arXiv subjects

Feng Jin

Publications and source records attributed to Feng Jin.

At least 37 records · Page 2Linked to original sources

arXiv2025

Benchmarking Generalizable Bimanual Manipulation: RoboTwin Dual-Arm Collaboration Challenge at CVPR 2025 MEIS Workshop

Embodied Artificial Intelligence (Embodied AI) is an emerging frontier in robotics, driven by the need for autonomous systems that can perceive, reason, and act in complex physical environments. While single-arm systems have shown strong task performance, collaborative dual-arm systems are essential for handling more intricate tasks involving rigid, deformable, and tactile-sensitive objects. To advance this goal, we launched the RoboTwin Dual-Arm Collaboration Challenge at the 2nd MEIS Workshop, CVPR 2025. Built on the RoboTwin Simulation platform (1.0 and 2.0) and the AgileX COBOT-Magic Robot platform, the competition consisted of three stages: Simulation Round 1, Simulation Round 2, and a final Real-World Round. Participants totally tackled 17 dual-arm manipulation tasks, covering rigid, deformable, and tactile-based scenarios. The challenge attracted 64 global teams and over 400 participants, producing top-performing solutions like SEM and AnchorDP3 and generating valuable insights into generalizable bimanual policy learning. This report outlines the competition setup, task design, evaluation methodology, key findings and future direction, aiming to support future research on robust and generalizable bimanual manipulation policies. The Challenge Webpage is available at https://robotwin-benchmark.github.io/cvpr-2025-challenge/.

cs.RO↗

arXiv2025

Dominant Kitaev interaction and field-induced quantum phase transitions in triangular-lattice KCeSe2

Realizing Kitaev interactions on triangular lattices offers a compelling platform for exploring quantum-spin-liquid physics beyond the conventional honeycomb lattice framework. Here, we investigate the triangular-lattice antiferromagnet KCeSe2, where multiple probes reveal strong magnetic anisotropy suggesting significant Kitaev physics. Through detailed and combined analysis of magnetization, neutron scattering, and thermodynamic experiments, we identify dominant ferromagnetic Kitaev ($K = -1.82$ K) and antiferromagnetic Heisenberg ($J = 1.34$ K) interactions that stabilize a stripe-$yz$ ordered ground state via an order-by-disorder mechanism. Magnetic fields applied along the Kitaev bond direction induce two phase transitions at 1.67 T and 3.8 T, consistent with density matrix renormalization group (DMRG) calculations predictions of a progression from stripe-$yz$ to stripe-canted and spin-polarized phases. Near the 1.67 T quantum critical point, enhanced quantum fluctuations suggest conditions favorable for exotic excitations. These results establish KCeSe2 as a platform for exploring Kitaev physics on triangular lattices.

cond-mat.str-el↗

arXiv2025

Gapless spinon excitations emerging from a multipolar transverse field in the triangular-lattice Ising antiferromagnet NaTmSe2

The triangular-lattice quantum Ising antiferromagnet is a promising platform for realizing Anderson's quantum spin liquid, though finding suitable materials to realize it remains a challenge. Here, we present a comprehensive study of NaTmSe2 using magnetization, specific heat, neutron scattering, and muon spin relaxation, combined with theoretical calculations. We demonstrate that NaTmSe2 realizes the transverse field Ising model and quantitatively determine its exchange parameters. Our results reveal a multipolar spin-polarized state coexisting with a dipolar spin-disordered state. These states feature gapless spinon excitations mediated by the multipolar moments. The study shows how multiple types of magnetism can emerge in distinct magnetic channels (dipolar and multipolar) within a single magnet, advancing our understanding of spin-frustrated Ising physics and opening pathways for different quantum computing applications.

cond-mat.str-el↗

arXiv2025

Topotactic Reduction-Driven Crystal Field Excitations in Brownmillerite Manganite Thin Films

