arXiv subjects

Jiawei Gao

Publications and source records attributed to Jiawei Gao.

At least 19 recordsLinked to original sources

arXiv2026

Simultaneous Mars-orbit observations reveal Kelvin-Helmholtz instability-driven bulk atmospheric ion escape

Atmospheric ion escape driven by the solar wind is a key process controlling the long-term loss of the Martian atmosphere. Localized plasma clouds can carry substantial fluxes of planetary ions away from Mars, representing episodes of bulk escape. However, their origin has remained unclear due to the absence of simultaneous upstream measurements. Using joint observations from the MAVEN and Tianwen-1 missions, which provide real-time upstream monitoring, we present direct evidence that these plasma clouds are nonlinear wave packets generated by the Kelvin-Helmholtz instability (KHI). The spatial scale of KH waves is constrained for the first time via two-point measurements. Ion fluxes within plasma clouds are one to two orders of magnitude higher than those in typical steady-state escape channels. Our results indicate that KHI is an important process for solar wind coupling to planetary upper atmospheres and plays a crucial role in shaping atmospheric ion escape for unmagnetized planets.

physics.space-ph↗

arXiv2026

Ordered Action Tokens for Visuomotor Policy Learning

Action tokenization maps continuous robot action chunks to discrete tokens and has become an important interface for modern visuomotor policies. Existing approaches either rely on analytical discretization methods that produce prohibitively long token sequences or learned latent tokenizers that lack structure, limiting their compatibility with downstream policies. In this work, we identify three desiderata for action tokenization - high compression, total decodability, and an ordered token space - and introduce Ordered Action Tokenization (OAT), a learned action tokenizer that satisfies all three. OAT discretizes action chunks into an ordered sequence of tokens using a transformer with registers, finite scalar quantization, and ordering-inducing training mechanisms. By training each token prefix to decode into a valid action chunk, OAT places coarse control information in early tokens and uses later tokens to refine residual detail, yielding an anytime tradeoff between inference cost and action fidelity. We validate OAT in two prevailing uses of action tokens: autoregressive policies that generate tokens for control, and token co-training policies that use token losses to shape the vision-language model context consumed by a flow-based action expert. Across three policy backbones and more than 60 tasks spanning five simulation benchmarks and real-world settings, OAT consistently delivers strong policy performance while offering significantly greater flexibility at inference time.

cs.RO↗

arXiv2026

Search for a solar-bound axion halo using the Global Network of Optical Magnetometers for Exotic physics searches

We report on a search for a gravitationally bound solar axion halo using data from the Global Network of Optical Magnetometers for Exotic physics searches (GNOME), a worldwide array of magnetically shielded atomic magnetometers with sensitivity to exotic spin couplings. Motivated by recent theoretical work suggesting that self-interacting ultralight axions can be captured by the Sun's gravitational field and thermalize into the ground state, we develop a signal model for the pseudo-magnetic fields generated by axion-proton gradient couplings in such a halo. The analysis focuses on the fifth GNOME Science Run (69 days, 12 stations), employing a cross-correlation pipeline with time-shifted daily modulation templates to search for the global, direction-dependent, monochromatic signal expected from a solar axion halo. No statistically significant candidate signals are observed. We set 95% confidence-level upper limits on the amplitude of the axion-induced pseudo-magnetic field over the frequency range $\approx 0.05-20$ Hz, translating to constraints on the linear and quadratic axion-proton couplings for halo densities predicted by gravitational capture models and for the maximum overdensities allowed by planetary ephemerides. In the quadratic coupling case, our limits surpass existing astrophysical bounds by over two orders of magnitude across much of the accessible parameter space.

