large datasets, which is expensive and labor-intensive. Furthermore, existing approaches often struggle to capture long-range temporal dependencies and overlook the complementary relationship between temporal pose heatmaps and visual features. To address these limitations, we introduce STDPose, a novel framework that enhances human pose estimation by learning spatiotemporal dynamics in sparsely-labeled videos. STDPose incorporates two key innovations: 1) A novel Dynamic-Aware Mask to capture long-range motion context, allowing for a nuanced understanding of pose changes. 2) A system for encoding and aggregating spatiotemporal representations and motion dynamics to effectively model spatiotemporal relationships, improving the accuracy and robustness of pose estimation. STDPose establishes a new performance benchmark for both video pose propagation (i.e., propagating pose annotations from labeled frames to unlabeled frames) and pose estimation tasks, across three large-scale evaluation datasets. Additionally, utilizing pseudo-labels generated by pose propagation, STDPose achieves competitive performance with only 26.7% labeled data.

cs.CV↗

arXiv2025

Causal-Inspired Multitask Learning for Video-Based Human Pose Estimation

Video-based human pose estimation has long been a fundamental yet challenging problem in computer vision. Previous studies focus on spatio-temporal modeling through the enhancement of architecture design and optimization strategies. However, they overlook the causal relationships in the joints, leading to models that may be overly tailored and thus estimate poorly to challenging scenes. Therefore, adequate causal reasoning capability, coupled with good interpretability of model, are both indispensable and prerequisite for achieving reliable results. In this paper, we pioneer a causal perspective on pose estimation and introduce a causal-inspired multitask learning framework, consisting of two stages. \textit{In the first stage}, we try to endow the model with causal spatio-temporal modeling ability by introducing two self-supervision auxiliary tasks. Specifically, these auxiliary tasks enable the network to infer challenging keypoints based on observed keypoint information, thereby imbuing causal reasoning capabilities into the model and making it robust to challenging scenes. \textit{In the second stage}, we argue that not all feature tokens contribute equally to pose estimation. Prioritizing causal (keypoint-relevant) tokens is crucial to achieve reliable results, which could improve the interpretability of the model. To this end, we propose a Token Causal Importance Selection module to identify the causal tokens and non-causal tokens (\textit{e.g.}, background and objects). Additionally, non-causal tokens could provide potentially beneficial cues but may be redundant. We further introduce a non-causal tokens clustering module to merge the similar non-causal tokens. Extensive experiments show that our method outperforms state-of-the-art methods on three large-scale benchmark datasets.

cs.CV↗

arXiv2025

Optimizing Human Pose Estimation Through Focused Human and Joint Regions

Human pose estimation has given rise to a broad spectrum of novel and compelling applications, including action recognition, sports analysis, as well as surveillance. However, accurate video pose estimation remains an open challenge. One aspect that has been overlooked so far is that existing methods learn motion clues from all pixels rather than focusing on the target human body, making them easily misled and disrupted by unimportant information such as background changes or movements of other people. Additionally, while the current Transformer-based pose estimation methods has demonstrated impressive performance with global modeling, they struggle with local context perception and precise positional identification. In this paper, we try to tackle these challenges from three aspects: (1) We propose a bilayer Human-Keypoint Mask module that performs coarse-to-fine visual token refinement, which gradually zooms in on the target human body and keypoints while masking out unimportant figure regions. (2) We further introduce a novel deformable cross attention mechanism and a bidirectional separation strategy to adaptively aggregate spatial and temporal motion clues from constrained surrounding contexts. (3) We mathematically formulate the deformable cross attention, constraining that the model focuses solely on the regions centered at the target person body. Empirically, our method achieves state-of-the-art performance on three large-scale benchmark datasets. A remarkable highlight is that our method achieves an 84.8 mean Average Precision (mAP) on the challenging wrist joint, which significantly outperforms the 81.5 mAP achieved by the current state-of-the-art method on the PoseTrack2017 dataset.

