Lu Gan

Wangyang Xu, Jiancheng An, Chongwen Huang et al.

Reconfigurable intelligent surface (RIS) has recently gained popularity as a promising solution for improving the signal transmission quality of wireless communications with less hardware cost and energy consumption. This letter offers a novel deep reinforcement learning (DRL) algorithm based on a location-aware imitation environment for the joint beamforming design in an RIS-aided mmWave multiple-input multiple-output system. Specifically, we design a neural network to imitate the transmission environment based on the geometric relationship between the user's location and the mmWave channel. Following this, a novel DRL-based method is developed that interacts with the imitation environment using the easily available location information. Finally, simulation results demonstrate that the proposed DRL-based algorithm provides more robust performance without excessive interaction overhead compared to the existing DRL-based approaches.

Sandilya Sai Garimella, Daniel Chase Butterfield, Sean Wilson et al.

We present HERCULES, an open-source simulator and data-collection pipeline for heterogeneous multi-robot autonomy. Built upon the Unreal Engine 5 (UE5)-based simulators AirSim and Cosys-AirSim, HERCULES resolves key architectural limitations of prior frameworks to enable concurrent unmanned aerial and ground vehicle (UAV-UGV) operation in large-scale, photorealistic, dynamic environments. It introduces a new waypoint-tracking UGV controller that mirrors existing UAV control interfaces, and provides a shared navigation stack for mapping, traversability analysis, planning, and control across heterogeneous platforms. Expanding inherited sensor suites, it adds physics-based long-wave infrared (LWIR) cameras and configurable night-vision modes for degraded visual environments. HERCULES provides lightweight APIs, ROS 2 wrappers, and rigorous time synchronization across sensors and platforms, and brings state-of-the-art game-engine capabilities into robotics simulation, integrating intelligent agents such as pedestrians, traffic, and wildlife with high-fidelity dynamic phenomena, including fire, flooding, and crop disease spread. HERCULES runs in two modes: passively, replaying offline-designed trajectories to generate reproducible multi-modal datasets, and actively, running an online planner in closed loop from live observations. Our experiments in heterogeneous multi-robot SLAM, collaborative perception, and exploration, using both HERCULES-generated data and active closed-loop execution, demonstrate its utility for advancing heterogeneous multi-robot autonomy. We publicly release our source code, experiment code, documentation, and datasets, including a heterogeneous multi-robot SLAM benchmark collected with two UAVs and two UGVs across kilometer-scale desert, forest, and city environments, at https://lunarlab-gatech.github.io/HERCULES-website.

Baiyu Chen, Lin Gan, Guangwen Yang et al.

High-precision effective resistance computation is a cornerstone of Electronic Design Automation (EDA) sign-off, yet it remains a fundamental bottleneck in large-scale power grid analysis, spectral sparsification, and circuit reliability. Existing approaches face a prohibitive "precision-memory impasse": approximate methods lack the stringent accuracy required for high-stakes industrial sign-off, while exact methods either suffer from redundant query overheads or trigger $O(n^2)$ memory explosions. To resolve this, we propose PEERS, a Parallel and Exact Effective Resistance Solver powered by an implicit inverse computing model of the Cholesky factor. By integrating a state-inherited augmented depth-first search (DFS) with a dynamic query update mechanism, PEERS eliminates numerical redundancy and evaluates all-edge resistance queries in a single parallel sweep. We provide a rigorous Work-Span analysis, proving that for graphs satisfying an $O(n^α)$ separator theorem, PEERS achieves a theoretically optimal parallel span of $O(n^α)$ while strictly maintaining $O(nnz(L))$ space complexity. Numerical evaluations on industrial benchmarks demonstrate that PEERS achieves an average speedup of 83.3x over state-of-the-art parallel solvers under identical memory constraints. Notably, PEERS processes a 1-million-node industrial graph in just 18.8 seconds and scales to 17 million nodes in under an hour, providing the first computationally feasible path for exact all-edge resistance analysis in multi-million-gate designs.

Weiyi Zhao, Xiaoyu Tan, Lu Gan et al.

