Mo Mu

Mingchao Cai, Peiqi Huang, Mo Mu

In this work, several multilevel decoupled algorithms are proposed for a mixed Navier-Stokes/Darcy model. These algorithms are based on either successively or parallelly solving two linear subdomain problems after solving a coupled nonlinear coarse grid problem. Error estimates are given to demonstrate the approximation accuracy of the algorithms. Experiments based on both the first order and the second order discretizations are presented to show the effectiveness of the decoupled algorithms.

Lian Zhang, Mingchao Cai, Mo Mu

We investigate a multirate time step approach applied to decoupled methods in fluid and structure interaction(FSI) computation, where two different time steps are used for fluid and structure respectively. For illustration, the multirate technique is tested by the decoupled β-scheme. Numerical experiments show that the proposed approach is stable and retains the same order accuracy as the original single time step schemes, while with much less computational expense.

Jiayu Chen, Chao Yu, Yuqing Xie et al. · tsinghua

Executing precise and agile flight maneuvers is critical for quadrotors in various applications. Traditional quadrotor control approaches are limited by their reliance on flat trajectories or time-consuming optimization, which restricts their flexibility. Recently, RL-based policy has emerged as a promising alternative due to its ability to directly map observations to actions, reducing the need for detailed system knowledge and actuation constraints. However, a significant challenge remains in bridging the sim-to-real gap, where RL-based policies often experience instability when deployed in real world. In this paper, we investigate key factors for learning robust RL-based control policies that are capable of zero-shot deployment in real-world quadrotors. We identify five critical factors and we develop a PPO-based training framework named SimpleFlight, which integrates these five techniques. We validate the efficacy of SimpleFlight on Crazyflie quadrotor, demonstrating that it achieves more than a 50% reduction in trajectory tracking error compared to state-of-the-art RL baselines. The policy derived by SimpleFlight consistently excels across both smooth polynominal trajectories and challenging infeasible zigzag trajectories on small thrust-to-weight quadrotors. In contrast, baseline methods struggle with high-speed or infeasible trajectories. To support further research and reproducibility, we integrate SimpleFlight into a GPU-based simulator Omnidrones and provide open-source access to the code and model checkpoints. We hope SimpleFlight will offer valuable insights for advancing RL-based quadrotor control. For more details, visit our project website at https://sites.google.com/view/simpleflight/.

Mo Mu, Dianqiao Lei, Chang Li

The widespread adoption of ChatGPT has raised concerns about its misuse, highlighting the need for robust detection of AI-generated text. Current word-level detectors are vulnerable to paraphrasing or simple prompts (PSP), suffer from biases induced by ChatGPT's word-level patterns (CWP) and training data content, degrade on modified text, and often require large models or online LLM interaction. To tackle these issues, we introduce a novel task to detect both original and PSP-modified AI-generated texts, and propose a lightweight framework that classifies texts based on their internal structure, which remains invariant under word-level changes. Our approach encodes sentence embeddings from pre-trained language models and models their relationships via attention. We employ contrastive learning to mitigate embedding biases from autoregressive generation and incorporate a causal graph with counterfactual methods to isolate structural features from topic-related biases. Experiments on two curated datasets, including abstract comparisons and revised life FAQs, validate the effectiveness of our method.