arXiv subjects

Zhuoyang Chen

Publications and source records attributed to Zhuoyang Chen.

5 recordsLinked to original sources

arXiv2026

Walking on Rough Terrain with Any Number of Legs

Robotics would gain by replicating the remarkable agility of arthropods in navigating complex environments. Here we consider the control of multi-legged systems which have 6 or more legs. Current multi-legged control strategies in robots include large black-box machine learning models, Central Pattern Generator (CPG) networks, and open-loop feed-forward control with stability arising from mechanics. Here we present a multi-legged control architecture for rough terrain using a segmental robot with 3 actuators for every 2 legs, which we validated in simulation for robots with 6 to 16 legs. Segments have identical state machines, and each segment also receives input from the segment in front of it. Our design bridges the gap between WalkNet-like event cascade controllers and CPG-based controllers: it tightly couples to the ground when contact is present, but produces fictive locomotion when ground contact is missing. The approach may be useful as an adaptive and computationally lightweight controller for multi-legged robots, and as a baseline capability for scaffolding the learning of machine learning controllers.

cs.RO↗

arXiv2025

Uncovering Pretraining Code in LLMs: A Syntax-Aware Attribution Approach

As large language models (LLMs) become increasingly capable, concerns over the unauthorized use of copyrighted and licensed content in their training data have grown, especially in the context of code. Open-source code, often protected by open source licenses (e.g, GPL), poses legal and ethical challenges when used in pretraining. Detecting whether specific code samples were included in LLM training data is thus critical for transparency, accountability, and copyright compliance. We propose SynPrune, a syntax-pruned membership inference attack method tailored for code. Unlike prior MIA approaches that treat code as plain text, SynPrune leverages the structured and rule-governed nature of programming languages. Specifically, it identifies and excludes consequent tokens that are syntactically required and not reflective of authorship, from attribution when computing membership scores. Experimental results show that SynPrune consistently outperforms the state-of-the-arts. Our method is also robust across varying function lengths and syntax categories.

cs.CR↗

arXiv2023

PolarRec: Radio Interferometric Data Reconstruction with Polar Coordinate Representation

In radio astronomy, visibility data, which are measurements of wave signals from radio telescopes, are transformed into images for observation of distant celestial objects. However, these resultant images usually contain both real sources and artifacts, due to signal sparsity and other factors. One way to obtain cleaner images is to reconstruct samples into dense forms before imaging. Unfortunately, existing reconstruction methods often miss some components of visibility in frequency domain, so blurred object edges and persistent artifacts remain in the images. Furthermore, the computation overhead is high on irregular visibility samples due to the data skew. To address these problems, we propose PolarRec, a transformer-encoder-conditioned reconstruction pipeline with visibility samples converted into the polar coordinate representation. This representation matches the way in which radio telescopes observe a celestial area as the Earth rotates. As a result, visibility samples distribute in the polar system more uniformly than in the Cartesian space. Therefore, we propose to use radial distance in the loss function, to help reconstruct complete visibility effectively. Also, we group visibility samples by their polar angles and propose a group-based encoding scheme to improve the efficiency. Our experiments demonstrate that PolarRec markedly improves imaging results by faithfully reconstructing all frequency components in the visibility domain while significantly reducing the computation cost in visibility data encoding. We believe this high-quality and high-efficiency imaging of PolarRec will better facilitate astronomers to conduct their research.

astro-ph.IM↗

arXiv2023

TransientViT: A novel CNN - Vision Transformer hybrid real/bogus transient classifier for the Kilodegree Automatic Transient Survey

The detection and analysis of transient astronomical sources is of great importance to understand their time evolution. Traditional pipelines identify transient sources from difference (D) images derived by subtracting prior-observed reference images (R) from new science images (N), a process that involves extensive manual inspection. In this study, we present TransientViT, a hybrid convolutional neural network (CNN) - vision transformer (ViT) model to differentiate between transients and image artifacts for the Kilodegree Automatic Transient Survey (KATS). TransientViT utilizes CNNs to reduce the image resolution and a hierarchical attention mechanism to model features globally. We propose a novel KATS-T 200K dataset that combines the difference images with both long- and short-term images, providing a temporally continuous, multidimensional dataset. Using this dataset as the input, TransientViT achieved a superior performance in comparison to other transformer- and CNN-based models, with an overall area under the curve (AUC) of 0.97 and an accuracy of 99.44%. Ablation studies demonstrated the impact of different input channels, multi-input fusion methods, and cross-inference strategies on the model performance. As a final step, a voting-based ensemble to combine the inference results of three NRD images further improved the model's prediction reliability and robustness. This hybrid model will act as a crucial reference for future studies on real/bogus transient classification.

astro-ph.IM↗

arXiv2023

A Conditional Denoising Diffusion Probabilistic Model for Radio Interferometric Image Reconstruction

In radio astronomy, signals from radio telescopes are transformed into images of observed celestial objects, or sources. However, these images, called dirty images, contain real sources as well as artifacts due to signal sparsity and other factors. Therefore, radio interferometric image reconstruction is performed on dirty images, aiming to produce clean images in which artifacts are reduced and real sources are recovered. So far, existing methods have limited success on recovering faint sources, preserving detailed structures, and eliminating artifacts. In this paper, we present VIC-DDPM, a Visibility and Image Conditioned Denoising Diffusion Probabilistic Model. Our main idea is to use both the original visibility data in the spectral domain and dirty images in the spatial domain to guide the image generation process with DDPM. This way, we can leverage DDPM to generate fine details and eliminate noise, while utilizing visibility data to separate signals from noise and retaining spatial information in dirty images. We have conducted experiments in comparison with both traditional methods and recent deep learning based approaches. Our results show that our method significantly improves the resulting images by reducing artifacts, preserving fine details, and recovering dim sources. This advancement further facilitates radio astronomical data analysis tasks on celestial phenomena.

astro-ph.IM↗