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The integration of large language models (LLMs) with robotics has significantly advanced robots' abilities in perception, cognition, and task planning. The use of natural language interfaces offers a unified approach for expressing the capability differences of heterogeneous robots, facilitating communication between them, and enabling seamless task allocation and collaboration. Currently, the utilization of LLMs to achieve decentralized multi-heterogeneous robot collaborative tasks remains an under-explored area of research. In this paper, we introduce a novel framework that utilizes LLMs to achieve decentralized collaboration among multiple heterogeneous robots. Our framework supports three robot categories, mobile robots, manipulation robots, and mobile manipulation robots, working together to complete tasks such as exploration, transportation, and organization. We developed a rich set of textual feedback mechanisms and chain-of-thought (CoT) prompts to enhance task planning efficiency and overall system performance. The mobile manipulation robot can adjust its base position flexibly, ensuring optimal conditions for grasping tasks. The manipulation robot can comprehend task requirements, seek assistance when necessary, and handle objects appropriately. Meanwhile, the mobile robot can explore the environment extensively, map object locations, and communicate this information to the mobile manipulation robot, thus improving task execution efficiency. We evaluated the framework using PyBullet, creating scenarios with three different room layouts and three distinct operational tasks. We tested various LLM models and conducted ablation studies to assess the contributions of different modules. The experimental results confirm the effectiveness and necessity of our proposed framework.

Learning causal relationships between pairs of complex traits from observational studies is of great interest across various scientific domains. However, most existing methods assume the absence of unmeasured confounding and restrict causal relationships between two traits to be uni-directional, which may be violated in real-world systems. In this paper, we address the challenge of causal discovery and effect inference for two traits while accounting for unmeasured confounding and potential feedback loops. By leveraging possibly invalid instrumental variables, we provide identification conditions for causal parameters in a model that allows for bi-directional relationships, and we also establish identifiability of the causal direction under the introduced conditions. Then we propose a data-driven procedure to detect the causal direction and provide inference results about causal effects along the identified direction. We show that our method consistently recovers the true direction and produces valid confidence intervals for the causal effect. We conduct extensive simulation studies to show that our proposal outperforms existing methods. We finally apply our method to analyze real data sets from UK Biobank.

Machine learning methods often assume that the test data have the same distribution as the training data. However, this assumption may not hold due to multiple levels of heterogeneity in applications, raising issues in algorithmic fairness and domain generalization. In this work, we address the problem of fair and generalizable machine learning by invariant principles. We propose a training environment-based oracle, FAIRM, which has desirable fairness and domain generalization properties under a diversity-type condition. We then provide an empirical FAIRM with finite-sample theoretical guarantees under weak distributional assumptions. We then develop efficient algorithms to realize FAIRM in linear models and demonstrate the nonasymptotic performance with minimax optimality. We evaluate our method in numerical experiments with synthetic data and MNIST data and show that it outperforms its counterparts.

Mendelian randomization (MR) considers using genetic variants as instrumental variables (IVs) to infer causal effects in observational studies. However, the validity of causal inference in MR can be compromised when the IVs are potentially invalid. In this work, we propose a new method, MR-Local, to infer the causal effect in the existence of possibly invalid IVs. By leveraging the distribution of ratio estimates around the true causal effect, MR-Local selects the cluster of ratio estimates with the least uncertainty and performs causal inference within it. We establish the asymptotic normality of our estimator in the two-sample summary-data setting under either the plurality rule or the balanced pleiotropy assumption. Extensive simulations and analyses of real datasets demonstrate the reliability of our approach.

This paper presents novel methodologies for conducting practical differentially private (DP) estimation and inference in high-dimensional linear regression. We start by proposing a differentially private Bayesian Information Criterion (BIC) for selecting the unknown sparsity parameter in DP-Lasso, eliminating the need for prior knowledge of model sparsity, a requisite in the existing literature. Then we propose a differentially private debiased LASSO algorithm that enables privacy-preserving inference on regression parameters. Our proposed method enables accurate and private inference on the regression parameters by leveraging the inherent sparsity of high-dimensional linear regression models. Additionally, we address the issue of multiple testing in high-dimensional linear regression by introducing a differentially private multiple testing procedure that controls the false discovery rate (FDR). This allows for accurate and privacy-preserving identification of significant predictors in the regression model. Through extensive simulations and real data analysis, we demonstrate the efficacy of our proposed methods in conducting inference for high-dimensional linear models while safeguarding privacy and controlling the FDR.

