arXiv subjects

Jiarui Zeng

Publications and source records attributed to Jiarui Zeng.

4 recordsLinked to original sources

arXiv2026

Last-Meter Precision Navigation for UAVs: A Diffusion-Refined Aerial Visual Servoing Approach

In this work, we study the last-meter precision navigation for UAVs, e.g., autonomously reaching a target within the final 10 meters using monocular vision. This task is challenging due to scale ambiguity, rotation discontinuities, and the need for fine-grained spatial reasoning. Existing methods often fail under large viewpoint changes or lack generalization to unseen environments. To this end, we propose DreamNav, a coarse-to-fine diffusion-refined aerial visual servoing framework. In the first coarse-estimation stage, a robust regression policy employs a trigonometric parameterization to predict rotation by jointly modeling sine and cosine components, effectively mitigating optimization instabilities caused by angular periodicity. Given this coarse estimate, the second diffusion-refined stage utilizes a pre-trained world model to simulate future visual observations for candidate actions, selecting the trajectory that minimizes visual discrepancy with the target through a process of visual imagination. To support rigorous evaluation, we contribute PairUAV, a large-scale benchmark comprising 4.8 million image pairs across 72 scenes, curated from the University-1652 dataset. Extensive experiments show DreamNav outperforms strong visual servoing and foundation model baselines in accuracy and generalization, with zero-shot transfer to unseen scenes.

cs.CV↗

arXiv2025

A unified bonding entropy model to determine magnetic properties in graphene nanoflakes

Graphene nanoflakes (GNFs) exhibit rich magnetic behaviors arising from two primary mechanisms: geometry frustration in non-Kekul\'e structures and electron delocalization-driven aromatic stabilization in Kekul\'e-type systems. Herein, we develop a unified bonding entropy model (BEM) to quantitatively characterize the magnetic properties in GNFs within a statistical framework, providing an entropy-based criterion for understanding and predicting bond occupancy numbers and unpaired electron distributions. While non-Kekul\'e systems naturally favor high-spin configurations due to topological frustration, the BEM reveals that even Kekul\'e-type GNFs can exhibit magnetic character when the entropy gain from unpaired electrons outweighs the loss of aromatic stabilization. The model predictions show excellent agreement with density functional theory calculations in terms of spin density distributions and unpaired electron counts. Our results establish bonding entropy as a general guiding principle for designing carbon-based magentic materials with tunable magnetic properties.

cond-mat.mtrl-sci↗

arXiv2024

A parameter-free statistical model for two-dimensional carbon nanostructures

Energy degeneracy in physical systems may be induced by symmetries of the Hamiltonian, and the resonance of degeneracy states in carbon nanostructures can effectively enhance the stability of the system. Combining the octet rule, we introduce a parameter-free statistical model to determine the physical properties by lifting the energy degeneracy in carbon nanostructures. This model offers a direct path to accurately ascertain electron density distributions in quantum systems, akin to how charge density is used in density functional theory to deduce system properties. Our methodology diverges from traditional quantum mechanics, focusing instead on this unique statistical model by minimizing bonding free energy to determine the fundamental properties of materials. Applied to carbon nanoclusters and graphynes, our model not only precisely predicts bonding energies and electron density without relying on external parameters, but also enhances the prediction of electronic structures through bond occupancy numbers, which act as effective hopping integrals. This innovation offers insights into the structural properties and quantum behavior of electrons across various dimensions.

cond-mat.mes-hall↗

arXiv2024

Classical-quantum correspondence in the noise-based dissipative systems

We investigate the correspondence between classical noise and quantum environments. Although it has been known that the classical noise can be mapped to the quantum environments only for pure dephasing and infinite-temperature dissipation processes, we describe that this limitation can be circumvented by introducing auxiliary systems and conservation. Taking a two-level system as an example, we construct the so-called central spin model with its couplings fluctuating as the classical noise, and then acquire its statistical-average dynamics which captures the dissipations beyond the infinite temperature. By adjusting the number of the auxiliary systems and their initial states, the noise-based model reproduces both Markovian and non-Markovian evolutions. It is also found that different quantities of the two-level system are governed by different model parameters, indicating that the constructed model is an efficient simulator for specific observables, rather than an equivalent form of a realistic open system. In addition, the model is also applicable to investigate topical mechanisms of the open systems, e.g. negative temperatures and asymmetric equidistant quenches.

quant-ph↗