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Haoran Liao

Publications and source records attributed to Haoran Liao.

18 recordsLinked to original sources
arXiv2026

LayerRoute: Action-Conditioned Mixture-of-Layers Routing for Vision-Language-Action Policies

Vision-Language-Action (VLA) policies leverage pretrained vision-language models (VLMs) to guide action generation for robot control. VLMs provide hierarchical visual-semantic representations that evolve across layers, from local visual geometry to abstract, language-aligned semantics; different manipulation tasks may therefore require different mixtures of layer representations. Meanwhile, the action module maintains intermediate representations that evolve throughout action computation and may provide useful information for subsequent decisions. However, existing VLA interfaces offer limited flexibility in representation access: VLM information is exposed through fixed layer assignments for each action layer, while intermediate action states are only propagated implicitly through residual streams without explicit reuse. We introduce LayerRoute, an action-conditioned representation routing interface that enables adaptive access to VLM layers and action representations. The Layer Mixture Router dynamically forms mixtures of cached VLM representations, while Action-State Reread reuses earlier action representations. Across diverse simulation and real-world benchmarks, LayerRoute consistently improves StarVLA-$\pi$ and $\pi_{0.5}$, achieving up to 7.2 gains on LIBERO Long with only 0.31% / 3.87% additional parameters. Ablation studies validate the benefit of action-conditioned layer routing, while routing analyses reveal structured allocation patterns across action layers and task settings.

cs.AI↗
arXiv2026

DynamicManip: Enabling Dynamic Manipulation from a Single Static Demonstration

Dynamic manipulation is a critical capability for robots operating in complex and dynamic environments, where robots must interact with objects that are moving or require rapid adjustments. However, learning models for dynamic manipulation tasks face two major challenges: (1) the combinatorial complexity of dynamic scenarios leads to substantial data requirements, and (2) rapid variations in dynamics require real-time and accurate policy execution. In this paper, we propose DynamicManip to address these challenges through an efficient data augmentation pipeline and a low-latency imitation policy. We first propose a static-to-dynamic augmentation pipeline that synthesizes diverse dynamic manipulation demonstrations from a single static demonstration. Second, we introduce a dynamic-aware adaptive policy that adjusts its inference frequency according to task dynamics, enabling responsive and effective dynamic manipulation. Third, we build a dynamic manipulation benchmark, which includes diverse dynamic tasks with an automatic evaluation system for scalable and consistent assessment. Extensive experiments in both simulation and the real world demonstrate that DynamicManip not only provides significant improvements in data efficiency but also achieves better performance in dynamic manipulation tasks, with a mean success rate 18.4 percentage points higher and policy-query latency 32.9% lower.

cs.RO↗
arXiv2026

Fast, accurate, high-resolution simulation of large-scale Fermi-Hubbard models on a digital quantum processor

We report experimental digital quantum simulation of the one-dimensional Fermi-Hubbard model on a superconducting quantum processor at a scale beyond the reach of exact statevector simulation and challenging for state-of-the-art tensor-network methods. We encode this problem using up to 120 qubits through an efficient mapping that reduces circuit complexity, and we improve accuracy through error suppression to simulate dynamical evolution using up to 90 Trotter steps. From a vacancy defect introduced in the middle of an $L=31$-site (62-qubit) N\'{e}el initial state, we directly observe spin-charge separation to $t=9$ in natural units and quantitatively extract velocities $v_c$, $v_s$, which match classical simulations across model parameters, and analytics in appropriate regimes. We then extend experiments to $L=60$ fermions (120 qubits) and evolution times to $t=6$ using 30 Trotter steps. Quantum-processor outputs agree quantitatively with approximate classical simulations performed using a time-dependent variational principle (TDVP) solver and we observe that increasing the TDVP bond dimension through $\chi = 4096$ expands the range of evolution times within which agreement has RMSE $\sim 1\%$ before the approaches diverge. Owing to the large scale of the simulation and the use of overhead-free error-suppression techniques, for simulated evolution times at the limit of quantum/classical agreement ($t\gtrsim 5$ in natural hopping units), the wall-clock runtime of the quantum processor is nearly three orders of magnitude faster than TDVP simulations with $\chi = 4096$ and implemented using the ITensor and TeNPy packages. These results establish contemporary digital quantum processors as a versatile, quantitatively accurate, and competitive platform for the study of fermionic many-body dynamics in regimes where leading classical methods can become prohibitively expensive.

