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版本更新 · v2arXiv:2606.20135

Frequency-Aware Flow Matching for Continuous and Consistent Robotic Action Generation

Jianing Guo, Fangzheng Chen, Zihao Mao, Wong Lik Hang Kenny, Zhenhong Wu, Yu Li, Yishuai Cai, Yuanpei Chen 等 15 位作者

原文摘要

Flow matching has emerged as a standard paradigm for robotic manipulation owing to its strong expressive power for modelling complex, multimodal action distributions, alongside similar approaches like diffusion policy. However, existing methods rely on discretized action chunks, making them brittle to demonstrations collected at heterogeneous control frequencies and prone to temporally inconsistent actions that degrade control stability. In this paper, we propose Frequency-Aware Flow Matching (FAFM), which outputs continuous, temporally consistent actions. To handle heterogeneous frequency input, we transform discrete action sequences into the frequency domain with the discrete cosine transform (DCT), perform flow matching over the resulting coefficients, and reconstruct continuous actions via cosine basis expansion. To generate temporally consistent actions, we regularize the first-order temporal derivative to promote smooth actions. This corresponds to a Sobolev-type constraint that suppresses high-frequency errors and discourages abrupt action changes. Our FAFM is simple, introduces no additional network parameters and applies to standalone flow-matching policies and vision-language action models. Across synthetic toy benchmark, obstacle avoidance, LapGym, and LIBERO, FAFM improves success rates, multimodal expressivity, motion smoothness, convergence speed, robustness to mechanical bias and mixed-frequency input. These gains are consistent when deployed on a real-world Franka robot. Code available at https://github.com/gakakulicc/FAFM.

cs.RO · cs.AI

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2610.33465

LegoSR: A Unified Framework for Self-improving Agent-Guided Scientific Discovery

Hao Mao, Xu T. Liu, Hao Xu, Peng Zhao, Qian Li, Dongxiao Zhang, Jinyue Yan, Yuntian Chen

原文摘要

Discovering equations from data provides governing laws, constitutive relations and closure models for scientific understanding and prediction. Yet a method that succeeds on one system may fail on another or on noisy data, so discovery depends on expert trial and error. Unsuccessful searches can still reveal useful parts of an equation, but these clues must be recognized and combined. We present LegoSR, a unified framework for agent-guided equation discovery built on composable discovery and cumulative experience. Seven complementary equation discovery methods and shared computational modules form reusable building blocks, connected through a common equation representation. Researchers can launch discovery with one command and guide it with partially known equations. LegoSR Agent selects methods, revises searches using feedback and combines partial findings into new hypotheses. Its Experience Library consolidates graded outcomes into lessons that guide later tasks across equation families. Evaluation covers 134 algebraic regression problems, 40 ordinary differential equation targets and 17 partial differential equation problems at several noise levels, together with three case studies. On noisy differential equation benchmarks, LegoSR Agent nearly matches the recovery coverage of seven expert-tuned methods combined and exceeds a generic agent with the same model, tools and budget by up to 29.4 percentage points, with 51-61% shorter median wall-clock time.

cs.AI · cs.LG

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arXiv ↗PDF ↗
版本更新 · v5arXiv:2608.18234

GigaBrain-WBC-0.5: A Behavior World Model for Robust Humanoid Whole-Body Tracking with Environment Interaction

Ziyang Cheng, Tianshu Tang, Jinxin Lan, Xinze Chen, Yuhan Gong, Zhichao Liu, Changzhong Wu, Yahao Mao 等 22 位作者

原文摘要

General-purpose motion trackers enable humanoid robots to follow diverse whole-body motions while maintaining balance, but are trained only on flat ground, failing to exploit bipedal mobility over complex terrain. Cross-terrain controllers, meanwhile, are task-specific or accept only low-dimensional locomotion commands. We introduce InterTrack, the first behavior world model (BWM) for robust whole-body tracking with environment interaction. Its Transformer jointly predicts the next action, state, and behavior distribution, learning environment-conditioned dynamics. To scale interaction training data, an automatic annotation pipeline reconstructs 3D support geometry from retargeted motions. At deployment, the policy handles commands implausible in the current environment in a "best-effort" manner. Quantitatively, InterTrack achieves an 81.3% success rate on terrain interaction (4.3 times the best evaluated baseline) and a 99.3% fall-recovery rate, while also improving free-space tracking and outperforming three leading tracking baselines across all of these regimes. To our knowledge, we provide the first demonstration of real-time cross-terrain whole-body teleoperation on a humanoid robot, alongside object interaction, stable responses to missing supports, and robust recovery from falls.

cs.RO · cs.AI · cs.LG

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arXiv ↗PDF ↗
新论文 · v1arXiv:2611.05882

