Searcharxiv⌕ Search

arXiv subjects

Jun Zeng

Publications and source records attributed to Jun Zeng.

At least 55 records · Page 3Linked to original sources

Revisiting $K_1(1270)- K_1(1400)$ mixing in QCD sum rules

We investigate the $K_1(1270)-K_1(1400)$ mixing caused by the flavor $SU(3)$ symmetry breaking. The mixing angle is expressed by a $K_{1A}\to K_{1B}$ matrix element induced by the operators that breaks flavor $SU(3)$ symmetry. The QCD contribution to this matrix element is assumed to be dominated and calculated by QCD sum rules. A three-point correlation function is defined and handled both at the hadron and quark-gluon levels. The quark-gluon level calculation is based on operator product expansion up to dimension-5 condensates. A detailed numerical analysis is performed to determine the Borel parameters, and the obtained mixing angle is $θ_{K_1}=22^{\circ}\pm 7^{\circ}$ or $θ_{K_1}=68^{\circ}\pm 7^{\circ}$.

hep-ph↗

QED contributions to the $Ξ_c-Ξ_c'$ mixing

We explore the QED corrections to the $Ξ_c-Ξ_c^{\prime}$ mixing within the framework of light-front quark model (LFQM) in the three-quark picture. After explicitly investigating the relation between the $Ξ_c-Ξ_c^{\prime}$ mixing and the flavor $\rm {SU(3)}$ and heavy quark symmetry breaking, we derive the QED contributions to the mixing angle. Numerical results indicate the QED contribution is smaller than the one from the mass difference between the strange and up/down quark provided by a recent Lattice QCD analysis. Adding these contributions together we find that at this stage the $Ξ_c-Ξ_c^{\prime}$ mixing is small and still incapable to account for the large $\rm {SU(3)}$ symmetry breaking in the semi-leptonic $Ξ_c$ decays.

hep-ph↗

i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments

This work introduces a novel control strategy called Iterative Linear Quadratic Regulator for Iterative Tasks (i2LQR), which aims to improve closed-loop performance with local trajectory optimization for iterative tasks in a dynamic environment. The proposed algorithm is reference-free and utilizes historical data from previous iterations to enhance the performance of the autonomous system. Unlike existing algorithms, the i2LQR computes the optimal solution in an iterative manner at each timestamp, rendering it well-suited for iterative tasks with changing constraints at different iterations. To evaluate the performance of the proposed algorithm, we conduct numerical simulations for an iterative task aimed at minimizing completion time. The results show that i2LQR achieves an optimized performance with respect to learning-based MPC (LMPC) as the benchmark in static environments, and outperforms LMPC in dynamic environments with both static and dynamics obstacles.

eess.SY↗

Lattice Calculation of the Intrinsic Soft Function and the Collins-Soper Kernel

We calculate the soft function using lattice QCD in the framework of large momentum effective theory incorporating the one-loop perturbative contributions. The soft function is a crucial ingredient in the lattice determination of light cone objects using transverse-momentum-dependent (TMD) factorization. It consists of a rapidity-independent part called intrinsic soft function and a rapidity-dependent part called Collins-Soper kernel. We have adopted appropriate normalization when constructing the pseudo-scalar meson form factor that is needed in the determination of the intrinsic part and applied Fierz rearrangement to suppress the higher-twist effects. In the calculation of CS kernel we consider a CLS ensemble other than the MILC ensemble used in a previous study. We have also compared the applicability of determining the CS kernel using quasi TMDWFs and quasi TMDPDFs. As an example, the determined soft function is used to obtain the physical TMD wave functions (WFs) of pion and unpolarized iso-vector TMD parton distribution functions (PDFs) of proton.

hep-lat↗

Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based Optimization

This paper presents a safety-critical locomotion control framework for quadrupedal robots. Our goal is to enable quadrupedal robots to safely navigate in cluttered environments. To tackle this, we introduce exponential Discrete Control Barrier Functions (exponential DCBFs) with duality-based obstacle avoidance constraints into a Nonlinear Model Predictive Control (NMPC) with Whole-Body Control (WBC) framework for quadrupedal locomotion control. This enables us to use polytopes to describe the shapes of the robot and obstacles for collision avoidance while doing locomotion control of quadrupedal robots. Compared to most prior work, especially using CBFs, that utilize spherical and conservative approximation for obstacle avoidance, this work demonstrates a quadrupedal robot autonomously and safely navigating through very tight spaces in the real world. (Our open-source code is available at github.com/HybridRobotics/quadruped_nmpc_dcbf_duality, and the video is available at youtu.be/p1gSQjwXm1Q.)

