arXiv subjects

Kun Jiang

Publications and source records attributed to Kun Jiang.

At least 37 records · Page 2Linked to original sources

arXiv2026

4DLidarOpen: An Open 4D FMCW Lidar Dataset for Motion-Aware Autonomous Driving

We present 4DLidarOpen, a large-scale open multi-modal dataset for autonomous driving, centered on 4D frequency-modulated continuous-wave (FMCW) Lidar sensing. Unlike conventional time-of-flight Lidar datasets that mainly provide geometric measurements, 4DLidarOpen includes point-wise radial velocity measurements from a forward-facing 4D FMCW Lidar, together with multiple Lidars of different types, including rotating, solid-state, and blind-spot variants, surround-view cameras, and 6-DOF ego-vehicle poses. The dataset was collected in complex urban environments in Beijing and covers dense pedestrian interactions, congested traffic, high-speed driving, and unprotected maneuvers. 4DLidarOpen provides synchronized multi-sensor data and 3D bounding-box annotations with persistent track IDs across five object categories. A hybrid annotation strategy is adopted, where large-scale auto-labeled data support scalable training and human experts refine annotations for the human-annotated training and validation sets. Based on this dataset, we establish benchmarks for 3D object detection, birds-eye view (BEV) segmentation and flow prediction, and motion forecasting with planning. Extensive experiments show that direct velocity measurements from 4D FMCW Lidar provide complementary motion cues for dynamic-scene understanding. Compared with geometric-only sensing, the velocity-aware representation improves motion-related perception and downstream forecasting and planning, especially in scenarios involving vulnerable road users and fast-moving objects. These results indicate that 4D FMCW Lidar is a promising sensing modality for motion-aware autonomous driving. The dataset and evaluation toolkit are publicly released to support research on 4D scene understanding, multi-Lidar fusion, and velocity-aware perception and planning.

cs.RO↗

arXiv2026

Jahn-Teller distortion on strained La$_3$Ni$_2$O$_7$ thin films

We present a systematic study of the electronic structure of strained La$_3$Ni$_2$O$_7$ thin films. We show that biaxial compressive strain mainly elongates the outer apical Ni-O bond while leaving the inner apical Ni-O bond nearly unchanged. As a result, the Jahn-Teller splitting $Δ_{JT}$ is strongly enhanced, whereas the interlayer $d_{z^2}$ hopping $t_\perp^z$ changes only weakly. Since superconductivity is widely believed to emerge only below a critical in-plane lattice constant, our results identify the strain-enhanced $Δ_{JT}$ as the relevant microscopic tuning parameter. Consistently, the calculated Fermi surfaces and Hall response for LaAlO$_3$ and SrLaAlO$_4$ substrates agree with ARPES and Hall measurements. Our results identify Jahn-Teller distortion as a key tuning parameter in strained La$_3$Ni$_2$O$_7$ and support its central role in optimizing superconductivity in bilayer nickelates.

cond-mat.supr-con↗

arXiv2026

Bridging Brains and Machines: A Unified Frontier in Neuroscience, Artificial Intelligence, and Neuromorphic Systems

This position and survey paper identifies the emerging convergence of neuroscience, artificial general intelligence (AGI), and neuromorphic computing toward a unified research paradigm. Using a framework grounded in brain physiology, we highlight how synaptic plasticity, sparse spike-based communication, and multimodal association provide design principles for next-generation AGI systems that potentially combine both human and machine intelligences. The review traces this evolution from early connectionist models to state-of-the-art large language models, demonstrating how key innovations like transformer attention, foundation-model pre-training, and multi-agent architectures mirror neurobiological processes like cortical mechanisms, working memory, and episodic consolidation. We then discuss emerging physical substrates capable of breaking the von Neumann bottleneck to achieve brain-scale efficiency in silicon: memristive crossbars, in-memory compute arrays, and emerging quantum and photonic devices. There are four critical challenges at this intersection: 1) integrating spiking dynamics with foundation models, 2) maintaining lifelong plasticity without catastrophic forgetting, 3) unifying language with sensorimotor learning in embodied agents, and 4) enforcing ethical safeguards in advanced neuromorphic autonomous systems. This combined perspective across neuroscience, computation, and hardware offers an integrative agenda for in each of these fields.

q-bio.NC↗

arXiv2026

Orbital-Selective $d$-wave Superconductivity in the Two-Band $t$-$J$ Model: Possible Applications to La$_3$Ni$_2$O$_7$

