arXiv subjects

Chunzheng Wang

Publications and source records attributed to Chunzheng Wang.

7 recordsLinked to original sources

arXiv2026

Non-volatile Multistate Magnetic Switching via Spin-orbit Torque and Intrinsic Anisotropy

While current-induced bistate spin-orbit torque (SOT) switching has been well established, deterministic electrical control of multiple magnetic states remains a central challenge in spintronics. Here, we realize a conceptually new multistate SOT device in a SrIrO_3/SrRuO_3 bilayer, hosting four intrinsically stable yet electrically distinguishable magnetic states, including two in-plane canted (IP_c^$\pm$) and two out-of-plane canted (OP_c^$\pm$) states. Pulsed current excitations fully map all twelve deterministic transitions among the four states, establishing a robust switching protocol defined by two characteristic current densities. In-situ scanning nitrogen-vacancy (NV) center magnetometry provides direct real-space evidence for the previously unobserved IP_c^$\pm$ states, and spin dynamics simulations uncover a two-step switching pathway, driven by the concerted action of spin torques and the effective anisotropy field within the fourfold anisotropy landscape. Our demonstration of the intrinsic multistate SOT device directly addresses the density bottleneck of conventional bistate SOT technology, establishing a powerful paradigm for compact, high-speed, and energy-efficient multistate spintronics.

cond-mat.mes-hall↗

arXiv2026

SAC-Loco: Safe and Adjustable Compliant Quadrupedal Locomotion

Quadruped robots are designed to achieve agile and robust locomotion by drawing inspiration from legged animals. However, most existing control methods for quadruped robots lack a key capacity observed in animals: the ability to exhibit diverse compliance behaviors while ensuring stability when experiencing external forces. In particular, achieving adjustable compliance while maintaining robust safety under force disturbances remains a significant challenge. In this work, we propose a safety aware compliant locomotion framework that integrates adjustable disturbance compliance with robust failure prevention. We first train a force compliant policy with adjustable compliance levels using a teacher student reinforcement learning framework, allowing deployment without explicit force sensing. To handle disturbances beyond the limits of compliant control, we develop a safety oriented policy for rapid recovery and stabilization. Finally, we introduce a learned safety critic that monitors the robot's safety in real time and coordinates between compliant locomotion and recovery behaviors. Together, this framework enables quadruped robots to achieve smooth force compliance and robust safety under a wide range of external force disturbances.

cs.RO↗

arXiv2026

Soft Responsive Materials Enhance Humanoid Safety

Humanoid robots are envisioned as general-purpose platforms in human-centered environments, yet their deployment is limited by vulnerability to falls and the risks posed by rigid metal-plastic structures to people and surroundings. We introduce a soft-rigid co-design framework that leverages non-Newtonian fluid-based soft responsive materials to enhance humanoid safety. The material remains compliant during normal interaction but rapidly stiffens under impact, absorbing and dissipating fall-induced forces. Physics-based simulations guide protector placement and thickness and enable learning of active fall policies. Applied to a 42 kg life-size humanoid, the protector markedly reduces peak impact and allows repeated falls without hardware damage, including drops from 3 m and tumbles down long staircases. Across diverse scenarios, the approach improves robot robustness and environmental safety. By uniting responsive materials, structural co-design, and learning-based control, this work advances interact-safe, industry-ready humanoid robots.

cs.RO↗

arXiv2025

APREBot: Active Perception System for Reflexive Evasion Robot

Reliable onboard perception is critical for quadruped robots navigating dynamic environments, where obstacles can emerge from any direction under strict reaction-time constraints. Single-sensor systems face inherent limitations: LiDAR provides omnidirectional coverage but lacks rich texture information, while cameras capture high-resolution detail but suffer from restricted field of view. We introduce APREBot (Active Perception System for Reflexive Evasion Robot), a novel framework that integrates reflexive evasion with active hierarchical perception. APREBot strategically combines LiDAR-based omnidirectional scanning with camera-based active focusing, achieving comprehensive environmental awareness essential for agile obstacle avoidance in quadruped robots. We validate APREBot through extensive sim-to-real experiments on a quadruped platform, evaluating diverse obstacle types, trajectories, and approach directions. Our results demonstrate substantial improvements over state-of-the-art baselines in both safety metrics and operational efficiency, highlighting APREBot's potential for dependable autonomy in safety-critical scenarios. Videos are available at https://sites.google.com/view/aprebot/

cs.RO↗

arXiv2025

Assessing background effects in search of the chiral vortical effect in relativistic heavy-ion collisions