physics.atom-ph↗

arXiv2026

Properties and Radial Evolution of Solar Wind Turbulence Near Mercury's Orbit

We present a comprehensive statistical study of the radial evolution of solar wind turbulence near Mercury's orbit using long-term magnetic field measurements from the MESSENGER mission. Owing to Mercury's highly elliptical orbit and the spacecraft's repeated, extended residence in the upstream solar wind, the data set provides more than 17,000 hours of observations, enabling robust statistics across well-defined heliocentric distance intervals (0.31-0.47 au). We find that inertial-range spectral slopes remain close to -3/2 throughout Mercury's orbit, showing no significant radial evolution. Combined with low magnetic compressibility, this result indicates a stable, predominantly Alfvenic inertial-range cascade already established here. In contrast, kinetic-range spectral slopes exhibit clear radial evolution, becoming progressively shallower with increasing heliocentric distance, highlighting the greater sensitivity of kinetic-scale turbulence to heliocentric conditions. The ion-scale spectral break frequency decreases with distance in the spacecraft frame, while its normalized form increases relative to the local proton cyclotron frequency, demonstrating that the break is not tied to proton cyclotron frequency but reflects evolving local plasma conditions. Magnetic compressibility shows a similar frequency dependence at all distances, with a subtle radial enhancement of compressive fluctuations at kinetic scales. Autocorrelation analysis reveals strong anisotropy, with the correlation times of field-aligned magnetic fluctuations increasing with heliocentric distance, while those of perpendicular fluctuations remain shorter and nearly invariant. Together, these results demonstrate a clear scale-dependent radial evolution of solar wind turbulence near Mercury-s orbit, providing new constraints on the development of kinetic processes in the inner heliosphere.

physics.space-ph↗

arXiv2026

Direct Observations of Magnetic Reconnection in the Solar Wind Current Sheets near Mars

Magnetic reconnection is a fundamental and ubiquitous process in astrophysical plasmas that converts magnetic energy into plasma kinetic and thermal energy. Throughout the heliosphere, the solar wind is permeated with current sheets (CSs), providing a natural laboratory for investigating this process. Using measurements from NASA's Mars Atmosphere and Volatile EvolutioN (MAVEN) spacecraft, we report the first direct observations of magnetic reconnection occurring within the solar wind CSs near Mars. Specifically, MAVEN observed the classic Petschek-type reconnection exhaust regions, evidenced by bifurcated magnetic field signatures and Alfvenic ion outflows. Notably, the observed exhaust region appears to be large-scale, significantly exceeding the typical thickness of solar wind CSs near Mars. This suggests that magnetic reconnection may significantly broaden the CS. Our results underscore the ubiquity of magnetic reconnection across heliocentric distances and may provide new insights into the large-scale evolution of the solar wind and the development of turbulence within it.

physics.space-ph↗

arXiv2026

IMPACT: Learning Internal-Model Predictive Control for Forceful Robotic Manipulation

Real-world robotic manipulation tasks often involve forceful interactions with the environment, such as using tools of varying weights, transporting objects with different masses, and performing contact-rich tasks like table wiping. Previous learning-based approaches typically employ imitation learning policies that output target end-effector poses tracked by low-level impedance controllers. In these systems, forceful interactions are either implicitly realized through steady-state tracking errors or explicitly commanded using wrist force/torque or tactile sensors. However, implicit approaches generalize poorly across object weights, while explicit approaches require specialized hardware and increase system complexity. In this work, we propose IMPACT, a framework that decouples these forceful tasks into task-planning and internal-model-based predictive control. Extensive simulation and real-world experiments demonstrate that the proposed framework achieves higher success rates and improved generalization to unseen object weights, as well as better safety and energy efficiency.

cs.RO↗

arXiv2026

Automated Classification of Plasma Regions at Mars Using Machine Learning

The plasma environment around Mars is highly variable because it is strongly influenced by the solar wind. Accurate identification of plasma regions around Mars is important for the community studying solar wind-Mars interactions, region-specific plasma processes, and atmospheric escape. In this study, we develop a machine-learning-based classifier to automatically identify three key plasma regions--solar wind, magnetosheath, and induced magnetosphere--using only ion omnidirectional energy spectra measured by the MAVEN Solar Wind Ion Analyzer (SWIA). Two neural network architectures are evaluated: a multilayer perceptron (MLP) and a convolutional neural network (CNN) that incorporates short temporal sequences. Our results show that the CNN can reliably distinguish the three plasma regions, whereas the MLP struggles to separate the solar wind and magnetosheath. Therefore, the CNN-based approach provides an efficient and accurate framework for large-scale plasma region identification at Mars and can be readily applied to future planetary missions.

physics.space-ph↗

arXiv2026

SIMPACT: Simulation-Enabled Action Planning using Vision-Language Models

Vision-Language Models (VLMs) exhibit remarkable common-sense and semantic reasoning capabilities. However, they lack a grounded understanding of physical dynamics. This limitation arises from training VLMs on static internet-scale visual-language data that contain no causal interactions or action-conditioned changes. Consequently, it remains challenging to leverage VLMs for fine-grained robotic manipulation tasks that require physical understanding, reasoning, and corresponding action planning. To overcome this, we present SIMPACT, a test-time, SIMulation-enabled ACTion Planning framework that equips VLMs with physical reasoning through simulation-in-the-loop world modeling, without requiring any additional training. From a single RGB-D observation, SIMPACT efficiently constructs physics simulations, enabling the VLM to propose informed actions, observe simulated rollouts, and iteratively refine its reasoning. By integrating language reasoning with physics prediction, our simulation-enabled VLM can understand contact dynamics and action outcomes in a physically grounded way. Our method demonstrates state-of-the-art performance on five challenging, real-world rigid-body and deformable manipulation tasks that require fine-grained physical reasoning, outperforming existing general-purpose robotic manipulation models. Our results demonstrate that embedding physics understanding via efficient simulation into VLM reasoning at test time offers a promising path towards generalizable embodied intelligence. Project webpage can be found at https://simpact-bot.github.io