Optimizing Geo-replicated Deterministic Databases

Yunhao Mao, Shiquan Zhang, Gengrui Zhang, Hans-Arno Jacobsen

原文摘要

In transactional databases, achieving active-active replication among geo-distributed replicas is challenging due to the high coordination cost in ensuring the serializability of concurrent cross-node transactions. Deterministic concurrency control (DCC) has emerged as a promising alternative: it establishes a global order for a batch of transactions before execution and thereby amortizes this coordination cost across the batch. To better understand the performance characteristics of DCC, we conduct a theoretical analysis of traditional two-phase locking and optimistic concurrency control to account for geo-replication and introduce a model for DCC. We compare the three paradigms and identify the conditions under which DCC is advantageous. Guided by the insights from this analysis, we then present Quirinus, a DCC-based geo-replicated database that optimizes transaction execution through speculative execution, transaction reordering, integration of conflict-free replicated data types (CRDTs), and fast-path commit. Even without these optimizations, Quirinus achieves up to 6.2x the TPC-C throughput of Tiga under our configuration.

cs.DB

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arXiv ↗PDF ↗
版本更新 · v4arXiv:2306.10426

Understanding Certified Training with Interval Bound Propagation

Yuhao Mao, Mark Niklas Müller, Marc Fischer, Martin Vechev

原文摘要

As robustness verification methods are becoming more precise, training certifiably robust neural networks is becoming ever more relevant. To this end, certified training methods compute and then optimize an upper bound on the worst-case loss over a robustness specification. Curiously, training methods based on the imprecise interval bound propagation (IBP) consistently outperform those leveraging more precise bounding methods. Still, we lack an understanding of the mechanisms making IBP so successful. In this work, we thoroughly investigate these mechanisms by leveraging a novel metric measuring the tightness of IBP bounds. We first show theoretically that, for deep linear models, tightness decreases with width and depth at initialization, but improves with IBP training, given sufficient network width. We, then, derive sufficient and necessary conditions on weight matrices for IBP bounds to become exact and demonstrate that these impose strong regularization, explaining the empirically observed trade-off between robustness and accuracy in certified training. Our extensive experimental evaluation validates our theoretical predictions for ReLU networks, including that wider networks improve performance, yielding state-of-the-art results. Interestingly, we observe that while all IBP-based training methods lead to high tightness, this is neither sufficient nor necessary to achieve high certifiable robustness. This hints at the existence of new training methods that do not induce the strong regularization required for tight IBP bounds, leading to improved robustness and standard accuracy.

cs.LG · cs.AI

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arXiv ↗PDF ↗
版本更新 · v5arXiv:2512.01782

Dual Randomized Smoothing: Beyond Global Noise Variance

Chenhao Sun, Yuhao Mao, Martin Vechev

原文摘要

Randomized Smoothing (RS) is a prominent technique for certifying the robustness of neural networks against adversarial perturbations. With RS, achieving high accuracy at small radii requires a small noise variance, while achieving high accuracy at large radii requires a large noise variance. However, the global noise variance used in the standard RS formulation leads to a fundamental limitation: there exists no global noise variance that simultaneously achieves strong performance at both small and large radii. To break through the global variance limitation, we propose a dual RS framework which enables input-dependent noise variances. To achieve that, we first prove that RS remains valid with input-dependent noise variances, provided the variance is locally constant around each input. Building on this result, we introduce two components: (i) a variance estimator predicts an optimal noise variance for each input, (ii) this estimated variance is then used by a standard RS classifier. The variance estimator is independently smoothed via RS to ensure local constancy, enabling flexible design. We also introduce training strategies to iteratively optimize the two components. Experiments on CIFAR-10 demonstrate that our dual RS method provides strong performance for both small and large radii-unattainable with global noise variance-while incurring only a 60% computational overhead at inference. Moreover, it outperforms prior input-dependent noise approaches across most radii, with gains at radii 0.5, 0.75, and 1.0 of 15.6%, 20.0%, and 15.7%. On ImageNet, dual RS remains effective across all radii, with advantages of 8.6%, 17.1%, and 9.1% at radii 0.5, 1.0, and 1.5. Additionally, the dual RS framework provides a routing perspective for certified robustness, improving the accuracy-robustness trade-off with off-the-shelf expert RS models.

cs.LG · cs.AI

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arXiv ↗PDF ↗
版本更新 · v5arXiv:2410.06816

Expressiveness of Multi-Neuron Convex Relaxations in Neural Network Certification

