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Qing Gao

Qing Gao contributes to research discovery and scholarly infrastructure.

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Published work

12 published item(s)

preprint2026arXiv

DScheLLM: Enabling Dynamic Scheduling through a Fine-Tuned Dual-System Large language Model

Production scheduling is highly susceptible to dynamic disruptions, such as variations in processing times, machine availability, and unexpected task insertions. Conventional approaches typically rely on event-specific models and explicit analytical formulations, which limits their adaptability and generalization across previously unseen disturbances. To overcome these limitations, this paper proposes DScheLLM, a dynamic scheduling approach that leverages fine-tuned large language models within a dual-system (fast-slow) reasoning architecture to address disturbances of different scales. A unified large language model-based framework is constructed to handle dynamic events, where training datasets for both fast and slow reasoning modes are generated using exact schedules obtained from an operations research solver. The Huawei OpenPangu Embedded-7B model is subsequently fine-tuned under the hybrid reasoning paradigms using LoRA. Experimental evaluations on standard job shop scheduling benchmarks demonstrate that the fast-thinking mode can efficiently generate high-quality schedules and the slow-thinking mode can produce solver-compatible and well-formatted decision inputs. To the best of our knowledge, this work represents one of the earliest studies applying large language models to job shop scheduling in dynamic environments, highlighting their considerable potential for intelligent and adaptive scheduling optimization.

preprint2026arXiv

Triple Spectral Fusion for Sensor-based Human Activity Recognition

The field of sensor-based human activity recognition (HAR) mainly uses posture, motion and context data of Inertial Measurement Units (IMUs) to identify daily activities. Despite the advancements in learning-based methods, it is challenging to perform information fusion from the temporal perspective due to the complexities in fusing heterogeneous sensor data and establishing long-term context correlations. This paper proposes a novel triple spectral fusion framework tailored for HAR. First, we develop an adaptive complementary filtering technique for noise suppression and organize each IMU's sensors into posture and motion modality nodes. Given that IMU nodes form a dynamic heterogeneous graph, we then apply adaptive filtering within the graph Fourier domain to merge both homogeneous and heterogeneous node information. Furthermore, an adaptive wavelet frequency selection approach is implemented to suppress context redundancy and shorten the length of features. This approach enhances both timestamp-based graph aggregation and the correlation of long-term contexts. Our framework uses adaptive filtering in the Fourier, graph Fourier, and wavelet domains, enabling effective multi-sensor fusion and context correlation. Extensive experiments on ten benchmark datasets demonstrate the superior performance of our framework. Project page: https://github.com/crocodilegogogo/TSF-TPAMI2026.

preprint2024arXiv

D3PRefiner: A Diffusion-based Denoise Method for 3D Human Pose Refinement

Three-dimensional (3D) human pose estimation using a monocular camera has gained increasing attention due to its ease of implementation and the abundance of data available from daily life. However, owing to the inherent depth ambiguity in images, the accuracy of existing monocular camera-based 3D pose estimation methods remains unsatisfactory, and the estimated 3D poses usually include much noise. By observing the histogram of this noise, we find each dimension of the noise follows a certain distribution, which indicates the possibility for a neural network to learn the mapping between noisy poses and ground truth poses. In this work, in order to obtain more accurate 3D poses, a Diffusion-based 3D Pose Refiner (D3PRefiner) is proposed to refine the output of any existing 3D pose estimator. We first introduce a conditional multivariate Gaussian distribution to model the distribution of noisy 3D poses, using paired 2D poses and noisy 3D poses as conditions to achieve greater accuracy. Additionally, we leverage the architecture of current diffusion models to convert the distribution of noisy 3D poses into ground truth 3D poses. To evaluate the effectiveness of the proposed method, two state-of-the-art sequence-to-sequence 3D pose estimators are used as basic 3D pose estimation models, and the proposed method is evaluated on different types of 2D poses and different lengths of the input sequence. Experimental results demonstrate the proposed architecture can significantly improve the performance of current sequence-to-sequence 3D pose estimators, with a reduction of at least 10.3% in the mean per joint position error (MPJPE) and at least 11.0% in the Procrustes MPJPE (P-MPJPE).

preprint2022arXiv

Deep Depth Completion from Extremely Sparse Data: A Survey

Depth completion aims at predicting dense pixel-wise depth from an extremely sparse map captured from a depth sensor, e.g., LiDARs. It plays an essential role in various applications such as autonomous driving, 3D reconstruction, augmented reality, and robot navigation. Recent successes on the task have been demonstrated and dominated by deep learning based solutions. In this article, for the first time, we provide a comprehensive literature review that helps readers better grasp the research trends and clearly understand the current advances. We investigate the related studies from the design aspects of network architectures, loss functions, benchmark datasets, and learning strategies with a proposal of a novel taxonomy that categorizes existing methods. Besides, we present a quantitative comparison of model performance on three widely used benchmarks, including indoor and outdoor datasets. Finally, we discuss the challenges of prior works and provide readers with some insights for future research directions.