Topotactic reduction of perovskite oxides offers a powerful approach for discovering novel phenomena, such as superconducting infinite-layer nickelates and polar metallicity, and is commonly accompanied by the emergence of multiple valence states and/or complex crystal fields of transition metals. However, understanding the complex interplay between crystal chemistry, electronic structure, and physical properties at the spin- and orbital-resolved levels in these reduced systems remains elusive. Here, we combine x-ray absorption spectroscopy, resonant inelastic x-ray scattering (RIXS), and density functional theory calculations to uncover topotactic metal-insulator transition and orbital-specific crystal field excitations in brownmillerite La0.67Ca0.33MnO2.5 thin films. We reveal the Mn valence states to be predominantly Mn2+/Mn3+, along with their corresponding populations at octahedral and tetrahedral sites, which effectively weaken the Mn-O hybridization compared to the parent perovskite phase. As a result, La0.67Ca0.33MnO2.5 films exhibit an antiferromagnetic insulating ground state. Moreover, by combining the RIXS measurements on selected single-valence manganites, specifically MnO, LaMnO3, and CaMnO3, with orbital- and spin-resolved density-of-states calculations, we identify the dd excitations of octahedrally and tetrahedrally coordinated Mn2+/Mn3+ ions, directly linking the microscopic electronic structure to the macroscopic magnetic/electrical properties.

cond-mat.mtrl-sci↗

arXiv2025

Lattice dynamics and spin-phonon coupling in the kagome spin ice HoAgGe

We employ polarization-resolved Raman spectroscopy and first-principles phonon calculations to study the lattice dynamics and spin-phonon coupling in the kagome spin ice compound HoAgGe. Upon cooling, HoAgGe shows transitions from a nonmagnetic state at 300 K to a partially magnetic-ordered phase below T2 = 11.6 K, eventually reaching a fully-magnetic ordered phase below T1 = 7 K. We detect eight of ten Raman-active phonon modes at room temperature, with frequencies consistent with first-principles phonon calculations. We find that the low-energy phonon modes harden upon cooling, soften slightly below T2, and finally harden again below T1, suggesting finite spin-phonon coupling in HoAgGe. Furthermore, one high-energy mode at 185 cm-1 with E' symmetry exhibits a Fano lineshape due to electron-phonon coupling. Our Raman results establish finite spin-phonon coupling and electron-phonon coupling in the magnetic phase of HoAgGe, providing a foundation for future studies of the novel field-induced phases at low temperatures in HoAgGe.

cond-mat.str-el↗

arXiv2025

Magnetic order induced chiral phonons in a ferromagnetic Weyl semimetal

Chiral phonons are vibrational modes in a crystal that possess a well-defined handedness or chirality, typically found in materials that lack inversion symmetry. Here we report the discovery of chiral phonon modes in the kagome ferromagnetic Weyl semimetal Co3Sn2S2, a material that preserves inversion symmetry but breaks time-reversal symmetry. Using helicity-resolved magneto-Raman spectroscopy, we observe the spontaneous splitting of the doubly degenerate in-plane Eg modes into two distinct chiral phonon modes of opposite helicity when the sample is zero-field cooled below the Curie temperature, in the absence of an external magnetic field. As we sweep the out-of-plane magnetic field, this Eg phonon splitting exhibits a well-defined hysteresis loop directly correlated with the material's magnetization. The observed spontaneous splitting reaches up to 1.27 cm-1 at low temperatures, progressively diminishes with increasing temperature, and completely vanishes near the Curie temperature. Our findings highlight the role of the magnetic order in inducing chiral phonons, paving the way for novel methods to manipulate chiral phonons through magnetization and vice versa. Additionally, our work introduces new possibilities for controlling chiral Weyl fermions using chiral phonons.

cond-mat.mtrl-sci↗

arXiv2025

Enhanced Phonon-Phonon Interactions and Weakened Electron-Phonon Coupling in Charge-Density-Wave Topological Semimetal EuAl4 with a Possible Intermediate Electronic State

