arXiv subjects

Junxiang Wang

Publications and source records attributed to Junxiang Wang.

At least 19 recordsLinked to original sources

arXiv2026

GenPHRI: Agentic Generative Simulation for Physical Human-Robot Interaction

Real-world physical human-robot interaction (pHRI) development is costly and slow, while simulation requires substantial task-specific scene and motion authoring. We present GenPHRI, a generative simulation framework for producing deployment-ready pHRI scenarios entirely from natural-language task descriptions using vision-language model (VLM) agents. Generated scenarios contain a room with furniture, a task-appropriate human pose and placement, and a robot executing the requested interaction. Generator and critic agents iterate on each component, and an orchestrator agent controls cross-stage decisions. With GenPHRI, we generate 50 different assistive scenarios in simulation with no manual intervention and deploy two tasks in a 12-participant user study. Vision policies trained on these scenarios achieve zero-shot task completion rates of ~80% in real-world trials against ~90% in simulation, while producing behaviors that participants rate as consistent with textual task prompts. Further, we demonstrate direct execution of generated motion as a complementary, training-free deployment pathway that enables rapid real-world inspection of generated trajectories at the cost of contact coverage. We release GenPHRI as a platform for generating, training, and deploying pHRI tasks from textual prompts. Additional information may be found on our project website: https://rchi-lab.github.io/gen_phri/

cs.RO↗

arXiv2026

Simulation of Non-Markovian Quantum Accelerated Dynamics via Time-Fractional Schrödinger Equation

The Time-Fractional Schrödinger Equation (TFSE) is an effective tool for simulating the dynamics of non-Markovian quantum systems. The Quantum Speed Limit (QSL) time characterizes the minimum time required for the evolution of a non-Markovian quantum system. In this paper, Wei's TFSE is employed to simulate the non-Markovian quantum accelerated evolution process in the Resonant Dissipative Jaynes-Cummings (RDJC) model. By solving the QSL time of a time-fractional single-qubit open system, the enhancement mechanism of the system evolution speed induced by the non-Markovian memory effects of the environment is revealed. Further studies show that the optimized acceleration of the system evolution can be achieved by jointly regulating the fractional order, coupling strength, and photon number. Comparative analyses indicate that Wei's TFSE can accurately capture the non-Markovian accelerated dynamical features of the system over the entire fractional order range, whereas Naber's TFSE is applicable only within a limited fractional order interval. In addition, the comparisons of the average simulation time for calculating the dynamical trajectory of the excited-state probability demonstrate that Wei's TFSE has a significant simulation advantage in computational efficiency. Therefore, Wei's TFSE is more accurate and efficient for simulating the accelerated dynamics of non-Markovian quantum systems.

quant-ph↗

arXiv2026

When Models Outthink Their Safety: Unveiling and Mitigating Self-Jailbreak in Large Reasoning Models

Large Reasoning Models (LRMs) achieve strong performance on complex multi-step reasoning, yet they still exhibit severe safety failures such as harmful content generation. Existing methods often apply coarse-grained constraints over the entire reasoning trajectories, which can undermine reasoning capability while failing to address the root causes of unsafe behavior. In this work, we uncover a previously underexplored failure mode in LRMs, termed Self-Jailbreak, where models initially recognize the harmful intent of a query, but override this judgment during subsequent reasoning steps, ultimately generating unsafe outputs. Such a phenomenon reveals that LRMs are capable of recognizing harm, while safety failures primarily arise from reasoning steps. Motivated by this finding, we propose Chain-of-Guardrail(CoG), a trajectory-level training framework that mitigates Self-Jailbreak via targeted, step-level interventions while maintaining reasoning ability. Experiments across multiple safety and reasoning benchmarks indicate that CoG achieves a favorable balance between safety and reasoning performance compared with existing approaches.