cs.RO↗

arXiv2026

OAT: Ordered Action Tokenization

Autoregressive policies offer a compelling foundation for scalable robot learning by enabling discrete abstraction, token-level reasoning, and flexible inference. However, applying autoregressive modeling to continuous robot actions requires an effective action tokenization scheme. Existing approaches either rely on analytical discretization methods that produce prohibitively long token sequences, or learned latent tokenizers that lack structure, limiting their compatibility with next-token prediction. In this work, we identify three desiderata for action tokenization - high compression, total decodability, and a left-to-right causally ordered token space - and introduce Ordered Action Tokenization (OAT), a learned action tokenizer that satisfies all three. OAT discretizes action chunks into an ordered sequence of tokens using transformer with registers, finite scalar quantization, and ordering-inducing training mechanisms. The resulting token space aligns naturally with autoregressive generation and enables prefix-based detokenization, yielding an anytime trade-off between inference cost and action fidelity. Across more than 20 tasks spanning four simulation benchmarks and real-world settings, autoregressive policies equipped with OAT consistently outperform prior tokenization schemes and diffusion-based baselines, while offering significantly greater flexibility at inference time.

cs.RO↗

arXiv2025

Broadband tunable microwave photonic radar for simultaneous detection of human respiration, heartbeat, and speech with deep learning-based speech recognition

Multimodal vital sign monitoring and speech detection hold significant importance in medical health, public safety, and other fields. This study proposes a broadband tunable microwave photonic radar system that can simultaneously monitor respiration, heartbeat, and speech. The system works by generating broadband radar signals to detect subtle skin displacements caused by these physiological activities. It then utilizes phase variations in radar echo signals to extract and reconstruct the corresponding physiological signals. In order to enhance the processing capability for speech signals, a convolutional neural network with a dual-channel feature fusion model is incorporated, enabling high-precision speech recognition. In addition, the system's frequency-tunable characteristic allows it to flexibly switch frequency bands to adapt to different working environments, greatly improving its practicality and environmental adaptability. In concept-verification experiments, speech signals were reconstructed and recognized in the Ku, K, and Ka bands, achieving recognition accuracies of 97.20%, 98.07%, and 97.43%, respectively. The system's capability to detect multimodal vital signs was also thoroughly validated using a respiratory and heartbeat simulator. During a 20-second monitoring period, while accurately reconstructing speech, the maximum average error counts for respiratory and heartbeat monitoring were 0.39 and 0.87, respectively, proving its reliability and effectiveness in multimodal vital sign monitoring.

physics.optics↗

arXiv2025

Spectral Properties and Energy Injection in Mercury's Magnetotail Current Sheet

Mercury's magnetotail hosts a thin and highly dynamic current sheet (CS), where magnetic reconnection and strong fluctuations frequently occur. Here, we statistically analyze magnetic field power spectra across 370 magnetotail CSs observed by MESSENGER. About 20% of the events are quasi-laminar, showing single power-law spectra, whereas 80% are turbulent, exhibiting a spectral break separating inertial and kinetic ranges. A dawn-dusk asymmetry is identified: inertial-range slopes are systematically shallower on the dawnside, whereas kinetic-range slopes are steeper, indicating more developed turbulence there, consistent with the higher occurrence of reconnection-related processes on the dawnside. Component analysis shows that the transverse components, orthogonal to the tail-aligned principal field (BX), display shallow slopes near -1 in the inertial range, suggesting energy injection at ion scales rather than a classical inertial range. These results demonstrate that Mercury's unique plasma environment fundamentally reshapes the initiation of turbulence and the redistribution of energy in the magnetotail.

physics.space-ph↗

arXiv2025

Revisiting Mars' Induced Magnetic Field and Clock Angle Departures under Real-Time Upstream Solar Wind Conditions