The origin of charge density wave (CDW) is a long-term open issue. Furthermore, the evolution of phonon-phonon interactions (PPI) across CDW transitions has rarely been investigated. Besides, whether electron-phonon coupling (EPC) would be weakened or enhanced after CDW transitions is still under debate. Additionally, CDW provides a fertile ground for uncovering intriguing intermediate electronic states. Here, we report a Raman spectroscopy study of the PPI and EPC in topological semimetal EuAl4 exhibiting a CDW phase below temperature Tc ~ 145 K. The free-charge-carrier-density (nc) and temperature dependences of the Fano asymmetric factors (1/|q|) of the two phonon modes A1g and B1g indicates that below Tc, the EPC becomes weakened probably due to the reduction of the nc. Interestingly, in the temperature range from 50 to 145 K, the steep growth of the 1/|q| leading to the significant deviation from the linear dependence on the nc, together with the shoulder-like features in the temperature evolutions of the 1/|q| and the nc around 50 K, implies the possible existence of an intermediate electronic state with the EPC distinctly larger than the CDW ground state in EuAl4. Furthermore, below Tc, the faster decrease in the full width at half maxima of the B1g phonon mode representing the collective vibrations of the CDW-modulated Al1 atoms suggests that a remarkable growth of the PPI for the B1g phonon mode after the CDW phase transition, which is in contrast to the weakening of the EPC and thus may mainly arise from the strengthening of lattice anharmonicity in EuAl4. Our results not only highlight the significance of the enhanced PPI and the weakened EPC in completely understanding the formation of the CDW phase but also initiate the exploration of novel intermediate electronic states in EuAl4.

cond-mat.mtrl-sci↗

arXiv2024

Crystalline electric field excitations and their nonlinear splitting under magnetic fields in YbOCl

Recently reported van der Waals layered honeycomb rare-earth chalcohalides REChX (RE = rare earth, Ch = chalcogen, and X = halogen) are considered to be promising Kitaev spin liquid (KSL) candidates. The high-quality single crystals of YbOCl, a representative member of the family with an effective spin of 1/2, are available now. The crystalline electric field (CEF) excitations in a rare-earth spin system are fundamentally important for understanding both finite-temperature and ground-state magnetism, but remain unexplored in YbOCl so far. In this paper, we conduct a comprehensive Raman scattering study to unambiguously identify the CEF excitations in YbOCl and determine the CEF parameters and wave functions. Our Raman experiments further reveal the anomalous nonlinear CEF splitting under magnetic fields. We have grown single crystals of YbOCl, the nonmagnetic LuOCl, and the diluted magnetic Lu_{0.86}Yb_{0.14}OCl to make a completely comparative investigation. Polarized Raman spectra on the samples at 1.8 K allow us to clearly assign all the Raman-active phonon modes and explicitly identify the CEF excitations in YbOCl. The CEF excitations are further examined using temperature-dependent Raman measurements and careful symmetry analysis based on Raman tensors related to CEF excitations. By applying the CEF Hamiltonian to the experimentally determined CEF excitations, we extract the CEF parameters and eventually determine the CEF wave functions. The study experimentally pins down the CEF excitations in the Kitaev compound YbOCl and sets a foundation for understanding its finite-temperature magnetism and exploring the possible nontrivial spin ground state.

cond-mat.str-el↗

arXiv2024

Ground State Magnetic Structure and Magnetic Field Effects in the Layered Honeycomb Antiferromagnet YbOCl

YbOCl is a representative member of the van der Waals layered honeycomb rare-earth chalcohalide REChX (RE = rare earth, Ch = O, S, Se, and Te, and X = F, Cl, Br, and I) family reported recently. Its spin ground state remains to be explored experimentally. In this paper, we have grown high-quality single crystals of YbOCl and conducted comprehensive thermodynamic, elastic, and inelastic neutron scattering experiments down to 50 mK. The experiments reveal an antiferromagnetic phase below 1.3 K, which is identified as a spin ground state with an intralayer ferromagnetic and interlayer antiferromagnetic ordering. By applying sophisticated numerical techniques to a honeycomb (nearest-neighbor)-triangle (next-nearest-neighbor) model Hamiltonian which accurately describes the highly anisotropic spin system, we are able to well simulate the experiments and determine the diagonal and off-diagonal spin-exchange interactions. The simulations give an antiferromagnetic Kitaev term comparable to the Heisenberg one. The experiments under magnetic fields allow us to establish a magnetic field-temperature phase diagram around the spin ground state. Most interestingly, a relatively small magnetic field (~ 0.3 to 3 T) can significantly suppress the antiferromagnetic order, suggesting an intriguing interplay of the Kitaev interaction and magnetic fields in the spin system. The present study provides fundamental insights into the highly anisotropic spin systems and opens a new window to look into Kitaev spin physics in a rare-earth-based system.

