arXiv subjects

Hyungmok Son

Publications and source records attributed to Hyungmok Son.

10 recordsLinked to original sources

arXiv2026

RoboWorld: Fast and Reliable Neural Simulators for Generalist Robot Policy Evaluation

Video world models are emerging as a scalable alternative for evaluating generalist robot policies, bypassing the physical constraints and engineering burdens of real-world deployment. However, evaluating policies with video world models remains challenging, as world-model errors can make generated rollouts unreliable and slow inference limits large-scale throughput. We introduce RoboWorld, an automated evaluation pipeline that pairs a fast autoregressive video world model with a task-progress-aware vision-language model scoring. To enable reliable long-horizon autoregressive world-model rollouts, we propose Step Forcing, which combines anchored and one-step self-forwarded contexts to reduce train-test mismatch while preserving action-observation dynamics. Together, these components enable RoboWorld to align strongly with real-world robot evaluation across tasks and environments, achieving Pearson's r = 0.989 and Spearman's $ρ$ = 0.970.

cs.RO↗

arXiv2026

HABIT: Human-Aware Behavior and Interaction Training Dataset for Robot Manipulation

Large-scale demonstration datasets have been central to recent progress in general-purpose robot policies. However, existing datasets are collected in human-absent settings, and policies trained on such data may perform tasks competently in isolation but fail to exhibit human-aware behaviors. To address this gap, we introduce HABIT, a large-scale robot demonstration dataset for human-present environments. We organize tasks into three roles capturing distinct modes of human-robot interaction: Collaborator, where human and robot jointly accomplish a task; Coworker, where they pursue separate tasks in a shared space; and Supervisor, where the human directs the robot. The dataset comprises over 10K episodes and over 160 hours across 60 tasks. Our experiments show that training on human-present data elicits human-aware behaviors that robot-only data fails to produce: spatiotemporal synchronization in Collaborator tasks, yielding in Coworker tasks, and gesture grounding in Supervisor tasks. Moreover, training on HABIT enables rapid adaptation to new human-robot interaction tasks. By introducing human presence as a new axis of dataset diversity, HABIT extends robot policies to environments shared with humans.

cs.RO↗

arXiv2024

Collisional Cooling of Ultracold Molecules

Since the original work on Bose-Einstein condensation, quantum degenerate gases of atoms have allowed the quantum emulation of important systems from condensed matter and nuclear physics, as well as the study of novel many-body states with no analog in other fields of physics. Ultracold molecules in the micro- and nano-Kelvin regimes promise to bring powerful new capabilities to quantum emulation and quantum computing, thanks to their rich internal degrees of freedom compared to atoms. They also open new possibilities for precision measurement and the study of quantum chemistry. Quantum gases of atoms were made possible by collision-based cooling schemes, such as evaporative cooling. For ultracold molecules, thermalization and collisional cooling have not been realized. With other techniques such as supersonic jets and cryogenic buffer gases, studies have been limited to temperatures above 10 mK. Here we show cooling of NaLi molecules at micro- and nano-Kelvin temperatures through collisions with ultracold Na atoms, both prepared in their stretched hyperfine spin states. We find a lower bound on the elastic to inelastic collision ratio between molecules and atoms greater than 50 -- large enough to support sustained collisional cooling. By employing two stages of evaporation, we increase the phase-space density (PSD) of the molecules by a factor of 20, achieving temperatures as low as 220 nK. The favorable collisional properties of a Na and NaLi mixture show great promise for making deeply quantum degenerate dipolar molecules and suggest the potential for such cooling in other systems.

cond-mat.quant-gas↗

arXiv2023

Ab initio calculation of the spectrum of Feshbach resonances in NaLi + Na collisions

We present a combined experimental and theoretical study of the spectrum of magnetically tunable Feshbach resonances in NaLi $(a^3Σ^+)$ $+$ Na collisions. In the accompanying paper, we observe experimentally 8 and 17 resonances occur between $B=0$ and $1400$~G in upper and lower spin-stretched states, respectively. Here, we perform ab initio calculations of the NaLi $+$ Na interaction potential and describe in detail the coupled-channel scattering calculations of the Feshbach resonance spectrum. The positions of the resonances cannot be predicted with realistic uncertainty in the state-of-the-art ab initio potential, but our calculations yield a typical number of resonances that is in near-quantitative agreement with experiment. We show that the main coupling mechanism results from spin-rotation and spin-spin couplings in combination with the anisotropic atom-molecule interaction. The calculations furthermore explain the qualitative difference between the numbers of resonances in either spin state.