Mars lacks a global intrinsic dipole magnetic field, but its interaction with the solar wind generates a global induced magnetosphere. Until now, most studies have relied on single-spacecraft measurements, which could not simultaneously capture upstream solar wind conditions and the induced magnetic fields, thereby limiting our understanding of the system. Here, we statistically re-examine the properties of Mars' induced magnetic field by incorporating, for the first time, real-time upstream solar wind conditions from the coordinated MAVEN and Tianwen-1 observations. Our results are show that both solar wind dynamic pressure and the interplanetary magnetic field (IMF) magnitude enhance the strength of the induced magnetic field, but they exert opposite effects on the compression ratio: higher dynamic pressure strengthens compression, while stronger IMF weakens it. The induced field is stronger under quasi-perpendicular IMF conditions compared with quasi-parallel IMF, reflecting a stronger mass-loading effect. We further investigate the clock angle departures of the induced fields. They remain relatively small in the magnetosheath near the bow shock, increase gradually toward the induced magnetosphere, and become significantly larger within the induced magnetosphere. In addition, clock angle departures are strongly enhanced under quasi-parallel IMF conditions. Their dependence on upstream drivers further shows that, within the magnetosheath, clock angle departures are minimized under low dynamic pressure, high IMF magnitude, and low Alfven Mach number conditions. These results may enhance our understanding of solar wind interaction with Mars, and highlight the critical role of multi-point observations.

physics.space-ph↗

arXiv2025

Physics-Informed Neural Networks for Modeling the Martian Induced Magnetosphere

Understanding the magnetic field environment around Mars and its response to upstream solar wind conditions provide key insights into the processes driving atmospheric ion escape. To date, global models of Martian induced magnetosphere have been exclusively physics-based, relying on computationally intensive simulations. For the first time, we develop a data-driven model of the Martian induced magnetospheric magnetic field using Physics-Informed Neural Network (PINN) combined with MAVEN observations and physical laws. Trained under varying solar wind conditions, including B_IMF, P_SW, and θ_cone, the data-driven model accurately reconstructs the three-dimensional magnetic field configuration and its variability in response to upstream solar wind drivers. Based on the PINN results, we identify key dependencies of magnetic field configuration on solar wind parameters, including the hemispheric asymmetries of the draped field line strength in the Mars-Solar-Electric coordinates. These findings demonstrate the capability of PINNs to reconstruct complex magnetic field structures in the Martian induced magnetosphere, thereby offering a promising tool for advancing studies of solar wind-Mars interactions.

astro-ph.EP↗

arXiv2025

Magnetic Field and Plasma Asymmetries Between the Martian Quasi-Perpendicular and Quasi-Parallel Magnetosheaths

The Martian magnetosheath acts as a conduit for mass and energy transfer between the upstream solar wind and its induced magnetosphere. However, our understanding of its global properties remains limited. Using nine years of data from NASA's Mars Atmosphere and Volatile EvolutioN (MAVEN) mission, we performed a quantitative statistical analysis to explore the spatial distribution of the magnetic fields, solar wind and planetary ions in the magnetosheath. We discovered significant asymmetries in the magnetic field, solar wind protons, and planetary ions between the quasi-perpendicular and quasi-parallel magnetosheaths. The asymmetries in the Martian magnetosheath exhibit both similarities and differences compared to those in the Earth's and Venus' magnetosheaths. These results indicate that the Martian magnetosheath is distinctly shaped by both shock geometry and planetary ions.

physics.space-ph↗

arXiv2025

ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills

Humanoid robots hold the potential for unparalleled versatility in performing human-like, whole-body skills. However, achieving agile and coordinated whole-body motions remains a significant challenge due to the dynamics mismatch between simulation and the real world. Existing approaches, such as system identification (SysID) and domain randomization (DR) methods, often rely on labor-intensive parameter tuning or result in overly conservative policies that sacrifice agility. In this paper, we present ASAP (Aligning Simulation and Real-World Physics), a two-stage framework designed to tackle the dynamics mismatch and enable agile humanoid whole-body skills. In the first stage, we pre-train motion tracking policies in simulation using retargeted human motion data. In the second stage, we deploy the policies in the real world and collect real-world data to train a delta (residual) action model that compensates for the dynamics mismatch. Then, ASAP fine-tunes pre-trained policies with the delta action model integrated into the simulator to align effectively with real-world dynamics. We evaluate ASAP across three transfer scenarios: IsaacGym to IsaacSim, IsaacGym to Genesis, and IsaacGym to the real-world Unitree G1 humanoid robot. Our approach significantly improves agility and whole-body coordination across various dynamic motions, reducing tracking error compared to SysID, DR, and delta dynamics learning baselines. ASAP enables highly agile motions that were previously difficult to achieve, demonstrating the potential of delta action learning in bridging simulation and real-world dynamics. These results suggest a promising sim-to-real direction for developing more expressive and agile humanoids.