We investigate superconductivity in a two-band $t$-$J$ model consisting of an itinerant orbital (orbital-0) and a quasi-localized orbital (orbital-1) using variational Monte Carlo. A robust orbital-selective $d$-wave superconducting state is found to emerge exclusively from the itinerant orbital. An analysis of the superexchange energy hierarchy shows that the quasi-localized orbital-1 competes with superconductivity by favoring local inter-orbital bound states, which act as energy defects and disrupt phase coherence. Consistently, the superconducting order parameter is monotonically suppressed as the occupancy of orbital-1 increases. Motivated by superconductivity in nickelate La$_3$Ni$_2$O$_7$, these results highlight the essential role of multi-orbital physics beyond the single-band $t$-$J$ framework and point to a concrete route to enhance $T_c$: suppressing the involvement of localized $d_{z^2}$-derived orbitals.

cond-mat.str-el↗

arXiv2026

BAAI Cardiac Agent: An intelligent multimodal agent for automated reasoning and diagnosis of cardiovascular diseases from cardiac magnetic resonance imaging

Cardiac magnetic resonance (CMR) is a cornerstone for diagnosing cardiovascular disease. However, it remains underutilized due to complex, time-consuming interpretation across multi-sequences, phases, quantitative measures that heavily reliant on specialized expertise. Here, we present BAAI Cardiac Agent, a multimodal intelligent system designed for end-to-end CMR interpretation. The agent integrates specialized cardiac expert models to perform automated segmentation of cardiac structures, functional quantification, tissue characterization and disease diagnosis, and generates structured clinical reports within a unified workflow. Evaluated on CMR datasets from two hospitals (2413 patients) spanning 7-types of major cardiovascular diseases, the agent achieved an area under the receiver-operating-characteristic curve exceeding 0.93 internally and 0.81 externally. In the task of estimating left ventricular function indices, the results generated by this system for core parameters such as ejection fraction, stroke volume, and left ventricular mass are highly consistent with clinical reports, with Pearson correlation coefficients all exceeding 0.90. The agent outperformed state-of-the-art models in segmentation and diagnostic tasks, and generated clinical reports showing high concordance with expert radiologists (six readers across three experience levels). By dynamically orchestrating expert models for coordinated multimodal analysis, this agent framework enables accurate, efficient CMR interpretation and highlights its potentials for complex clinical imaging workflows. Code is available at https://github.com/plantain-herb/Cardiac-Agent.

eess.IV↗

arXiv2026

Physics-informed Deep Mixture-of-Koopmans Vehicle Dynamics Model with Dual-branch Encoder for Distributed Electric-drive Trucks

Advanced autonomous driving systems require accurate vehicle dynamics modeling. However, identifying a precise dynamics model remains challenging due to strong nonlinearities and the coupled longitudinal and lateral dynamic characteristics. Previous research has employed physics-based analytical models or neural networks to construct vehicle dynamics representations. Nevertheless, these approaches often struggle to simultaneously achieve satisfactory performance in terms of system identification efficiency, modeling accuracy, and compatibility with linear control strategies. In this paper, we propose a fully data-driven dynamics modeling method tailored for complex distributed electric-drive trucks (DETs), leveraging Koopman operator theory to represent highly nonlinear dynamics in a lifted linear embedding space. To achieve high-precision modeling, we first propose a novel dual-branch encoder which encodes dynamic states and provides a powerful basis for the proposed Koopman-based methods entitled KODE. A physics-informed supervision mechanism, grounded in the geometric consistency of temporal vehicle motion, is incorporated into the training process to facilitate effective learning of both the encoder and the Koopman operator. Furthermore, to accommodate the diverse driving patterns of DETs, we extend the vanilla Koopman operator to a mixture-of-Koopman operator framework, enhancing modeling capability. Simulations conducted in a high-fidelity TruckSim environment and real-world experiments demonstrate that the proposed approach achieves state-of-the-art performance in long-term dynamics state estimation.

cs.RO↗

arXiv2026

Tau-induced atrophy drives functional connectivity disruption in Alzheimer's disease

