arXiv subjects

Hao Chen

Publications and source records attributed to Hao Chen.

At least 505 records · Page 28Linked to original sources

arXiv2025

On-Orbit Servicing Optimization Framework with High- and Low-Thrust Propulsion Tradeoff

This paper proposes an on-orbit servicing logistics optimization framework that is capable of performing the short-term operational scheduling and long-term strategic planning of sustainable servicing infrastructures that involve high-thrust, low-thrust, and/or multimodal servicers supported by orbital depots. The proposed framework generalizes the state-of-the-art on-orbit servicing logistics optimization method by incorporating user-defined trajectory models and optimizing the logistics operations with the propulsion technology and trajectory tradeoff in consideration. Mixed-Integer Linear Programming is leveraged to find the optimal operations of the servicers over a given period, while the Rolling Horizon approach is used to consider a long time horizon accounting for the uncertainties in service demand. Several analyses are carried out to demonstrate the value of the proposed framework in automatically trading off the high- and low-thrust propulsion systems for both short-term operational scheduling and long-term strategic planning of on-orbit servicing infrastructures.

math.OC↗

arXiv2025

Beyond Zero Initialization: Investigating the Impact of Non-Zero Initialization on LoRA Fine-Tuning Dynamics

Low-rank adaptation (LoRA) is a widely used parameter-efficient fine-tuning method. In standard LoRA layers, one of the matrices, $A$ or $B$, is initialized to zero, ensuring that fine-tuning starts from the pretrained model. However, there is no theoretical support for this practice. In this paper, we investigate the impact of non-zero initialization on LoRA's fine-tuning dynamics from an infinite-width perspective. Our analysis reveals that, compared to zero initialization, simultaneously initializing $A$ and $B$ to non-zero values improves LoRA's robustness to suboptimal learning rates, particularly smaller ones. Further analysis indicates that although the non-zero initialization of $AB$ introduces random noise into the pretrained weight, it generally does not affect fine-tuning performance. In other words, fine-tuning does not need to strictly start from the pretrained model. The validity of our findings is confirmed through extensive experiments across various models and datasets. The code is available at https://github.com/Leopold1423/non_zero_lora-icml25.

cs.LG↗

arXiv2025

Inference performance evaluation for LLMs on edge devices with a novel benchmarking framework and metric

With the significant success achieved by large language models (LLMs) like LLaMA, edge computing-based LLM inference services for mobile and PC are in high demand for data privacy. However, different edge platforms have different hardware characteristics and the large demand for memory capacity and bandwidth makes it very challenging to deploy and benchmark LLMs on edge devices. In this paper, we introduce a benchmarking tool named ELIB (edge LLM inference benchmarking) to evaluate LLM inference performance of different edge platforms, and propose a novel metric named MBU to indicate the percentage of the theoretically efficient use of available memory bandwidth for a specific model running on edge hardware to optimize memory usage. We deploy ELIB on three edge platforms and benchmark using five quantized models to optimize MBU in combination with other metrics such as FLOPS, throughput, latency and accuracy. And we analyze the results to derive the key factors, constraints, unpredictability in optimizing MBU that can guide deploying LLMs on more edge platforms.

cs.PF↗

arXiv2025

A Dual Quaternion Control Law for Formation Control of Multiple 3-D Rigid Bodies

This paper studies the integrated position and attitude control problem for multi-agent systems of 3D rigid bodies. While the state-of-the-art method in [Olfati-Saber and Murray, 2004] established the theoretical foundation for rigid-body formation control, it requires all agents to asymptotically converge to identical positions and attitudes, limiting its applicability in scenarios where distinct desired relative configurations must be maintained. In this paper, we develop a novel dual-quaternion-based framework that generalizes this paradigm. By introducing a unit dual quaternion directed graph (UDQDG) representation, we derive a new control law through the corresponding Laplacian matrix, enabling simultaneous position and attitude coordination while naturally accommodating directed interaction topologies. Leveraging the recent advances in UDQDG spectral theory, we prove global asymptotic convergence to desired relative configurations modulo a right-multiplicative constant and establish an R-linear convergence rate determined by the second smallest eigenvalue of the UDQDG Laplacian. A projected iteration method is proposed to compute the iterative states. Finally, the proposed solution is verified by several numerical experiments.

math.OC↗

arXiv2025

Application of Physics-Informed Neural Networks in Removing Telescope Beam Effects

