arXiv subjects

Dongdong An

Publications and source records attributed to Dongdong An.

4 recordsLinked to original sources

arXiv2026

Uncovering and Mitigating Positional Blind Spots in Vision-Language-Action Models

Recent Vision-Language-Action (VLA) models achieve promising performance in robotic manipulation, typically measured by success rates aggregated over predefined object configurations, an evaluation that implicitly assumes spatially uniform competence across the workspace. However, this assumption does not hold: even with the instruction and every other scene factor held fixed, merely relocating a task-irrelevant distractor can sharply raise the failure probability within localized, spatially coherent regions, which we term Positional Blind Spots (PBS). In this paper, we propose a two-stage black-box framework to uncover and mitigate PBS. During the uncovering stage, we grid the workspace and apply a one-sided log-likelihood-ratio test to localize PBS cells with significantly elevated risk. During the mitigation stage, we fine-tune the policy via LoRA on demonstrations collected from these PBS regions, improving competence there while largely preserving performance across the rest of the workspace. We evaluate our framework on five state-of-the-art VLA policies across two benchmarks, and find that PBS are pervasive and spatially concentrated in all of them, with failure rates up to 0.58. Our search strategy achieves an average F1-score of 0.678, outperforming random search and adaptive sampling baselines by 0.268 and 0.178, respectively. Guided by the discovered regions, targeted fine-tuning reduces the overall failure rate by 40.00%--85.19%.

cs.RO↗

arXiv2026

Organizing Principles for Moir\'e Quantum Matter

Moir\'e flat bands in van der Waals bilayers are usually discussed through a small set of mechanisms associated with the $\Gamma$ and $K$ valleys of hexagonal crystals, and more recently with $M$-valleys systems. Here we show that this view is incomplete. The momentum-space location and effective local orbital character of the monolayer's band edge, in conjunction with the moir\'e symmetry and the symmetry representations of the resulting bands, provide a general set of organizing variables for the emergent low-energy moir\'e Hamiltonian. Applying fully relaxed first-principles calculations, band unfolding and symmetry-representation analysis to more than 600 commensurate twisted bilayers spanning all 2D lattice classes, we identify several routes to moir\'e quantum matter beyond the conventional single-orbital paradigm. The resulting flat bands realize trigonal, honeycomb, square, checkerboard and kagome-like Hubbard models with single-orbital, multi-orbital and multi-site Hilbert spaces; spin-orbit-coupled multi-orbital flat bands exhibit symmetry-indicated topology beyond the conventional $K$-valley setting; and nonsymmorphic moir\'e symmetries enforce semimetallic flat-band connectivity. Analogous quasi-one-dimensional flat-band structures are found in $M$-valley hexagonal systems and $X$-valley square or rectangular systems resulting from emergent momentum-space nonsymmorphic symmetries. Separately, coupled multi-valley manifolds with kagome-like connectivity are identified in several systems whose parent band edges lie at non-high-symmetry points. These results establish a valley-orbital-symmetry framework for connecting parent-material electronic structure to emergent moir\'e Hamiltonians relevant to correlated, topological and symmetry-enforced moir\'e phases.

cond-mat.mtrl-sci↗

arXiv2025

Critical angles and one-dimensional moir\'e physics in twisted rectangular lattices

Engineering moir\'e superlattices in van der Waals heterostructures provides fundamental control over emergent electronic, structural, and optical properties allowing to affect topological and correlated phenomena. This control is achieved through imposed periodic modulation of potentials and targeted modifications of symmetries. For twisted bilayers of van der Waals materials with rectangular lattices, such as PdSe2, this work shows that one-dimensional (1D) moir\'e patterns emerge universally. This emergence is driven by a series of critical twist angles (CAs). We investigate the geometric origins of these unique 1D moir\'e patterns and develop a universal mathematical framework to predict the CAs in twisted rectangular lattices. Through a density functional theory (DFT) description of the electronic properties of twisted bilayer PdSe2, we further reveal directionally localized flat band structures, localized charge densities and strong spin-orbit coupling along the dispersive direction which points to the emergence of an effectively 1D strongly spin-orbit coupled electronic systems. This establishes twisted rectangular systems as a unique platform for engineering low-symmetry moir\'e patterns, low-dimensional strongly correlated and topological physics, and spatially selective quantum phases beyond the isotropic paradigms of hexagonal moir\'e materials.

cond-mat.mes-hall↗

arXiv2024

Strongly coupled magneto-exciton condensates in large-angle twisted double bilayer graphene

Excitons, the bosonic quasiparticle emerging from Coulomb interaction between electrons and holes, will undergo a Bose-Einstein condensation(BEC) and transition into a superfluid state with global phase coherence at low temperatures. An important platform to study such excitonic physics is built on double-layer quantum wells or recent two-dimensional material heterostructures, where two parallel planes of electrons and holes are separated by a thin insulating layer. Lowering this separation distance ($d$) enhances the interlayer Coulomb interaction thereby strengthens the exciton binding energy. However, an exceedingly small $d$ will lead to the undesired interlayer tunneling, which results the annihilation of excitons. Here, we report the observation of a sequences of robust exciton condensates(ECs) in double bilayer graphenes twisted to $\sim 10^\circ$ with no insulating mid-layer. The large momentum mismatch between the two graphene layers well suppress the interlayer tunneling, allowing us to reach the separation lower limit $\sim$ 0.334 nm and investigate ECs in the extreme coupling regime. Carrying out transport measurements on the bulk and edge of the devices, we find incompressible states corresponding to ECs when both layers are half-filled in the $N=0$ and $N=1$ Landau levels (LLs). The comparison between these ECs and theoretical calculations suggest that the low-energy charged excitation of ECs can be meron-antimeron or particle-hole pair, which relies on both LL index and carrier type. Our results establish large-angle twisted bilayers as an experimental platform with extreme coupling strength for studying quantum bosonic phase and its low-energy excitations.

cond-mat.mes-hall↗