cs.RO↗

arXiv2024

CooHOI: Learning Cooperative Human-Object Interaction with Manipulated Object Dynamics

Enabling humanoid robots to clean rooms has long been a pursued dream within humanoid research communities. However, many tasks require multi-humanoid collaboration, such as carrying large and heavy furniture together. Given the scarcity of motion capture data on multi-humanoid collaboration and the efficiency challenges associated with multi-agent learning, these tasks cannot be straightforwardly addressed using training paradigms designed for single-agent scenarios. In this paper, we introduce Cooperative Human-Object Interaction (CooHOI), a framework designed to tackle the challenge of multi-humanoid object transportation problem through a two-phase learning paradigm: individual skill learning and subsequent policy transfer. First, a single humanoid character learns to interact with objects through imitation learning from human motion priors. Then, the humanoid learns to collaborate with others by considering the shared dynamics of the manipulated object using centralized training and decentralized execution (CTDE) multi-agent RL algorithms. When one agent interacts with the object, resulting in specific object dynamics changes, the other agents learn to respond appropriately, thereby achieving implicit communication and coordination between teammates. Unlike previous approaches that relied on tracking-based methods for multi-humanoid HOI, CooHOI is inherently efficient, does not depend on motion capture data of multi-humanoid interactions, and can be seamlessly extended to include more participants and a wide range of object types.

cs.RO↗

arXiv2024

Characterizing the current systems in the Martian ionosphere

When the solar wind interacts with the ionosphere of an unmagnetized planet, it induces currents that form an induced magnetosphere. These currents and their associated magnetic fields play a pivotal role in controlling the movement of charged particles, which is essential for understanding the escape of planetary ions. Unlike the well-documented magnetospheric current systems, the ionospheric current systems on unmagnetized planets remain less understood, which constrains the quantification of electrodynamic energy transfer from stars to these planets. Here, utilizing eight years of data from the Mars Atmosphere and Volatile EvolutioN (MAVEN) mission, we investigate the global distribution of ionospheric currents on Mars. We have identified two distinct current systems in the ionosphere: one aligns with the solar wind electric field yet exhibits hemispheric asymmetry perpendicular to the electric field direction; the other corresponds to the flow pattern of annually-averaged neutral winds. We propose that these two current systems are driven by the solar wind and atmospheric neutral winds, respectively. Our findings reveal that Martian ionospheric dynamics are influenced by the neutral winds from below and the solar wind from above, highlighting the complex and intriguing nature of current systems on unmagnetized planets.

astro-ph.EP↗

arXiv2024

A microwave photonic prototype for concurrent radar detection and spectrum sensing over an 8 to 40 GHz bandwidth

In this work, a microwave photonic prototype for concurrent radar detection and spectrum sensing is proposed, designed, built, and investigated. A direct digital synthesizer and an analog electronic circuit are integrated to generate an intermediate frequency (IF) linearly frequency-modulated (LFM) signal with a tunable center frequency from 2.5 to 9.5 GHz and an instantaneous bandwidth of 1 GHz. The IF LFM signal is converted to the optical domain via an intensity modulator and then filtered by a fiber Bragg grating (FBG) to generate only two 2nd-order optical LFM sidebands. In radar detection, the two optical LFM sidebands beat with each other to generate a frequency-and-bandwidth-quadrupled LFM signal, which is used for ranging, radial velocity measurement, and imaging. By changing the center frequency of the IF LFM signal, the radar function can be operated within 8 to 40 GHz. In spectrum sensing, one 2nd-order optical LFM sideband is selected by another FBG, which then works in conjunction with the stimulated Brillouin scattering gain spectrum to map the frequency of the signal under test to time with an instantaneous measurement bandwidth of 2 GHz. By using a frequency shift module to adjust the pump frequency, the frequency measurement range can be adjusted from 0 to 40 GHz. The prototype is comprehensively studied and tested, which is capable of achieving a range resolution of 3.75 cm, a range error of less than $\pm$ 2 cm, a radial velocity error within $\pm$ 1 cm/s, delivering clear imaging of multiple small targets, and maintaining a frequency measurement error of less than $\pm$ 7 MHz and a frequency resolution of better than 20 MHz.

physics.optics↗