arXiv subjects

Mikhail Litvinov

Publications and source records attributed to Mikhail Litvinov.

12 recordsLinked to original sources

arXiv2026

H-RINS: Hierarchical Tightly-coupled Radar-Inertial State Estimation via Smoothing and Mapping

Millimeter-wave radar enables robust perception in visually degraded environments, yet radar-inertial estimation remains prone to drift: sparse body-frame velocity measurements weakly constrain absolute orientation, leaving IMU biases poorly observable over the short horizons of sliding-window estimators. We propose a tightly coupled, hierarchical radar-inertial factor graph that decouples estimation into a high-rate resetting graph and a persistent global graph. The resetting graph fuses IMU preintegration, radar velocities, and adaptive ZUPT to produce smooth, low-latency odometry for real-time control. The persistent graph maintains a full state (poses, velocities, and biases) via keyframe-based geometric mapping and loop closures. Fully observable biases and their exact covariances are continuously injected from the persistent graph as priors into the resetting graph, anchoring the high-rate estimator against integration drift. Extensive evaluations demonstrate high accuracy and drift-reduced estimation at faster than real-time speeds. Code and datasets will be released upon paper acceptance.

cs.RO↗

arXiv2026

Measurement-Based Preparation of Higher-Dimensional AKLT States and Their Quantum Computational Power

We investigate a constant-time, fusion measurement-based scheme to create AKLT states beyond one dimension. We show that it is possible to prepare such states on a given graph up to random spin-1 `decorations', each corresponding to a probabilistic insertion of a vertex along an edge. In investigating their utility in measurement-based quantum computation, we demonstrate that any such randomly decorated AKLT state possesses at least the same computational power as non-random ones, such as those on trivalent planar lattices. For AKLT states on Bethe lattices and their decorated versions we show that there exists a deterministic, constant-time scheme for their preparation. In addition to randomly decorated AKLT states, we also consider random-bond AKLT states, whose construction involves any of the canonical Bell states in the bond degrees of freedom instead of just the singlet in the original construction. Such states naturally emerge upon measuring all the decorative spin-1 sites in the randomly decorated AKLT states. We show that those random-bond AKLT states on trivalent lattices can be converted to encoded random graph states after acting with the same POVM on all sites. We also argue that these random-bond AKLT states possess similar quantum computational power as the original singlet-bond AKLT states via the percolation perspective.

quant-ph↗

arXiv2025

SwarmVLM: VLM-Guided Impedance Control for Autonomous Navigation of Heterogeneous Robots in Dynamic Warehousing

With the growing demand for efficient logistics, unmanned aerial vehicles (UAVs) are increasingly being paired with automated guided vehicles (AGVs). While UAVs offer the ability to navigate through dense environments and varying altitudes, they are limited by battery life, payload capacity, and flight duration, necessitating coordinated ground support. Focusing on heterogeneous navigation, SwarmVLM addresses these limitations by enabling semantic collaboration between UAVs and ground robots through impedance control. The system leverages the Vision Language Model (VLM) and the Retrieval-Augmented Generation (RAG) to adjust impedance control parameters in response to environmental changes. In this framework, the UAV acts as a leader using Artificial Potential Field (APF) planning for real-time navigation, while the ground robot follows via virtual impedance links with adaptive link topology to avoid collisions with short obstacles. The system demonstrated a 92% success rate across 12 real-world trials. Under optimal lighting conditions, the VLM-RAG framework achieved 8% accuracy in object detection and selection of impedance parameters. The mobile robot prioritized short obstacle avoidance, occasionally resulting in a lateral deviation of up to 50 cm from the UAV path, which showcases safe navigation in a cluttered setting.

