arXiv subjects

Baiyang Zhang

Publications and source records attributed to Baiyang Zhang.

18 recordsLinked to original sources

arXiv2025

GuangMing-Explorer: A Four-Legged Robot Platform for Autonomous Exploration in General Environments

Autonomous exploration is a fundamental capability that tightly integrates perception, planning, control, and motion execution. It plays a critical role in a wide range of applications, including indoor target search, mapping of extreme environments, resource exploration, etc. Despite significant progress in individual components, a holistic and practical description of a completely autonomous exploration system, encompassing both hardware and software, remains scarce. In this paper, we present GuangMing-Explorer, a fully integrated autonomous exploration platform designed for robust operation across diverse environments. We provide a comprehensive overview of the system architecture, including hardware design, software stack, algorithm deployment, and experimental configuration. Extensive real-world experiments demonstrate the platform's effectiveness and efficiency in executing autonomous exploration tasks, highlighting its potential for practical deployment in complex and unstructured environments.

cs.RO↗

arXiv2025

Exploring Embodied Multimodal Large Models: Development, Datasets, and Future Directions

Embodied multimodal large models (EMLMs) have gained significant attention in recent years due to their potential to bridge the gap between perception, cognition, and action in complex, real-world environments. This comprehensive review explores the development of such models, including Large Language Models (LLMs), Large Vision Models (LVMs), and other models, while also examining other emerging architectures. We discuss the evolution of EMLMs, with a focus on embodied perception, navigation, interaction, and simulation. Furthermore, the review provides a detailed analysis of the datasets used for training and evaluating these models, highlighting the importance of diverse, high-quality data for effective learning. The paper also identifies key challenges faced by EMLMs, including issues of scalability, generalization, and real-time decision-making. Finally, we outline future directions, emphasizing the integration of multimodal sensing, reasoning, and action to advance the development of increasingly autonomous systems. By providing an in-depth analysis of state-of-the-art methods and identifying critical gaps, this paper aims to inspire future advancements in EMLMs and their applications across diverse domains.

cs.RO↗

arXiv2024

The Domain Wall Soliton's Tension

We calculate the one-loop tension of the domain wall soliton in the $\phi^4$ double-well model. Our result agrees with previous results from Dashen, Hasslacher and Neveu (1974) in 1+1d and Jaimunga, Semenoff and Zarembo (1999) in 2+1d. After an additional 25 year interval, we have obtained a one-loop tension correction of $0.0410959m^3$ in 3+1d. In this case, unlike lower-dimensional cases, even after normal ordering there are ultraviolet divergences that require both mass and also coupling constant renormalization. We renormalized the coupling so that the three-point interaction in the effective potential is given by its tree level value at zero external momenta.

hep-th↗

arXiv2024

On Emergent Directions in Weakly Coupled, Large N$_c$ $\mathcal{N}=1$ SYM

The $SU(N)$ Yang-Mills theory compactified on $\mathbb{R}^3 \times S^1_L$ with small $L$ has many merits, for example the long range effective theory is weakly coupled and adopts rich topological structures, making it semi-classically solvable. Due to the $SU(N) \to U(1)^{N-1}$ symmetry breaking by gauge holonomy, the low-energy effective theory can be described in terms of unbroken $U(1)$ photons and gauge holonomy. With the addition of $N_f$ adjoint light fermions, the center symmetry breaking phase transition can be studied using the twisted partition function, i.e., fermions with periodic boundary conditions, which preserve the supersymmetry in the massless case. In this paper, we show that in the large-$N$ abelian limit with $N_f=1$ and an $N$-independent W-boson mass, the long-range $3$d effective theory can be regarded as a bosonic field theory in $4$d with an emergent spatial dimension. The emergent dimension is flat in the confining phase, but conformally flat in the center-symmetry broken phase with a $\mathbb{Z}_2$ reflection symmetry. The center symmetry breaking phase transition itself is due to the competition between instanton-monopoles, magnetic and neutral bions controlled by the fermion mass, whose critical value at the transition point is given analytically in the large $N$ limit.

hep-th↗

arXiv2024

Constructing A Finite Tension Domain Wall in $\phi^4_4$

We have recently claimed that the domain wall in the 3+1 dimensional $\phi^4$ double-well model can be constructed as a squeezed, coherent state and that at one loop it has a finite tension given general, but unspecified, renormalization conditions. In the present note, we justify this claim by showing that the tadpole is finite and the infrared divergences cancel exactly. Also we carefully treat the renormalization of the normal ordering mass scale. Faddeev and Korepin have stressed that ultraviolet divergences cancel in the soliton sector if they cancel in the vacuum sector when the corresponding calculations are identical in the ultraviolet. We therefore renormalize the divergences in the vacuum sector using a Schrodinger picture prescription, which mirrors closely the analogous calculations in the domain wall sector.