This study introduces {\tt{PI-AstroDeconv}}, a physics-informed semi-supervised learning method specifically designed for removing beam effects in astronomical telescope observation systems. The method utilizes an encoder-decoder network architecture and combines the telescope's point spread function or beam as prior information, while integrating fast Fourier transform accelerated convolution techniques into the deep learning network. This enables effective removal of beam effects from astronomical observation images. {\tt{PI-AstroDeconv}} can handle multiple PSFs or beams, tolerate imprecise measurements to some extent, and significantly improve the efficiency and accuracy of image deconvolution. Therefore, this architecture is particularly suitable for astronomical data processing that does not rely on annotated data. To validate the reliability of the architecture, we used the SKA Science Data Challenge 3a datasets and compared it with the $\tt{CLEAN}$ deconvolution method at the 21-cm power spectrum level. The results demonstrate that our algorithm not only restores details and reduces blurriness in celestial images at the pixel level but also more accurately recovers the true neutral hydrogen power spectrum at the power spectrum level.

astro-ph.IM↗

arXiv2025

A Chain of Diagnosis Framework for Accurate and Explainable Radiology Report Generation

Despite the progress of radiology report generation (RRG), existing works face two challenges: 1) The performances in clinical efficacy are unsatisfactory, especially for lesion attributes description; 2) the generated text lacks explainability, making it difficult for radiologists to trust the results. To address the challenges, we focus on a trustworthy RRG model, which not only generates accurate descriptions of abnormalities, but also provides basis of its predictions. To this end, we propose a framework named chain of diagnosis (CoD), which maintains a chain of diagnostic process for clinically accurate and explainable RRG. It first generates question-answer (QA) pairs via diagnostic conversation to extract key findings, then prompts a large language model with QA diagnoses for accurate generation. To enhance explainability, a diagnosis grounding module is designed to match QA diagnoses and generated sentences, where the diagnoses act as a reference. Moreover, a lesion grounding module is designed to locate abnormalities in the image, further improving the working efficiency of radiologists. To facilitate label-efficient training, we propose an omni-supervised learning strategy with clinical consistency to leverage various types of annotations from different datasets. Our efforts lead to 1) an omni-labeled RRG dataset with QA pairs and lesion boxes; 2) a evaluation tool for assessing the accuracy of reports in describing lesion location and severity; 3) extensive experiments to demonstrate the effectiveness of CoD, where it outperforms both specialist and generalist models consistently on two RRG benchmarks and shows promising explainability by accurately grounding generated sentences to QA diagnoses and images.

cs.CV↗

arXiv2025

AmbiGraph-Eval: Can LLMs Effectively Handle Ambiguous Graph Queries?

Large Language Models (LLMs) have recently demonstrated strong capabilities in translating natural language into database queries, especially when dealing with complex graph-structured data. However, real-world queries often contain inherent ambiguities, and the interconnected nature of graph structures can amplify these challenges, leading to unintended or incorrect query results. To systematically evaluate LLMs on this front, we propose a taxonomy of graph-query ambiguities, comprising three primary types: Attribute Ambiguity, Relationship Ambiguity, and Attribute-Relationship Ambiguity, each subdivided into Same-Entity and Cross-Entity scenarios. We introduce AmbiGraph-Eval, a novel benchmark of real-world ambiguous queries paired with expert-verified graph query answers. Evaluating 9 representative LLMs shows that even top models struggle with ambiguous graph queries. Our findings reveal a critical gap in ambiguity handling and motivate future work on specialized resolution techniques.

cs.DB↗

arXiv2025

Doping Evolution of Nodal Electron Dynamics in Trilayer Cuprate Superconductor Bi$_2$Sr$_2$Ca$_2$Cu$_3$O$_{10+δ}$ Revealed by Laser-Based Angle-Resolved Photoemission Spectroscopy

The doping evolution of the nodal electron dynamics in the trilayer cuprate superconductor Bi$_2$Sr$_2$Ca$_2$Cu$_3$O$_{10+δ}$ (Bi2223) is investigated using high-resolution laser-based angle-resolved photoemission spectroscopy (ARPES). Bi2223 single crystals with different doping levels are prepared by controlled annealing which cover the underdoped, optimally-doped and overdoped regions. The electronic phase diagram of Bi2223 is established which describes the T$_\mathrm{c}$ dependence on the sample doping level. The doping dependence of the nodal Fermi momentum for the outer (OP) and inner (IP) CuO$_2$ planes is determined. Charge distribution imbalance between the OP and IP CuO$_2$ planes is quantified, showing enhanced disparity with increasing doping. Nodal band dispersions demonstrate a prominent kink at $\sim$94$\,$meV in the IP band, attributed to the unique Cu coordination in the IP plane, while a weaker $\sim$60$\,$meV kink is observed in the OP band. The nodal Fermi velocity of both OP and IP bands is nearly constant at $\sim$1.62$\,$eVÅ independent of doping. These results provide important information to understand the origin of high T$_\mathrm{c}$ and superconductivity mechanism in high temperature cuprate superconductors.