Alzheimer's disease involves progressive tau accumulation and spread, leading to regional brain atrophy and disruption of large-scale functional networks. While tau propagation and tissue degeneration have been widely modeled, how atrophy dynamics translate into functional connectivity (FC) degradation remains unclear. Here, we develop a multiphysics framework integrating anisotropic tau reaction-diffusion, finite-deformation biomechanics, and network modeling to link tau-driven atrophy with FC changes. Model fidelity is evaluated by quantitatively comparing simulated atrophy patterns with imaging-derived measurements. Using longitudinal structural and functional MRI, we identify an approximately linear relationship between regional atrophy rates and FC change. We then construct an atrophy-informed structural network degradation matrix from model-predicted region-specific atrophy rates and embed it into a neural oscillation model to predict FC disruption. Our results show that (i) the coupled reaction-diffusion-biomechanical model reproduces observed regional atrophy, (ii) regional atrophy rates parsimoniously predict longitudinal FC changes, and (iii) the atrophy-informed degradation matrix captures the direction and relative magnitude of regional FC disruption. By converting tau-driven atrophy into predictive FC trajectories, the proposed framework offers a clinically interpretable avenue for forecasting disease progression and informing trial design.

physics.med-ph↗

arXiv2026

Reinforcement Learning with Promising Tokens for Large Language Models

Reinforcement learning (RL) has emerged as a key paradigm for aligning and optimizing large language models (LLMs). Standard approaches treat the LLM as the policy and apply RL directly over the full vocabulary space. However, this formulation includes the massive tail of contextually irrelevant tokens in the action space, which could distract the policy from focusing on decision-making among the truly reasonable tokens. In this work, we verify that valid reasoning paths could inherently concentrate within a low-rank subspace. Based on this insight, we introduce Reinforcement Learning with Promising Tokens (RLPT), a framework that mitigates the action space issue by decoupling strategic decision-making from token generation. Specifically, RLPT leverages the semantic priors of the base model to identify a dynamic set of promising tokens and constrains policy optimization exclusively to this refined subset via masking. Theoretical analysis and empirical results demonstrate that RLPT effectively reduces gradient variance, stabilizes the training process, and improves sample efficiency. Experiment results on math, coding, and telecom reasoning show that RLPT outperforms standard RL baselines and integrates effectively across various model sizes (4B and 8B) and RL algorithms (GRPO and DAPO).

cs.LG↗

arXiv2026

Direct Observation of Unidirectional Density Wave and Band splitting in a Single-Domain Trilayer Nickelate Pr$_4$Ni$_3$O$_{10}$

Unraveling the interplay between density-wave (DW) instabilities and multi-orbital physics is critical for understanding superconductivity in Ruddlesden-Popper nickelates, yet intrinsic electronic features have been persistently obscured by material inhomogeneity and thus the multi-domain averaging effect. Here, we employ micro-focused angle-resolved photoemission spectroscopy ($μ$-ARPES) on single-domain Pr$_4$Ni$_3$O$_{10}$ to disentangle the complex hierarchy of intrinsic and back-folded bands, explicitly identifying the electronic states driving the DW phase transition. We provide decisive spectroscopic evidence that the low-energy reconstruction is governed by inter-orbital nesting between the $α$ and $β$ bands. Specifically, we resolve a orbital-dependent gap of $\sim44$ meV on the $α$ pocket, a value quantitatively consistent with prior measurements, unifying previously conflicting experimental reports regarding the locus and magnitude of the DW gap. Furthermore, we reveal strong orbital-selective mass renormalization in the $d_{z^2}$ states and successfully resolve the long-sought intrinsic trilayer $β$-band splitting, establishing a critical lower bound for the outer-layer hopping. These results define a coherent microscopic fingerprint for the trilayer nickelates, identifying the specific nesting channels and correlation effects that underpin the phase diagram.

cond-mat.supr-con↗

arXiv2026

EDCO: Dynamic Curriculum Orchestration for Domain-specific Large Language Model Fine-tuning

Domain-specific large language models (LLMs), typically developed by fine-tuning a pre-trained general-purpose LLM on specialized datasets, represent a significant advancement in applied AI. A common strategy in LLM fine-tuning is curriculum learning, which pre-orders training samples based on metrics like difficulty to improve learning efficiency compared to a random sampling strategy. However, most existing methods for LLM fine-tuning rely on a static curriculum, designed prior to training, which lacks adaptability to the model's evolving needs during fine-tuning. To address this, we propose EDCO, a novel framework based on two key concepts: inference entropy and dynamic curriculum orchestration. Inspired by recent findings that maintaining high answer entropy benefits long-term reasoning gains, EDCO prioritizes samples with high inference entropy in a continuously adapted curriculum. EDCO integrates three core components: an efficient entropy estimator that uses prefix tokens to approximate full-sequence entropy, an entropy-based curriculum generator that selects data points with the highest inference entropy, and an LLM trainer that optimizes the model on the selected curriculum. Comprehensive experiments in communication, medicine and law domains, EDCO outperforms traditional curriculum strategies for fine-tuning Qwen3-4B and Llama3.2-3B models under supervised and reinforcement learning settings. Furthermore, the proposed efficient entropy estimation reduces computational time by 83.5% while maintaining high accuracy.