cond-mat.str-el↗

arXiv2024

Finite Temperature Magnetism in the Triangular Lattice Antiferromagnet KErTe2

After the discovery of the ARECh2 (A=alkali or monovalent ions, RE=rare-earth, Ch= chalcogen) triangular lattice quantum spin liquid (QSL) family, a series of its oxide, sulfide, and selenide counterparts has been consistently reported and extensively investigated. While KErTe2 represents the initial synthesized telluride member, preserving its triangular spin lattice, it was anticipated that the substantial tellurium ions could impart more pronounced magnetic attributes and electronic structures to this material class. This study delves into the magnetism of KErTe2 at finite temperatures through magnetization and electron spin resonance (ESR) measurements. Based on the angular momentum $\hat{J}$ after spin-orbit coupling (SOC) and symmetry analysis, we obtain the magnetic effective Hamiltonian to describe the magnetism of Er3+ in R-3m space group. Applying the mean-field approximation to the Hamiltonian, we can simulate the magnetization and magnetic heat capacity of KErTe2 in paramagnetic state and determine the crystalline electric field (CEF) parameters and partial exchange interactions. The relatively narrow energy gaps between CEF ground state and excited states exert a significant influence on the magnetism. For example, small CEF excitations can result in a significant broadening of the ESR linewidth at 2 K. For the fitted exchange interactions, although the values are small, given a large angular momentum J = 15/2 after SOC, they still have a noticeable effect at finite temperatures. Notably, the heat capacity data under different magnetic fields along the c-axis direction also roughly match our calculated results, further validating the reliability of our analytical approach. These derived parameters serve as crucial tools for future investigations into the ground state magnetism of KErTe2.

cond-mat.str-el↗

arXiv2024

Interlayer Fermi polarons of excited exciton states in quantizing magnetic fields

The study of exciton-polarons has offered profound insights into the many-body interactions between bosonic excitations and their immersed Fermi sea within layered heterostructures. However, little is known about the properties of exciton polarons with interlayer interactions. Here through magneto-optical reflectance contrast measurements, we experimentally investigate interlayer Fermi polarons for 2s excitons in WSe$_2$/graphene heterostructures, where the excited exciton states (2s) in the WSe$_2$ layer are dressed by free charge carriers of the adjacent graphene layer in the Landau quantization regime. First, such a system enables an optical detection of integer and fractional quantum Hall states (e.g. $ν=\pm1/3$, $\pm$2/3) of monolayer graphene. Furthermore, we observe that the 2s state evolves into two distinct branches, denoted as attractive and repulsive polarons, when graphene is doped out of the incompressible quantum Hall gaps. Our work paves the way for the understanding of the excited composite quasiparticles and Bose-Fermi mixtures.