cs.CV↗

arXiv2025

Combinatorial Calabi flow for ideal circle pattern

We study the combinatorial Calabi flow for ideal circle patterns in both hyperbolic and Euclidean background geometry. We prove that the flow exists for all time and converges exponentially fast to an ideal circle pattern metric on surfaces with prescribed attainable curvatures. As a consequence, we provide an algorithm to find the desired ideal circle patterns.

math.DG↗

arXiv2024

Position reconstruction using deep learning for the HERD PSD beam test

The High Energy cosmic-Radiation Detection (HERD) facility is a dedicated high energy astronomy and particle physics experiment planned to be installed on the Chinese space station, aiming to detect high-energy cosmic rays (GeV $\sim$ PeV) and high-energy gamma rays ($>$ 500 MeV). The Plastic Scintillator Detector (PSD) is one of the sub-detectors of HERD, with its main function of providing real-time anti-conincidence signals for gamma-ray detection and the secondary function of measuring the charge of cosmic-rays. In 2023, a prototype of PSD was developed and tested at CERN PS&SPS. In this paper, we investigate the position response of the PSD using two reconstruction algorithms: the classic dual-readout ratio and the deep learning method (KAN & MLP neural network). With the latter, we achieved a position resolution of 2 mm (1$σ$), which is significantly better than the classic method.

astro-ph.IM↗

arXiv2024

A hybrid framework for effective and efficient machine unlearning

Recently machine unlearning (MU) is proposed to remove the imprints of revoked samples from the already trained model parameters, to solve users' privacy concern. Different from the runtime expensive retraining from scratch, there exist two research lines, exact MU and approximate MU with different favorites in terms of accuracy and efficiency. In this paper, we present a novel hybrid strategy on top of them to achieve an overall success. It implements the unlearning operation with an acceptable computation cost, while simultaneously improving the accuracy as much as possible. Specifically, it runs reasonable unlearning techniques by estimating the retraining workloads caused by revocations. If the workload is lightweight, it performs retraining to derive the model parameters consistent with the accurate ones retrained from scratch. Otherwise, it outputs the unlearned model by directly modifying the current parameters, for better efficiency. In particular, to improve the accuracy in the latter case, we propose an optimized version to amend the output model with lightweight runtime penalty. We particularly study the boundary of two approaches in our frameworks to adaptively make the smart selection. Extensive experiments on real datasets validate that our proposals can improve the unlearning efficiency by 1.5$\times$ to 8$\times$ while achieving comparable accuracy.

cs.LG↗

arXiv2024

XKV: Personalized KV Cache Memory Reduction for Long-Context LLM Inference

Recently the generative Large Language Model (LLM) has achieved remarkable success in numerous applications. Notably its inference generates output tokens one-by-one, leading to many redundant computations. The widely-used KV-Cache framework makes a compromise between time and space complexities. However, caching data generates the increasingly growing memory demand, that can quickly exhaust the limited memory capacity of the modern accelerator like GPUs, particularly in long-context inference tasks. Existing studies reduce memory consumption by evicting some of cached data that have less important impact on inference accuracy. But the benefit in practice is far from ideal due to the static cache allocation across different LLM network layers. This paper observes that the layer-specific cached data have very different impacts on accuracy. We quantify this difference, and give experimental and theoretical validation. We accordingly make a formal analysis and shows that customizing the cache size for each layer in a personalized manner can yield a significant memory reduction, while still providing comparable accuracy. We simulate the cache allocation as a combinatorial optimization problem and give a global optimal solution. In particular, we devise a mini- and sampling-based inference over a lightweight variant of the LLM model, so as to quickly capture the difference and then feed it into the personalized algorithms. Extensive experiments on real-world datasets demonstrate that our proposals can reduce KV cache memory consumption by 61.6% on average, improve computational efficiency by 2.1x and then increase the throughput by up to 5.5x.