preprint2022arXiv

Primordial black holes and secondary gravitational waves from natural inflation

The production of primordial black hole (PBH) dark matter (DM) and the generation of scalar induced secondary gravitational waves by using the enhancement mechanism with a peak function in the non-canonical kinetic term in natural inflation is discussed. We show explicitly that the power spectrum for the primordial curvature perturbation can be enhanced at $10^{12}$ Mpc$^{-1}$, $10^{8}$ Mpc$^{-1}$ and $10^{5}$ Mpc$^{-1}$ by adjusting the model parameters. With the enhanced primordial curvature perturbations, we show the production of PBH DM with peak masses around $10^{-13}\ M_{\odot}$, the Earth's mass and the stellar mass, and the generation of scalar induced gravitational waves (SIGWs) with peak frequencies around mHz, $10^{-6}$ Hz and nHz, respectively. The PBHs with the mass scale $10^{-13}\ M_{\odot}$ can make up almost all the DM and the associated SIGWs is testable by spaced based gravitational wave observatory.

preprint2022arXiv

Robust optimization for quantum reinforcement learning control using partial observations

The current quantum reinforcement learning control models often assume that the quantum states are known a priori for control optimization. However, full observation of quantum state is experimentally infeasible due to the exponential scaling of the number of required quantum measurements on the number of qubits. In this paper, we investigate a robust reinforcement learning method using partial observations to overcome this difficulty. This control scheme is compatible with near-term quantum devices, where the noise is prevalent and predetermining the dynamics of quantum state is practically impossible. We show that this simplified control scheme can achieve similar or even better performance when compared to the conventional methods relying on full observation. We demonstrate the effectiveness of this scheme on examples of quantum state control and quantum approximate optimization algorithm. It has been shown that high-fidelity state control can be achieved even if the noise amplitude is at the same level as the control amplitude. Besides, an acceptable level of optimization accuracy can be achieved for QAOA with noisy control Hamiltonian. This robust control optimization model can be trained to compensate the uncertainties in practical quantum computing.

preprint2021arXiv

Design and Control of a Highly Redundant Rigid-Flexible Coupling Robot to Assist the COVID-19 Oropharyngeal-Swab Sampling

The outbreak of novel coronavirus pneumonia (COVID-19) has caused mortality and morbidity worldwide. Oropharyngeal-swab (OP-swab) sampling is widely used for the diagnosis of COVID-19 in the world. To avoid the clinical staff from being affected by the virus, we developed a 9-degree-of-freedom (DOF) rigid-flexible coupling (RFC) robot to assist the COVID-19 OP-swab sampling. This robot is composed of a visual system, UR5 robot arm, micro-pneumatic actuator and force-sensing system. The robot is expected to reduce risk and free up the clinical staff from the long-term repetitive sampling work. Compared with a rigid sampling robot, the developed force-sensing RFC robot can facilitate OP-swab sampling procedures in a safer and softer way. In addition, a varying-parameter zeroing neural network-based optimization method is also proposed for motion planning of the 9-DOF redundant manipulator. The developed robot system is validated by OP-swab sampling on both oral cavity phantoms and volunteers.

preprint2020arXiv

Fault-tolerant Coherent H-infinity Control for Linear Quantum Systems

Robustness and reliability are two key requirements for developing practical quantum control systems. The purpose of this paper is to design a coherent feedback controller for a class of linear quantum systems suffering from Markovian jumping faults so that the closed-loop quantum system has both fault tolerance and H-infinity disturbance attenuation performance. This paper first extends the physical realization conditions from the time-invariant case to the time-varying case for linear stochastic quantum systems. By relating the fault tolerant H-infinity control problem to the dissipation properties and the solutions of Riccati differential equations, an H-infinity controller for the quantum system is then designed by solving a set of linear matrix inequalities (LMIs). In particular, an algorithm is employed to introduce additional noises and to construct the corresponding input matrices to ensure the physical realizability of the quantum controller. For real applications of the developed fault-tolerant control strategy, we present a linear quantum system example from quantum optics, where the amplitude of the pumping field randomly jumps among different values. It is demonstrated that a quantum H-infinity controller can be designed and implemented using some basic optical components to achieve the desired control goal.

preprint2020arXiv

Full analytical formulas for frequency response of space-based gravitational wave detectors

