arXiv subjects

Kun Jiang

Publications and source records attributed to Kun Jiang.

At least 109 records · Page 6Linked to original sources

arXiv2024

LaneSegNet: Map Learning with Lane Segment Perception for Autonomous Driving

A map, as crucial information for downstream applications of an autonomous driving system, is usually represented in lanelines or centerlines. However, existing literature on map learning primarily focuses on either detecting geometry-based lanelines or perceiving topology relationships of centerlines. Both of these methods ignore the intrinsic relationship of lanelines and centerlines, that lanelines bind centerlines. While simply predicting both types of lane in one model is mutually excluded in learning objective, we advocate lane segment as a new representation that seamlessly incorporates both geometry and topology information. Thus, we introduce LaneSegNet, the first end-to-end mapping network generating lane segments to obtain a complete representation of the road structure. Our algorithm features two key modifications. One is a lane attention module to capture pivotal region details within the long-range feature space. Another is an identical initialization strategy for reference points, which enhances the learning of positional priors for lane attention. On the OpenLane-V2 dataset, LaneSegNet outperforms previous counterparts by a substantial gain across three tasks, \textit{i.e.}, map element detection (+4.8 mAP), centerline perception (+6.9 DET$_l$), and the newly defined one, lane segment perception (+5.6 mAP). Furthermore, it obtains a real-time inference speed of 14.7 FPS. Code is accessible at https://github.com/OpenDriveLab/LaneSegNet.

cs.CV↗

arXiv2024

Inversion-symmetric Electron Gases as New Platforms for Topological Planar Josephson Junctions

Intrinsic Rashba spin-orbital coupling (SOC) can exist in centrosymmetric materials with local inversion symmetry breaking. Here we show that such a SOC can induce topological superconductivity together with an in-plane Zeeman field in planar Josephson junctions formed by the centrosymmetric materials. A single Majorana mode can be created at each end of the junction. We demonstrate this result in a model based on iron-based superconductors. We derive the necessary Fermi surface condition for the topological planar junction and calculate the topological phase diagram with respect to the in-plane Zeeman field and the phase difference between the two superconductors. We provide experimental characteristics for the topological superconductivity, including the differential conductance and the Fano factor tomography which can be measured in the scanning tunneling spectroscopy. Our study reveals that the centrosymmetric systems with local-inversion-symmetry breaking can serve as new platforms for the topological planar Josephson junctions, and help to find more experimentally feasible materials for the topological superconductors.

cond-mat.supr-con↗

arXiv2024

Tunable vortex bound states in multiband CsV3Sb5-derived kagome superconductors

Vortices and bound states offer an effective means of comprehending the electronic properties of superconductors. Recently, surface dependent vortex core states have been observed in the newly discovered kagome superconductors CsV3Sb5. Although the spatial distribution of the sharp zero energy conductance peak appears similar to Majorana bound states arising from the superconducting Dirac surface states, its origin remains elusive. In this study, we present observations of tunable vortex bound states (VBSs) in two chemically doped kagome superconductors Cs(V1-xTrx)3Sb5 (Tr=Ta or Ti), using low temperature scanning tunneling microscopy/spectroscopy. The CsV3Sb5-derived kagome superconductors exhibit full gap pairing superconductivity accompanied by the absence of long range charge orders, in contrast to pristine CsV3Sb5. Zero energy conductance maps demonstrate a field-driven continuous reorientation transition of the vortex lattice, suggesting multiband superconductivity. The Ta doped CsV3Sb5 displays the conventional cross shaped spatial evolution of Caroli de Gennes Matricon bound states, while the Ti doped CsV3Sb5 exhibits a sharp, non split zero bias conductance peak (ZBCP) that persists over a long distance across the vortex. The spatial evolution of the non split ZBCP is robust against surface effects and external magnetic field but is related to the doping concentrations. Our study reveals the tunable VBSs in multiband chemically doped CsV3Sb5 system and offers fresh insights into previously reported Y shaped ZBCP in a non quantum limit condition at the surface of kagome superconductor.