In conventional statistical and machine learning methods, it is typically assumed that the test data are identically distributed with the training data. However, this assumption does not always hold, especially in applications where the target population are not well-represented in the training data. This is a notable issue in health-related studies, where specific ethnic populations may be underrepresented, posing a significant challenge for researchers aiming to make statistical inferences about these minority groups. In this work, we present a novel approach to addressing this challenge in linear regression models. We organize the model parameters for all the sub-populations into a tensor. By studying a structured tensor completion problem, we can achieve robust domain generalization, i.e., learning about sub-populations with limited or no available data. Our method novelly leverages the structure of group labels and it can produce more reliable and interpretable generalization results. We establish rigorous theoretical guarantees for the proposed method and demonstrate its minimax optimality. To validate the effectiveness of our approach, we conduct extensive numerical experiments and a real data study focused on education level prediction for multiple ethnic groups, comparing our results with those obtained using other existing methods.

Fock states with a well-defined number of photons in an oscillator have shown a wide range of applications in quantum information science. Nonetheless, their usefulness has been marred by single and multiple photon losses due to unavoidable environment-induced dissipation. Though several dissipation engineering methods have been developed to counteract the leading single-photon loss error, averting multiple photon losses remains elusive. Here, we experimentally demonstrate a dissipation engineering method that autonomously stabilizes multi-photon Fock states against losses of multiple photons using a cascaded selective photon-addition operation in a superconducting quantum circuit. Through measuring the photon-number populations and Wigner tomography of the oscillator states, we observe a prolonged preservation of nonclassical Wigner negativities for the stabilized Fock states $\vert N\rangle$ with $N=1,2,3$ for a duration of about 10 ms. Furthermore, the dissipation engineering method demonstrated here also facilitates the implementation of a non-unitary operation for resetting a binomially-encoded logical qubit. These results highlight potential applications in error-correctable quantum information processing against multi-photon-loss errors., Comment: Main text: 6 pages, 4 figures; Supplementary material: 7 pages, 5 figures, 4 tables

High-fidelity universal quantum gates are widely acknowledged as essential for scalable quantum computation. However, in solid-state quantum systems, which hold promise as physical implementation platforms for quantum computation, the inevitable $ZZ$ crosstalk resulting from interqubit interactions significantly impairs quantum operation performance. Here we propose a scalable protocol to achieve $ZZ$-crosstalk mitigation in universal quantum gates. This method converts the noisy Hamiltonian with $ZZ$ crosstalk into a framework that efficiently suppresses all $ZZ$-crosstalk effects, leading to ideal target quantum operations. Specifically, we first analytically derive the $ZZ$-crosstalk mitigation conditions and then apply them to enhance the performance of target universal quantum gates. Moreover, numerical simulations validate the effectiveness of $ZZ$-crosstalk mitigation when multiple qubit gates operate concurrently. As a result, our protocol presents a promising approach for implementing practical parallel quantum gates in large-scale quantum computation scenarios.

Quantum metrology has emerged as a promising avenue for surpassing the limitations of classical mechanics in high-precision measurements. However, the practical implementation of quantum metrology is hindered by the challenges of manipulating exotic quantum states in large systems. Here, we propose and demonstrate a hardware-efficient approach to achieve Heisenberg-limited quantum metrology using large photon-number Fock states. We have developed a programmable photon number filter that efficiently generates Fock states with up to 100 photons in a high-quality superconducting microwave cavity. Using these highly nontrivial states in displacement and phase measurements, we demonstrate a precision scaling close to the Heisenberg limit and achieve a maximum metrological gain of up to 14.8 dB. Our hardware-efficient quantum metrology can be extended to mechanical and optical systems and provides a practical solution for high metrological gain in bosonic quantum systems, promising potential applications in radiometry and the search for new particles., Comment: Main text: 10 pages, 4 figures; Supplement: 16 pages, 9 figures, 1 table