The discovery of gravitational waves, which are ripples of space-time itself, opened a new window to test general relativity, because it predicts that there are only plus and cross polarizations for gravitational waves. For alternative theories of gravity, there may be up to six polarizations. The measurement of the polarization is one of the major scientific goals for future gravitational wave detectors. To evaluate the capability of the detector, we need to use the frequency dependent response functions averaged over the source direction and polarization angle. We derive the full analytical formulas of the averaged response functions for all six possible polarizations and present their asymptotic behaviors based on these analytical formulas. Compared with the numerical simulation, the full analytical formulas are more efficient and valid for any equal-arm interferometric gravitational wave detector without optical cavities in the arms and for a time-delay-interferometry Michelson combination.

preprint2020arXiv

KIC 12268220: A $δ$ Scuti Pulsating Star and an Active Protohelium White Dwarf in an Eclipsing Binary System

We present a photometric, spectroscopic, asteroseismic, and evolutionary analysis of the Algol-type eclipsing binary KIC 12268220. We find the O'Connell effect and anticorrelated eclipse timing variations in the Kepler light curve, revealing the presence of large starspots. Radial velocities and atmospheric parameters are obtained from ground-based spectroscopic observations. Combined with the radial velocity measurements and Gaia-derived total luminosity, our light-curve modeling yields the solution of the physical parameters for both the primary and secondary components. We find 14 independent frequencies arising from the $δ$ Scuti primary, and the observed frequencies agree with the frequency range of unstable modes from nonadiabatic calculations. Based on the conclusion from previous literature, we run a grid of models to study the evolution process of our system. The evolutionary tracks of our model suggest that the low-mass ($\sim 0.23\,M_\odot$) evolved secondary shows a similar evolutionary state to the R CMa-type system, which might evolve to an EL CVn system.

preprint2020arXiv

Primordial black holes and secondary gravitational waves from k/G inflation

The possibility that in the mass range around $10^{-12}\ M_\odot$ most of dark matter constitutes of primordial black holes (PBHs) is a very interesting topic. To produce PBHs with this mass, the primordial scalar power spectrum needs to be enhanced to the order of 0.01 at the scale $k\sim 10^{12}\ \text{Mpc}^{-1}$. The enhanced power spectrum also produces large secondary gravitational waves at the mHz band. A phenomenological delta function power spectrum is usually used to discuss the production of PBHs and secondary gravitational waves. Based on G and k inflations, we propose a new mechanism to enhance the power spectrum at small scales by introducing a non-canonical kinetic term $[1-2G(ϕ)]X$ with the function $G(ϕ)$ having a peak. Away from the peak, $G(ϕ)$ is negligible and we recover the usual slow-roll inflation which is constrained by the cosmic microwave background anisotrpy observations. Around the peak, the slow-roll inflation transiently turns to ultra slow-roll inflation. The enhancement of the power spectrum can be obtained with generic potentials, and there is no need to fine tune the parameters in $G(ϕ)$. The energy spectrum $Ω_{GW}(f)$ of secondary gravitational waves have the characteristic power law behaviour $Ω_{GW}(f)\sim f^{n}$ and is testable by pulsar timing array and space based gravitational wave detectors.

preprint2020arXiv

The TianQin project: current progress on science and technology

TianQin is a planned space-based gravitational wave (GW) observatory consisting of three earth orbiting satellites with an orbital radius of about $10^5~{\rm km}$. The satellites will form a equilateral triangle constellation the plane of which is nearly perpendicular to the ecliptic plane. TianQin aims to detect GWs between $10^{-4}~{\rm Hz}$ and $1~{\rm Hz}$ that can be generated by a wide variety of important astrophysical and cosmological sources, including the inspiral of Galactic ultra-compact binaries, the inspiral of stellar-mass black hole binaries, extreme mass ratio inspirals, the merger of massive black hole binaries, and possibly the energetic processes in the very early universe or exotic sources such as cosmic strings. In order to start science operations around 2035, a roadmap called the 0123 plan is being used to bring the key technologies of TianQin to maturity, supported by the construction of a series of research facilities on the ground. Two major projects of the 0123 plan are being carried out. In this process, the team has created a new generation $17~{\rm cm}$ single-body hollow corner-cube retro-reflector which has been launched with the QueQiao satellite on 21 May 2018; a new laser ranging station equipped with a $1.2~{\rm m}$ telescope has been constructed and the station has successfully ranged to all the five retro-reflectors on the Moon; and the TianQin-1 experimental satellite has been launched on 20 December 2019 and the first round result shows that the satellite has exceeded all of its mission requirements.