cs.LG↗

arXiv2026

Spin-Lattice Relaxation in Two-Dimensional Superconducting BKT Transition

Two-dimensional superconductors undergo a Berezinskii-Kosterlitz-Thouless transition driven by vortex-antivortex unbinding, yet experimental signatures beyond transport remain limited. Here, we show that the spin-lattice relaxation rate provides a direct probe of this transition. In a 2-dimensional $s$-wave superconductor, $1/T_1T$ develops a Hebel-Slichter-like peak around $T_{\rm{BKT}}$, originating from the emergence of coherence peaks in the density of states, while no peak appears at the pair formation scale $T_{\rm{BCS}}$. We further extend our analysis to the $d$-wave superconductor. Our results highlight spin-lattice relaxation rate as a sensitive tool to detect the superconducting BKT transition and open routes to exploring its manifestation in unconventional pairing states.

cond-mat.supr-con↗

arXiv2026

LSRE: Latent Semantic Rule Encoding for Real-Time Semantic Risk Detection in Autonomous Driving

Real-world autonomous driving must adhere to complex human social rules that extend beyond legally codified traffic regulations. Many of these semantic constraints, such as yielding to emergency vehicles, complying with traffic officers' gestures, or stopping for school buses, are intuitive for humans yet difficult to encode explicitly. Although large vision-language models (VLMs) can interpret such semantics, their inference cost makes them impractical for real-time deployment. This work proposes LSRE, a Latent Semantic Rule Encoding framework that converts sparsely sampled VLM judgments into decision boundaries within the latent space of a recurrent world model. By encoding language-defined safety semantics into a lightweight latent classifier, LSRE enables real-time semantic risk assessment at 10 Hz without per-frame VLM queries. Experiments on six semantic-failure scenarios in CARLA demonstrate that LSRE attains semantic risk detection accuracy comparable to a large VLM baseline, while providing substantially earlier hazard anticipation and maintaining low computational latency. LSRE further generalizes to rarely seen semantic-similar test cases, indicating that language-guided latent classification offers an effective and deployable mechanism for semantic safety monitoring in autonomous driving.

cs.RO↗

arXiv2025

DTCCL: Disengagement-Triggered Contrastive Continual Learning for Autonomous Bus Planners

Autonomous buses run on fixed routes but must operate in open, dynamic urban environments. Disengagement events on these routes are often geographically concentrated and typically arise from planner failures in highly interactive regions. Such policy-level failures are difficult to correct using conventional imitation learning, which easily overfits to sparse disengagement data. To address this issue, this paper presents a Disengagement-Triggered Contrastive Continual Learning (DTCCL) framework that enables autonomous buses to improve planning policies through real-world operation. Each disengagement triggers cloud-based data augmentation that generates positive and negative samples by perturbing surrounding agents while preserving route context. Contrastive learning refines policy representations to better distinguish safe and unsafe behaviors, and continual updates are applied in a cloud-edge loop without human supervision. Experiments on urban bus routes demonstrate that DTCCL improves overall planning performance by 48.6 percent compared with direct retraining, validating its effectiveness for scalable, closed-loop policy improvement in autonomous public transport.

cs.RO↗

arXiv2025

Are All Data Necessary? Efficient Data Pruning for Large-scale Autonomous Driving Dataset via Trajectory Entropy Maximization

Collecting large-scale naturalistic driving data is essential for training robust autonomous driving planners. However, real-world datasets often contain a substantial amount of repetitive and low-value samples, which lead to excessive storage costs and bring limited benefits to policy learning. To address this issue, we propose an information-theoretic data pruning method that effectively reduces the training data volume without compromising model performance. Our approach evaluates the trajectory distribution information entropy of driving data and iteratively selects high-value samples that preserve the statistical characteristics of the original dataset in a model-agnostic manner. From a theoretical perspective, we show that maximizing trajectory entropy effectively constrains the Kullback-Leibler divergence between the pruned subset and the original data distribution, thereby maintaining generalization ability. Comprehensive experiments on the NuPlan benchmark with a large-scale imitation learning framework demonstrate that the proposed method can reduce the dataset size by up to 40% while maintaining closed-loop performance. This work provides a lightweight and theoretically grounded approach for scalable data management and efficient policy learning in autonomous driving systems.