quant-ph↗
arXiv2026

Simulating the dynamics of an SU(2) matrix model on a trapped-ion quantum computer

Matrix models are an important class of systems in string theory and theoretical physics, with applications to random matrix theory, quantum chaos, and black holes. Hamiltonian Monte Carlo simulations and gauge/gravity duality have been used to study these systems at thermal equilibrium, and the bootstrap program has been used to efficiently determine operator expectation values by imposing positivity constraints. However, simulating real-time, non-equilibrium dynamics remains a fundamental challenge. In this work, we present the first digital quantum simulation of a bosonic matrix model, executed on the Quantinuum System Model H2 trapped-ion quantum computer. We focus on an $\mathrm{SU}(2)$ gauge theory with a quartic potential as it is simple enough to validate against exact classical solutions and yet complex enough to reflect the non-local structure of larger theories. Using the Loschmidt echo as our primary dynamical observable, we systematically decompose simulation errors into three distinct sources: Hilbert space truncation, Trotterization, and hardware noise. We demonstrate a new post-selection scheme that detects and discards gauge-symmetry violations in the Fock basis and show that at small scales it, along with zero-noise extrapolation, can give modest improvements in fidelity. These approaches struggle to scale to larger system sizes in their current implementations, emphasizing the need to move beyond them and to focus on depth reduction through improved compilation and unitary synthesis, and run-time error handling such as additional error suppression, error detection, as well as error correction approaches. This work establishes a foundation for extending digital quantum simulation to more complex matrix models -- revealing that fundamental challenges in qubit resources and circuit depth remain formidable obstacles for scaling to holographically interesting regimes.

quant-ph↗
arXiv2026

LDA-1B: Scaling Latent Dynamics Action Model via Universal Embodied Data Ingestion

Recent robot foundation models largely rely on large-scale behavior cloning, which imitates expert actions but discards transferable dynamics knowledge embedded in heterogeneous embodied data. While the Unified World Model (UWM) formulation has the potential to leverage such diverse data, existing instantiations struggle to scale to foundation-level due to coarse data usage and fragmented datasets. We introduce LDA-1B, a robot foundation model that scales through universal embodied data ingestion by jointly learning dynamics, policy, and visual forecasting, assigning distinct roles to data of varying quality. To support this regime at scale, we assemble and standardize EI-30k, an embodied interaction dataset comprising over 30k hours of human and robot trajectories in a unified format. Scalable dynamics learning over such heterogeneous data is enabled by prediction in a structured DINO latent space, which avoids redundant pixel-space appearance modeling. Complementing this representation, LDA-1B employs a multi-modal diffusion transformer to handle asynchronous vision and action streams, enabling stable training at the 1B-parameter scale. Experiments in simulation and the real world show LDA-1B outperforms prior methods (e.g., $\pi_{0.5}$) by up to 21\%, 48\%, and 23\% on contact-rich, dexterous, and long-horizon tasks, respectively. Notably, LDA-1B enables data-efficient fine-tuning, gaining 10\% by leveraging 30\% low-quality trajectories typically harmful and discarded.

cs.RO↗
arXiv2025

CycleManip: Enabling Cyclic Task Manipulation via Effective Historical Perception and Understanding