cond-mat.supr-con↗

arXiv2025

UnrealZoo: Enriching Photo-realistic Virtual Worlds for Embodied AI

We introduce UnrealZoo, a collection of over 100 photo-realistic 3D virtual worlds built on Unreal Engine, designed to reflect the complexity and variability of open-world environments. We also provide a rich variety of playable entities, including humans, animals, robots, and vehicles for embodied AI research. We extend UnrealCV with optimized APIs and tools for data collection, environment augmentation, distributed training, and benchmarking. These improvements achieve significant improvements in the efficiency of rendering and communication, enabling advanced applications such as multi-agent interactions. Our experimental evaluation across visual navigation and tracking tasks reveals two key insights: 1) environmental diversity provides substantial benefits for developing generalizable reinforcement learning (RL) agents, and 2) current embodied agents face persistent challenges in open-world scenarios, including navigation in unstructured terrain, adaptation to unseen morphologies, and managing latency in the close-loop control systems for interacting in highly dynamic objects. UnrealZoo thus serves as both a comprehensive testing ground and a pathway toward developing more capable embodied AI systems for real-world deployment.

cs.AI↗

arXiv2025

ODYSSEY: Open-World Quadrupeds Exploration and Manipulation for Long-Horizon Tasks

Language-guided long-horizon mobile manipulation has long been a grand challenge in embodied semantic reasoning, generalizable manipulation, and adaptive locomotion. Three fundamental limitations hinder progress: First, although large language models have improved spatial reasoning and task planning through semantic priors, existing implementations remain confined to tabletop scenarios, failing to address the constrained perception and limited actuation ranges of mobile platforms. Second, current manipulation strategies exhibit insufficient generalization when confronted with the diverse object configurations encountered in open-world environments. Third, while crucial for practical deployment, the dual requirement of maintaining high platform maneuverability alongside precise end-effector control in unstructured settings remains understudied. In this work, we present ODYSSEY, a unified mobile manipulation framework for agile quadruped robots equipped with manipulators, which seamlessly integrates high-level task planning with low-level whole-body control. To address the challenge of egocentric perception in language-conditioned tasks, we introduce a hierarchical planner powered by a vision-language model, enabling long-horizon instruction decomposition and precise action execution. At the control level, our novel whole-body policy achieves robust coordination across challenging terrains. We further present the first benchmark for long-horizon mobile manipulation, evaluating diverse indoor and outdoor scenarios. Through successful sim-to-real transfer, we demonstrate the system's generalization and robustness in real-world deployments, underscoring the practicality of legged manipulators in unstructured environments. Our work advances the feasibility of generalized robotic assistants capable of complex, dynamic tasks. Our project page: https://kaijwang.github.io/odyssey.github.io/

cs.RO↗

arXiv2025

Learned Regularization for Microwave Tomography

Microwave Tomography (MWT) aims to reconstruct the dielectric properties of tissues from measured scattered electromagnetic fields. This inverse problem is highly nonlinear and ill-posed, posing significant challenges for conventional optimization-based methods, which, despite being grounded in physical models, often fail to recover fine structural details. Recent deep learning strategies, including end-to-end and post-processing networks, have improved reconstruction quality but typically require large paired training datasets and may struggle to generalize. To overcome these limitations, we propose a physics-informed hybrid framework that integrates diffusion models as learned regularization within a data-consistency-driven variational scheme. Specifically, we introduce Single-Step Diffusion Regularization (SSD-Reg), a novel approach that embeds diffusion priors into the iterative reconstruction process, enabling the recovery of complex anatomical structures without the need for paired data. SSD-Reg maintains fidelity to both the governing physics and learned structural distributions, improving accuracy, stability, and robustness. Extensive experiments demonstrate that SSD-Reg, implemented as a Plug-and-Play (PnP) module, provides a flexible and effective solution for tackling the ill-posedness inherent in functional image reconstruction.