cond-mat.supr-con↗

arXiv2024

Electronic and magnetic excitations in La$_3$Ni$_2$O$_7$

The striking discovery of high-temperature superconductivity (HTSC) of 80 K in a bilayer nickelate La$_3$Ni$_2$O$_7$ under a moderately high pressure of about 14 GPa ignited a new wave of studying HTSC in nickelates. The properties of the parental phase at ambient pressure may contain key information on basic interactions therein and bosons that may mediate pairing giving birth to superconductivity. Moreover, the bilayer structure of La$_3$Ni$_2$O$_7$ may suggest a distinct minimal model in comparison to cuprate superconductors. Here using X-ray absorption spectroscopy and resonant inelastic X-ray scattering, we studied La$_3$Ni$_2$O$_7$ at ambient pressure, and found that Ni 3$d_{x^2-y^2}$, Ni 3$d_{z^2}$, and ligand oxygen 2$p$ orbitals dominate the low-energy physics with a small charge-transfer energy. Remarkably, well-defined optical-like magnetic excitations were found to soften into a quasi-static spin-density-wave ordering, evidencing the strong electronic correlations and rich magnetic properties. Based on a Heisenberg spin model, we found that the inter-layer effective magnetic superexchange interaction is much larger than the intra-layer ones, and proposed two viable magnetic structures. Our results set the foundation for further exploration of La$_3$Ni$_2$O$_7$ superconductor.

cond-mat.supr-con↗

arXiv2024

A Survey on Monocular Re-Localization: From the Perspective of Scene Map Representation

Monocular Re-Localization (MRL) is a critical component in autonomous applications, estimating 6 degree-of-freedom ego poses w.r.t. the scene map based on monocular images. In recent decades, significant progress has been made in the development of MRL techniques. Numerous algorithms have accomplished extraordinary success in terms of localization accuracy and robustness. In MRL, scene maps are represented in various forms, and they determine how MRL methods work and how MRL methods perform. However, to the best of our knowledge, existing surveys do not provide systematic reviews about the relationship between MRL solutions and their used scene map representation. This survey fills the gap by comprehensively reviewing MRL methods from such a perspective, promoting further research. 1) We commence by delving into the problem definition of MRL, exploring current challenges, and comparing ours with existing surveys. 2) Many well-known MRL methods are categorized and reviewed into five classes according to the representation forms of utilized map, i.e., geo-tagged frames, visual landmarks, point clouds, vectorized semantic map, and neural network-based map. 3) To quantitatively and fairly compare MRL methods with various map, we introduce some public datasets and provide the performances of some state-of-the-art MRL methods. The strengths and weakness of MRL methods with different map are analyzed. 4) We finally introduce some topics of interest in this field and give personal opinions. This survey can serve as a valuable referenced materials for MRL, and a continuously updated summary of this survey is publicly available to the community at: https://github.com/jinyummiao/map-in-mono-reloc.

cs.RO↗

arXiv2023

XuanCe: A Comprehensive and Unified Deep Reinforcement Learning Library

In this paper, we present XuanCe, a comprehensive and unified deep reinforcement learning (DRL) library designed to be compatible with PyTorch, TensorFlow, and MindSpore. XuanCe offers a wide range of functionalities, including over 40 classical DRL and multi-agent DRL algorithms, with the flexibility to easily incorporate new algorithms and environments. It is a versatile DRL library that supports CPU, GPU, and Ascend, and can be executed on various operating systems such as Ubuntu, Windows, MacOS, and EulerOS. Extensive benchmarks conducted on popular environments including MuJoCo, Atari, and StarCraftII multi-agent challenge demonstrate the library's impressive performance. XuanCe is open-source and can be accessed at https://github.com/agi-brain/xuance.git.

cs.LG↗

arXiv2023

The PMT System of the TRIDENT Pathfinder Experiment

Next generation neutrino telescopes are highly anticipated to boost the development of neutrino astronomy. A multi-cubic-kilometer neutrino telescope, TRopIcal DEep-sea Neutrino Telescope (TRIDENT), was proposed to be built in the South China Sea. The detector aims to achieve ~ 0.1 degree angular resolution for track-like events at energy above 100 TeV by using hybrid digital optical modules, opening new opportunities for neutrino astronomy. In order to measure the water optical properties and marine environment of the proposed TRIDENT site, a pathfinder experiment was conducted, in which a 100-meter-long string consisting of three optical modules was deployed at a depth of 3420 m to perform in-situ measurements. The central module emits light by housing LEDs, whereas the other two modules detect light with two independent and complementary systems: the PMT and the camera systems. By counting the number of detected photons and analyzing the photon arrival time distribution, the PMT system can measure the absorption and scattering lengths of sea water, which serve as the basic inputs for designing the neutrino telescope. In this paper, we present the design concept, calibration and performance of the PMT system in the pathfinder experiment.