cond-mat.mes-hall↗

arXiv2024

Magnetism of $\mathrm{NaYbS_2}$: From finite temperatures to ground state

Rare-earth chalcogenide compounds $\mathrm{ARECh_2}$ (A = alkali or monovalent metal, RE = rare earth, Ch = O, S, Se, Te) are a large family of quantum spin liquid (QSL) candidate materials. $\mathrm{NaYbS_2}$ is a representative member of the family. Several key issues on $\mathrm{NaYbS_2}$, particularly how to determine the highly anisotropic spin Hamiltonian and describe the magnetism at finite temperatures and the ground state, remain to be addressed. In this paper, we conducted an in-depth and comprehensive study on the magnetism of $\mathrm{NaYbS_2}$ from finite temperatures to the ground state. Firstly, we successfully detected three crystalline electric field (CEF) excitation energy levels using low-temperature Raman scattering technique. Combining them with the CEF theory and magnetization data, we worked out the CEF parameters, CEF energy levels, and CEF wavefunctions. We further determined a characteristic temperature of $\sim$40 K, above which the magnetism is dominated by CEF excitations while below which the spin-exchange interactions play a main role. The characteristic temperature has been confirmed by the temperature-dependent electron spin resonance (ESR) linewidth. Low-temperature ESR experiments on the dilute magnetic doped crystal of $\mathrm{NaYb_{0.1}Lu_{0.9}S_2}$ further helped us to determine the accurate $g$-factor. Next, we quantitatively obtained the spin-exchange interactions in the spin Hamiltonian by consistently simulating the magnetization and specific heat data. Finally, the above studies allow us to explore the ground state magnetism of $\mathrm{NaYbS_2}$ by using the density matrix renormalization group. We combined numerical calculations and experimental results to demonstrate that the ground state of $\mathrm{NaYbS_2}$ is a Dirac-like QSL.

cond-mat.str-el↗

arXiv2024

Trembling Motion of Exciton-Polaritons Close to the Rashba-Dresselhaus Regime

We report the experimental emulation of trembling quantum motion, or Zitterbewegung, of exciton polaritons in a perovskite microcavity at room temperature. By introducing liquid crystal molecules into the microcavity, we achieve spinor states with synthetic Rashba-Dresselhaus spin-orbit coupling and tunable energy splitting. Under a resonant excitation, the polariton fluid exhibits clear trembling motion perpendicular to its flowing direction, accompanied by a unique spin pattern resembling interlocked fingers. Furthermore, leveraging on the sizable tunability of energy gaps by external electrical voltages, we observe the continuous transition of polariton Zitterbewegung from relativistic (small gaps) to non-relativistic (large gaps) regimes. Our findings pave the way for using exciton polaritons in the emulation of relativistic quantum physics.

cond-mat.mes-hall↗

arXiv2024

Observation of perovskite topological valley exciton-polaritons at room temperature

Topological exciton-polaritons are a burgeoning class of topological photonic systems distinguished by their hybrid nature as part-light, part-matter quasiparticles. Their further control over novel valley degree of freedom (DOF) has offered considerable potential for developing active topological optical devices towards information processing. However, the experimental demonstration of propagating topological exciton-polaritons with valley DOF remains elusive at room temperature. Here, employing a two-dimensional (2D) valley-Hall perovskite lattice, we report the experimental observation of valley-polarized topological exciton-polaritons and their valley-dependent propagations at room temperature. The 2D valley-Hall perovskite lattice consists of two mutually inverted honeycomb lattices with broken inversion symmetry. By measuring their band structure with angle-resolved photoluminescence spectra, we experimentally verify the existence of valley-polarized polaritonic topological kink states with a large gap opening of ~ 9 meV in the bearded interface at room temperature. Moreover, these valley-polarized states exhibit counter-propagating behaviors under a resonant excitation at room temperature. Our results not only expand the landscape of realizing topological exciton-polaritons, but also pave the way for the development of topological valleytronic devices employing exciton-polaritons with valley DOF at room temperature

physics.optics↗

arXiv2024

Perovskite topological exciton-polariton disclination laser at room temperature

Topologically nontrivial systems can be protected by band topology in momentum space, as seen in topological insulators and semimetals, or real-space topology, such as in lattice deformations known as topological disclinations (TDs). TDs, with inherent chiral symmetry, can support localized states pinned spectrally to the middle of the topological gap, preventing hybridization with bulk bands, and making them promising for topological lasers. Here, we experimentally realize a C4v symmetric TD laser based on perovskite exciton-polariton lattices at room temperature. Protected by the chiral and point group symmetries of the lattice, the TD state emerges in the middle of the gap and at the core of the perovskite lattice. Under a non-resonant pulsed excitation, coherent polariton lasing occurs precisely at the TD state with a low threshold of 9.5 uJ/cm2, as confirmed by momentum space and real space spectra measurements. This study not only introduces a class of symmetry-protected topological lasers, but also expands the landscape for exploring exciton-polariton light-matter interactions with novel topological structures.