hep-th↗

arXiv2024

A Finite Tension for the $\phi^4_4$ Domain Wall

In 1+1 dimensions, it is well known that the quantum states corresponding to solitons are well described by coherent states. In his 1975 Erice lectures, Coleman observed that this construction does not extend to higher dimensions, as the coherent states have infinite energy density. He challenged the students to construct the quantum states corresponding to solitons in higher dimensions, a problem which remains unsolved today. However, even in 1+1 dimensions, the correct quantum states are actually given by deformations of coherent states. In the 3+1 dimensional $\phi^4$ double-well model, we show that the leading deformation, which is just a squeeze, already cancels the one-loop divergence in the energy density of the domain wall soliton.

hep-th↗

arXiv2024

A (2+1)-Dimensional Domain Wall at One-Loop

We consider the domain wall in the (2+1)-dimensional $ϕ^4$ double well model, created by extending the $ϕ^4$ kink in an additional infinite direction. Classically, the tension is $m^3/3λ$ where $λ$ is the coupling and $m$ is the meson mass. At order $O(λ^0)$ all ultraviolet divergences can be removed by normal ordering, less trivial divergences arrive only at the next order. This allows us to easily quantize the domain wall, working at order $O(λ^0)$. We calculate the leading quantum correction to its tension as a two-dimensional integral over a function which is determined analytically. This integral is performed numerically, resulting in $-0.0866m^2$. This correction has previously been computed twice in the literature, and the results of these two computations disagreed. Our result agrees with and so confirms that of Jaimunga, Semenoff and Zarembo. We also find, at this order, the excitation spectrum and a general expression for the one-loop tensions of domain walls in other scalar models.

hep-th↗

arXiv2022

Kinks Multiply Mesons

In a (1+1)-dimensional scalar quantum field theory, we calculate the leading-order probability of meson multiplication, which is the inelastic scattering process: kink + meson $\rightarrow$ kink + 2 mesons. We also calculate the differential probability with respect to the final meson momenta and the probability that one or two of the final mesons recoils back towards the source. In the ultrarelativistic limit of the initial meson, the total probability tends to a constant, which we calculate analytically in the $ϕ^4$ model. At this order the meson sector conserves energy on its own, while the incoming meson applies a positive pressure to the kink. This is in contrast with the situation in classical field theory, where Romanczukiewicz and collaborators have shown that, in the presence of a reflectionless kink, only meson fusion is allowed, resulting in a negative radiation pressure on the kink.

hep-th↗

arXiv2022

Cut-Off Kinks

We answer the question: If a vacuum sector Hamiltonian is regularized by an energy cutoff, how is the one-kink sector Hamiltonian regularized? We find that it is not regularized by an energy cutoff, indeed normal modes of all energies are present in the kink Hamiltonian, but rather the decomposition of the field into normal mode operators yields coefficients which lie on a constrained surface that forces them to become small for energies above the cutoff. This explains the old observation that an energy cutoff of the kink Hamiltonian leads to an incorrect one-loop kink mass. To arrive at our conclusion, we impose that the regularized kink sector Hamiltonian is unitarily equivalent to the regularized vacuum sector Hamiltonian. This condition implies that the two regularized Hamiltonians have the same spectrum and so guarantees that the kink Hamiltonian yields the correct kink mass.

hep-th↗

arXiv2019

Flavor-dependent EMC effect from a nucleon swelling model

We present our results for a flavor-dependent EMC effect based on the nIMParton nuclear PDFs, in which the $x$-dependence is described with a nucleon swelling model. The nuclear correction from nucleon swelling is considered through a modification of the initial valence quark distributions instead of a dynamical rescaling. To probe the flavor-dependence of the model, the experimental observables are calculated applying nIMParton nuclear modifications for various experiments: parity-violating deep inelastic scattering on nuclear target, pion-induced Drell-Yan, and W-boson production in proton-nucleus collisions. In addition, we present the expected effect for the spectator-tagged deep inelastic scattering process, which will be performed by the CLAS12 collaboration with the ALERT detector.

hep-ph↗

arXiv2018

The Compactified Principal Chiral Model's Mass Gap

If the space of minima of the effective potential of a weakly coupled 2d quantum field theory is not connected, then a mass gap will be nonpertubatively generated. As examples, we consider two sigma models compactified on a small circle with twisted boundary conditions. In the compactified SO(3) model the vacuum manifold consists of two points and the mass gap is nonperturbative. In the case of the compactified SU(2) principal chiral model the vacuum manifold is a single circle and the mass gap is perturbative.