cs.RO↗

Obstacle Avoidance for Unicycle-Modelled Mobile Robots with Time-varying Control Barrier Functions

In this paper, we propose a safety-critical controller based on time-varying control barrier functions (CBFs) for a robot with an unicycle model in the continuous-time domain to achieve navigation and dynamic collision avoidance. Unlike previous works, our proposed approach can control both linear and angular velocity to avoid collision with obstacles, overcoming the limitation of confined control performance due to the lack of control variable. To ensure that the robot reaches its destination, we also design a control Lyapunov function (CLF). Our safety-critical controller is formulated as a quadratic program (QP) optimization problem that incorporates CLF and CBFs as constraints, enabling real-time application for navigation and dynamic collision avoidance. Numerical simulations are conducted to verify the effectiveness of our proposed approach.

cs.RO↗

Autonomous Navigation of Underactuated Bipedal Robots in Height-Constrained Environments

Navigating a large-scaled robot in unknown and cluttered height-constrained environments is challenging. Not only is a fast and reliable planning algorithm required to go around obstacles, the robot should also be able to change its intrinsic dimension by crouching in order to travel underneath height-constrained regions. There are few mobile robots that are capable of handling such a challenge, and bipedal robots provide a solution. However, as bipedal robots have nonlinear and hybrid dynamics, trajectory planning while ensuring dynamic feasibility and safety on these robots is challenging. This paper presents an end-to-end autonomous navigation framework which leverages three layers of planners and a variable walking height controller to enable bipedal robots to safely explore height-constrained environments. A vertically-actuated Spring-Loaded Inverted Pendulum (vSLIP) model is introduced to capture the robot's coupled dynamics of planar walking and vertical walking height. This reduced-order model is utilized to optimize for long-term and short-term safe trajectory plans. A variable walking height controller is leveraged to enable the bipedal robot to maintain stable periodic walking gaits while following the planned trajectory. The entire framework is tested and experimentally validated using a bipedal robot Cassie. This demonstrates reliable autonomy to drive the robot to safely avoid obstacles while walking to the goal location in various kinds of height-constrained cluttered environments.

cs.RO↗

Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions

Safety is one of the fundamental challenges in control theory. Recently, multi-step optimal control problems for discrete-time dynamical systems were formulated to enforce stability, while subject to input constraints as well as safety-critical requirements using discrete-time control barrier functions within a model predictive control (MPC) framework. Existing work usually focus on the feasibility or the safety for the optimization problem, and the majority of the existing work restrict the discussions to relative-degree one control barrier functions. Additionally, the real-time computation is challenging when a large horizon is considered in the MPC problem for relative-degree one or high-order control barrier functions. In this paper, we propose a framework that solves the safety-critical MPC problem in an iterative optimization, which is applicable for any relative-degree control barrier functions. In the proposed formulation, the nonlinear system dynamics as well as the safety constraints modeled as discrete-time high-order control barrier functions (DHOCBF) are linearized at each time step. Our formulation is generally valid for any control barrier function with an arbitrary relative-degree. The advantages of fast computational performance with safety guarantee are analyzed and validated with numerical results.

math.OC↗

Light-cone distribution amplitudes of a light baryon in large-momentum effective theory

Momentum distributions of quarks/gluons inside a light baryon in a hard exclusive process are encoded in the light-cone distribution amplitudes (LCDAs). In this work, we point out that the leading twist LCDAs of a light baryon can be obtained through a simulation of a quasi-distribution amplitude calculable on lattice QCD within the framework of the large-momentum effective theory. We calculate the one-loop perturbative contributions to LCDA and quasi-distribution amplitudes and explicitly demonstrate the factorization of quasi-distribution amplitudes at the one-loop level. Based on the perturbative results, we derive the matching kernel in the $\overline{\rm MS}$ scheme and regularization-invariant momentum-subtraction scheme. Our result provides a first step to obtaining the LCDA from first principle lattice QCD calculations in the future.

hep-ph↗

Transverse-Momentum-Dependent Wave Functions of Pion from Lattice QCD

We present a first lattice QCD calculation of the transverse-momentum-dependent wave functions (TMDWFs) of the pion using large-momentum effective theory. Numerical simulations are based on one ensemble with 2+1+1 flavors of highly improved staggered quarks action with lattice spacing $a=0.121$~fm from the MILC Collaboration, and one with 2 +1 flavor clover fermions and tree-level Symanzik gauge action generated by the CLS Collaboration with $a=0.098$~fm. As a key ingredient, the soft function is first obtained by incorporating the one-loop perturbative contributions and a proper normalization. Based on this and the equal-time quasi-TMDWFs simulated on the lattice, we extract the light-cone TMDWFs. The results are comparable between the two lattice ensembles and a comparison with phenomenological parametrization is made. Our studies provide a first attempt of $ab$ $initio$ calculation of TMDWFs which will eventually lead to crucial theory inputs for making predictions for exclusive processes under QCD factorization.