In this paper, we explore an important yet underexplored task in robot manipulation: cycle-based manipulation, where robots need to perform cyclic or repetitive actions with an expected terminal time. These tasks are crucial in daily life, such as shaking a bottle or knocking a nail. However, few prior works have explored this task, leading to two main challenges: 1) the imitation methods often fail to complete these tasks within the expected terminal time due to the ineffective utilization of history; 2) the absence of a benchmark with sufficient data and automatic evaluation tools hinders development of effective solutions in this area. To address these challenges, we first propose the CycleManip framework to achieve cycle-based task manipulation in an end-to-end imitation manner without requiring any extra models, hierarchical structure or significant computational overhead. The core insight is to enhance effective history perception by a cost-aware sampling strategy and to improve historical understanding by multi-task learning. Second, we introduce a cycle-based task manipulation benchmark, which provides diverse cycle-based tasks, and an automatic evaluation method. Extensive experiments conducted in both simulation and real-world settings demonstrate that our method achieves high success rates in cycle-based task manipulation. The results further show strong adaptability performance in general manipulation, and the plug-and-play ability on imitation policies such as Vision-Language-Action (VLA) models. Moreover, the results show that our approach can be applied across diverse robotic platforms, including bi-arm grippers, dexterous hands, and humanoid robots.

cs.RO↗
arXiv2025

TypeTele: Releasing Dexterity in Teleoperation by Dexterous Manipulation Types

Dexterous teleoperation plays a crucial role in robotic manipulation for real-world data collection and remote robot control. Previous dexterous teleoperation mostly relies on hand retargeting to closely mimic human hand postures. However, these approaches may fail to fully leverage the inherent dexterity of dexterous hands, which can execute unique actions through their structural advantages compared to human hands. To address this limitation, we propose TypeTele, a type-guided dexterous teleoperation system, which enables dexterous hands to perform actions that are not constrained by human motion patterns. This is achieved by introducing dexterous manipulation types into the teleoperation system, allowing operators to employ appropriate types to complete specific tasks. To support this system, we build an extensible dexterous manipulation type library to cover comprehensive dexterous postures used in manipulation tasks. During teleoperation, we employ a MLLM (Multi-modality Large Language Model)-assisted type retrieval module to identify the most suitable manipulation type based on the specific task and operator commands. Extensive experiments of real-world teleoperation and imitation learning demonstrate that the incorporation of manipulation types significantly takes full advantage of the dexterous robot's ability to perform diverse and complex tasks with higher success rates.

cs.RO↗
arXiv2024

Achieving computational gains with quantum error-correction primitives: Generation of long-range entanglement enhanced by error detection

The resource overhead required to achieve net computational benefits from quantum error correction (QEC) limits its utility while current systems remain constrained in size, despite exceptional progress in experimental demonstrations. In this paper, we demonstrate that the strategic application of QEC primitives without logical encoding can yield significant advantages on superconducting processors--relative to any alternative error-reduction strategy--while only requiring a modest overhead. We first present a novel protocol for implementing long-range CNOT gates that relies on a unitarily prepared Greenberger-Horne-Zeilinger (GHZ) state as well as a unitary disentangling step; the protocol natively introduces an error-detection process using the disentangled qubits as flags. We demonstrate that it achieves state-of-the-art gate fidelities of over 85% across up to 40 lattice sites, significantly and consistently outperforming the best alternative measurement-based protocol without introducing any additional ancilla qubits. We then apply sparse stabilizer measurements to generate large GHZ states by detecting bit-flip and amplitude-damping errors. Employing this technique in combination with deterministic error suppression, we generate a 75-qubit GHZ state exhibiting genuine multipartite entanglement, the largest reported to date. The generation requires no more than 9 ancilla qubits and the fraction of samples discarded due to errors grows no higher than 78%, far lower than previous discard fractions required for tests using comparable numbers of fully encoded qubits. This work in total represents compelling evidence that adopting QEC primitives on current-generation devices can deliver substantial net benefits.