cs.RO↗

arXiv2024

Bridging 4D QFTs and 2D VOAs via 3D high-temperature EFTs

The high-temperature limit of the superconformal index, especially on higher sheets, often captures useful universal information about a theory. In 4d $\mathcal{N}=2$ superconformal field theories with fractional r-charges, there exists a special notion of high-temperature limit on higher sheets that captures data of three-dimensional topological quantum field theories arising from r-twisted circle reduction. These TQFTs are closely tied with the VOA of the 4d SCFT. We study such high-temperature limits. More specifically, we apply Di~Pietro-Komargodski type supersymmetric effective field theory techniques to r-twisted circle reductions of $(A_1,A_{2n})$ Argyres-Douglas theories, leveraging their Maruyoshi-Song Lagrangian with manifest $\mathcal{N}=1$ supersymmetry. The result on the second sheet is the Gang-Kim-Stubbs family of 3d $\mathcal{N}=2$ SUSY enhancing rank-$0$ theories with monopole superpotentials, whose boundary supports the Virasoro minimal model VOAs $M(2,2n+3)$. Upon topological twist, they give non-unitary TQFTs controlled by the $M(2,2n+3)$ modular tensor category (MTC). The high-temperature limit on other sheets yields their unitary or non-unitary Galois conjugates. This opens up the prospect of a broader four-supercharge perspective on the celebrated correspondence between 4d $\mathcal{N}=2$ SCFTs and 2d VOAs via interpolating 3d EFTs. Several byproducts follow, including a systematic approach to 3d SUSY enhancement from 4d SUSY enhancement, and a 3d QFT handle on Galois orbits of various MTCs associated with 4d $\mathcal{N}=2$ SCFTs.

hep-th↗

arXiv2024

Non-invertible SPT, gauging and symmetry fractionalization

We explicitly realize the Rep($Q_8$) non-invertible symmetry-protected topological (SPT) state as a 1+1d cluster state on a tensor product Hilbert space of qubits. Using the Kramers-Wannier operator, we construct the lattice models for the phases of all the symmetries in the Rep($Q_8$) duality web. We further show that we can construct a class of lattice models with Rep($G$) symmetry including non-invertible SPT phases if they have a dual anomalous abelian symmetry. Upon dualizing, there is a rich interplay between onsite symmetries, non-onsite symmetries, non-abelian symmetries, and non-invertible symmetries. We show that these interplay can be explained using the symmetry fractionalization in the 2+1d bulk SET.

cond-mat.str-el↗

arXiv2024

Chiral life on a slab

We study chiral algebra in the reduction of 3D $\mathcal{N} = 2 $ supersymmetric gauge theories on an interval with the $\mathcal{N}=(0,2)$ Dirichlet boundary conditions on both ends. By invoking the 3D ``twisted formalism'' and the 2D $βγ$-description we explicitly find the perturbative $\overline{Q}_+$ cohomology of the reduced theory. It is shown that the vertex algebras of boundary operators are enhanced by the line operators. A full non-perturbative result is found in the abelian case, where the chiral algebra is given by the rank two Narain lattice VOA, and two more equivalent descriptions are provided. Conjectures and speculations on the nonperturbative answer in the non-abelian case are also given.

hep-th↗

arXiv2024

CognitiveOS: Large Multimodal Model based System to Endow Any Type of Robot with Generative AI

This paper introduces CognitiveOS, the first operating system designed for cognitive robots capable of functioning across diverse robotic platforms. CognitiveOS is structured as a multi-agent system comprising modules built upon a transformer architecture, facilitating communication through an internal monologue format. These modules collectively empower the robot to tackle intricate real-world tasks. The paper delineates the operational principles of the system along with descriptions of its nine distinct modules. The modular design endows the system with distinctive advantages over traditional end-to-end methodologies, notably in terms of adaptability and scalability. The system's modules are configurable, modifiable, or deactivatable depending on the task requirements, while new modules can be seamlessly integrated. This system serves as a foundational resource for researchers and developers in the cognitive robotics domain, alleviating the burden of constructing a cognitive robot system from scratch. Experimental findings demonstrate the system's advanced task comprehension and adaptability across varied tasks, robotic platforms, and module configurations, underscoring its potential for real-world applications. Moreover, in the category of Reasoning it outperformed CognitiveDog (by 15%) and RT2 (by 31%), achieving the highest to date rate of 77%. We provide a code repository and dataset for the replication of CognitiveOS: link will be provided in camera-ready submission.

cs.RO↗

arXiv2024

CognitiveDog: Large Multimodal Model Based System to Translate Vision and Language into Action of Quadruped Robot

This paper introduces CognitiveDog, a pioneering development of quadruped robot with Large Multi-modal Model (LMM) that is capable of not only communicating with humans verbally but also physically interacting with the environment through object manipulation. The system was realized on Unitree Go1 robot-dog equipped with a custom gripper and demonstrated autonomous decision-making capabilities, independently determining the most appropriate actions and interactions with various objects to fulfill user-defined tasks. These tasks do not necessarily include direct instructions, challenging the robot to comprehend and execute them based on natural language input and environmental cues. The paper delves into the intricacies of this system, dataset characteristics, and the software architecture. Key to this development is the robot's proficiency in navigating space using Visual-SLAM, effectively manipulating and transporting objects, and providing insightful natural language commentary during task execution. Experimental results highlight the robot's advanced task comprehension and adaptability, underscoring its potential in real-world applications. The dataset used to fine-tune the robot-dog behavior generation model is provided at the following link: huggingface.co/datasets/ArtemLykov/CognitiveDog_dataset

cs.RO↗

arXiv2023

LLM-MARS: Large Language Model for Behavior Tree Generation and NLP-enhanced Dialogue in Multi-Agent Robot Systems

