arXiv subjects

Jinyu Dai

Publications and source records attributed to Jinyu Dai.

6 recordsLinked to original sources

arXiv2026

Hi-LOAM: Hierarchical Implicit Neural Fields for LiDAR Odometry and Mapping

LiDAR Odometry and Mapping (LOAM) is a pivotal technique for embodied-AI applications such as autonomous driving and robot navigation. Most existing LOAM frameworks are either contingent on the supervision signal, or lack of the reconstruction fidelity, which are deficient in depicting details of large-scale complex scenes. To overcome these limitations, we propose a multi-scale implicit neural localization and mapping framework using LiDAR sensor, called Hi-LOAM. Hi-LOAM receives LiDAR point cloud as the input data modality, learns and stores hierarchical latent features in multiple levels of hash tables based on an octree structure, then these multi-scale latent features are decoded into signed distance value through shallow Multilayer Perceptrons (MLPs) in the mapping procedure. For pose estimation procedure, we rely on a correspondence-free, scan-to-implicit matching paradigm to estimate optimal pose and register current scan into the submap. The entire training process is conducted in a self-supervised manner, which waives the model pre-training and manifests its generalizability when applied to diverse environments. Extensive experiments on multiple real-world and synthetic datasets demonstrate the superior performance, in terms of the effectiveness and generalization capabilities, of our Hi-LOAM compared to existing state-of-the-art methods.

cs.RO↗

arXiv2025

Magneto-Optical Trapping of a Metal Hydride Molecule

We demonstrate a three-dimensional magneto-optical trap (MOT) of a metal hydride molecule, CaH. We are able to scatter $\sim$$10^{4}$ photons with vibrational loss covered up to vibrational quantum number $\nu=2$. This allows us to laser slow the molecular beam near zero velocity with a "white-light" technique and subsequently load it into a radio-frequency MOT. The MOT contains $230(40)$ molecules, limited by beam source characteristics and predissociative loss of CaH. The temperature of the MOT is below one millikelvin. The predissociative loss mechanism could, in turn, facilitate controlled dissociation of the molecule, offering a possible route to optical trapping of hydrogen atoms for precision spectroscopy.

physics.atom-ph↗

arXiv2025

SPORTS: Simultaneous Panoptic Odometry, Rendering, Tracking and Segmentation for Urban Scenes Understanding

The scene perception, understanding, and simulation are fundamental techniques for embodied-AI agents, while existing solutions are still prone to segmentation deficiency, dynamic objects' interference, sensor data sparsity, and view-limitation problems. This paper proposes a novel framework, named SPORTS, for holistic scene understanding via tightly integrating Video Panoptic Segmentation (VPS), Visual Odometry (VO), and Scene Rendering (SR) tasks into an iterative and unified perspective. Firstly, VPS designs an adaptive attention-based geometric fusion mechanism to align cross-frame features via enrolling the pose, depth, and optical flow modality, which automatically adjust feature maps for different decoding stages. And a post-matching strategy is integrated to improve identities tracking. In VO, panoptic segmentation results from VPS are combined with the optical flow map to improve the confidence estimation of dynamic objects, which enhances the accuracy of the camera pose estimation and completeness of the depth map generation via the learning-based paradigm. Furthermore, the point-based rendering of SR is beneficial from VO, transforming sparse point clouds into neural fields to synthesize high-fidelity RGB views and twin panoptic views. Extensive experiments on three public datasets demonstrate that our attention-based feature fusion outperforms most existing state-of-the-art methods on the odometry, tracking, segmentation, and novel view synthesis tasks.

cs.CV↗

arXiv2025

Chemistry in a Cryogenic Buffer Gas Cell

Cryogenic buffer gas sources are ubiquitous for producing cold, collimated molecular beams for quantum science, chemistry, and precision measurements. The molecules are typically produced by laser ablating a metal target in the presence of a donor gas. The radical of interest emerges due to a barrier-free reaction or under thermal or optical excitation. High-barrier reactions, such as between Ca and H$_2$, should be precluded. We study chemical reactions between Ca and three hydrogen isotopologues H$_2$, D$_2$, and HD in a cryogenic cell with helium buffer gas. We observe that H$_2$ can serve as both a reactant and a buffer gas, outperforming D$_2$ and HD. We use a reaction network model to describe the chemical dynamics and find that the enhanced molecular yield can be attributed to rapid vibrational excitations of the reactant gas. Our results demonstrate a robust method for generating bright cold beams of alkaline-earth-metal hydrides for laser cooling and trapping.

physics.atom-ph↗

arXiv2024

Laser cooling of a fermionic molecule

Only bosonic molecular species have been directly laser cooled to date, primarily due to an abundance of bosonic isotopes in nature and to their simpler hyperfine structure. Fermionic molecules provide new opportunities for ultracold chemistry, quantum simulation, and precision measurements. Here we report direct laser cooling of a fermionic molecular isotopologue, calcium monodeuteride (CaD). With a nuclear spin I = 1, only 5 hyperfine states need to be addressed for rotational closure in optical cycling. These hyperfine states are unresolved for typical experimental linewidths. We present a method for efficiently producing alkaline-earth metal hydrides and deuterides. We demonstrate rotational closure and show magnetically assisted Sisyphus cooling in one dimension for a beam of CaD molecules. Our results indicate that the experimental complexity for laser cooling CaD is similar to that of calcium monohydride (CaH). Laser cooling of CaD is a promising first step for production of ultracold and trapped atomic deuterium.

physics.atom-ph↗

arXiv2023

Probing the limits of optical cycling in a predissociative diatomic molecule

Molecular predissociation is the spontaneous, nonradiative bond breaking process that can occur upon excitation. In the context of laser cooling, predissociation is an unwanted consequence of molecular structure that limits the ability to scatter a large number of photons required to reach the ultracold regime. Unlike rovibrational branching, predissociation is irreversible since the fragments fly apart with high kinetic energy. Of particular interest is the simple diatomic molecule, CaH, for which the two lowest electronically excited states used in laser cooling lie above the dissociation threshold of the ground potential. In this work, we present measurements and calculations that quantify the predissociation probabilities affecting the cooling cycle. The results allow us to design a laser cooling scheme that will enable the creation of an ultracold and optically trapped cloud of CaH molecules. In addition, we use the results to propose a two-photon pathway to controlled dissociation of the molecules, in order to gain access to their ultracold fragments, including hydrogen.

physics.atom-ph↗