hep-lat↗

Distantly-Supervised Named Entity Recognition with Adaptive Teacher Learning and Fine-grained Student Ensemble

Distantly-Supervised Named Entity Recognition (DS-NER) effectively alleviates the data scarcity problem in NER by automatically generating training samples. Unfortunately, the distant supervision may induce noisy labels, thus undermining the robustness of the learned models and restricting the practical application. To relieve this problem, recent works adopt self-training teacher-student frameworks to gradually refine the training labels and improve the generalization ability of NER models. However, we argue that the performance of the current self-training frameworks for DS-NER is severely underestimated by their plain designs, including both inadequate student learning and coarse-grained teacher updating. Therefore, in this paper, we make the first attempt to alleviate these issues by proposing: (1) adaptive teacher learning comprised of joint training of two teacher-student networks and considering both consistent and inconsistent predictions between two teachers, thus promoting comprehensive student learning. (2) fine-grained student ensemble that updates each fragment of the teacher model with a temporal moving average of the corresponding fragment of the student, which enhances consistent predictions on each model fragment against noise. To verify the effectiveness of our proposed method, we conduct experiments on four DS-NER datasets. The experimental results demonstrate that our method significantly surpasses previous SOTA methods.

cs.CL↗

Total decay width of $H \to gg$ using the infinite-order scale-setting approach based on the intrinsic conformality

We make a detailed study on the properties of the total decay width of Higgs decay channel $H\to gg$ up to $α_s^6$-order QCD corrections by using the newly suggested infinite-order scale-setting approach, which is based on the ideas of both the principle of maximum conformality and the intrinsic conformality. This approach is called as the PMC$_\infty$ approach. By using the PMC$_\infty$ approach, we observe that the conventional renormalization scale ambiguity in perturbative QCD calculation is eliminated and the residual scale dependence due to unknown higher-order terms can also be highly suppressed. We then obtain an accurate perturbative QCD prediction on the total decay width, e.g. $Γ(H \to gg)|_{\rm PMC_\infty} =336.42^{+7.01}_{-6.92}$ KeV, where the errors are squared averages of those from all the mentioned error sources.

hep-ph↗

Adapting Rapid Motor Adaptation for Bipedal Robots

Recent advances in legged locomotion have enabled quadrupeds to walk on challenging terrains. However, bipedal robots are inherently more unstable and hence it's harder to design walking controllers for them. In this work, we leverage recent advances in rapid adaptation for locomotion control, and extend them to work on bipedal robots. Similar to existing works, we start with a base policy which produces actions while taking as input an estimated extrinsics vector from an adaptation module. This extrinsics vector contains information about the environment and enables the walking controller to rapidly adapt online. However, the extrinsics estimator could be imperfect, which might lead to poor performance of the base policy which expects a perfect estimator. In this paper, we propose A-RMA (Adapting RMA), which additionally adapts the base policy for the imperfect extrinsics estimator by finetuning it using model-free RL. We demonstrate that A-RMA outperforms a number of RL-based baseline controllers and model-based controllers in simulation, and show zero-shot deployment of a single A-RMA policy to enable a bipedal robot, Cassie, to walk in a variety of different scenarios in the real world beyond what it has seen during training. Videos and results at https://ashish-kmr.github.io/a-rma/

cs.RO↗

Transverse-momentum-dependent wave functions and Soft functions at one-loop in Large Momentum Effective Theory

In large-momentum effective theory (LaMET), the transverse-momentum-dependent (TMD) light-front wave functions and soft functions can be extracted from the simulation of a four-quark form factor and equal-time correlation functions. In this work, using expansion by regions we provide a one-loop proof of TMD factorization of the form factor. For the one-loop validation, we also present a detailed calculation of ${\cal O}(α_s)$ perturbative corrections to these quantities, in which we adopt a modern technique for the calculation of TMD form factor based the integration by part and differential equation. The one-loop hard functions are then extracted. Using lattice data from Lattice Parton Collaboration on quasi-TMDWFs, we estimate the effects from the one-loop matching kernel and find that the perturbative corrections depend on the operator to define the form factor, but are less sensitive to the transverse separation. These results will be helpful to precisely extract the soft functions and TMD wave functions from the first-principle in future.

hep-th↗

Collaborative Navigation and Manipulation of a Cable-towed Load by Multiple Quadrupedal Robots