quant-ph↗
arXiv2024

Entanglement-enhanced learning of quantum processes at scale

Learning unknown processes affecting a quantum system reveals underlying physical mechanisms and enables suppression, mitigation, and correction of unwanted effects. Describing a general quantum process requires an exponentially large number of parameters. Measuring these parameters, when they are encoded in incompatible observables, is constrained by the uncertainty principle and requires exponentially many measurements. However, for Pauli channels, having access to an ideal quantum memory and entangling operations allows encoding parameters in commuting observables, thereby exponentially reducing measurement complexity. In practice, though, quantum memory and entangling operations are always noisy and introduce errors, making the advantage of using noisy quantum memory unclear. To address these challenges we introduce error-mitigated entanglement-enhanced learning and show, both theoretically and experimentally, that even with noise, there is a separation in efficiency between learning Pauli channels with and without entanglement with noisy quantum memory. We demonstrate our protocol's efficacy in examples including hypothesis testing with up to 64 qubits and learning inherent noise processes in a layer of parallel gates using up to 16 qubits on a superconducting quantum processor. Our protocol provides accurate and practical information about the process, with an overhead factor of $1.33 \pm 0.05$ per qubit, much smaller than the fundamental lower bound of 2 without entanglement with quantum memory. Our study demonstrates that entanglement with auxiliary noisy quantum memory combined with error mitigation considerably enhances the learning of quantum processes.

quant-ph↗
arXiv2024

ML-Powered FPGA-based Real-Time Quantum State Discrimination Enabling Mid-circuit Measurements

Accurate and timely quantum state discrimination is critical for quantum computing, particularly in protocols requiring mid-circuit measurement (MCM) and conditional feed-forward. While classical state readout in transistors is near-instantaneous, identifying the state of superconducting qubits remains latency-limited and error-prone. Existing approaches rely on post-processing measurement data transferred to host computers, introducing delays on the order of milliseconds -- vastly exceeding the coherence time of quantum states, which typically last only hundreds of microseconds. To bridge this latency gap, we present an in-situ machine learning (ML) inference engine implemented on a field-programmable gate array (FPGA), enabling real-time quantum state discrimination within 40 ns. Our system supports both two-level (qubit) and three-level (qutrit) systems and performs inference directly on digitized readout signals without host-side intervention. This low-latency operation facilitates mid-circuit measurements, where qubit states are measured and reused within a single quantum circuit, and enables real-time conditional operations essential for quantum error correction. Crucially, fast and accurate mid-circuit readout is a prerequisite for implementing practical fault-tolerant error correction, where errors must be detected and corrected within a single circuit cycle to preserve logical state coherence. We validate our system using superconducting transmon devices, demonstrating robust discrimination fidelity across multiple qubit and qutrit channels. Further, we implement a conditional qutrit logic protocol based on FPGA-resident state classification, highlighting the practical benefits of our approach for NISQ-era quantum algorithms and scalable fault-tolerant architectures.

quant-ph↗
arXiv2024

Suppressing Correlated Noise in Quantum Computers via Context-Aware Compiling

Coherent errors, and especially those that occur in correlation among a set of qubits, are detrimental for large-scale quantum computing. Correlations in noise can occur as a result of spatial and temporal configurations of instructions executing on the quantum processor. In this paper, we perform a detailed experimental characterization of many of these error sources, and theoretically connect them to the physics of superconducting qubits and gate operations. Equipped with this knowledge, we devise compiler strategies to suppress these errors using dynamical decoupling or error compensation into the rest of the circuit. Importantly, these strategies are successful when the context at each layer of computation is taken into account: how qubits are connected, what crosstalk terms exist on the device, and what gates or idle periods occur in that layer. Our context-aware compiler thus suppresses some dominant sources of error, making further error mitigation or error correction substantially less expensive. For example, our experiments show an increase of 18.5\% in layer fidelity for a candidate 10-qubit circuit layer compared to context-unaware suppression. Owing to the exponential nature of error mitigation, these improvements due to error suppression translate to several orders of magnitude reduction of sampling overhead for a circuit consisting of a moderate number of layers.

