arXiv subjects

Dan Wu

Publications and source records attributed to Dan Wu.

At least 19 recordsLinked to original sources

arXiv2026

Self-Curriculum Model-based Reinforcement Learning for Shape Control of Deformable Linear Objects

Precise shape control of Deformable Linear Objects (DLOs) is crucial in robotic applications such as industrial and medical fields. However, existing methods face challenges in handling complex large deformation tasks, especially those involving opposite curvatures, and lack efficiency and precision. To address this, we propose a two-stage framework combining Reinforcement Learning (RL) and online visual servoing. In the large-deformation stage, a model-based reinforcement learning approach using an ensemble of dynamics models is introduced to significantly improve sample efficiency. Additionally, we design a self-curriculum goal generation mechanism that dynamically selects intermediate-difficulty goals with high diversity through imagined evaluations, thereby optimizing the policy learning process. In the small-deformation stage, a Jacobian-based visual servo controller is deployed to ensure high-precision convergence. Simulation results show that the proposed method enables efficient policy learning and significantly outperforms mainstream baselines in shape control success rate and precision. Furthermore, the framework effectively transfers the policy trained in simulation to real-world tasks with zero-shot adaptation. It successfully completes all 30 cases with diverse initial and target shapes across DLOs of different sizes and materials. The project website is available at: https://anonymous.4open.science/w/sc-mbrl-dlo-EB48/

cs.RO↗

arXiv2026

Differences in Small-Signal Stability Boundaries Between Aggregated and Granular DFIG Models

Broadband oscillations in wind farms have been widely reported in recent years. Past studies have examined various types of oscillations in wind farms, relating small-signal stability to control settings, operating conditions, and electrical parameters. However, most analyses are performed on aggregated single-unit models, which may deviate from the true behavior, leading to misleading stability assessments. To investigate how aggregation affects stability conclusions, this paper develops detailed single-, two-, and three-unit doubly-fed induction generator (DFIG) models and their aggregated counterparts. Then, a D-decomposition-related ray-extrapolation method is proposed to characterize the small-signal stability region of nonlinear DFIG models in the parameter space, delineating stability boundaries under numerous parameter combinations. The study reveals that aggregated models stability regions within the parameter planes of control settings and operating conditions differ from those of granular models in terms of basic shape, critical modes, and evolution patterns, posing a risk of misjudging stability margins.

eess.SY↗

arXiv2026

Evaluating Power Flow Manifold from Local Data around a Single Operating Point via Geodesics

The widespread adoption of renewable energy poses a challenge in maintaining a feasible operating point in highly variable scenarios. This paper demonstrates that, within a feasible region of a power system that meets practical stability requirements, the power flow equations define a smooth bijection between nodal voltage phasors (angle and magnitude) and nodal active/reactive power injections. Based on this theoretical foundation, this paper proposes a data-based power flow evaluation method that can imply the associated power flow manifold from a limited number of data points around a single operating point. Using techniques from differential geometry and analytic functions, we represent geodesic curves in the associated power flow manifold as analytic functions at the initial point. Then, a special algebraic structure of the power flow problem is revealed and applied to reduce the computation of all higher-order partial derivatives to that of the first-order ones. Integrating these techniques yields the proposed data-based evaluation method, suggesting that a small number of local measurements around a single operating point is sufficient to imply the entire associated power flow manifold. Numerical cases with arbitrary directional variations are tested, certifying the efficacy of the proposed method.

eess.SY↗

arXiv2026

SurfAge-Net: A Hierarchical Surface-Based Network for Interpretable Fine-Grained Brain Age Prediction