hep-ex↗

arXiv2023

Discovery of a Single-Band Mott Insulator in a van der Waals Flat-Band Compound

The Mott insulator provides an excellent foundation for exploring a wide range of strongly correlated physical phenomena, such as high-temperature superconductivity, quantum spin liquid, and colossal magnetoresistance. A Mott insulator with the simplest degree of freedom is an ideal and highly desirable system for studying the fundamental physics of Mottness. In this study, we have unambiguously identified such an anticipated Mott insulator in a van der Waals layered compound Nb3Cl8. In the high-temperature phase, where interlayer coupling is negligible, density functional theory calculations for the monolayer of Nb3Cl8 suggest a half-filled flat band at the Fermi level, whereas angle-resolved photoemission spectroscopy experiments observe a large gap. This observation is perfectly reproduced by dynamical mean-field theory calculations considering strong electron correlations, indicating a correlation-driven Mott insulator state. Since this half-filled band derived from a single 2a1 orbital is isolated from all other bands, the monolayer of Nb3Cl8 is an ideal realization of the celebrated single-band Hubbard model. Upon decreasing the temperature, the bulk system undergoes a phase transition, where structural changes significantly enhance the interlayer coupling. This results in a bonding-antibonding splitting in the Hubbard bands, while the Mott gap remains dominant. Our discovery provides a simple and seminal model system for investigating Mott physics and other emerging correlated states.

cond-mat.str-el↗

arXiv2023

Identifying Majorana Zero Modes in Vortex Lattices Using Fano Factor Tomography

In this work, we investigate the tunneling characteristics of Majorana zero modes (MZMs) in vortex lattices based on scanning tunneling microscopy measurement. We find that zero bias conductance does not reach the quantized value owing to the coupling between the MZMs. On the contrary, the Fano factor measured in the high voltage regime reflects the local particle-hole asymmetry of the bound states and is insensitive to the energy splitting between them. We propose using spatially resolved Fano factor tomography as a tool to identify the existence of MZMs. In both cases of isolated MZM or MZMs forming bands, there is a spatially resolved Fano factor plateau at one in the vicinity of a vortex core, regardless of the tunneling parameter details, which is in stark contrast to other trivial bound states. These results reveal new tunneling properties of MZMs in vortex lattices and provide measurement tools for topological quantum devices.

cond-mat.supr-con↗

arXiv2023

Observation of high-temperature superconductivity in the high-pressure tetragonal phase of La2PrNi2O7-δ

The recent discovery of high-temperature superconductivity in the Ruddlesden-Popper phase La3Ni2O7 under high pressure marks a significant breakthrough in the field of 3d transition-metal oxide superconductors. For an emerging novel class of high-Tc superconductors, it is crucial to find more analogous superconducting materials with a dedicated effort toward broadening the scope of nickelate superconductors. Here, we report on the observation of high-Tc superconductivity in the high-pressure tetragonal I4/mmm phase of La2PrNi2O7 above ~10 GPa, which is distinct from the reported orthorhombic Fmmm phase of La3Ni2O7 above 14 GPa. For La2PrNi2O7, the onset and the zero-resistance temperatures of superconductivity reach Tconset = 78.2 K and Tczero = 40 K at 15 GPa. This superconducting phase shares the samilar structural symmetry as many cuprate superconductors, providing a fresh platform to investigate underlying mechanisms of nickelate superconductors.

cond-mat.supr-con↗

arXiv2023

Correlated BCS wavefunction approach to unconventional superconductors

We propose a modified BCS wavefunction as the ground state of a correlated superconductor with the correlation specified between $k$ and $-k$ electrons in the reciprocal space. Owing to this correlation, low-energy excitations are not conventional BCS Bogoliubov quasiparticles. They display at least four poles in the Green's function and their particle-hole weights in the tunneling and photon-emission spectrum become asymmetric. The superfluid density or superfluid stiffness also deviates from the BCS predictions with finite paramagnetic terms inside the total diamagnetic response. Moreover, a $d$-wave correlated pairing state becomes robust against weak disorders. Hence, this state can explain many mysterious features observed in unconventional superconductors like cuprates.

