arXiv subjects
Publications and source records attributed to Jiangtao Li.
In this note, we introduce a new curvature condition called the $2-$positive bisectional curvature on compact Kähler manifolds. We then deduce a characterization theorem for manifolds with $2-$positive bisectional curvature, which can be regarded as a variant of the classical Frankel conjecture (cf.\cite{Fra61,SY80}) and its generalizations (cf.\cite{Siu80,Mok88}).
There exist extremely massive spiral galaxies in isolated environments, with stellar masses several times that of the Milky Way, yet their star formation rates (SFRs) are comparable to or even lower than that of the Milky Way. In this paper, we investigate the molecular gas properties of such galaxies to better understand the origin of their low SFRs. We present IRAM 30m CO observations of five extremely massive spirals from the CGM-MASS sample. We compare their star formation efficiencies (SFEs) with the Kennicutt-Schmidt relation and find that these massive spirals generally exhibit low efficiency in converting molecular gas into stars. We further compare their molecular gas masses with their atomic gas and stellar masses, and also include the CHANG-ES sample galaxies observed with the IRAM 30m telescope in a similar manner for comparison. Our sample galaxies show low efficiency in converting atomic to molecular gas and have lower molecular gas fractions, suggesting that their suppressed star formation stems from both limited gas supply and inefficient star formation. Considering potential cold gas sources in massive spirals, we argue that their current reservoirs likely originate from past starburst or merger events rather than ongoing accretion in present isolated environments. Finally, we examine the location of these galaxies on the baryonic Tully-Fisher relation, finding them baryon-deficient and deviating from the trend of lower-mass galaxies. This suggests either a significant undetected baryonic component or a flattening/turnover of the relation at the high-mass end, consistent with the stellar mass-halo mass relation.
Visual-LiDAR odometry is a critical component for autonomous system localization, yet achieving high accuracy and strong robustness remains a challenge. Traditional approaches commonly struggle with sensor misalignment, fail to fully leverage temporal information, and require extensive manual tuning to handle diverse sensor configurations. To address these problems, we introduce DVLO4D, a novel visual-LiDAR odometry framework that leverages sparse spatial-temporal fusion to enhance accuracy and robustness. Our approach proposes three key innovations: (1) Sparse Query Fusion, which utilizes sparse LiDAR queries for effective multi-modal data fusion; (2) a Temporal Interaction and Update module that integrates temporally-predicted positions with current frame data, providing better initialization values for pose estimation and enhancing model's robustness against accumulative errors; and (3) a Temporal Clip Training strategy combined with a Collective Average Loss mechanism that aggregates losses across multiple frames, enabling global optimization and reducing the scale drift over long sequences. Extensive experiments on the KITTI and Argoverse Odometry dataset demonstrate the superiority of our proposed DVLO4D, which achieves state-of-the-art performance in terms of both pose accuracy and robustness. Additionally, our method has high efficiency, with an inference time of 82 ms, possessing the potential for the real-time deployment.
The set of multiple zeta-star values is a countable dense subset of the half line $(1,+\infty)$. In this paper, we establish some classical Diophantine type results for the set of multiple zeta-star values. Firstly, we give a criterion to determine whether a number is a multiple zeta-star value. Secondly, we establish the zero-one law for the set of multiple zeta-star value. Lastly, we propose a conjecture for the set of multiple zeta-star values, which strengthens the original zero-one law.
Let (X, g, J, f ) be a non-compact gradient shrinking Kahler-Ricci soliton. We prove that if the scalar curvature of X satisfies a mild assumption, then OP (X), the ring of holomorphic functions with polynomial growth on X, is finitely generated. This gives a partial confirmation to a conjecture of Munteanu and Wang (cf.[MW14]).
In this paper, we study the collpasing Kähler-Ricci flow on Hirzebruch surfaces, which develops finite time singularities. We show that any tangent flow based at a point in the singular time slice is the Kähler-Ricci flow associated with a nonflat gradient Kähler-Ricci shrinker with finitely many orbifold singularities .