eess.IV↗

arXiv2025

Generative Video Matting

Video matting has traditionally been limited by the lack of high-quality ground-truth data. Most existing video matting datasets provide only human-annotated imperfect alpha and foreground annotations, which must be composited to background images or videos during the training stage. Thus, the generalization capability of previous methods in real-world scenarios is typically poor. In this work, we propose to solve the problem from two perspectives. First, we emphasize the importance of large-scale pre-training by pursuing diverse synthetic and pseudo-labeled segmentation datasets. We also develop a scalable synthetic data generation pipeline that can render diverse human bodies and fine-grained hairs, yielding around 200 video clips with a 3-second duration for fine-tuning. Second, we introduce a novel video matting approach that can effectively leverage the rich priors from pre-trained video diffusion models. This architecture offers two key advantages. First, strong priors play a critical role in bridging the domain gap between synthetic and real-world scenes. Second, unlike most existing methods that process video matting frame-by-frame and use an independent decoder to aggregate temporal information, our model is inherently designed for video, ensuring strong temporal consistency. We provide a comprehensive quantitative evaluation across three benchmark datasets, demonstrating our approach's superior performance, and present comprehensive qualitative results in diverse real-world scenes, illustrating the strong generalization capability of our method. The code is available at https://github.com/aim-uofa/GVM.

cs.CV↗

arXiv2025

Rethinking the Bias of Foundation Model under Long-tailed Distribution

Long-tailed learning has garnered increasing attention due to its practical significance. Among the various approaches, the fine-tuning paradigm has gained considerable interest with the advent of foundation models. However, most existing methods primarily focus on leveraging knowledge from these models, overlooking the inherent biases introduced by the imbalanced training data they rely on. In this paper, we examine how such imbalances from pre-training affect long-tailed downstream tasks. Specifically, we find the imbalance biases inherited in foundation models on downstream task as parameter imbalance and data imbalance. During fine-tuning, we observe that parameter imbalance plays a more critical role, while data imbalance can be mitigated using existing re-balancing strategies. Moreover, we find that parameter imbalance cannot be effectively addressed by current re-balancing techniques, such as adjusting the logits, during training, unlike data imbalance. To tackle both imbalances simultaneously, we build our method on causal learning and view the incomplete semantic factor as the confounder, which brings spurious correlations between input samples and labels. To resolve the negative effects of this, we propose a novel backdoor adjustment method that learns the true causal effect between input samples and labels, rather than merely fitting the correlations in the data. Notably, we achieve an average performance increase of about $1.67\%$ on each dataset. Code is available: https://github.com/JiahaoChen1/Pre-train-Imbalance

cs.LG↗

arXiv2025

POMATO: Marrying Pointmap Matching with Temporal Motion for Dynamic 3D Reconstruction

3D reconstruction in dynamic scenes primarily relies on the combination of geometry estimation and matching modules where the latter task is pivotal for distinguishing dynamic regions which can help to mitigate the interference introduced by camera and object motion. Furthermore, the matching module explicitly models object motion, enabling the tracking of specific targets and advancing motion understanding in complex scenarios. Recently, the proposed representation of pointmap in DUSt3R suggests a potential solution to unify both geometry estimation and matching in 3D space, but it still struggles with ambiguous matching in dynamic regions, which may hamper further improvement. In this work, we present POMATO, a unified framework for dynamic 3D reconstruction by marrying pointmap matching with temporal motion. Specifically, our method first learns an explicit matching relationship by mapping RGB pixels from both dynamic and static regions across different views to 3D pointmaps within a unified coordinate system. Furthermore, we introduce a temporal motion module for dynamic motions that ensures scale consistency across different frames and enhances performance in tasks requiring both precise geometry and reliable matching, most notably 3D point tracking. We show the effectiveness of the proposed pointmap matching and temporal fusion paradigm by demonstrating the remarkable performance across multiple downstream tasks, including video depth estimation, 3D point tracking, and pose estimation. Code and models are publicly available at https://github.com/wyddmw/POMATO.

eess.IV↗

arXiv2025

Zero-Shot Cellular Trajectory Map Matching

Cellular Trajectory Map-Matching (CTMM) aims to align cellular location sequences to road networks, which is a necessary preprocessing in location-based services on web platforms like Google Maps, including navigation and route optimization. Current approaches mainly rely on ID-based features and region-specific data to learn correlations between cell towers and roads, limiting their adaptability to unexplored areas. To enable high-accuracy CTMM without additional training in target regions, Zero-shot CTMM requires to extract not only region-adaptive features, but also sequential and location uncertainty to alleviate positioning errors in cellular data. In this paper, we propose a pixel-based trajectory calibration assistant for zero-shot CTMM, which takes advantage of transferable geospatial knowledge to calibrate pixelated trajectory, and then guide the path-finding process at the road network level. To enhance knowledge sharing across similar regions, a Gaussian mixture model is incorporated into VAE, enabling the identification of scenario-adaptive experts through soft clustering. To mitigate high positioning errors, a spatial-temporal awareness module is designed to capture sequential features and location uncertainty, thereby facilitating the inference of approximate user positions. Finally, a constrained path-finding algorithm is employed to reconstruct the road ID sequence, ensuring topological validity within the road network. This process is guided by the calibrated trajectory while optimizing for the shortest feasible path, thus minimizing unnecessary detours. Extensive experiments demonstrate that our model outperforms existing methods in zero-shot CTMM by 16.8\%.