cs.AI↗

arXiv2026

Bidirectional Human-Robot Communication for Physical Human-Robot Interaction

Effective physical human-robot interaction requires systems that are not only adaptable to user preferences but also transparent about their actions. This paper introduces BRIDGE, a system for bidirectional human-robot communication in physical assistance. Our method allows users to modify a robot's planned trajectory -- position, velocity, and force -- in real time using natural language. We utilize a large language model (LLM) to interpret any trajectory modifications implied by user commands in the context of the planned motion and conversation history. Importantly, our system provides verbal feedback in response to the user, either assuring any resulting changes or posing a clarifying question. We evaluated our method in a user study with 18 older adults across three assistive tasks, comparing BRIDGE to an ablation without verbal feedback and a baseline. Results show that participants successfully used the system to modify trajectories in real time. Moreover, the bidirectional feedback led to significantly higher ratings of interactivity and transparency, demonstrating that the robot's verbal response is critical for a more intuitive user experience. Videos and code can be found on our project website: https://bidir-comm.github.io/

cs.RO↗

arXiv2025

Design and Koopman Model Predictive Control of A Soft Exoskeleton Based on Origami-Inspired Pneumatic Actuator for Knee Rehabilitation

Effective rehabilitation methods are essential for the recovery of lower limb dysfunction caused by stroke. Nowadays, robotic exoskeletons have shown great potentials in rehabilitation. Nevertheless, traditional rigid exoskeletons are usually heavy and need a lot of work to help the patients to put them on. Moreover, it also requires extra compliance control to guarantee the safety. In contrast, soft exoskeletons are easy and comfortable to wear and have intrinsic compliance, but their complex nonlinear human-robot interaction dynamics would pose significant challenges for control. In this work, based on the pneumatic actuators inspired by origami, we design a rehabilitation exoskeleton for knee that is easy and comfortable to wear. To guarantee the control performance and enable a nice human-robot interaction, we first use Deep Koopman Network to model the human-robot interaction dynamics. In particular, by viewing the electromyography (EMG) signals and the duty cycle of the PWM wave that controls the pneumatic robot's valves and pump as the inputs, the linear Koopman model accurately captures the complex human-robot interaction dynamics. Next, based on the obtained Koopman model, we further use Model Predictive Control (MPC) to control the soft robot and help the user to do rehabilitation training in real-time. The goal of the rehabilitation training is to track a given reference signal shown on the screen. Experiments show that by integrating the EMG signals into the Koopman model, we have improved the model accuracy to great extent. In addition, a personalized Koopman model trained from the individual's own data performs better than the non-personalized model. Consequently, our control framework outperforms the traditional PID control in both passive and active training modes. Hence the proposed method provides a new control framework for soft rehabilitation robots.

cs.RO↗

arXiv2025

CoRI: Communication of Robot Intent for Physical Human-Robot Interaction

Clear communication of robot intent fosters transparency and interpretability in physical human-robot interaction (pHRI), particularly during assistive tasks involving direct human-robot contact. We introduce CoRI, a pipeline that automatically generates natural language communication of a robot's upcoming actions directly from its motion plan and visual perception. Our pipeline first processes the robot's image view to identify human poses and key environmental features. It then encodes the planned 3D spatial trajectory (including velocity and force) onto this view, visually grounding the path and its dynamics. CoRI queries a vision-language model with this visual representation to interpret the planned action within the visual context before generating concise, user-directed statements, without relying on task-specific information. Results from a user study involving robot-assisted feeding, bathing, and shaving tasks across two different robots indicate that CoRI leads to statistically significant difference in communication clarity compared to a baseline communication strategy. Specifically, CoRI effectively conveys not only the robot's high-level intentions but also crucial details about its motion and any collaborative user action needed. Video and code of our project can be found on our project website: https://cori-phri.github.io/

cs.RO↗

arXiv2025

Enhancing Large Multimodal Models with Adaptive Sparsity and KV Cache Compression

Large multimodal models (LMMs) have advanced significantly by integrating visual encoders with extensive language models, enabling robust reasoning capabilities. However, compressing LMMs for deployment on edge devices remains a critical challenge. In this work, we propose an adaptive search algorithm that optimizes sparsity and KV cache compression to enhance LMM efficiency. Utilizing the Tree-structured Parzen Estimator, our method dynamically adjusts pruning ratios and KV cache quantization bandwidth across different LMM layers, using model performance as the optimization objective. This approach uniquely combines pruning with key-value cache quantization and incorporates a fast pruning technique that eliminates the need for additional fine-tuning or weight adjustments, achieving efficient compression without compromising accuracy. Comprehensive evaluations on benchmark datasets, including LLaVA-1.5 7B and 13B, demonstrate our method superiority over state-of-the-art techniques such as SparseGPT and Wanda across various compression levels. Notably, our framework automatic allocation of KV cache compression resources sets a new standard in LMM optimization, delivering memory efficiency without sacrificing much performance.