hep-th↗

arXiv2017

Gluonic Distribution in the Constituent Quark and Nucleon Induced by the Instantons

Instanton effects can give large contribution to strong interacting processes, especially at the energy scale where perturbative QCD is no longer valid. However instanton contribution to the gluon contribution in constituent quark and nucleon has never been calculated before. Based on both the constituent quark picture and the instanton model for QCD vacuum, we calculate the unpolarized and polarized gluon distributions in the constituent quark and in the nucleon for the first time. We find that the pion field plays an important role in producing both the unpolarized and the polarized gluon distributions.

hep-ph↗

arXiv2017

The Pauli Form Factor of Quark and Nontrivial Topological Structure of the QCD

We calculate the electromagnetic Pauli form factor of quark induced by the nontrivial topological fluctuations of QCD vacuum called instantons. It is shown that such contribution is significant. We discuss the possible implications of our result in the photon-hadron reactions and in the dynamics of quark-photon interactions in the dense/hot quark matter.

hep-ph↗

arXiv2016

Generalized Skyrme model with the loosely bound potential

We study a generalization of the loosely bound Skyrme model which consists of the Skyrme model with a sixth-order derivative term - motivated by its fluid-like properties - and the second-order loosely bound potential - motivated by lowering the classical binding energies of higher-charged Skyrmions. We use the rational map approximation for the Skyrmion of topological charge B=4, calculate the binding energy of the latter and estimate the systematic error in using this approximation. In the parameter space that we can explore within the rational map approximation, we find classical binding energies as low as 1.8% and once taking into account the contribution from spin-isospin quantization we obtain binding energies as low as 5.3%. We also calculate the contribution from the sixth-order derivative term to the electric charge density and axial coupling.

hep-ph↗

arXiv2016

Gluonic Structure of the Constituent Quark

Based on both the constituent quark picture and the instanton model for QCD vacuum, we calculate the unpolarized and polarized gluon distributions in the constituent quark and in the nucleon. Our approach consists of the two main steps. At the first step, we calculate the gluon distributions inside the constituent quark generated by the perturbative quark-gluon interaction, the non-perturbative quark-gluon interaction, and the non-perturbative quark-gluon-pion anomalous chromomagnetic interaction. The non-perturbative interactions are related to the existence of the instantons, strong topological fluctuations of gluon fields, in the QCD vacuum. At the second step, the convolution model is applied to derive the gluon distributions in the nucleon. A very important role of the pion field in producing the unpolarized and the polarized gluon distributions in the hadrons is discovered. We discuss a possible solution of the proton spin problem.

hep-ph↗

arXiv2015

Non-perturbative collisional energy loss of heavy quarks in quark-gluon plasma

We suggest a new mechanism for the energy loss of fast heavy quarks in quark-gluon plasma. This mechanism is based on pion production caused by the anomalous chromomagnetic quark-gluon-pion interaction induced by strong topological fluctuations of the gluon fields represented by instantons. We found that this mechanism gives a considerable contribution to the collisional energy loss of a heavy quark in quark-gluon plasma, which shows a nontrivial role of nonperturbative phenomena in strongly interacting quark-gluon plasma.

hep-ph↗

arXiv2015

Anomalous pion production induced by nontrivial topological structure of QCD vacuum

A new mechanism for the pion production in the high energy reactions is suggested. It is related to the possibility for direct production of the pions induced by instantons, topologically nontrivial gluonic excitations of QCD vacuum. This mechanism does not require any fragmentation functions for production of pseudoscalar mesons in high energy reactions with hadrons. We calculate the contribution of a new mechanism to the inclusive $π^0$-meson production in high energy proton-proton collision. It is shown that it gives the dominated contribution to the inclusive cross-sections in the few GeV region for the transverse momentum of final pion. We discuss the possible application of a new mechanism to the phenomenon of the large spin effects observed in the numerous high energy reactions.

hep-ph↗

arXiv2014

The study of $U$-boson from $π^{0}$-meson decays at HIAF energy

Within the frame of LDM (light dark matter)-model, the LDM exchange particle $U$-boson (with mass 10-100 MeV) can be produced from many meson decay process so it attracts a lot of attention. Considering the merit of searching the $U$-boson from $π^{0}$ decay, the momentum spectra of light spin-1 vector $U$-boson from decay channel $π^{0}\rightarrow γU$ and the energy spectra of positron decay from $U\rightarrow e^{+}e^{-}$ at beam energy of 5-10 GeV are first presented by using a relativistic transport (ART) model. Moreover,the feasibility and rationality of searching the $U$-boson in the experiment at HIAF energy are discussed, which will be an important promotion to understand and ultimately detect the $U$-boson, both in theory and experiment.

hep-ph↗