As part of the HIERACHY program, we collect the high-SN and high-spectral resolution optical spectra of 25 quasars at $z\approx4-5$ to constrain the C IV evolution at $z\approx 3-5$. In this paper, we report a catalog of 626 (1263) C IV absorption systems (components) at $z\approx3-5$ with a 50% completeness column density of log$(N_{\rm CIV}/\rm cm^{-2}) \approx 12.3$. The HIERACHY/MIKE C IV sample is one of the best C IV absorber samples optimized to study the IGM during the He II reionization epoch. Using 557 (1090) intervening absorption systems (components), we found the column density distribution function of C IV absorption systems with log$(N_{\rm CIV}/\rm cm^{-2})\gtrsim 12.3$ has a broken power-law shape, with the turn-over column density log$(N_{\rm crit}/\rm cm^{-2}) = 13.35^{+0.20}_{-0.19}$, which is close to or smaller than the detection limit of most literature samples. We also found that both comoving path length number density $dn/dX$ and cosmic abundance $Ω$ for C IV absorption systems with log$(N_{\rm CIV}/\rm cm^{-2})> 13.2$ show an increase (at the 2.2$σ$ and 1.4$σ$ levels, respectively) from redshift $z\approx5$ to 3, while absorption systems with log$(N_{\rm CIV}/\rm cm^{-2})= 12.3-13.2$ exhibit a constant $dn/dX$ and $Ω_{\rm CIV}$.
Reinforcement learning (RL) has demonstrated remarkable capability in acquiring robot skills, but learning each new skill still requires substantial data collection for training. The pretrain-and-finetune paradigm offers a promising approach for efficiently adapting to new robot entities and tasks. Inspired by the idea that acquired knowledge can accelerate learning new tasks with the same robot and help a new robot master a trained task, we propose a latent training framework where a transferable latent-to-latent locomotion policy is pretrained alongside diverse task-specific observation encoders and action decoders. This policy in latent space processes encoded latent observations to generate latent actions to be decoded, with the potential to learn general abstract motion skills. To retain essential information for decision-making and control, we introduce a diffusion recovery module that minimizes information reconstruction loss during pretrain stage. During fine-tune stage, the pretrained latent-to-latent locomotion policy remains fixed, while only the lightweight task-specific encoder and decoder are optimized for efficient adaptation. Our method allows a robot to leverage its own prior experience across different tasks as well as the experience of other morphologically diverse robots to accelerate adaptation. We validate our approach through extensive simulations and real-world experiments, demonstrating that the pretrained latent-to-latent locomotion policy effectively generalizes to new robot entities and tasks with improved efficiency.
Spectral analysis is one of the most powerful technologies for studying and understanding matter. As the devices for spectral analysis, spectrometers are widely used in material detection, isotope analysis, trace gas detection, and the study of atomic and molecular hyperfine structures. While high resolution, wide bandwidth and fast speed are essential factors, they are always trade-offs for conventional spectrometers. Here, we present a soliton-microcomb-based spectrometer that overcomes these challenges by integrating dissipative Kerr solitons (DKSs) with double-sideband modulation and parallelized detection. Leveraging a high-quality silicon nitride microresonator, we generate a broadband, fully stabilized soliton microcomb and employ radio-frequency-modulated double sidebands to scan the optical spectrum with the resolution constrained only by the comb-line linewidth. By projecting the comb lines onto a two-dimensional charge-coupled device (CCD) via a virtually imaged phased array (VIPA)-grating system, we enable parallel processing of all spectral components, circumventing sequential scanning delays. The resulting spectrometer achieves 200-kHz resolution across a 4-THz bandwidth with minutes-level processing time while maintaining robustness against environmental fluctuations. Being promising for miniaturization, this work bridges the gap between laboratory-grade performance and field-deployable practicality, unlocking new possibilities for spectroscopy in astronomy, metrology, and integrated photonics.