physics.optics↗

arXiv2024

Evidence for an Excitonic Insulator State in Ta$_2$Pd$_3$Te$_5$

The excitonic insulator (EI) is an exotic ground state of narrow-gap semiconductors and semimetals arising from spontaneous condensation of electron-hole pairs bound by attractive Coulomb interaction. Despite research on EIs dating back to half a century ago, their existence in real materials remains a subject of ongoing debate. In this study, through systematic experimental and theoretical investigations, we provide evidence for the existence of an EI ground state in a van der Waals compound Ta$_2$Pd$_3$Te$_5$. Density-functional-theory calculations suggest that it is a semimetal with a small band overlap, whereas various experiments exhibit an insulating ground state with a clear band gap. Upon incorporating electron-hole Coulomb interaction into our calculations, we obtain an EI phase where the electronic symmetry breaking opens a many-body gap. Angle-resolved photoemission spectroscopy measurements exhibit that the band gap is closed with a significant change in the dispersions as the number of thermally excited charge carriers becomes sufficiently large in both equilibrium and nonequilibrium states. Structural measurements reveal a slight breaking of crystal symmetry with exceptionally small lattice distortion in the insulating state, which cannot account for the significant gap opening. Therefore, we attribute the insulating ground state with a gap opening in Ta$_2$Pd$_3$Te$_5$ to exciton condensation, where the coupling to the symmetry-breaking electronic state induces a subtle change in the crystal structure.

cond-mat.mtrl-sci↗

arXiv2024

van Hove Singularity-Driven Emergence of Multiple Flat Bands in Kagome Superconductors

The newly discovered Kagome superconductors AV$_3$Sb$_5$ (A=K, Rb and Cs) continue to bring surprises in generating unusual phenomena and physical properties, including anomalous Hall effect, unconventional charge density wave, electronic nematicity and time-reversal symmetry breaking. Here we report an unexpected emergence of multiple flat bands in the AV$_3$Sb$_5$ superconductors. By performing high-resolution angle-resolved photoemission (ARPES) measurements, we observed four branches of flat bands that span over the entire momentum space. The appearance of the flat bands is not anticipated from the band structure calculations and cannot be accounted for by the known mechanisms of flat band generation. It is intimately related to the evolution of van Hove singularities. It is for the first time to observe such emergence of multiple flat bands in solid materials. Our findings provide new insights in revealing the underlying mechanism that governs the unusual behaviors in the Kagome superconductors. They also provide a new pathway in producing flat bands and set a platform to study the flat bands related physics.

cond-mat.mtrl-sci↗

arXiv2024

$π$ Phase Interlayer Shift and Stacking Fault in the Kagome Superconductor CsV$_3$Sb$_5$

The stacking degree of freedom is a crucial factor in tuning material properties and has been extensively investigated in layered materials. The kagome superconductor CsV$_3$Sb$_5$ was recently discovered to exhibit a three-dimensional CDW phase below TCDW ~94 K. Despite the thorough investigation of in-plane modulation, the out-of-plane modulation has remained ambiguous. Here, our polarization- and temperature-dependent Raman measurements reveal the breaking of C$_6$ rotational symmetry and the presence of three distinct domains oriented at approximately 120°to each other. The observations demonstrate that the CDW phase can be naturally explained as a 2c staggered order phase with adjacent layers exhibiting a relative $π$ phase shift. Further, we discover a first-order structural phase transition at approximately 65 K and suggest that it is a stacking order-disorder phase transition due to stacking fault, supported by the thermal hysteresis behavior of a Cs-related phonon mode. Our findings highlight the significance of the stacking degree of freedom in CsV$_3$Sb$_5$ and offer structural insights to comprehend the entanglement between superconductivity and CDW.

cond-mat.supr-con↗