arXiv subjects

Rui Cheng

Publications and source records attributed to Rui Cheng.

At least 19 recordsLinked to original sources

arXiv2026

Learning human joint torques from pixels

Estimating human joint torques from visual observations is a key step toward bringing biomechanical analysis from controlled laboratories to real-world movement scenarios. Existing torque estimation methods typically depend on surface electromyography, motion-capture markers, force plates, or simulated imitation data, which limits their applicability to ordinary RGB images. In this work, we introduce VID, a vision-based inverse dynamics dataset and benchmark for predicting human joint torques directly from real monocular images. VID contains 63,369 synchronized frames with real human images, kinematic annotations, anthropometric attributes, and OpenSim-derived dynamic labels, providing paired visual and biomechanical supervision for real-image inverse dynamics. We further define a standardized evaluation protocol covering overall torque estimation, joint-specific analysis, and action-specific prediction. To establish a strong reference model, we propose VID-Network, which combines pose-pretrained spatial probabilistic features, marker regression, and temporal torque inference to recover joint torques from image sequences. Experiments on VID show that VID-Network achieves an overall mPJE of 1.7612 N$\cdot$m/kg, improving over the best compared baseline by 39.81\%, and obtains the lowest error across all evaluated joint types and most action categories. VID establishes a first practical benchmark for vision-driven human inverse dynamics and provides a foundation for studying biomechanical inference in less constrained environments.

cs.CV↗

arXiv2026

Learning-Based Motion Planning for Dynamic Environments: From Foundational Algorithms to Emerging Paradigms

Motion planning in dynamic environments is a fundamental problem in robotics, aiming to generate safe and efficient paths, trajectories, or control actions in the presence of moving obstacles, uncertain predictions, and multi-agent interactions. It has broad applications in autonomous driving, service robotics, warehouse logistics, human-robot collaboration, crowd navigation, and multi-robot systems. This survey reviews representative works published primarily between 2015 and 2025, with a particular focus on how recent learning-based advances extend, complement, or interact with classical planning foundations. We first revisit classical planning methods as algorithmic foundations and reference frameworks for learning-based extensions. We then propose a role-of-learning taxonomy that categorizes existing methods according to how learning participates in the planning pipeline, including direct policy learning, learning-augmented classical planning, hybrid planning, and training enhancement methods. For each category, we summarize the main problem settings, representative algorithms, key ideas, integration mechanisms, strengths, and limitations. We further analyze how observation representations, prediction uncertainty, interaction modeling, planner integration, safety constraints, and training strategies shape learning-based motion planning in dynamic environments. Finally, we discuss open challenges and future directions, including sim-to-real gap, safe and certifiable planning, dense crowd navigation, perception-planning coupling, and embodied AI.

cs.RO↗

arXiv2026

Continual Video-MLLM Adaptation over Evolving Domains

Video multimodal large language models have shown strong capability in video understanding, yet their adaptation to sequentially evolving domains remains underexplored. In real-world deployments, video data often arrives continuously from heterogeneous domains, requiring the model to acquire new domain-specific knowledge without overwriting previously learned capabilities. Existing continual learning methods typically rely on shared adaptation spaces, which can induce severe cross-domain interference and catastrophic forgetting. We propose Distribution-Aware Expert Routing, a parameter-efficient framework for continual Video-MLLM adaptation over evolving domains. DAER maintains domain-isolated lightweight experts while keeping the pretrained Video-MLLM backbone frozen, thereby decoupling domain-specific adaptation from the general multimodal knowledge of the pretrained model. To enable fine-grained specialization, we introduce an intra-domain distribution-aware routing mechanism that matches each input to expert-level prototype reservoirs using MMD. To address the absence of task identities at inference time, we further propose an inter-domain routing mechanism that performs prototype matching in a discriminative subspace for robust domain identification. In addition, we introduce adaptive domain merging to improve parameter scalability and adopt a two-stage optimization strategy to stabilize expert specialization during continual learning. We evaluate DAER by curating a domain-incremental benchmark built from ten VidQA datasets covering diverse visual environments and reasoning demands. Experiments on two strong Video-MLLM backbones show that DAER consistently outperforms prior methods.