In this paper, we prove a total curvature estimate of closed hypersurfaces in simply-connected non-positively curved symmetric spaces, and as a corollary, we obtain an isoperimetric inequality for such manifolds.
High-resolution absorption spectroscopy toward bright background sources has had a paramount role in understanding early galaxy formation, the evolution of the intergalactic medium and the reionisation of the Universe. However, these studies are now approaching the boundaries of what can be achieved at ground-based 8-10m class telescopes. The identification of primeval systems at the highest redshifts, within the reionisation epoch and even into the dark ages, and of the products of the first generation of stars and the chemical enrichment of the early Universe, requires observing very faint targets with a signal-to-noise ratio high enough to detect very faint spectral signatures. In this paper, we describe the giant leap forward that will be enabled by ANDES, the high-resolution spectrograph for the ELT, in these key science fields, together with a brief, non-exhaustive overview of other extragalactic research topics that will be pursued by this instrument, and its synergistic use with other facilities that will become available in the early 2030s.
Evolutionary algorithms (EAs) have shown promise in solving sequential decision problems (SDPs) by simplifying them to static optimization problems and searching for the optimal policy parameters in a zeroth-order way. While these methods are highly versatile, they often suffer from high sample complexity due to their ignorance of the underlying temporal structures. In contrast, reinforcement learning (RL) methods typically formulate SDPs as Markov Decision Process (MDP). Although more sample efficient than EAs, RL methods are restricted to differentiable policies and prone to getting stuck in local optima. To address these issues, we propose a novel evolutionary framework Zeroth-Order Actor-Critic (ZOAC). We propose to use step-wise exploration in parameter space and theoretically derive the zeroth-order policy gradient. We further utilize the actor-critic architecture to effectively leverage the Markov property of SDPs and reduce the variance of gradient estimators. In each iteration, ZOAC employs samplers to collect trajectories with parameter space exploration, and alternates between first-order policy evaluation (PEV) and zeroth-order policy improvement (PIM). To evaluate the effectiveness of ZOAC, we apply it to a challenging multi-lane driving task, optimizing the parameters in a rule-based, non-differentiable driving policy that consists of three sub-modules: behavior selection, path planning, and trajectory tracking. We also compare it with gradient-based RL methods on three Gymnasium tasks, optimizing neural network policies with thousands of parameters. Experimental results demonstrate the strong capability of ZOAC in solving SDPs. ZOAC significantly outperforms EAs that treat the problem as static optimization and matches the performance of gradient-based RL methods even without first-order information, in terms of total average return across all tasks.
Existing state estimation algorithms for legged robots that rely on proprioceptive sensors often overlook foot slippage and leg deformation in the physical world, leading to large estimation errors. To address this limitation, we propose a comprehensive measurement model that accounts for both foot slippage and variable leg length by analyzing the relative motion between foot contact points and the robot's body center. We show that leg length is an observable quantity, meaning that its value can be explicitly inferred by designing an auxiliary filter. To this end, we introduce a dual estimation framework that iteratively employs a parameter filter to estimate the leg length parameters and a state filter to estimate the robot's state. To prevent error accumulation in this iterative framework, we construct a partial measurement model for the parameter filter using the leg static equation. This approach ensures that leg length estimation relies solely on joint torques and foot contact forces, avoiding the influence of state estimation errors on the parameter estimation. Unlike leg length which can be directly estimated, foot slippage cannot be measured directly with the current sensor configuration. However, since foot slippage occurs at a low frequency, it can be treated as outliers in the measurement data. To mitigate the impact of these outliers, we propose the beta Kalman filter (beta KF), which redefines the estimation loss in canonical Kalman filtering using beta divergence. This divergence can assign low weights to outliers in an adaptive manner, thereby enhancing the robustness of the estimation algorithm. These techniques together form the dual beta-Kalman filter (Dual beta KF), a novel algorithm for robust state estimation in legged robots. Experimental results on the Unitree GO2 robot demonstrate that the Dual beta KF significantly outperforms state-of-the-art methods.