Brain age prediction serves as a powerful framework for assessing brain status and detecting deviations associated with neurodevelopmental and neurodegenerative disorders. However, most existing approaches emphasize whole-brain age prediction and therefore overlook the pronounced regional heterogeneity of brain maturation that is crucial for detecting localized atypical trajectories. To address this limitation, we propose a novel spherical surface-based brain age prediction network (SurfAge-Net) that leverages multiple morphological metrics to capture region-specific developmental patterns with enhanced robustness and clinical interpretability. SurfAge-Net establishes a new modeling paradigm by incorporating the connectomic principles of cortical organization: it explicitly models both intra- and inter-hemispheric dependencies through a spatial-channel mixing and a lateralization-aware attention mechanism, enabling the network to characterize the coordinate maturation pattern uniquely associated with each target region. Validated on three fetal and neonatal datasets, SurfAge-Net outperforms existing approaches (global MAE = 0.54, regional MAE = 0.45 in gestational/postmenstrual weeks) and demonstrates strong generalizability across external cohorts. Importantly, it provides spatially precise and biologically interpretable maps of cortical maturation, effectively identifying heterogeneous delays and regional-specific abnormalities in atypical developmental populations. These results established fine-grained brain age prediction as a promising paradigm for advancing neurodevelopmental research and supporting early clinical assessment.

q-bio.NC↗

arXiv2026

A Study Revealing Physical Attributes of Supernova Remnant in G321.3-3.9

We present a radio analysis of the recently identified supernova remnant G321.3-3.9 using archival multi-wavelength data spanning 88-2304 MHz. The source exhibits an elliptical shell-like morphology (1.3 deg x 1.7 deg) and a relatively flat non-thermal spectral index of alpha = -0.40 +/- 0.03. The distance is estimated using both the Sigma-D relation (1.6-2.9 kpc) and tentative associations with HI structures, the latter suggesting a near-side solution of 2.5-3.3 kpc, though the physical connection remains uncertain.

astro-ph.GA↗

arXiv2025

HyperVL: An Efficient and Dynamic Multimodal Large Language Model for Edge Devices

Current multimodal large lanauge models possess strong perceptual and reasoning capabilities, however high computational and memory requirements make them difficult to deploy directly on on-device environments. While small-parameter models are progressively endowed with strong general capabilities, standard Vision Transformer (ViT) encoders remain a critical bottleneck, suffering from excessive latency and memory consumption when processing high-resolution inputs.To address these challenges, we introduce HyperVL, an efficient multimodal large language model tailored for on-device inference. HyperVL adopts an image-tiling strategy to cap peak memory usage and incorporates two novel techniques: (1) a Visual Resolution Compressor (VRC) that adaptively predicts optimal encoding resolutions to eliminate redundant computation, and (2) Dual Consistency Learning (DCL), which aligns multi-scale ViT encoders within a unified framework, enabling dynamic switching between visual branches under a shared LLM. Extensive experiments demonstrate that HyperVL achieves state-of-the-art performance among models of comparable size across multiple benchmarks. Furthermore, it significantly significantly reduces latency and power consumption on real mobile devices, demonstrating its practicality for on-device multimodal inference.

cs.CV↗

arXiv2025

Fast directional transport of Leidenfrost droplets on spiked surfaces

The Leidenfrost effect enables droplets to levitate above a solid surface, significantly reducing the resistance to droplet motion. In this study, a spiked surface is utilized to achieve fast directional transport of Leidenfrost droplets, with a maximum average speed reaching 8.36 m per second over a 10 cm distance,far exceeding the previously reported maximum speeds for droplet transport. When a droplet falls onto a substrate heated above the Leidenfrost temperature, it becomes trapped between spikes and levitates. The sides and bottom surface of the droplet undergo vaporization, creating a gas film between the solid wall and the droplet. However, this gas film is unstable and prone to rupture at certain points, causing the droplet to come into contact with the solid surface. Therefore, the droplets undergo violent boiling, leading to intense compression and bursting into smaller daughter droplets, which are then propelled rapidly along the substrate. Additionally, the asymmetric geometry of the spikes ensures that droplets move unidirectionally along the longitudinal direction. This study proposes a novel droplet self-propulsion mechanism, pioneering new strategies for enhancing droplet transport speed..

physics.flu-dyn↗

arXiv2025

Local Collaborative Filtering: A Collaborative Filtering Method that Utilizes Local Similarities among Users

To leverage user behavior data from the Internet more effectively in recommender systems, this paper proposes a novel collaborative filtering (CF) method called Local Collaborative Filtering (LCF). LCF utilizes local similarities among users and integrates their data using the law of large numbers (LLN), thereby improving the utilization of user behavior data. Experiments are conducted on the Steam game dataset, and the results of LCF align with real-world needs.