cs.LG↗

arXiv2024

MLQM: Machine Learning Approach for Accelerating Optimal Qubit Mapping

Quantum circuit mapping is a critical process in quantum computing that involves adapting logical quantum circuits to adhere to hardware constraints, thereby generating physically executable quantum circuits. Current quantum circuit mapping techniques, such as solver-based methods, often encounter challenges related to slow solving speeds due to factors like redundant search iterations. Regarding this issue, we propose a machine learning approach for accelerating optimal qubit mapping (MLQM). First, the method proposes a global search space pruning scheme based on prior knowledge and machine learning, which in turn improves the solution efficiency. Second, to address the limited availability of effective samples in the learning task, MLQM introduces a novel data augmentation and refinement scheme, this scheme enhances the size and diversity of the quantum circuit dataset by exploiting gate allocation and qubit rearrangement. Finally, MLQM also further improves the solution efficiency by pruning the local search space, which is achieved through an adaptive dynamic adjustment mechanism of the solver variables. Compared to state-of-the-art qubit mapping approaches, MLQM achieves optimal qubit mapping with an average solving speed-up ratio of 1.79 and demonstrates an average advantage of 22% in terms of space complexity.

quant-ph↗

arXiv2024

Double Layer-Interlocked Crystals of Nitrogen-Rich Compounds under Zero-Pressure Conditions

Stabilizing nitrogen-rich compound crystals under conventional conditions is a key issue in the development and application of high-energy density materials (HEDMs). Herein, a two-dimensional double-layer interlocked Li4(N5)2 nitrogen-rich compound crystals, in which the two N5 rings are locked to by sharing four Li atoms, was found to maintain structural stability at zero pressure conditions. Dynamics studies reliably confirm crystal stability below 250 K. Furthermore, the stability of Li4(N5)2 crystal mainly arises from the ionic interaction between Li atoms and N5 rings, formed by the charge transfer from Li atoms to N5 rings. This study highlights the feasibility of stabilizing nitrogen-rich compound crystals under conventional conditions, paving the way for atomic level advancements in HEDMs.

cond-mat.mtrl-sci↗

arXiv2024

Night-to-Day Translation via Illumination Degradation Disentanglement

Night-to-Day translation (Night2Day) aims to achieve day-like vision for nighttime scenes. However, processing night images with complex degradations remains a significant challenge under unpaired conditions. Previous methods that uniformly mitigate these degradations have proven inadequate in simultaneously restoring daytime domain information and preserving underlying semantics. In this paper, we propose \textbf{N2D3} (\textbf{N}ight-to-\textbf{D}ay via \textbf{D}egradation \textbf{D}isentanglement) to identify different degradation patterns in nighttime images. Specifically, our method comprises a degradation disentanglement module and a degradation-aware contrastive learning module. Firstly, we extract physical priors from a photometric model based on Kubelka-Munk theory. Then, guided by these physical priors, we design a disentanglement module to discriminate among different illumination degradation regions. Finally, we introduce the degradation-aware contrastive learning strategy to preserve semantic consistency across distinct degradation regions. Our method is evaluated on two public datasets, demonstrating a significant improvement in visual quality and considerable potential for benefiting downstream tasks.

cs.CV↗

arXiv2024

High-Throughput Information Storage in An Intelligent Response Phosphor

Persistent phosphor has emerged as a promising candidate for information storage due to the rapid accessibility and low-energy requirements. However, the low storage capacity has limited its practical application. Herein, we skillfully designed and developed NaGdGeO4:Pb2+,Tb3+ stimulated phosphor by trace doped Sm3+. As expected, this phosphor demonstrates the larger carrier capacity than traditional commercial SrAl2O4:Eu2+,Dy3+ phosphors and super-strong thermo-stimulated luminescence (TSL) that is three times greater than its photoluminescence (PL) intensity (PL efficiency: 17.3%). A mechanism of the enhanced and controllable TSL is proposed based on electron-hole defect pair structure. We further present a high-throughput optical data recording in five dimensions in a single fluorescent film recording layer. The findings described here provides not only a universal approach for construction TSL materials, but also a new paradigm for future generation optical storage technology.

physics.optics↗