arXiv subjects

Guangyi Huang

Publications and source records attributed to Guangyi Huang.

5 recordsLinked to original sources

arXiv2026

asRoBallet: Closing the Sim2Real Gap via Friction-Aware Reinforcement Learning for Underactuated Spherical Dynamics

We introduce asRoBallet, to the best of our knowledge, the first end-to-end reinforcement learning (RL) locomotion policy deployed on a humanoid ballbot hardware platform. Historically, ballbots have served as a canonical benchmark for underactuated and nonholonomic control, which are characterized by a reality gap in complex friction models for wheel-ball-floor interactions. While current literature demonstrates successful handling of 3D balancing with LQR and MPC, transitioning to actual hardware for a humanoid ballbot using RL is currently hindered by critical gaps in contact modeling, actuator latency & jitter, and safe hardware exploration. This study proposes a high-fidelity MuJoCo simulation that explicitly models the discrete roller mechanics of ETH-type omni-wheels, thereby capturing parasitic vibrations and contact discontinuities that have previously been ignored. We also developed a Friction-Aware Reinforcement Learning framework that achieves zero-shot Sim2Real transfer by mastering the coupled rolling, lateral, and torsional friction channels at the wheel-ball and ball-floor interfaces. We designed asRoBallet through subtractive reconfiguration, repurposing key components from an overconstrained quadruped and integrating them into a newly designed structural frame to achieve a robust research platform at low cost. We also developed a generalized iOS ecosystem that transforms consumer electronics into a low-latency interface, enabling a single operator to orchestrate expressive humanoid maneuvers via intuitive natural motion.

cs.RO↗

arXiv2025

Quantized Topological States and Parity Anomaly in Intrinsic Quantum Anomalous Hall Insulator MnBi2Te4

When thinned down to just a few atomic layers, the layered magnetic topological insulator MnBi2Te4 offers an exceptional platform for exploring a wide range of topological phenomena. In this work, we overcome longstanding challenges in synthesizing high-purity MnBi2Te4 crystals and report the observation of a myriad of quantized topological states in high-quality five-septuple-layer (5-SL) samples under magnetic fields up to 45 Tesla. We show that the nontrivial topology of 5-SL MnBi2Te4, in the presence of Landau quantization, is governed by a generalized topological index rooted in the parity anomaly of Dirac fermions in (2+1) dimensions. The anomaly manifests as an anomalous Landau level, giving rise to gate-tunable helical edge transport. Our results establish high-quality MnBi2Te4 as a robust platform for exploring emergent topological states and for advancing novel quantum device applications.

cond-mat.mes-hall↗

arXiv2024

Overconstrained Locomotion

This paper studies the design, control, and learning of a novel robotic limb that produces overconstrained locomotion by employing the Bennett linkage for motion generation, capable of parametric reconfiguration between a reptile- and mammal-inspired morphology within a single quadruped. In contrast to the prevailing focus on planar linkages, this research delves into adopting overconstrained linkages as the limb mechanism. The overconstrained linkages have solid theoretical foundations in advanced kinematics but are under-explored in robotic applications. This study showcases the morphological superiority of Overconstrained Robotic Limbs (ORLs) that can transform into planar or spherical limbs, exemplified using the simplest case of a Bennett linkage as an ORL. We apply Model Predictive Control (MPC) to simulate a range of overconstrained locomotion tasks, revealing its superiority in energy efficiency against planar limbs when considering foothold distances and speeds. The results are further verified in overconstrained locomotion policies optimized from Reinforcement Learning (RL). From an evolutionary biology perspective, these findings highlight the mechanism distinctions in limb design between reptiles and mammals and represent the first documented instance of ORLs outperforming planar limb designs in dynamic locomotion. Future studies will focus on deploying the model-based and learning-based overconstrained locomotion skills in the robotic hardware to close the Sim2Real gap for developing evolutionary-inspired, energy-efficient control of novel robotic limbs.

cs.RO↗

arXiv2023

Spontaneous rotational symmetry breaking in KTaO$_3$ heterointerface superconductors

Broken symmetries play a fundamental role in superconductivity and influence many of its properties in a profound way. Understanding these symmetry breaking states is essential to elucidate the various exotic quantum behaviors in non-trivial superconductors. Here, we report an experimental observation of spontaneous rotational symmetry breaking of superconductivity at the heterointerface of amorphous (a)-YAlO$_3$/KTaO$_3$(111) with a superconducting transition temperature of 1.86 K. Both the magnetoresistance and superconducting critical field in an in-plane field manifest striking twofold symmetric oscillations deep inside the superconducting state, whereas the anisotropy vanishes in the normal state, demonstrating that it is an intrinsic property of the superconducting phase. We attribute this behavior to the mixed-parity superconducting state, which is an admixture of \emph{s}-wave and \emph{p}-wave pairing components induced by strong spin-orbit coupling inherent to inversion symmetry breaking at the heterointerface of a-YAlO$_3$/KTaO$_3$. Our work suggests an unconventional nature of the underlying pairing interaction in the KTaO$_3$ heterointerface superconductors, and brings a new broad of perspective on understanding non-trivial superconducting properties at the artificial heterointerfaces.

cond-mat.supr-con↗

arXiv2022

Two-Dimensional Superconductivity at the Titanium Sesquioxide Heterointerface

The study of exotic superconductivity in two dimensions has been a central theme in solid state and materials research communities. Experimentally exploring and identifying new fascinating interface superconductors with a high transition temperature ($T_c$) is challenging. Here, we report an experimental observation of intriguing two-dimensional superconductivity with a $T_c$ up to 3.8 K at the interface between Mott insulator Ti$_2$O$_3$ and polar semiconductor GaN. At the verge of superconductivity, we also observe a striking quantum metallic-like state, demonstrating that it is a precursor to the two-dimensional superconductivity as the temperature is decreased. Our work is the first time finding this intriguing superconducting state at the heterointerface, which not only brings a new broad of perspective on the emergent quantum phenomena at the heterointerfaces but also sheds new light on exploiting the novel heterointerface superconductivity with high-$T_c$ via heterostructure engineering.

cond-mat.supr-con↗