quant-ph↗
arXiv2024

Look Before You Leap: Problem Elaboration Prompting Improves Mathematical Reasoning in Large Language Models

Large language models (LLMs) still grapple with complex tasks like mathematical reasoning. Despite significant efforts invested in improving prefix prompts or reasoning process, the crucial role of problem context might have been neglected. Accurate recognition of inputs is fundamental for solving mathematical tasks, as ill-formed problems could potentially mislead LLM's reasoning. In this study, we propose a new approach named Problem Elaboration Prompting (PEP) to enhance the mathematical capacities of LLMs. Specifically, PEP decomposes and elucidates the problem context before reasoning, therefore enhancing the context modeling and parsing efficiency. Experiments across datasets and models demonstrate promising performances: (1) PEP demonstrates an overall enhancement in various mathematical tasks. For instance, with the GPT-3.5 model, PEP exhibits improvements of 9.93% and 8.80% on GSM8k through greedy decoding and self-consistency, respectively. (2) PEP can be easily implemented and integrated with other prompting methods. (3) PEP shows particular strength in handling distraction problems.

cs.CL↗
arXiv2023

Modeling Complex Mathematical Reasoning via Large Language Model based MathAgent

Large language models (LLMs) face challenges in solving complex mathematical problems that require comprehensive capacities to parse the statements, associate domain knowledge, perform compound logical reasoning, and integrate the intermediate rationales. Tackling all these problems once could be arduous for LLMs, thus leading to confusion in generation. In this work, we explore the potential of enhancing LLMs with agents by meticulous decomposition and modeling of mathematical reasoning process. Specifically, we propose a formal description of the mathematical solving and extend LLMs with an agent-based zero-shot framework named $\bf{P}$lanner-$\bf{R}$easoner-$\bf{E}$xecutor-$\bf{R}$eflector (PRER). We further provide and implement two MathAgents that define the logical forms and inherent relations via a pool of actions in different grains and orientations: MathAgent-M adapts its actions to LLMs, while MathAgent-H aligns with humankind. Experiments on miniF2F and MATH have demonstrated the effectiveness of PRER and proposed MathAgents, achieving an increase of $12.3\%$($53.9\%\xrightarrow{}66.2\%$) on the MiniF2F, $9.2\%$ ($49.8\%\xrightarrow{}59.0\%$) on MATH, and $13.2\%$($23.2\%\xrightarrow{}35.4\%$) for level-5 problems of MATH against GPT-4. Further analytical results provide more insightful perspectives on exploiting the behaviors of LLMs as agents.

cs.AI↗
arXiv2023

Machine Learning for Practical Quantum Error Mitigation

Quantum computers progress toward outperforming classical supercomputers, but quantum errors remain their primary obstacle. The key to overcoming errors on near-term devices has emerged through the field of quantum error mitigation, enabling improved accuracy at the cost of additional run time. Here, through experiments on state-of-the-art quantum computers using up to 100 qubits, we demonstrate that without sacrificing accuracy machine learning for quantum error mitigation (ML-QEM) drastically reduces the cost of mitigation. We benchmark ML-QEM using a variety of machine learning models -- linear regression, random forests, multi-layer perceptrons, and graph neural networks -- on diverse classes of quantum circuits, over increasingly complex device-noise profiles, under interpolation and extrapolation, and in both numerics and experiments. These tests employ the popular digital zero-noise extrapolation method as an added reference. Finally, we propose a path toward scalable mitigation by using ML-QEM to mimic traditional mitigation methods with superior runtime efficiency. Our results show that classical machine learning can extend the reach and practicality of quantum error mitigation by reducing its overheads and highlight its broader potential for practical quantum computations.