cs.CV↗

arXiv2026

Observation of stopping power reduction at strong ion-plasma coupling

Ion stopping in dense plasma is crucial for stellar evolution and fusion ignition. However, its behavior in the strong ion-plasma coupling regime beyond the linear limit has long remained elusive, due to formidable experimental challenges. Here we report the first experimental investigation of ion stopping at an unprecedented coupling parameter exceeding unity, achieved by sending laser-accelerated short-pulse and intense quasi-monoenergetic carbon ions ($\sim$583 keV/u, C$^{5+}$) into a uniform, long-lived, well-characterized dense plasma target ($T_e$ $\approx$ 17 eV, $n_e$ $\approx$ 4$\times$10$^{20}$ cm$^{-3}$). By simultaneously measuring ion energy loss and charge-state evolution, we eliminated key experimental ambiguities arising from charge-state determination. Our results clearly show a reduction in stopping power compared with predictions from standard linear dielectric response or binary collision models, and they agree well with the hybrid calculation of molecular dynamics with quantum corrections. The importance of nonlinear screening effects arising from many-body interactions and quantum effects due to the wave nature of electrons was demonstrated at strong coupling. This work establishes a definitive high-fidelity experimental benchmark for collisional dynamics in the strong-coupling regime. It offers critical insight for accurate modeling of energy transport in inertial confinement fusion and astrophysical plasmas.

physics.plasm-ph↗

arXiv2026

Anti-symmetric Multimode Waveguide Grating-Assisted Narrowband MZI for Programmable Spectral Shaping Units

We present a narrowband integrated Mach-Zehnder interferometer (MZI) capable of precise transmission control within a targeted wavelength band while maintaining out-of-band transparency. This functionality enables its use as a fundamental building block for fully programmable on-chip spectral shaping. The device is implemented on a novel dual-mode (TE0/ TE1) transmission platform, where anti-symmetric multimode waveguide Bragg gratings (AM-WBGs) and asymmetric Y-branches are combined to function as an equivalent narrowband 1*2 or 2*2 coupler. Experimentally, the MZI achieves wide extinction ratio tuning 0 dB to 30 dB across a 2.5 nm bandwidth, with independent and simultaneous control of both wavelength and extinction ratio. Cascaded multiple narrowband MZIs are experimentally characterized, demonstrating independent intensity control at individual wavelengths without cross-interference. Furthermore, the device's application as a tunable, channel-selective optical blocker/passer in high-speed communication systems is experimentally validated. Compared to prior approaches relying on dual-grating-assisted contra-directional couplers, the AM-WBG-based design overcomes fundamental bandwidth limitations caused by unintended intra-waveguide coupling bands. In addition, their single-waveguide-grating structures enhance the reliability of both fabrication and spectral control, while enabling compact spiral configurations for significant miniaturization. These advantages position the proposed MZI a promising, scalable candidate for advanced spectral shaping applications.

physics.optics↗

arXiv2026

Wave-number-dependent closure condition for fluid moment equations

Fluid models offer crucial computational efficiency for plasma simulations, yet accurately capturing kinetic effects like Landau damping remains a fundamental challenge. While conventional closures (e.g., Hammett-Perkins and Hunana) are widely used, their fidelity relative to exact kinetic response degrades significantly depending on the perturbation wave number. Here, we propose a novel wave-number-dependent closure condition for the three-moment fluid equations that explicitly preserves the primary dispersion relation. By mapping Pad\'e approximant coefficients directly to the kinetic roots of the collisionless Vlasov-Poisson system, we derive an analytical closure that rigorously embeds exact kinetic scaling across all spatial scales. We further demonstrate that this framework readily extends to collisional plasmas via the BGK model. This deterministic approach precisely captures the long-term macroscopic evolution of fluid moments and field energy, offering a rigorous foundation for high-fidelity fluid modeling.

physics.plasm-ph↗

arXiv2025

Express Diagnostic of Intense Laser-driven MeV Radiation Source using Copper Isotopes