cs.IR↗

arXiv2025

Beyond Energy Functions and Numerical Integration: A New Methodology to Determine Transient Stability at the Initial State

This paper presents a novel method for transient stability analysis (TSA) that circumvents the limitations of sequential numerical integration and energy functions. The proposed method begins by constructing a trajectory-dependent stability indicator function to distinguish the system's destiny. To overcome the difficulty in analyzing the asymptotic behavior at infinite time, a strategic time contraction mapping is then applied. This allows TSA to be recast as a pole-placement detection problem for the indicator function. By leveraging high-order derivatives at the initial state, a rational function approximation is derived, yielding a mathematically direct and computationally efficient prediction. Numerical validations on benchmark systems demonstrate that the method not only provides a direct mathematical shortcut for TSA in power systems but also establishes a promising new methodology for evaluating the transient stability of a broad class of nonlinear dynamical systems.

eess.SY↗

arXiv2025

Connectivity-Guided Sparsification of 2-FWL GNNs: Preserving Full Expressivity with Improved Efficiency

Higher-order Graph Neural Networks (HOGNNs) based on the 2-FWL test achieve superior expressivity by modeling 2- and 3-node interactions, but at $\mathcal{O}(n^3)$ computational cost. However, this computational burden is typically mitigated by existing efficiency methods at the cost of reduced expressivity. We propose \textbf{Co-Sparsify}, a connectivity-aware sparsification framework that eliminates \emph{provably redundant} computations while preserving full 2-FWL expressive power. Our key insight is that 3-node interactions are expressively necessary only within \emph{biconnected components} -- maximal subgraphs where every pair of nodes lies on a cycle. Outside these components, structural relationships can be fully captured via 2-node message passing or global readout, rendering higher-order modeling unnecessary. Co-Sparsify restricts 2-node message passing to connected components and 3-node interactions to biconnected ones, removing computation without approximation or sampling. We prove that Co-Sparsified GNNs are as expressive as the 2-FWL test. Empirically, on PPGN, Co-Sparsify matches or exceeds accuracy on synthetic substructure counting tasks and achieves state-of-the-art performance on real-world benchmarks (ZINC, QM9). This study demonstrates that high expressivity and scalability are not mutually exclusive: principled, topology-guided sparsification enables powerful, efficient GNNs with theoretical guarantees.

cs.LG↗

arXiv2025

Non-Invasive Detection of PROState Cancer with Novel Time-Dependent Diffusion MRI and AI-Enhanced Quantitative Radiological Interpretation: PROS-TD-AI

Prostate cancer (PCa) is the most frequently diagnosed malignancy in men and the eighth leading cause of cancer death worldwide. Multiparametric MRI (mpMRI) has become central to the diagnostic pathway for men at intermediate risk, improving de-tection of clinically significant PCa (csPCa) while reducing unnecessary biopsies and over-diagnosis. However, mpMRI remains limited by false positives, false negatives, and moderate to substantial interobserver agreement. Time-dependent diffusion (TDD) MRI, a novel sequence that enables tissue microstructure characterization, has shown encouraging preclinical performance in distinguishing clinically significant from insignificant PCa. Combining TDD-derived metrics with machine learning may provide robust, zone-specific risk prediction with less dependence on reader training and improved accuracy compared to current standard-of-care. This study protocol out-lines the rationale and describes the prospective evaluation of a home-developed AI-enhanced TDD-MRI software (PROSTDAI) in routine diagnostic care, assessing its added value against PI-RADS v2.1 and validating results against MRI-guided prostate biopsy.