Multimodal Large Models have significantly advanced automated breast ultrasound diagnosis. However, most existing frameworks utilize opaque, end-to-end paradigms prioritizing global statistical correlations over structured clinical reasoning. Consequently, these models remain susceptible to shortcut learning amid extreme real-world epidemiological imbalances, often bypassing rare but decisive malignant indicators for dominant benign patterns. To address this disconnect, we propose Latent-CURE, a novel diagnostic framework driven by asymmetric weighted chain-of-thought methodology grounded in latent space reasoning. Unlike traditional approaches, our framework constructs an implicit reasoning trajectory forcing the model to sequentially infer standardized BI-RADS morphological descriptors before converging on a final diagnosis. Furthermore, to combat the extreme scarcity of critical malignant features, we couple this architecture with a dual-asymmetric optimization strategy. By dynamically adjusting margins and weights, this strategy safeguards high-specificity malignant descriptors from being overshadowed by common benign priors. Comprehensive evaluations demonstrate that our knowledge-injected approach provides transparent clinical evidence while achieving robust, accurate diagnostic performance in imbalanced medical cohorts.

Jiancheng An, Enyu Shi, Jiayi Zhang et al.

In this paper, we address the channel estimation (CE) problem in SIM-based multi-user (MU) millimeter-wave (mmWave) near-field communication systems. To address the severe path loss and blockage in mmWave communication systems, many meta-atoms are typically integrated into each layer of the SIM. Then, the number of radio frequency (RF) chains at the base station (BS) is fewer than that of meta-atoms per layer, resulting in an underdetermined problem. Additionally, the increase in the number of meta-atoms in each layer expands the SIM's near-field region, leading to the user equipment (UEs) being mostly situated in this region, necessitating precise modeling of the channel under the spherical wavefront assumption. To address these issues, we introduce a compressed sensing (CS)-based CE protocol to tackle the underdetermined problem. In contrast to the traditional CS-based estimation framework, we investigate a polar-domain channel representation to tackle the severe energy spread effect of the classical angular-domain channel representation in near-field communication systems. Specifically, we design a novel polar-domain transform matrix for uniform planar arrays (UPAs), thereby transforming the CE problem into a sparse recovery task of the paths' support set and complex gains. To overcome the limitations of the sparse Bayesian learning (SBL) framework in tackling high-dimensional dictionaries, we propose a low-complexity polar-domain SBL (LCPD-SBL) algorithm, which significantly reduces computational complexity without compromising estimation accuracy.

Yinuo Wang, Lin Gan, Tianqi Mao et al.

Wave propagation based on the spectral element method (SEM) is a representative HPC workload, but existing SEM implementations are not well matched to emerging ARM multicore CPUs with Scalable Matrix Extension (SME). We present an SME-enabled optimization of \textsc{SPECFEM3D} on the emerging LX2 processor that combines an SME-aware batched small-matrix kernel for SEM tensor-product operators, a memory-aware hybrid MPI+OpenMP execution scheme for limited-HBM systems, and a dispersion-based iso-accuracy study of the $(h,p)$ tradeoff. At fixed polynomial order, the optimized implementation improves full-application performance by 4--6$\times$ over the original code and delivers clear gains over optimized non-SME CPU baselines. Beyond these implementation-level gains, our results suggest that SME shifts the performance-favorable operating point toward higher polynomial orders along the dispersion-based iso-accuracy frontier, further reducing time-to-solution and working-set size. These results indicate that SME affects not only kernel efficiency, but also the practical discretization tradeoff for SEM on modern ARM multicore platforms.

Zhenhua Xu, Yuxuan Liu, Lu Gan et al.

High-Definition (HD) maps can provide precise geometric and semantic information of static traffic environments for autonomous driving. Road-boundary is one of the most important information contained in HD maps since it distinguishes between road areas and off-road areas, which can guide vehicles to drive within road areas. But it is labor-intensive to annotate road boundaries for HD maps at the city scale. To enable automatic HD map annotation, current work uses semantic segmentation or iterative graph growing for road-boundary detection. However, the former could not ensure topological correctness since it works at the pixel level, while the latter suffers from inefficiency and drifting issues. To provide a solution to the aforementioned problems, in this letter, we propose a novel system termed csBoundary to automatically detect road boundaries at the city scale for HD map annotation. Our network takes as input an aerial image patch, and directly infers the continuous road-boundary graph (i.e., vertices and edges) from this image. To generate the city-scale road-boundary graph, we stitch the obtained graphs from all the image patches. Our csBoundary is evaluated and compared on a public benchmark dataset. The results demonstrate our superiority. The accompanied demonstration video is available at our project page \url{https://sites.google.com/view/csboundary/}.