quant-ph↗
arXiv2022

Decohering Tensor Network Quantum Machine Learning Models

Tensor network quantum machine learning (QML) models are promising applications on near-term quantum hardware. While decoherence of qubits is expected to decrease the performance of QML models, it is unclear to what extent the diminished performance can be compensated for by adding ancillas to the models and accordingly increasing the virtual bond dimension of the models. We investigate here the competition between decoherence and adding ancillas on the classification performance of two models, with an analysis of the decoherence effect from the perspective of regression. We present numerical evidence that the fully-decohered unitary tree tensor network (TTN) with two ancillas performs at least as well as the non-decohered unitary TTN, suggesting that it is beneficial to add at least two ancillas to the unitary TTN regardless of the amount of decoherence may be consequently introduced.

quant-ph↗
arXiv2021

Machine Learning for Continuous Quantum Error Correction on Superconducting Qubits

Continuous quantum error correction has been found to have certain advantages over discrete quantum error correction, such as a reduction in hardware resources and the elimination of error mechanisms introduced by having entangling gates and ancilla qubits. We propose a machine learning algorithm for continuous quantum error correction that is based on the use of a recurrent neural network to identify bit-flip errors from continuous noisy syndrome measurements. The algorithm is designed to operate on measurement signals deviating from the ideal behavior in which the mean value corresponds to a code syndrome value and the measurement has white noise. We analyze continuous measurements taken from a superconducting architecture using three transmon qubits to identify three significant practical examples of non-ideal behavior, namely auto-correlation at temporal short lags, transient syndrome dynamics after each bit-flip, and drift in the steady-state syndrome values over the course of many experiments. Based on these real-world imperfections, we generate synthetic measurement signals from which to train the recurrent neural network, and then test its proficiency when implementing active error correction, comparing this with a traditional double threshold scheme and a discrete Bayesian classifier. The results show that our machine learning protocol is able to outperform the double threshold protocol across all tests, achieving a final state fidelity comparable to the discrete Bayesian classifier.

quant-ph↗
arXiv2021

Mutual Information Scaling for Tensor Network Machine Learning

Tensor networks have emerged as promising tools for machine learning, inspired by their widespread use as variational ansatze in quantum many-body physics. It is well known that the success of a given tensor network ansatz depends in part on how well it can reproduce the underlying entanglement structure of the target state, with different network designs favoring different scaling patterns. We demonstrate here how a related correlation analysis can be applied to tensor network machine learning, and explore whether classical data possess correlation scaling patterns similar to those found in quantum states which might indicate the best network to use for a given dataset. We utilize mutual information as measure of correlations in classical data, and show that it can serve as a lower-bound on the entanglement needed for a probabilistic tensor network classifier. We then develop a logistic regression algorithm to estimate the mutual information between bipartitions of data features, and verify its accuracy on a set of Gaussian distributions designed to mimic different correlation patterns. Using this algorithm, we characterize the scaling patterns in the MNIST and Tiny Images datasets, and find clear evidence of boundary-law scaling in the latter. This quantum-inspired classical analysis offers insight into the design of tensor networks which are best suited for specific learning tasks.

quant-ph↗
arXiv2020

Robust in Practice: Adversarial Attacks on Quantum Machine Learning

State-of-the-art classical neural networks are observed to be vulnerable to small crafted adversarial perturbations. A more severe vulnerability has been noted for quantum machine learning (QML) models classifying Haar-random pure states. This stems from the concentration of measure phenomenon, a property of the metric space when sampled probabilistically, and is independent of the classification protocol. In order to provide insights into the adversarial robustness of a quantum classifier on real-world classification tasks, we focus on the adversarial robustness in classifying a subset of encoded states that are smoothly generated from a Gaussian latent space. We show that the vulnerability of this task is considerably weaker than that of classifying Haar-random pure states. In particular, we find only mildly polynomially decreasing robustness in the number of qubits, in contrast to the exponentially decreasing robustness when classifying Haar-random pure states and suggesting that QML models can be useful for real-world classification tasks.

quant-ph↗