Pest infestations pose a significant risk to both the quality and quantity of stored grain, resulting in substantial economic losses. Accurate and timely pest monitoring is essential, but traditional methods are time-consuming and labor-intensive, and often ineffective at detecting pests beneath the grain surface. In this paper, we introduce a systematic framework: Pest Manager for precise pest counting and identification within the invisible grain pile environment. The framework consists of three components: an improved grain probe trap PestMoni, a pest drop dataset PestSet collected by PestMoni, and a multi-task Transformer-based architecture PestFormer for pest counting and identification. Specifically, PestMoni uses an asymmetric layout of infrared diodes and photodiodes, enabling precise recording of pest drops. Based on PestMoni, we develop PestSet, an infrared-perception dataset for pest drops, including five common grain storage pests. Furthermore, we propose PestFormer, a multi-task model with a conditional modification module to reduce deviations across different PestMonis and thereby normalize the data processing workflow. Extensive experiments validate the design, dataset, and model, with PestFormer achieving state-of-the-art accuracies of 99.2% in counting and 86.9% in identification, highlighting its potential for effective pest management in invisible storage environment.
We propose a combinatorial ascending auction that is "approximately" optimal, requiring minimal rationality to achieve this level of optimality, and is robust to strategic and distributional uncertainties. Specifically, the auction is rank-guaranteed, meaning that for any menu M and any valuation profile, the ex-post revenue is guaranteed to be at least as high as the highest revenue achievable from feasible allocations, taking the (|M|+ 1)th-highest valuation for each bundle as the price. Our analysis highlights a crucial aspect of combinatorial auction design, namely, the design of menus. We provide simple and approximately optimal menus in various settings.
In this paper we study the derived sets for the rational deformations of multiple zeta-star values. By using the theory of bounded variation functions, we will give function decompositions which describe the metric structure of the derived sets. The connection between the rational deformation of multiple zeta-star values and the $n$-th Cantor set in fractal geometry is also discussed.
The Hot Universe Baryon Surveyor (HUBS) is a proposed space-based X-ray telescope for detecting X-ray emissions from the hot gas content in our universe. With its unprecedented spatially-resolved high-resolution spectroscopy and large field of view, the HUBS mission will be uniquely qualified to measure the physical and chemical properties of the hot gas in the interstellar medium, the circumgalactic medium, the intergalactic medium, and the intracluster medium. These measurements will be valuable for two key scientific goals of HUBS, namely to unravel the AGN and stellar feedback physics that governs the formation and evolution of galaxies, and to probe the baryon budget and multi-phase states from galactic to cosmological scales. In addition to these two goals, the HUBS mission will also help us solve some problems in the fields of galaxy clusters, AGNs, diffuse X-ray backgrounds, supernova remnants, and compact objects. This paper discusses the perspective of advancing these fields using the HUBS telescope.
Trajectory prediction for autonomous driving must continuously reason the motion stochasticity of road agents and comply with scene constraints. Existing methods typically rely on one-stage trajectory prediction models, which condition future trajectories on observed trajectories combined with fused scene information. However, they often struggle with complex scene constraints, such as those encountered at intersections. To this end, we present a novel method, called LAformer. It uses a temporally dense lane-aware estimation module to select only the top highly potential lane segments in an HD map, which effectively and continuously aligns motion dynamics with scene information, reducing the representation requirements for the subsequent attention-based decoder by filtering out irrelevant lane segments. Additionally, unlike one-stage prediction models, LAformer utilizes predictions from the first stage as anchor trajectories and adds a second-stage motion refinement module to further explore temporal consistency across the complete time horizon. Extensive experiments on Argoverse 1 and nuScenes demonstrate that LAformer achieves excellent performance for multimodal trajectory prediction.