This paper introduces LLM-MARS, first technology that utilizes a Large Language Model based Artificial Intelligence for Multi-Agent Robot Systems. LLM-MARS enables dynamic dialogues between humans and robots, allowing the latter to generate behavior based on operator commands and provide informative answers to questions about their actions. LLM-MARS is built on a transformer-based Large Language Model, fine-tuned from the Falcon 7B model. We employ a multimodal approach using LoRa adapters for different tasks. The first LoRa adapter was developed by fine-tuning the base model on examples of Behavior Trees and their corresponding commands. The second LoRa adapter was developed by fine-tuning on question-answering examples. Practical trials on a multi-agent system of two robots within the Eurobot 2023 game rules demonstrate promising results. The robots achieve an average task execution accuracy of 79.28% in compound commands. With commands containing up to two tasks accuracy exceeded 90%. Evaluation confirms the system's answers on operators questions exhibit high accuracy, relevance, and informativeness. LLM-MARS and similar multi-agent robotic systems hold significant potential to revolutionize logistics, enabling autonomous exploration missions and advancing Industry 5.0.

cs.RO↗

arXiv2023

Measuring Topological Field Theories: Lattice Models and Field-Theoretic Description

Recent years have witnessed a surge of interest in performing measurements within topological phases of matter, e.g., symmetry-protected topological (SPT) phases and topological orders. Notably, measurements of certain SPT states have been known to be related to Kramers-Wannier duality and Jordan-Wigner transformations, giving rise to long-range entangled states and invertible phases, such as the Kitaev chain. Moreover, measurements of topologically ordered states correspond to charge condensations. In this work, we present a field-theoretic framework for describing measurements within topological field theories. We employ various lattice models as examples to illustrate the outcomes of measuring local symmetry operators within topological phases, demonstrating their agreement with the predictions from field-theoretic descriptions. We demonstrate that these measurements can lead to SPT, spontaneous symmetry-breaking, and topologically ordered phases. Specifically, when there is emergent symmetry after measurement, the remaining symmetry and emergent symmetry will have a mixed anomaly, which leads to long-ranged entanglement.

cond-mat.str-el↗

arXiv2023

Interval reduction and (super)symmetry

We study three-dimensional quantum field theories on the interval with symmetry-preserving boundary conditions. The physics and symmetries of the effective 2D theory in the IR are the main subjects of this note. We focus on the (super-)Yang-Mills-Chern-Simons (YM-CS) theories with the Dirichlet boundary conditions on both ends. We warm up with the $\mathcal{N}=0$ and $\mathcal{N}=1$ cases flowing to the bosonic and $\mathcal{N}=(0,1)$ WZW models in 2D. Then we study the 3D $\mathcal{N}=2$ YM-CS on the interval with the $\mathcal{N}=(0,2)$ Dirichlet boundaries. It flows to a non-compact version of the $\mathcal{N}=(0,2)$ WZW. We compute its perturbatively exact two-derivative effective action (i.e., the metric and the B-field), and speculate on the possibility of novel non-perturbative effects. We also construct the 2D Landau-Ginzburg models flowing to the similar sigma models.

hep-th↗

arXiv2019

Toward the Pole

We study the analytic structure of semiclassical conformal blocks, namely of the 1-point conformal block on the torus and of the 4-point conformal block on the sphere, as functions of the intermediate dimension. We interpret their discontinuities, which can be revealed with the use of a particular resummation procedure, holographically in terms of configurations of geodesics in AdS3. In other words, we study the behavior of the $Ω$-deformed $\mathcal N=2$ SYM theory in the Nekrasov-Shatashvili limit near those singular points, where naively the W-boson with non-vanishing angular momentum becomes massless. Upon a proper resummation of instanton contributions, these singularities disappear, which is similar to the Seiberg-Witten solution in the undeformed case where there is no massless W-boson. It is shown that the order parameter undergoes a non-analytic behavior near positions of the poles. The jump of the order parameter is interpreted holographically in terms of geodesic networks

hep-th↗