cs.AI↗

arXiv2025

Decoding Time Series with LLMs: A Multi-Agent Framework for Cross-Domain Annotation

Time series data is ubiquitous across various domains, including manufacturing, finance, and healthcare. High-quality annotations are essential for effectively understanding time series and facilitating downstream tasks; however, obtaining such annotations is challenging, particularly in mission-critical domains. In this paper, we propose TESSA, a multi-agent system designed to automatically generate both general and domain-specific annotations for time series data. TESSA introduces two agents: a general annotation agent and a domain-specific annotation agent. The general agent captures common patterns and knowledge across multiple source domains, leveraging both time-series-wise and text-wise features to generate general annotations. Meanwhile, the domain-specific agent utilizes limited annotations from the target domain to learn domain-specific terminology and generate targeted annotations. Extensive experiments on multiple synthetic and real-world datasets demonstrate that TESSA effectively generates high-quality annotations, outperforming existing methods.

cs.AI↗

arXiv2025

Hybrid neural network method of a multilayer perceptron and autoencoder for the α-particle preformation factor in α-decay theory

The preformation factor quantifies the probability of α particles preforming on the surface of the parent nucleus in decay theory and is closely related to the study of α clustering structure. In this work, a multilayer perceptron and autoencoder (MLP + AE) hybrid neural network method is introduced to extract preformation factors within the generalized liquid drop model and experimental data. A K-fold cross validation method is also adopted. The accuracy of the preformation factor calculated by this improved neural network is comparable to the results of the empirical formula. MLP + AE can effectively capture the linear relationship between the logarithm of the preformation factor and the square root of the ratio of the decay energy, further verifying that Geiger-Nuttall law can deal with preformation factor. The extracted preformation probability of isotope and isotone chains show different trends near the magic number, and in addition, an odd-even staggering effect appears. This means that the preformation factors are affected by closed shells and unpaired nucleons. Therefore the preformation factors can provide nuclear structure information. Furthermore, for 41 new nuclides, the half-lives introduced with the preformation factors reproduce the experimental values as expected. Finally, the preformation factors and α-decay half-lives of Z = 119 and 120 superheavy nuclei are predicted.

nucl-th↗

arXiv2025

A Digital Twin for Telesurgery under Intermittent Communication

Telesurgery is an effective way to deliver service from expert surgeons to areas without immediate access to specialized resources. However, many of these areas, such as rural districts or battlefields, might be subject to different problems in communication, especially latency and intermittent periods of communication outage. This challenge motivates the use of a digital twin for the surgical system, where a simulation would mirror the robot hardware and surgical environment in the real world. The surgeon would then be able to interact with the digital twin during communication outage, followed by a recovery strategy on the real robot upon reestablishing communication. This paper builds the digital twin for the da Vinci surgical robot, with a buffering and replay strategy that reduces the mean task completion time by 23% when compared to the baseline, for a peg transfer task subject to intermittent communication outage. The relevant code can be found here: https://github.com/LCSR-CIIS/dvrk_digital_twin_teleoperation.

cs.RO↗

arXiv2025

Network Tomography with Path-Centric Graph Neural Network

Network tomography is a crucial problem in network monitoring, where the observable path performance metric values are used to infer the unobserved ones, making it essential for tasks such as route selection, fault diagnosis, and traffic control. However, most existing methods either assume complete knowledge of network topology and metric formulas-an unrealistic expectation in many real-world scenarios with limited observability-or rely entirely on black-box end-to-end models. To tackle this, in this paper, we argue that a good network tomography requires synergizing the knowledge from both data and appropriate inductive bias from (partial) prior knowledge. To see this, we propose Deep Network Tomography (DeepNT), a novel framework that leverages a path-centric graph neural network to predict path performance metrics without relying on predefined hand-crafted metrics, assumptions, or the real network topology. The path-centric graph neural network learns the path embedding by inferring and aggregating the embeddings of the sequence of nodes that compose this path. Training path-centric graph neural networks requires learning the neural netowrk parameters and network topology under discrete constraints induced by the observed path performance metrics, which motivates us to design a learning objective that imposes connectivity and sparsity constraints on topology and path performance triangle inequality on path performance. Extensive experiments on real-world and synthetic datasets demonstrate the superiority of DeepNT in predicting performance metrics and inferring graph topology compared to state-of-the-art methods.