cs.AI↗

arXiv2025

CRAFTS for HI cosmology: I. data processing pipeline and validation tests

We present the calibration procedures and validation of source measurement with the data of the Commensal Radio Astronomy FAST Survey (CRAFTS) for \HI intensity mapping by the Five-hundred-meter Aperture Spherical Radio Telescope (FAST). Using 70-hour drift-scan observation with the L-band (1.05-1.45GHz) 19-beam receiver, we obtain the data covering $270\,\rm deg^2$ sky area. We employ both the pulsar backend and the spectrum backend to calibrate the spectral time-ordered-data (TOD) before projecting them onto HEALPix maps. We produce calibrated TOD with frequency resolution of 30kHz and time resolution of 1s and the map data-cube with frequency resolution of 30kHz and spatial resolution of $2.95\,\rm arcmin^2$. We examine the pointing errors, noise overflow, RFI contamination and their effect on the data quality. The resulting noise level is $\sim$ 5.7mJy for the calibrated TOD and 1.6mJy for the map, consistent with the theoretical predictions within 5\% at RFI-free channels. We also validate the data by Principal Components Analysis (PCA) and find the residual map looks thermal noise dominated after removing 30 modes. We identify 447 isolated bright continuum sources in our data matching the NRAO-VLA Sky Survey (NVSS) catalog, with relative flux error of 8.3\% for TOD and 6.6\% for the map-level. We also measure the \HI emission of 90 galaxies with redshift $z<0.07$ and compare with \HI-MaNGA spectra, yielding an overall relative \HI integral flux error of 16.7\%. These results provide an important first step in assessing the feasibility of conducting cosmological \HI detection with CRAFTS.

astro-ph.CO↗

arXiv2025

Amber Pruner: Leveraging N:M Activation Sparsity for Efficient Prefill in Large Language Models

In the era of large language models (LLMs), N:M sparsity has emerged as a structured compression technique critical for accelerating inference. While prior work has primarily focused on weight sparsity, it often suffers from significant accuracy degradation. Activation sparsity, though promising, is typically training-dependent and faces challenges in generalization. To address these limitations, we introduce Amber Pruner, a training-free N:M activation sparsity method designed specifically for the prefill stage, targeting the acceleration of linear projection layers in LLMs. Extensive experiments across multiple models and sparsity ratios (2:4, 4:8, and 8:16) demonstrate that Amber Pruner can effectively sparsify and accelerate more than 55% of linear computations without requiring model retraining. To further enhance generality and efficiency, we propose Outstanding-sparse, a unified framework that integrates Amber Pruner with post-training W8A8 quantization. Our approach preserves strong performance across a range of downstream tasks, with notable advantages in generative tasks. This work pioneers a new frontier in activation sparsity, providing foundational insights that are poised to guide the co-evolution of algorithms and architectures in the design of next-generation AI systems.

cs.LG↗

arXiv2025

Universal thermodynamic topological classes of static black holes in Conformal Killing Gravity

In this study, we develop universal thermodynamic topological classes for the static black holes in the context of the Conformal Killing Gravity. Our findings indicate that the Conformal Killing Gravity significantly reconstructs the thermodynamic properties of both the smallest inner and the largest outer black hole states. Additionally, it considerably alters the thermodynamic stability of black holes across both high-temperature and low-temperature regimes. This analysis shows that different CKG parameter settings will lead to $W^{0+}$ $(λ>0)$ and $W^{1+}$ $(λ<0)$ categories for the charged AdS black hole, the Reissner-Nordstr$\ddot{o}$m black hole in Conformal Killing Gravity is classified into the $W^{0+}$ and $W^{1+}$ categories. Furthermore, we examine the specific scenario where charge is neglected. The study reveals that within the framework of Conformal Killing Gravity, the Schwarzschild black hole similar to the Schwarzschild-AdS black hole, can be classified into the $W^{1-}$ and $W^{0-}$ categories. This work provides key insights into the fundamental nature of quantum gravity theory.

gr-qc↗