We explored the generation and diagnosis of high-brightness MeV bremsstrahlung radiation caused by intense beam of relativistic electrons propagating in a tantalum converter. The intense electron beam was produced through direct laser acceleration mechanism in the interaction of relativistic high-power sub-ps laser pulse with near critical density plasma. We propose to detect the divergence angle and photon fluence of high-brightness and high-energy gamma radiation source based on the nuclear activation method. The radioactive 62^Cu was generated through photonuclear reactions 63^Cu(gamma,n) 62^Cu and the subsequent beta^+ decay of 62^Cu was measured to derive characteristics of the gamma radiation source. This method provides an express approach to diagnose the laser-driven MeV radiation source and a potential efficient way to produce 62^Cu isotopes.

physics.acc-ph↗

arXiv2025

Reconfigurable Ultrafast Thermal Metamaterial Pixel Arrays by Dual-Gate Graphene Transistors

Thermal signatures represent ubiquitous infrared appearances of objects, carrying their unique spectral fingerprints. Despite extensive efforts to decipher and manipulate thermal-infrared signals, the ability to fully control them across spatial, temporal and spectral domains remains a significant challenge due to the slow speed, diffuse and broadband emitting nature of thermal emission in most materials. Here, we demonstrate a reconfigurable ultrafast thermal metamaterial pixel array that integrates active metasurfaces with dual-gate graphene transistors (Gr-FETs). The Gr-FETs with dual-gate control in each pixel achieve the heater-switch dual functionalities. As broadband transparent microheaters, Gr-FETs support the arbitrary design of integrated metasurfaces to achieve multi-color, narrowband infrared emission and operate at ultrafast modulation speeds. Concurrently as electrical switches, they enable a unified control scheme for pixel arrays of various sizes over large areas without compromising emission intensity. By decoupling the thermal generation and emission design processes, our approach provides an unprecedented degree of flexibility in programming thermal output across space, time, and wavelength. Our fabricated thermal pixel array experimentally demonstrated 26 alphabetical letters by applying progressive scanning, thus paving the way for practical realization of universal thermal signature controls for advanced thermal-infrared applications.

physics.optics↗

arXiv2025

Learning to Beamform for Cooperative Localization and Communication: A Link Heterogeneous GNN-Based Approach

Integrated sensing and communication (ISAC) has emerged as a key enabler for next-generation wireless networks, supporting advanced applications such as high-precision localization and environment reconstruction. Cooperative ISAC (CoISAC) further enhances these capabilities by enabling multiple base stations (BSs) to jointly optimize communication and sensing performance through coordination. However, CoISAC beamforming design faces significant challenges due to system heterogeneity, large-scale problem complexity, and sensitivity to parameter estimation errors. Traditional deep learning-based techniques fail to exploit the unique structural characteristics of CoISAC systems, thereby limiting their ability to enhance system performance. To address these challenges, we propose a Link-Heterogeneous Graph Neural Network (LHGNN) for joint beamforming in CoISAC systems. Unlike conventional approaches, LHGNN models communication and sensing links as heterogeneous nodes and their interactions as edges, enabling the capture of the heterogeneous nature and intricate interactions of CoISAC systems. Furthermore, a graph attention mechanism is incorporated to dynamically adjust node and link importance, improving robustness to channel and position estimation errors. Numerical results demonstrate that the proposed attention-enhanced LHGNN achieves superior communication rates while maintaining sensing accuracy under power constraints. The proposed method also exhibits strong robustness to communication channel and position estimation error.

eess.SP↗

arXiv2024

Input Convex Neural Network-Assisted Optimal Power Flow in Distribution Networks: Modeling, Algorithm Design, and Applications

This paper proposes an input convex neural network (ICNN)-Assisted optimal power flow (OPF) in distribution networks. Instead of relying purely on optimization or machine learning, the ICNN-Assisted OPF is a combination of optimization and machine learning. It utilizes ICNN to learn the nonlinear but convex mapping from control variables to system state variables, followed by embedding into constrained optimization problems as convex constraints. Utilizing a designed ICNN structure, a fast primal-dual gradient method is developed to solve the ICNN-Assisted OPF, with the chain rule of deep learning applied to accelerate the algorithmic implementation. Convergence and optimally properties of the algorithm design are further established. Finally, different distribution network applications are discussed and proposed by means of the ICNN-Assisted OPF.

eess.SY↗

arXiv2024

Electrically Programmable Pixelated Graphene-Integrated Plasmonic Metasurfaces for Coherent Mid-Infrared Emission