This paper tackles the problem of robots collaboratively towing a load with cables to a specified goal location while avoiding collisions in real time. The introduction of cables (as opposed to rigid links) enables the robotic team to travel through narrow spaces by changing its intrinsic dimensions through slack/taut switches of the cable. However, this is a challenging problem because of the hybrid mode switches and the dynamical coupling among multiple robots and the load. Previous attempts at addressing such a problem were performed offline and do not consider avoiding obstacles online. In this paper, we introduce a cascaded planning scheme with a parallelized centralized trajectory optimization that deals with hybrid mode switches. We additionally develop a set of decentralized planners per robot, which enables our approach to solve the problem of collaborative load manipulation online. We develop and demonstrate one of the first collaborative autonomy framework that is able to move a cable-towed load, which is too heavy to move by a single robot, through narrow spaces with real-time feedback and reactive planning in experiments.

cs.RO↗

Model-free online motion adaptation for energy efficient flights of multicopters

Limited flight distance and time is a common problem for multicopters. We propose a method for finding the optimal speed and sideslip angle of a multicopter flying a given path to achieve either the longest flight distance or time. Since flight speed and sideslip are often free variables in multicopter path planning, they can be changed without changing the mission. The proposed method is based on a novel multivariable extremum seeking controller with adaptive step size, which is inspired by recent work from the machine learning community on stochastic optimization. Our method (a) does not require a power consumption model of the vehicle, (b) is computationally efficient and runs on low-cost embedded computers in real-time, and (c) converges faster than the standard extremum seeking controller with constant step size. We prove the stability of this approach and validate it through outdoor experiments. The method is shown to converge with different payloads and in the presence of wind. Compared to flying at the maximum achievable speed in the experiments with a uniformly selected random sideslip angle, flying at the optimal range speed and sideslip on average increases the flight range by 14.3% without payload and 19.4% with a box payload. In addition, compared to hovering, flying at the optimal endurance speed and sideslip increases the flight time by 7.5% without payload and 14.4% with a box payload. A video can be found at https://youtu.be/aLds8LVfogk.

cs.RO↗

Safety-Critical Control and Planning for Obstacle Avoidance between Polytopes with Control Barrier Functions

Obstacle avoidance between polytopes is a challenging topic for optimal control and optimization-based trajectory planning problems. Existing work either solves this problem through mixed-integer optimization, relying on simplification of system dynamics, or through model predictive control with dual variables using distance constraints, requiring long horizons for obstacle avoidance. In either case, the solution can only be applied as an offline planning algorithm. In this paper, we exploit the property that a smaller horizon is sufficient for obstacle avoidance by using discrete-time control barrier function (DCBF) constraints and we propose a novel optimization formulation with dual variables based on DCBFs to generate a collision-free dynamically-feasible trajectory. The proposed optimization formulation has lower computational complexity compared to existing work and can be used as a fast online algorithm for control and planning for general nonlinear dynamical systems. We validate our algorithm on different robot shapes using numerical simulations with a kinematic bicycle model, resulting in successful navigation through maze environments with polytopic obstacles.

cs.RO↗

AttacKG: Constructing Technique Knowledge Graph from Cyber Threat Intelligence Reports

Cyber attacks are becoming more sophisticated and diverse, making detection increasingly challenging. To combat these attacks, security practitioners actively summarize and exchange their knowledge about attacks across organizations in the form of cyber threat intelligence (CTI) reports. However, as CTI reports written in natural language texts are not structured for automatic analysis, the report usage requires tedious manual efforts of cyber threat intelligence recovery. Additionally, individual reports typically cover only a limited aspect of attack patterns (techniques) and thus are insufficient to provide a comprehensive view of attacks with multiple variants. To take advantage of threat intelligence delivered by CTI reports, we propose AttacKG to automatically extract structured attack behavior graphs from CTI reports and identify the adopted attack techniques. We then aggregate cyber threat intelligence across reports to collect different aspects of techniques and enhance attack behavior graphs into technique knowledge graphs (TKGs). In our evaluation against 1,515 real-world CTI reports from diverse intelligence sources, AttacKG effectively identifies 28,262 attack techniques with 8,393 unique Indicators of Compromises (IoCs). To further verify the accuracy of AttacKG in extracting threat intelligence, we run AttacKG on 16 manually labeled CTI reports. Empirical results show that AttacKG accurately identifies attack-relevant entities, dependencies, and techniques with F1-scores of 0.887, 0.896, and 0.789, which outperforms the state-of-the-art approaches Extractor and TTPDrill. Moreover, the unique technique-level intelligence will directly benefit downstream security tasks that rely on technique specifications, e.g., APT detection and cyber attack reconstruction.

cs.CR↗