cs.LG↗

arXiv2024

User Interaction Patterns and Breakdowns in Conversing with LLM-Powered Voice Assistants

Conventional Voice Assistants (VAs) rely on traditional language models to discern user intent and respond to their queries, leading to interactions that often lack a broader contextual understanding, an area in which Large Language Models (LLMs) excel. However, current LLMs are largely designed for text-based interactions, thus making it unclear how user interactions will evolve if their modality is changed to voice. In this work, we investigate whether LLMs can enrich VA interactions via an exploratory study with participants (N=20) using a ChatGPT-powered VA for three scenarios (medical self-diagnosis, creative planning, and discussion) with varied constraints, stakes, and objectivity. We observe that LLM-powered VA elicits richer interaction patterns that vary across tasks, showing its versatility. Notably, LLMs absorb the majority of VA intent recognition failures. We additionally discuss the potential of harnessing LLMs for more resilient and fluid user-VA interactions and provide design guidelines for tailoring LLMs for voice assistance.

cs.HC↗

arXiv2024

RIO-CPD: A Riemannian Geometric Method for Correlation-aware Online Change Point Detection

Change point detection aims to identify abrupt shifts occurring at multiple points within a data sequence. This task becomes particularly challenging in the online setting, where different types of changes can occur, including shifts in both the marginal and joint distributions of the data. In this paper, we address these challenges by tracking the Riemannian geometry of correlation matrices, allowing Riemannian metrics to compute the geodesic distance as an accurate measure of correlation dynamics. We introduce Rio-CPD, a non-parametric, correlation-aware online change point detection framework that integrates the Riemannian geometry of the manifold of symmetric positive definite matrices with the cumulative sum (CUSUM) statistic for detecting change points. Rio-CPD employs a novel CUSUM design by computing the geodesic distance between current observations and the Fréchet mean of prior observations. With appropriate choices of Riemannian metrics, Rio-CPD offers a simple yet effective and computationally efficient algorithm. Experimental results on both synthetic and real-world datasets demonstrate that Rio-CPD outperforms existing methods on detection accuracy, average detection delay and efficiency.

cs.LG↗

arXiv2024

Situated Understanding of Errors in Older Adults' Interactions with Voice Assistants: A Month-Long, In-Home Study

Our work addresses the challenges older adults face with commercial Voice Assistants (VAs), notably in conversation breakdowns and error handling. Traditional methods of collecting user experiences-usage logs and post-hoc interviews-do not fully capture the intricacies of older adults' interactions with VAs, particularly regarding their reactions to errors. To bridge this gap, we equipped 15 older adults' homes with smart speakers integrated with custom audio recorders to collect "in-the-wild" audio interaction data for detailed error analysis. Recognizing the conversational limitations of current VAs, our study also explored the capabilities of Large Language Models (LLMs) to handle natural and imperfect text for improving VAs. Midway through our study, we deployed ChatGPT-powered VA to investigate its efficacy for older adults. Our research suggests leveraging vocal and verbal responses combined with LLMs' contextual capabilities for enhanced error prevention and management in VAs, while proposing design considerations to align VA capabilities with older adults' expectations.

cs.HC↗

arXiv2024

GraphSL: An Open-Source Library for Graph Source Localization Approaches and Benchmark Datasets

We introduce GraphSL, a new library for studying the graph source localization problem. graph diffusion and graph source localization are inverse problems in nature: graph diffusion predicts information diffusions from information sources, while graph source localization predicts information sources from information diffusions. GraphSL facilitates the exploration of various graph diffusion models for simulating information diffusions and enables the evaluation of cutting-edge source localization approaches on established benchmark datasets. The source code of GraphSL is made available at Github Repository (https://github.com/xianggebenben/GraphSL). Bug reports and feedback can be directed to the Github issues page (https://github.com/xianggebenben/GraphSL/issues).