eess.IV↗

arXiv2025

Multivariate Long-term Time Series Forecasting with Fourier Neural Filter

Multivariate long-term time series forecasting has been suffering from the challenge of capturing both temporal dependencies within variables and spatial correlations across variables simultaneously. Current approaches predominantly repurpose backbones from natural language processing or computer vision (e.g., Transformers), which fail to adequately address the unique properties of time series (e.g., periodicity). The research community lacks a dedicated backbone with temporal-specific inductive biases, instead relying on domain-agnostic backbones supplemented with auxiliary techniques (e.g., signal decomposition). We introduce FNF as the backbone and DBD as the architecture to provide excellent learning capabilities and optimal learning pathways for spatio-temporal modeling, respectively. Our theoretical analysis proves that FNF unifies local time-domain and global frequency-domain information processing within a single backbone that extends naturally to spatial modeling, while information bottleneck theory demonstrates that DBD provides superior gradient flow and representation capacity compared to existing unified or sequential architectures. Our empirical evaluation across 11 public benchmark datasets spanning five domains (energy, meteorology, transportation, environment, and nature) confirms state-of-the-art performance with consistent hyperparameter settings. Notably, our approach achieves these results without any auxiliary techniques, suggesting that properly designed neural architectures can capture the inherent properties of time series, potentially transforming time series modeling in scientific and industrial applications.

cs.LG↗

arXiv2025

A robust and compliant robotic assembly control strategy for batch precision assembly task with uncertain fit types and fit amounts

In some high-precision industrial applications, robots are deployed to perform precision assembly tasks on mass batches of manufactured pegs and holes. If the peg and hole are designed with transition fit, machining errors may lead to either a clearance or an interference fit for a specific pair of components, with uncertain fit amounts. This paper focuses on the robotic batch precision assembly task involving components with uncertain fit types and fit amounts, and proposes an efficient methodology to construct the robust and compliant assembly control strategy. Specifically, the batch precision assembly task is decomposed into multiple deterministic subtasks, and a force-vision fusion controller-driven reinforcement learning method and a multi-task reinforcement learning training method (FVFC-MTRL) are proposed to jointly learn multiple compliance control strategies for these subtasks. Subsequently, the multi-teacher policy distillation approach is designed to integrate multiple trained strategies into a unified student network, thereby establishing a robust control strategy. Real-world experiments demonstrate that the proposed method successfully constructs the robust control strategy for high-precision assembly task with different fit types and fit amounts. Moreover, the MTRL framework significantly improves training efficiency, and the final developed control strategy achieves superior force compliance and higher success rate compared with many existing methods.

cs.RO↗

arXiv2025

DexSim2Real$^{2}$: Building Explicit World Model for Precise Articulated Object Dexterous Manipulation

Articulated objects are ubiquitous in daily life. In this paper, we present DexSim2Real$^{2}$, a novel framework for goal-conditioned articulated object manipulation. The core of our framework is constructing an explicit world model of unseen articulated objects through active interactions, which enables sampling-based model predictive control to plan trajectories achieving different goals without requiring demonstrations or RL. It first predicts an interaction using an affordance network trained on self-supervised interaction data or videos of human manipulation. After executing the interactions on the real robot to move the object parts, we propose a novel modeling pipeline based on 3D AIGC to build a digital twin of the object in simulation from multiple frames of observations. For dexterous hands, we utilize eigengrasp to reduce the action dimension, enabling more efficient trajectory searching. Experiments validate the framework's effectiveness for precise manipulation using a suction gripper, a two-finger gripper and two dexterous hand. The generalizability of the explicit world model also enables advanced manipulation strategies like manipulating with tools.

cs.RO↗

arXiv2025

AllTact Fin Ray: A Compliant Robot Gripper with Omni-Directional Tactile Sensing

Tactile sensing plays a crucial role in robot grasping and manipulation by providing essential contact information between the robot and the environment. In this paper, we present AllTact Fin Ray, a novel compliant gripper design with omni-directional and local tactile sensing capabilities. The finger body is unibody-casted using transparent elastic silicone, and a camera positioned at the base of the finger captures the deformation of the whole body and the contact face. Due to the global deformation of the adaptive structure, existing vision-based tactile sensing approaches that assume constant illumination are no longer applicable. To address this, we propose a novel sensing method where the global deformation is first reconstructed from the image using edge features and spatial constraints. Then, detailed contact geometry is computed from the brightness difference against a dynamically retrieved reference image. Extensive experiments validate the effectiveness of our proposed gripper design and sensing method in contact detection, force estimation, object grasping, and precise manipulation.

cs.RO↗

arXiv2025

AtlasSeg: Atlas Prior Guided Dual-U-Net for Cortical Segmentation in Fetal Brain MRI