The search for the Chiral Vortical Effect (CVE) in relativistic heavy-ion collisions is carried out by measuring azimuthal correlators for baryon pairs such as $Λ$ and protons. Experimental results from the ALICE collaboration show significant separations in these observables, however, the interpretation remains unclear. It is believed that background contributions from baryon production mechanisms may play an important role. Using three phenomenological models, the Blast Wave, AMPT, and AVFD+UrQMD, we systematically investigate the background effects in Pb--Pb collisions at \snn = 5.02 TeV. We demonstrate that local baryon conservation, as well as hadronic annihilation processes, can significantly influence the correlators. The feed-down contribution from secondary protons is also estimated. Our study provides a foundation for disentangling background mechanisms and further facilitates the search for the CVE.

nucl-th↗

arXiv2025

REBot: Reflexive Evasion Robot for Instantaneous Dynamic Obstacle Avoidance

Dynamic obstacle avoidance (DOA) is critical for quadrupedal robots operating in environments with moving obstacles or humans. Existing approaches typically rely on navigation-based trajectory replanning, which assumes sufficient reaction time and leading to fails when obstacles approach rapidly. In such scenarios, quadrupedal robots require reflexive evasion capabilities to perform instantaneous, low-latency maneuvers. This paper introduces Reflexive Evasion Robot (REBot), a control framework that enables quadrupedal robots to achieve real-time reflexive obstacle avoidance. REBot integrates an avoidance policy and a recovery policy within a finite-state machine. With carefully designed learning curricula and by incorporating regularization and adaptive rewards, REBot achieves robust evasion and rapid stabilization in instantaneous DOA tasks. We validate REBot through extensive simulations and real-world experiments, demonstrating notable improvements in avoidance success rates, energy efficiency, and robustness to fast-moving obstacles. Videos and appendix are available on https://rebot-2025.github.io/.

cs.RO↗

arXiv2022

Imaging the quantum melting of Wigner crystal with electronic quasicrystal order

Wigner crystal, as the most fundamental exemplification where the many-body interaction forges the electrons into a solid, experiences an intriguing quantum melting where diverse intermediate phases are predicted to emerge near the quantum critical point. Indications of exotic Wigner orders like bubble phase, liquid-solid phase, and anisotropic Wigner phase have been established by optical or transport measurements. However, the direct visualization of lattice-scale melting order, which is of paramount importance to unequivocally uncover the melting nature, remains challenging and lacking. Noting that Wigner crystals have been achieved in the fractionally filled moire superlattice recently, here, via scanning tunneling microscope, we image the quantum melting of Wigner solid realized by further varying the moire superstructure in monolayer YbCl3/graphene heterostructure. The Wigner solid is constructed on the two-dimensional ensemble of interfacial electron-hole pairs derived from charge transfer. The interplay between certain moire potential and ionic potential leads to the quantum melting of Wigner solid evidenced by the emergence of electron-liquid characteristic, verifying the theoretical predictions. Particularly, akin to the classical quasicrystal made of atoms, a dodecagonal quasicrystal made of electrons, i.e., the Wigner quasicrytal, is visualized at the quantum melting point. In stark contrast to the incompressible Wigner solid, the Wigner quasicrytal hosts considerable liquefied nature unraveled by the interference ripples caused by scattering. By virtue of the two-dimensional charge transfer interface composed of monolayer heavy electron material and graphene, our discovery not only enriches the exploration and understanding of quantum solid-liquid melting, but also paves the way to directly probe the quantum critical order of correlated many-body system.

cond-mat.str-el↗