cs.RO↗

arXiv2025

Discriminating Gap Symmetries of Superconducting La$_3$Ni$_2$O$_7$

The discovery of high-T$_c$ superconductor in Ruddlesden-Popper nickelate materials represented by La$_3$Ni$_2$O$_7$ has opened new directions in the quest for unconventional superconductivity. A central unresolved issue concerns the pairing symmetry of the superconducting order. In this paper, we model the superconducting order of La$_3$Ni$_2$O$_7$ using the established Fermi surface structure together with phenomenological pairing functions belonging to $s_\pm$ and $d$-wave symmetry classes, which are the leading possibilities in the current debate. We compute several experimentally accessible observables-including tunneling density of states, point contact spectroscopy, superfluid density, and Raman spectroscopy-each of which exhibits distinct characteristics for different gap symmetries. These quantities provide a concrete and experimentally testable route for identifying the pairing symmetry of La$_3$Ni$_2$O$_7$ and for clarifying the microscopic nature of nickelate superconductivity.

cond-mat.supr-con↗

arXiv2025

Yamaji effect and quantum oscillation in Yang-Rice-Zhang model of underdoped cuprates

Recent experiments have revealed signatures of small Fermi pockets in the pseudogap phase of cuprate superconductors, most notably the Yamaji effect observed in $\mathrm{HgBa}_2\mathrm{CuO}_{4+δ}$. The Yang-Rice-Zhang (YRZ) model provides a successful phenomenological description of the pseudogap state and naturally predicts such small pockets. In this work, we use a microscopic framework to calculate angle-dependent magnetoresistance and quantum oscillation within the YRZ model. Our calculations simultaneously reproduce the experimentally observed Yamaji oscillations and the Shubnikov-de Haas oscillation corresponding to a pocket area of about $p/8$, with $p$ the hole density. By further testing the effect of Green's-function zeros, we confirm that isolated zeros leave the oscillation period unchanged, whereas an extended zero segment suppresses and modifies the oscillation. Our findings demonstrate that the YRZ model captures essential features of the pseudogap regime and provides a general quantum approach that can be applied to more complex electronic structures.

cond-mat.supr-con↗

arXiv2025

Percolative Pathway to Stripe Order in KTaO3-Based Superconductivity

The sensitivity of low dimensional superconductors to fluctuations gives rise to emergent behaviors beyond the conventional Bardeen Cooper Schrieffer framework. Anisotropy is one such manifestation, often linked to spatially modulated electronic states and unconventional pairing mechanisms. Pronounced in plane anisotropy recently reported at KTaO3 based oxide interfaces points to the emergence of a stripe order in superconducting phase, yet its microscopic origin and formation pathway remain unresolved. Here, we show that controlled interfacial disorder in MgO/KTaO3(111) heterostructures drives a percolative evolution from localized Cooper-pair islands to superconducting puddles and eventually to stripes. The extracted stripe width matches the spin precession length, suggesting a self organized modulation governed by spin orbit coupling and lattice-symmetry breaking. These findings identify disorder as both a tuning parameter and a diagnostic probe for emergent superconductivity in two dimensional quantum materials.

cond-mat.supr-con↗

arXiv2025

Magnetic electron-hole asymmetry in cuprates: a computational revisit

In this work, we revisit the electron-hole asymmetry of antiferromagnetism in cuprates by studying the three-band Emery model. Using parameters relevant to La$_2$CuO$_4$, we benchmark the anti-ferromagnetic response for a large range of dopings with variational Monte Carlo, determinant quantum Monte Carlo, constrained-path auxiliary-field quantum Monte Carlo, density-matrix embedding theory, and the Gutzwiller approximation. Across methods and accessible sizes/temperatures, we find no significant electron-hole asymmetry if we consider only Neel anti-ferronagnetic response and ignore other possible orders such as stripe state. This result is robust to a moderate oxygen-site repulsion $U_p$ and to parameter sets of Nd$_2$CuO$_4$. Incorporating dopant-induced local potentials reveals an extrinsic route to asymmetry: Cu-site defects enhance AFM on the electron-doped side, whereas O-site defects suppress it on the hole-doped side. These results indicate that dopant-driven effects make a non-negligible contribution to apparent electron-hole asymmetry in the general phase diagram of cuprates and should be included when analyzing competing orders in cuprates.

cond-mat.str-el↗