Quantum error correction (QEC) aims to protect logical qubits from noises by utilizing the redundancy of a large Hilbert space, where an error, once it occurs, can be detected and corrected in real time. In most QEC codes, a logical qubit is encoded in some discrete variables, e.g., photon numbers. Such encoding schemes make the codewords orthogonal, so that the encoded quantum information can be unambiguously extracted after processing. Based on such discrete-variable encodings, repetitive QEC demonstrations have been reported on various platforms, but there the lifetime of the encoded logical qubit is still shorter than that of the best available physical qubit in the entire system, which represents a break-even point that needs to be surpassed for any QEC code to be of practical use. Here we demonstrate a QEC procedure with a logical qubit encoded in photon-number states of a microwave cavity, dispersively coupled to an ancilla superconducting qubit. By applying a pulse featuring a tailored frequency comb to the ancilla, we can repetitively extract the error syndrome with high fidelity and perform error correction with feedback control accordingly, thereby exceeding the break-even point by about 16% lifetime enhancement. Our work illustrates the potential of the hardware-efficient discrete-variable QEC codes towards a reliable quantum information processor., Comment: Main text: 8 pages, 3 figures, 1 table; Supplement: 12 pages, 8 figures, 2 tables

Mendelian randomization (MR) is a powerful method that uses genetic variants as instrumental variables (IVs) to infer the causal effect of a modifiable exposure on an outcome. Although recent years have seen many extensions of basic MR methods to be robust to certain violations of assumptions, few methods were proposed to infer bi-directional causal relationships, especially for phenotypes with limited biological understandings. The presence of horizontal pleiotropy adds another layer of complexity. In this article, we show that assumptions for common MR methods are often impossible or too stringent in the existence of bi-directional relationships. We then propose a new focusing framework for testing bi-directional causal effects between two traits with possibly pleiotropic genetic variants. Our proposal can be coupled with many state-of-art MR methods. We provide theoretical guarantees on the Type I error and power of the proposed methods. We demonstrate the robustness of the proposed methods using several simulated and real datasets., Comment: 27 pages

We consider $Q$-learning with knowledge transfer, using samples from a target reinforcement learning (RL) task as well as source samples from different but related RL tasks. We propose transfer learning algorithms for both batch and online $Q$-learning with offline source studies. The proposed transferred $Q$-learning algorithm contains a novel re-targeting step that enables vertical information-cascading along multiple steps in an RL task, besides the usual horizontal information-gathering as transfer learning (TL) for supervised learning. We establish the first theoretical justifications of TL in RL tasks by showing a faster rate of convergence of the $Q$ function estimation in the offline RL transfer, and a lower regret bound in the offline-to-online RL transfer under certain similarity assumptions. Empirical evidences from both synthetic and real datasets are presented to back up the proposed algorithm and our theoretical results.

Quantum state transfer (QST) and entangled state generation (ESG) are important building blocks for modern quantum information processing. To achieve these tasks, convention wisdom is to consult the quantum adiabatic evolution, which is time-consuming, and thus is of low fidelity. Here, using the shortcut to adiabaticity technique, we propose a general method to realize high-fidelity fast QST and ESG in a cavity-coupled many qubits system via its dark pathways, which can be further designed for high-fidelity quantum tasks with different optimization purpose. Specifically, with a proper dark pathway, QST and ESG between any two qubits can be achieved without decoupling the others, which simplifies experimental demonstrations. Meanwhile, ESG among all qubits can also be realized in a single step. In addition, our scheme can be implemented in many quantum systems, and we illustrate its implementation on superconducting quantum circuits. Therefore, we propose a powerful strategy for selective quantum manipulation, which is promising in cavity coupled quantum systems and could find many convenient applications in quantum information processing., Comment: Accepted for publication in Frontiers of Physics