cs.LG↗

arXiv2024

POND: Multi-Source Time Series Domain Adaptation with Information-Aware Prompt Tuning

Time series domain adaptation stands as a pivotal and intricate challenge with diverse applications, including but not limited to human activity recognition, sleep stage classification, and machine fault diagnosis. Despite the numerous domain adaptation techniques proposed to tackle this complex problem, they primarily focus on domain adaptation from a single source domain. Yet, it is more crucial to investigate domain adaptation from multiple domains due to the potential for greater improvements. To address this, three important challenges need to be overcome: 1). The lack of exploration to utilize domain-specific information for domain adaptation, 2). The difficulty to learn domain-specific information that changes over time, and 3). The difficulty to evaluate learned domain-specific information. In order to tackle these challenges simultaneously, in this paper, we introduce PrOmpt-based domaiN Discrimination (POND), the first framework to utilize prompts for time series domain adaptation. Specifically, to address Challenge 1, we extend the idea of prompt tuning to time series analysis and learn prompts to capture common and domain-specific information from all source domains. To handle Challenge 2, we introduce a conditional module for each source domain to generate prompts from time series input data. For Challenge 3, we propose two criteria to select good prompts, which are used to choose the most suitable source domain for domain adaptation. The efficacy and robustness of our proposed POND model are extensively validated through experiments across 50 scenarios encompassing four datasets. Experimental results demonstrate that our proposed POND model outperforms all state-of-the-art comparison methods by up to $66\%$ on the F1-score.

cs.LG↗

arXiv2024

Domain Specialization as the Key to Make Large Language Models Disruptive: A Comprehensive Survey

Large language models (LLMs) have significantly advanced the field of natural language processing (NLP), providing a highly useful, task-agnostic foundation for a wide range of applications. However, directly applying LLMs to solve sophisticated problems in specific domains meets many hurdles, caused by the heterogeneity of domain data, the sophistication of domain knowledge, the uniqueness of domain objectives, and the diversity of the constraints (e.g., various social norms, cultural conformity, religious beliefs, and ethical standards in the domain applications). Domain specification techniques are key to make large language models disruptive in many applications. Specifically, to solve these hurdles, there has been a notable increase in research and practices conducted in recent years on the domain specialization of LLMs. This emerging field of study, with its substantial potential for impact, necessitates a comprehensive and systematic review to better summarize and guide ongoing work in this area. In this article, we present a comprehensive survey on domain specification techniques for large language models, an emerging direction critical for large language model applications. First, we propose a systematic taxonomy that categorizes the LLM domain-specialization techniques based on the accessibility to LLMs and summarizes the framework for all the subcategories as well as their relations and differences to each other. Second, we present an extensive taxonomy of critical application domains that can benefit dramatically from specialized LLMs, discussing their practical significance and open challenges. Last, we offer our insights into the current research status and future trends in this area.

cs.CL↗

arXiv2024

Non-Euclidean Spatial Graph Neural Network

Spatial networks are networks whose graph topology is constrained by their embedded spatial space. Understanding the coupled spatial-graph properties is crucial for extracting powerful representations from spatial networks. Therefore, merely combining individual spatial and network representations cannot reveal the underlying interaction mechanism of spatial networks. Besides, existing spatial network representation learning methods can only consider networks embedded in Euclidean space, and can not well exploit the rich geometric information carried by irregular and non-uniform non-Euclidean space. In order to address this issue, in this paper we propose a novel generic framework to learn the representation of spatial networks that are embedded in non-Euclidean manifold space. Specifically, a novel message-passing-based neural network is proposed to combine graph topology and spatial geometry, where spatial geometry is extracted as messages on the edges. We theoretically guarantee that the learned representations are provably invariant to important symmetries such as rotation or translation, and simultaneously maintain sufficient ability in distinguishing different geometric structures. The strength of our proposed method is demonstrated through extensive experiments on both synthetic and real-world datasets.

cs.LG↗