physics.atom-ph↗

arXiv2023

Spectrum of Feshbach resonances in NaLi $+$ Na collisions

Collisional resonances of molecules can offer a deeper understanding of interaction potentials and collision complexes, and allow control of chemical reactions. Here, we experimentally map out the spectrum of Feshbach resonances in collisions between ultracold triplet ro-vibrational ground-state NaLi molecules and Na atoms over a range of 1400 G. Preparation of the spin-stretched state puts the system initially into the non-reactive quartet potential. A total of 25 resonances are observed, in agreement with quantum-chemistry calculations using a coupled-channels approach. Although the theory cannot predict the positions of resonances, it can account for several experimental findings and provide unprecedented insight into the nature and couplings of ultracold, strongly interacting complexes. Previous work has addressed only weakly bound complexes. We show that the main coupling mechanism results from spin-rotation and spin-spin couplings in combination with the anisotropic atom-molecule interaction, and that the collisional complexes which support the resonances have a size of 30-40 $a_0$. This study illustrates the potential of a combined experimental and theoretical approach.

physics.atom-ph↗

arXiv2022

Control of reactive collisions by quantum interference

In this study, we achieved magnetic control of reactive scattering in an ultracold mixture of $^{23}$Na atoms and $^{23}$Na$^{6}$Li molecules. In most molecular collisions, particles react or are lost near short range with unity probability, leading to the so-called universal rate. By contrast, the Na{+}NaLi system was shown to have only $\sim4\%$ loss probability in a fully spin-polarized state. By controlling the phase of the scattering wave function via a Feshbach resonance, we modified the loss rate by more than a factor of $100$, from far below to far above the universal limit. The results are explained in analogy with an optical Fabry-Perot resonator by interference of reflections at short and long range. Our work demonstrates quantum control of chemistry by magnetic fields with the full dynamic range predicted by our models.

physics.atom-ph↗

arXiv2018

Photoassociation of Ultracold NaLi

We perform photoassociation spectroscopy in an ultracold $^{23}$Na-$^6$Li mixture to study the $c^3Σ^+$ excited triplet molecular potential. We observe 50 vibrational states and their substructure to an accuracy of 20 MHz, and provide line strength data from photoassociation loss measurements. An analysis of the vibrational line positions using near-dissociation expansions and a full potential fit is presented. This is the first observation of the $c^3Σ^+$ potential, as well as photoassociation in the NaLi system.

physics.atom-ph↗

arXiv2018

Two-Photon Spectroscopy of the NaLi Triplet Ground State

We employ two-photon spectroscopy to study the vibrational states of the triplet ground state potential ($a^3Σ^+$) of the $^{23}$Na$^{6}$Li molecule. Pairs of Na and Li atoms in an ultracold mixture are photoassociated into an excited triplet molecular state, which in turn is coupled to vibrational states of the triplet ground potential. Vibrational state binding energies, line strengths, and potential fitting parameters for the triplet ground $a^3Σ^+$ potential are reported. We also observe rotational splitting in the lowest vibrational state.

physics.atom-ph↗

arXiv2018

Long-Lived Ultracold Molecules with Electric and Magnetic Dipole Moments

We create fermionic dipolar $^{23}$Na$^6$Li molecules in their triplet ground state from an ultracold mixture of $^{23}$Na and $^6$Li. Using magneto-association across a narrow Feshbach resonance followed by a two-photon STIRAP transfer to the triplet ground state, we produce $3\,{\times}\,10^4$ ground state molecules in a spin-polarized state. We observe a lifetime of $4.6\,\text{s}$ in an isolated molecular sample, approaching the $p$-wave universal rate limit. Electron spin resonance spectroscopy of the triplet state was used to determine the hyperfine structure of this previously unobserved molecular state.

cond-mat.quant-gas↗

arXiv2012

Electrical Control of Plasmon Resonance with Graphene

Surface plasmon, with its unique capability to concentrate light into sub-wavelength volume, has enabled great advances in photon science, ranging from nano-antenna and single-molecule Raman scattering to plasmonic waveguide and metamaterials. In many applications it is desirable to control the surface plasmon resonance in situ with electric field. Graphene, with its unique tunable optical properties, provides an ideal material to integrate with nanometallic structures for realizing such control. Here we demonstrate effective modulation of the plasmon resonance in a model system composed of hybrid graphene-gold nanorod structure. Upon electrical gating the strong optical transitions in graphene can be switched on and off, which leads to significant modulation of both the resonance frequency and quality factor of plasmon resonance in gold nanorods. Hybrid graphene-nanometallic structures, as exemplified by this combination of graphene and gold nanorod, provide a general and powerful way for electrical control of plasmon resonances. It holds promise for novel active optical devices and plasmonic circuits at the deep subwavelength scale.

cond-mat.mes-hall↗