Yuhao Mao, Yani Zhang, Martin Vechev

原文摘要

Neural network certification methods heavily rely on convex relaxations to provide robustness guarantees. However, these relaxations are often imprecise: even the most accurate single-neuron relaxation is incomplete for general ReLU networks, a limitation known as the *single-neuron convex barrier*. While multi-neuron relaxations have been heuristically applied to address this issue, two central questions arise: (i) whether they overcome the convex barrier, and if not, (ii) whether they offer theoretical capabilities beyond those of single-neuron relaxations. In this work, we present the first rigorous analysis of the expressiveness of multi-neuron relaxations. Perhaps surprisingly, we show that they are inherently incomplete, even when allocated sufficient resources to capture finitely many neurons and layers optimally. This result extends the single-neuron barrier to a *universal convex barrier* for neural network certification. On the positive side, we show that completeness can be achieved by either (i) augmenting the network with a polynomial number of carefully designed ReLU neurons or (ii) partitioning the input domain into convex sub-polytopes, thereby distinguishing multi-neuron relaxations from single-neuron ones which are unable to realize the former and have worse partition complexity for the latter. Our findings establish a foundation for multi-neuron relaxations and point to new directions for certified robustness, including training methods tailored to multi-neuron relaxations and verification methods with multi-neuron relaxations as the main subroutine.

cs.LG · cs.AI

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arXiv ↗PDF ↗
版本更新 · v2arXiv:2505.11982

FedHQ: Hybrid Runtime Quantization for Federated Learning

Zihao Zheng, Ziyao Wang, Jiawei Yang, Hangyu Cao, Zhihao Mao, Maoliang Li, Jiayu Chen, Hailong Zou 等 10 位作者

原文摘要

Federated Learning (FL) must balance training efficiency and model accuracy across heterogeneous clients. Post-training quantization (PTQ) avoids the extra computation of quantization-aware training (QAT), but can incur greater accuracy loss. We propose FedHQ, a hybrid quantization framework that assigns PTQ or QAT according to clients' hardware and data characteristics. Hardware-based speed estimates and local data-distribution indicators guide coarse-grained global initialization, followed by fine-grained training-based adjustment of selected client strategies. Experiments on three image-classification datasets show that FedHQ achieves up to 2.47x training speedup over FedAQT and up to 11.15 percentage points higher accuracy than FedFQ.

cs.LG

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arXiv ↗PDF ↗
版本更新 · v3arXiv:2603.07949

ActECC: Action Chunk Temporal Harnessing for Edge-Cloud Collaborative VLA Inference System

Zihao Zheng, Zhihao Mao, Hui Huang, Sicheng Tian, Hangyu Cao, Ziyun Zhang, Chenyue Li, Jiayu Chen 等 12 位作者

原文摘要

VLA models have emerged as the mainstream for embodied intelligence, which decouples reasoning and execution via action chunks. To enable real-time deployment of VLA models, existing studies investigate edge-cloud collaborative inference, which pose two challenges to the action chunk mechanism. (1) Edge-cloud collaboration complicates system latency components, hindering the determination of valid ranges for action chunks. (2) Latency fluctuations in cross-edge update links under edge-cloud scenarios make it difficult to schedule replanning requests. To address these, we analyze the key factors affecting action chunk usable ranges and replanning request timing, revealing phase dependence and edge-cloud latency constraints. Based on these insights, we propose ActECC, which enables Action Chunk Temporal Harnessing through kinematics-guided usable range assessment and delay-aware replanning scheduling. Experiments show that ActECC reduces per-action latency by up to 27.4% and cloud calls by up to 45.1%, while lowering average execution error compared with existing edge-cloud collaborative.

cs.DC · cs.RO

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arXiv ↗PDF ↗
新论文 · v1arXiv:2610.34462

End-to-End Neural Modeling of EM Response and Design Performance for Free-Form RFIC Passives

Yuhao Mao, Chenhao Chu, Martin Vechev, Hua Wang

原文摘要

Passive matching networks are critical components in radio-frequency integrated circuits (RFICs), but their design is bottlenecked by expensive finite-difference-based electromagnetic (EM) simulation. We propose an end-to-end neural framework for free-form RFIC passives that predicts both EM response and downstream design performance under varying frequency and circuit contexts, combining a frequency-conditioned neural simulator with a circuit-conditioned neural solver. To improve design performance prediction, the simulator outputs a neural EM response consisting of both the explicit EM response and a complementary response, together with a dependence regularizer that encourages the two responses to capture orthogonal information. To evaluate the proposed framework, we construct a large-scale dataset of free-form passive layouts, synthesized from both expert-designed contours and random paths. Our 21M-parameter model achieves high accuracy across a broad frequency range, circuit contexts and passive matching settings, with $R^2>0.98$ for almost all targets, while providing orders-of-magnitude faster evaluation than traditional EM simulation. Code available at https://github.com/ETH-IDEAS/RFIC-NeuralSim.

eess.SP · cs.LG

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arXiv ↗PDF ↗