Wangyang Xu, Jiancheng An, Yongjun Xu et al.

To mitigate the effects of shadow fading and obstacle blocking, reconfigurable intelligent surface (RIS) has become a promising technology to improve the signal transmission quality of wireless communications by controlling the reconfigurable passive elements with less hardware cost and lower power consumption. However, accurate, low-latency and low-pilot-overhead channel state information (CSI) acquisition remains a considerable challenge in RIS-assisted systems due to the large number of RIS passive elements. In this paper, we propose a three-stage joint channel decomposition and prediction framework to require CSI. The proposed framework exploits the two-timescale property that the base station (BS)-RIS channel is quasi-static and the RIS-user equipment (UE) channel is fast time-varying. Specifically, in the first stage, we use the full-duplex technique to estimate the channel between a BS's specific antenna and the RIS, addressing the critical scaling ambiguity problem in the channel decomposition. We then design a novel deep neural network, namely, the sparse-connected long short-term memory (SCLSTM), and propose a SCLSTM-based algorithm in the second and third stages, respectively. The algorithm can simultaneously decompose the BS-RIS channel and RIS-UE channel from the cascaded channel and capture the temporal relationship of the RIS-UE channel for prediction. Simulation results show that our proposed framework has lower pilot overhead than the traditional channel estimation algorithms, and the proposed SCLSTM-based algorithm can also achieve more accurate CSI acquisition robustly and effectively.

Lu Gan, Youngji Kim, Jessy W. Grizzle et al.

This article presents a novel and flexible multitask multilayer Bayesian mapping framework with readily extendable attribute layers. The proposed framework goes beyond modern metric-semantic maps to provide even richer environmental information for robots in a single mapping formalism while exploiting intralayer and interlayer correlations. It removes the need for a robot to access and process information from many separate maps when performing a complex task, advancing the way robots interact with their environments. To this end, we design a multitask deep neural network with attention mechanisms as our front-end to provide heterogeneous observations for multiple map layers simultaneously. Our back-end runs a scalable closed-form Bayesian inference with only logarithmic time complexity. We apply the framework to build a dense robotic map including metric-semantic occupancy and traversability layers. Traversability ground truth labels are automatically generated from exteroceptive sensory data in a self-supervised manner. We present extensive experimental results on publicly available datasets and data collected by a 3D bipedal robot platform and show reliable mapping performance in different environments. Finally, we also discuss how the current framework can be extended to incorporate more information such as friction, signal strength, temperature, and physical quantity concentration using Gaussian map layers. The software for reproducing the presented results or running on customized data is made publicly available.

Ross Hartley, Josh Mangelson, Lu Gan et al.

State-of-the-art robotic perception systems have achieved sufficiently good performance using Inertial Measurement Units (IMUs), cameras, and nonlinear optimization techniques, that they are now being deployed as technologies. However, many of these methods rely significantly on vision and often fail when visual tracking is lost due to lighting or scarcity of features. This paper presents a state-estimation technique for legged robots that takes into account the robot's kinematic model as well as its contact with the environment. We introduce forward kinematic factors and preintegrated contact factors into a factor graph framework that can be incrementally solved in real-time. The forward kinematic factor relates the robot's base pose to a contact frame through noisy encoder measurements. The preintegrated contact factor provides odometry measurements of this contact frame while accounting for possible foot slippage. Together, the two developed factors constrain the graph optimization problem allowing the robot's trajectory to be estimated. The paper evaluates the method using simulated and real sensory IMU and kinematic data from experiments with a Cassie-series robot designed by Agility Robotics. These preliminary experiments show that using the proposed method in addition to IMU decreases drift and improves localization accuracy, suggesting that its use can enable successful recovery from a loss of visual tracking.