cond-mat.supr-con↗

arXiv2023

Energy landscape and phase competition of CsV3Sb5-, CsV6Sb6-, and TbMn6Sn6-type Kagome materials

Finding viable Kagome lattices is vital for materializing novel phenomena in quantum materials. In this work, we performed element substitutions on CsV3Sb5 with space group P6/mmm, TbMn6Sn6 with space group P6/mmm, and CsV6Sb6 with space group R-3 m, respectively, as the parent compounds. A total of 4158 materials were obtained through element substitutions, and these materials were then calculated via density function theory in high-throughput mode. Afterward, 48 materials were identified with high thermodynamic stability (E_hull<5meV/atom). Furthermore, we compared the thermodynamic stability of three different phases with the same elemental composition and predicted some competing phases that may arise during material synthesis. Finally, by calculating the electronic structures of these materials, we attempted to identify patterns in the electronic structure variations as the elements change. This work provides guidance for discovering promising AM3X5/AM6X6 Kagome materials from a vast phase space.

cond-mat.supr-con↗

arXiv2023

High Temperature Superconductivity in La$_3$Ni$_2$O$_7$

Motivated by the recent discovery of high-temperature superconductivity in bilayer La$_3$Ni$_2$O$_7$ under pressure, we study its electronic properties and superconductivity due to strong electron correlation. Using the inversion symmetry, we decouple the low-energy electronic structure into block-diagonal symmetric and antisymmetric sectors. We find that the antisymmetric sector can be reduced to a one-band system near half filling, while the symmetric bands occupied by about two electrons are heavily overdoped individually. Using the strong coupling mean field theory, we obtain strong superconducting pairing with $B_{1g}$ symmetry in the antisymmetric sector. We propose that due to the spin-orbital exchange coupling between the two sectors, $B_{1g}$ pairing is induced in the symmetric bands, which in-turn boosts the pairing gap in the antisymmetric band and enhances the high-temperature superconductivity with a congruent $d$-wave symmetry in pressurized La$_3$Ni$_2$O$_7$.

cond-mat.supr-con↗

arXiv2023

Pairing Symmetries of Unconventional High Temperature Superconductivity in a Zinc-Blende Structure

We classify the pairing symmetries of three-dimensional superconductivity in the zinc-blende structure which can support an electronic environment to host unconventional high temperature superconductivity, and calculate the pairing symmetry in the presence of strong electron-electron correlation by the slave boson mean-field approach. We find that the $d_{2z^2-x^2-y^2} \pm id_{x^2-y^2}$ pairing state, a three dimensional analogy of the $d\pm id$ pairing in a two dimensional square lattice, is ubiquitously favored near half filling upon hole doping in both single-orbital and three-orbital models. However, unlike the two dimensional counterpart, the Bogoliubov quasiparticle spectrum of the three dimensional state upholds the full $T_d$ point group symmetry and encompasses point nodes along certain high symmetric lines.

cond-mat.supr-con↗

arXiv2023

SRCN3D: Sparse R-CNN 3D for Compact Convolutional Multi-View 3D Object Detection and Tracking

Detection and tracking of moving objects is an essential component in environmental perception for autonomous driving. In the flourishing field of multi-view 3D camera-based detectors, different transformer-based pipelines are designed to learn queries in 3D space from 2D feature maps of perspective views, but the dominant dense BEV query mechanism is computationally inefficient. This paper proposes Sparse R-CNN 3D (SRCN3D), a novel two-stage fully-sparse detector that incorporates sparse queries, sparse attention with box-wise sampling, and sparse prediction. SRCN3D adopts a cascade structure with the twin-track update of both a fixed number of query boxes and latent query features. Our novel sparse feature sampling module only utilizes local 2D region of interest (RoI) features calculated by the projection of 3D query boxes for further box refinement, leading to a fully-convolutional and deployment-friendly pipeline. For multi-object tracking, motion features, query features and RoI features are comprehensively utilized in multi-hypotheses data association. Extensive experiments on nuScenes dataset demonstrate that SRCN3D achieves competitive performance in both 3D object detection and multi-object tracking tasks, while also exhibiting superior efficiency compared to transformer-based methods. Code and models are available at https://github.com/synsin0/SRCN3D.