Active metasurfaces have recently emerged as compact, lightweight, and efficient platforms for dynamic control of electromagnetic fields and optical responses. However, the complexities associated with their post-fabrication tunability significantly hinder their widespread applications, especially for the mid-infrared range due to material scarcity and design intricacy. Here, we experimentally demonstrate highly dynamic, pixelated modulations of coherent mid-infrared emission based on an electrically programmable plasmonic metasurface integrated with graphene field effect transistors (Gr-FETs). The ultrabroad infrared transparency of graphene allows for free-form control over plasmonic meta-atoms, thus achieving coherent mid-infrared states across a broad range of wavelengths and polarizations. The spatial temperature modulation generated by Gr-FETs is effectively synergized with the emissivity control by the localized surface plasmon polaritons from gold nanoantennas. This integrated temperature-emissivity modulation of metasurfaces is systematically extended to form a pixelated 2D array, envisioning new approaches toward scalable 2D electrical wiring for densely packed, independently controlled pixels.

physics.optics↗

arXiv2024

MVAM: Multi-View Attention Method for Fine-grained Image-Text Matching

Existing two-stream models, such as CLIP, encode images and text through independent representations, showing good performance while ensuring retrieval speed, have attracted attention from industry and academia. However, the single representation often struggles to capture complex content fully. Such models may ignore fine-grained information during matching, resulting in suboptimal retrieval results. To overcome this limitation and enhance the performance of two-stream models, we propose a Multi-view Attention Method (MVAM) for image-text matching. This approach leverages diverse attention heads with unique view codes to learn multiple representations for images and text, which are then concatenated for matching. We also incorporate a diversity objective to explicitly encourage attention heads to focus on distinct aspects of the input data, capturing complementary fine-grained details. This diversity enables the model to represent image-text pairs from multiple perspectives, ensuring a more comprehensive understanding and alignment of critical content. Our method allows models to encode images and text from different perspectives and focus on more critical details, leading to better matching performance. Our experiments on MSCOCO and Flickr30K demonstrate enhancements over existing models, and further case studies reveal that different attention heads can focus on distinct content, achieving more comprehensive representations.

cs.CV↗

arXiv2023

Charge equilibration of Laser-accelerated Carbon Ions in Foam Target

The charge equilibration of laser-accelerated carbon ion beams in 2 mg/cm3 foam target was investigated experimentally. The ions were generated through target normal sheath acceleration mechanism in laser-foil interaction scheme. This allows to get the equilibrium charge state in wide energy range near Bragg peak within a single shot. By using foam, the charge equilibration measurement in density regime between gas and solid state was firstly reached out experimentally. It was found that the theoretical predictions with tabulated cross section data for gas target greatly underestimated the charge states. The experimental data are in close agreement with both semi-empirical formula as well as rate equation predictions based on ion-solid interactions. The important role of target density effects that increase the ionization probability and decrease the electron capture probability through frequent multi-collisions in foam are demonstrated. The double electron processes are shown to have little influence on the average charge states. The findings are essential for high energy density physics research where the foams are widely used, and have impacts on a broad range of applications in medical, biological and material fields. The method also provides a new approach to investigate the interaction mechanism of swift heavy ions in matter by taking advantage of the laser-accelerated short-pulse wide-energy range ions.

physics.atom-ph↗

arXiv2023

Proton-Boron Fusion Yield Increased by Orders of Magnitude with Foam Targets

A novel intense beam-driven scheme for high yield of the tri-alpha reaction 11B(p,{\alpha})2{\alpha} was investigated. We used a foam target made of cellulose triacetate (TAC, C_9H_{16}O_8) doped with boron. It was then heated volumetrically by soft X-ray radiation from a laser heated hohlraum and turned into a homogenous, and long living plasma. We employed a picosecond laser pulse to generate a high-intensity energetic proton beam via the well-known Target Normal Sheath Acceleration (TNSA) mechanism. We observed up to 10^{10}/sr {\alpha} particles per laser shot. This constitutes presently the highest yield value normalized to the laser energy on target. The measured fusion yield per proton exceeds the classical expectation of beam-target reactions by up to four orders of magnitude under high proton intensities. This enhancement is attributed to the strong electric fields and nonequilibrium thermonuclear fusion reactions as a result of the new method. Our approach shows opportunities to pursue ignition of aneutronic fusion.