Accurate automatic tissue segmentation in fetal brain MRI is a crucial step in clinical diagnosis but remains challenging, particularly due to the dynamically changing anatomy and tissue contrast during fetal development. Existing segmentation networks can only implicitly learn age-related features, leading to a decline in accuracy at extreme early or late gestational ages (GAs). To improve segmentation performance throughout gestation, we introduce AtlasSeg, a dual-U-shape convolution network that explicitly integrates GA-specific information as guidance. By providing a publicly available fetal brain atlas with segmentation labels corresponding to relevant GAs, AtlasSeg effectively extracts age-specific patterns in the atlas branch and generates precise tissue segmentation in the segmentation branch. Multi-scale spatial attention feature fusions are constructed during both encoding and decoding stages to enhance feature flow and facilitate better information interactions between two branches. We compared AtlasSeg with six well-established networks in a seven-tissue segmentation task, achieving the highest average Dice similarity coefficient of 0.91. The improvement was particularly evident in extreme early or late GA cases, where training data was scare. Furthermore, AtlasSeg exhibited minimal performance degradation on low-quality images with contrast changes and noise, attributed to its anatomical shape priors. Overall, AtlasSeg demonstrated enhanced segmentation accuracy, better consistency across fetal ages, and robustness to perturbations, making it a powerful tool for reliable fetal brain MRI tissue segmentation, particularly suited for diagnostic assessments during early gestation.

eess.IV↗

arXiv2025

Surface Vision Mamba: Leveraging Bidirectional State Space Model for Efficient Spherical Manifold Representation

Attention-based methods have demonstrated exceptional performance in modelling long-range dependencies on spherical cortical surfaces, surpassing traditional Geometric Deep Learning (GDL) models. However, their extensive inference time and high memory demands pose challenges for application to large datasets with limited computing resources. Inspired by the state space model in computer vision, we introduce the attention-free Vision Mamba (Vim) to spherical surfaces, presenting a domain-agnostic architecture for analyzing data on spherical manifolds. Our method achieves surface patching by representing spherical data as a sequence of triangular patches derived from a subdivided icosphere. The proposed Surface Vision Mamba (SiM) is evaluated on multiple neurodevelopmental phenotype regression tasks using cortical surface metrics from neonatal brains. Experimental results demonstrate that SiM outperforms both attention- and GDL-based methods, delivering 4.8 times faster inference and achieving 91.7% lower memory consumption compared to the Surface Vision Transformer (SiT) under the Ico-4 grid partitioning. Sensitivity analysis further underscores the potential of SiM to identify subtle cognitive developmental patterns. The code is available at https://github.com/Rongzhao-He/surface-vision-mamba.

cs.CV↗

arXiv2025

Data-aware Dynamic Execution of Irregular Workloads on Heterogeneous Systems

Current approaches to scheduling workloads on heterogeneous systems with specialized accelerators often rely on manual partitioning, offloading tasks with specific compute patterns to accelerators. This method requires extensive experimentation and human effort to identify the tasks suitable for the accelerator. To solve this problem, we introduce DyPe, a scheduling framework tailored for heterogeneous systems with specialized accelerators. Our method automatically partitions, deploys, and reschedules execution when necessary by dynamically analyzing the characteristics of the input data and leveraging the interoperator parallelism among heterogeneous devices. DyPe navigates a multi-objective, multi-constraint design space that considers both system constraints and application requirements, which allows it to discover Pareto-optimal mapping configurations, improving the system's overall performance and effectively managing energy-performance trade-offs. To demonstrate the benefits of our approach on real hardware, we build a heterogeneous system of GPUs and FPGAs with peer-to-peer data transfers. The experiments show that conventional static scheduling is optimal for 13 out of 86 cases for different workloads and system settings while DyPe is adaptable and able to find the optimal schedule in 77 out of 86 cases, with an average of only 3.95% performance or energy efficiency loss in the sub-optimal cases. Performance evaluation of DyPe shows an average of 1.53x throughput and 1.09x energy efficiency improvement over the static schedule baseline and 1.44x throughput and 1.66x energy efficiency over the GPU-only baseline.

cs.DC↗