cs.CV↗

arXiv2023

Identify, Estimate and Bound the Uncertainty of Reinforcement Learning for Autonomous Driving

Deep reinforcement learning (DRL) has emerged as a promising approach for developing more intelligent autonomous vehicles (AVs). A typical DRL application on AVs is to train a neural network-based driving policy. However, the black-box nature of neural networks can result in unpredictable decision failures, making such AVs unreliable. To this end, this work proposes a method to identify and protect unreliable decisions of a DRL driving policy. The basic idea is to estimate and constrain the policy's performance uncertainty, which quantifies potential performance drop due to insufficient training data or network fitting errors. By constraining the uncertainty, the DRL model's performance is always greater than that of a baseline policy. The uncertainty caused by insufficient data is estimated by the bootstrapped method. Then, the uncertainty caused by the network fitting error is estimated using an ensemble network. Finally, a baseline policy is added as the performance lower bound to avoid potential decision failures. The overall framework is called uncertainty-bound reinforcement learning (UBRL). The proposed UBRL is evaluated on DRL policies with different amounts of training data, taking an unprotected left-turn driving case as an example. The result shows that the UBRL method can identify potentially unreliable decisions of DRL policy. The UBRL guarantees to outperform baseline policy even when the DRL policy is not well-trained and has high uncertainty. Meanwhile, the performance of UBRL improves with more training data. Such a method is valuable for the DRL application on real-road driving and provides a metric to evaluate a DRL policy.

cs.AI↗

arXiv2023

Dynamically Conservative Self-Driving Planner for Long-Tail Cases

Self-driving vehicles (SDVs) are becoming reality but still suffer from "long-tail" challenges during natural driving: the SDVs will continually encounter rare, safety-critical cases that may not be included in the dataset they were trained. Some safety-assurance planners solve this problem by being conservative in all possible cases, which may significantly affect driving mobility. To this end, this work proposes a method to automatically adjust the conservative level according to each case's "long-tail" rate, named dynamically conservative planner (DCP). We first define the "long-tail" rate as an SDV's confidence to pass a driving case. The rate indicates the probability of safe-critical events and is estimated using the statistics bootstrapped method with historical data. Then, a reinforcement learning-based planner is designed to contain candidate policies with different conservative levels. The final policy is optimized based on the estimated "long-tail" rate. In this way, the DCP is designed to automatically adjust to be more conservative in low-confidence "long-tail" cases while keeping efficient otherwise. The DCP is evaluated in the CARLA simulator using driving cases with "long-tail" distributed training data. The results show that the DCP can accurately estimate the "long-tail" rate to identify potential risks. Based on the rate, the DCP automatically avoids potential collisions in "long-tail" cases using conservative decisions while not affecting the average velocity in other typical cases. Thus, the DCP is safer and more efficient than the baselines with fixed conservative levels, e.g., an always conservative planner. This work provides a technique to guarantee SDV's performance in unexpected driving cases without resorting to a global conservative setting, which contributes to solving the "long-tail" problem practically.

cs.RO↗

arXiv2023

Poses as Queries: Image-to-LiDAR Map Localization with Transformers

High-precision vehicle localization with commercial setups is a crucial technique for high-level autonomous driving tasks. Localization with a monocular camera in LiDAR map is a newly emerged approach that achieves promising balance between cost and accuracy, but estimating pose by finding correspondences between such cross-modal sensor data is challenging, thereby damaging the localization accuracy. In this paper, we address the problem by proposing a novel Transformer-based neural network to register 2D images into 3D LiDAR map in an end-to-end manner. Poses are implicitly represented as high-dimensional feature vectors called pose queries and can be iteratively updated by interacting with the retrieved relevant information from cross-model features using attention mechanism in a proposed POse Estimator Transformer (POET) module. Moreover, we apply a multiple hypotheses aggregation method that estimates the final poses by performing parallel optimization on multiple randomly initialized pose queries to reduce the network uncertainty. Comprehensive analysis and experimental results on public benchmark conclude that the proposed image-to-LiDAR map localization network could achieve state-of-the-art performances in challenging cross-modal localization tasks.

cs.RO↗