physics.plasm-ph↗

arXiv2023

Optimal Power Flow for Integrated Primary-Secondary Distribution Networks with Center-Tapped Service Transformers

Secondary distribution networks (SDNets) play an increasingly important role in smart grids due to a high proliferation of distributed energy resources (DERs) in SDNets. However, most existing optimal power flow (OPF) problems do not take into account SDNets with center-tapped service transformers. Handling the nonlinear and nonconvex SDNet power flow constraints is still an outstanding problem. To meet this gap, we first utilize the second-order cone programming relaxation and linearization to make center-tapped service transformer constraints convex, respectively. Then, a linearized triplex service line power flow model, including its compact matrix-vector form, is further developed to compose the SDNet OPF model with our proposed center-tapped service transformer model. This proposed SDNet OPF model can be easily embedded into existing primary distribution network (PDNet) OPF models, resulting in a holistic power system decision-making solution for integrated primary-secondary distribution networks. Case studies are presented for two different integrated primary-secondary distribution networks that demonstrate the effectiveness and superiority of this model.

eess.SY↗

arXiv2023

Energy loss enhancement of very intense proton beams in dense matter due to the beam-density effect

Thoroughly understanding the transport and energy loss of intense ion beams in dense matter is essential for high-energy-density physics and inertial confinement fusion. Here, we report a stopping power experiment with a high-intensity laser-driven proton beam in cold, dense matter. The measured energy loss is one order of magnitude higher than the expectation of individual particle stopping models. We attribute this finding to the proximity of beam ions to each other, which is usually insignificant for relatively-low-current beams from classical accelerators. The ionization of the cold target by the intense ion beam is important for the stopping power calculation and has been considered using proper ionization cross section data. Final theoretical values agree well with the experimental results. Additionally, we extend the stopping power calculation for intense ion beams to plasma scenario based on Ohm's law. Both the proximity- and the Ohmic effect can enhance the energy loss of intense beams in dense matter, which are also summarized as the beam-density effect. This finding is useful for the stopping power estimation of intense beams and significant to fast ignition fusion driven by intense ion beams.

physics.plasm-ph↗

arXiv2023

Robust Model Predictive Techno-Economic Control of Active Distribution Networks

Stochastic controllers are perceived as a promising solution for techno-economic operation of distribution networks having higher generation uncertainties at large penetration of renewables. These controllers are supported by forecasters capable of predicting generation uncertainty by means of lower/upper bounds rather than by probability density function (PDF). Hence, the stochastic controller assumes a suitable PDF for scenario creation and optimization, requiring validation of the assumption. To effectively bridge the forecaster's capability and resolve the assumption issues, the paper proposes a robust model prediction-based techno-economic controller, which essentially utilizes only the lower/upper bounds of the forecast, eliminating the necessity of PDF. Both discrete and continuous control resources such as tap-changers and DERs are utilized for regulating the lower/upper bounds of the network states and robustly minimizing the cost of energy import. The proposed controller is implemented for UKGDS network and validated by comparing performance at various confidence levels of lower/upper bound forecast.

eess.SY↗

arXiv2023

Generalized Analytical Estimation of Sensitivity Matrices in Unbalanced Distribution Networks

Fast and accurate estimation of sensitivity matrices is significant for the enhancement of distribution system modeling and automation. Analytical estimations have mainly focused on voltage magnitude sensitivity to active/reactive power injections for unbalance networks with Wye-connected loads and neglecting DERs' smart inverter functionality. Hence, this paper enhances the scope of analytical estimation of sensitivity matrices for unbalanced networks with 1-phase, 2-phase, and 3-phase Delta/Wye-connected loads, DERs with smart inverter functionality, and substation/line step-voltage regulators (SVR). A composite bus model comprising of DER, Delta- and Wye-connected load is proposed to represent a generic distribution bus, which can be simplified to load, PV, or voltage-controlled bus as required. The proposed matrix-based analytical method consolidates voltage magnitude and angle sensitivity to active/reactive power injection and tap-position of all SVRs into a single algorithm. Extensive case studies on IEEE networks show the accuracy and wide scope of the proposed algorithm compared to the existing benchmark method.

eess.SY↗