arXiv subjects
Publications and source records attributed to Peng Li.
We demonstrate 21.7-Tb/s net-rate transmission across 6660-km with 266-km ultra-long spans of HCF. By exploiting a newly designed GTA-ST-HCF, high-power booster, and adaptive channel rates, we realize WDM transoceanic transmission with fewer than 30 repeaters.
We demonstrate sub-meter resolution Coherent DFS and detect acoustic oscillations using a stabilized laser on 20 km of anti-resonant HCF with <0.10 dB/km loss without impacting live traffic of 1.2 Tbps on the adjacent channel.
Generative video models have significantly advanced the photorealistic synthesis of adverse weather for autonomous driving; however, they consistently demand massive datasets to learn rare weather scenarios. While 3D-aware editing methods alleviate these data constraints by augmenting existing video footage, they are fundamentally bottlenecked by costly per-scene optimization and suffer from inherent geometric and illumination entanglement. In this work, we introduce AutoWeather4D, a feed-forward 3D-aware weather editing framework designed to explicitly decouple geometry and illumination. At the core of our approach is a G-buffer Dual-pass Editing mechanism. The Geometry Pass leverages explicit structural foundations to enable surface-anchored physical interactions, while the Light Pass analytically resolves light transport, accumulating the contributions of local illuminants into the global illumination to enable dynamic 3D local relighting. Extensive experiments demonstrate that AutoWeather4D achieves comparable photorealism and structural consistency to generative baselines while enabling fine-grained parametric physical control, serving as a practical data engine for autonomous driving.
Electronic flat bands can lead to rich many-body quantum phases by quenching the electron's kinetic energy and enhancing many-body correlation. The reduced bandwidth can be realized by either destructive quantum interference in frustrated lattices, or by generating heavy band folding with avoided band crossing in Moire superlattices. Here we propose a general approach to introduce flat bands into widely studied transition metal dichalcogenide (TMD) materials by dilute intercalation. A flat band with vanishing dispersion is observed by angle-resolved photoemission spectroscopy (ARPES) over the entire momentum space in intercalated Mn1/4TaS2. Polarization dependent ARPES measurements combined with symmetry analysis reveals the orbital characters of the flat band. Supercell tight-binding simulations suggest that such flat bands arising from destructive interference between Mn and Ta on S through hopping pathways, are ubiquitous in a range of TMD families as well as for different intercalation configurations. Our findings establish a new material platform to manipulate flat band structures and explore their corresponding emergent correlated properties.
World-Action Models (WAM) initialized from pre-trained video generation backbones have demonstrated remarkable potential for robot policy learning. However, existing approaches face two critical bottlenecks that hinder performance and deployment. First, jointly reasoning over future visual dynamics and corresponding actions incurs substantial inference overhead. Second, joint modeling often entangles visual and motion representations, making motion prediction accuracy heavily dependent on the quality of future video forecasts. To address these issues, we introduce GigaWorld-Policy, an action-centered WAM that learns 2D pixel-action dynamics while enabling efficient action decoding, with optional video generation. Specifically, we formulate policy training into two coupled components: the model predicts future action sequences conditioned on the current observation, and simultaneously generates future videos conditioned on the predicted actions and the same observation. The policy is supervised by both action prediction and video generation, providing richer learning signals and encouraging physically plausible actions through visual-dynamics constraints. With a causal design that prevents future-video tokens from influencing action tokens, explicit future-video generation is optional at inference time, allowing faster action prediction during deployment. To support this paradigm, we curate a diverse, large-scale robot dataset to pre-train an action-centered video generation model, which is then adapted as the backbone for robot policy learning. Experimental results on real-world robotic platforms show that GigaWorld-Policy runs 9x faster than the leading WAM baseline, Motus, while improving task success rates by 7%. Moreover, compared with pi-0.5, GigaWorld-Policy improves performance by 95% on RoboTwin 2.0.
Multimodal Large Language Models (MLLMs) have recently made rapid progress toward unified Omni models that integrate vision, language, and audio. However, existing environments largely focus on 2D or 3D visual context and vision-language tasks, offering limited support for temporally dependent auditory signals and selective cross-modal integration, where different modalities may provide complementary or interfering information, which are essential capabilities for realistic multimodal reasoning. As a result, whether models can actively coordinate modalities and reason under time-varying, irreversible conditions remains underexplored. To this end, we introduce \textbf{EscapeCraft-4D}, a customizable 4D environment for assessing selective cross-modal perception and time awareness in Omni models. It incorporates trigger-based auditory sources, temporally transient evidence, and location-dependent cues, requiring agents to perform spatio-temporal reasoning and proactive multimodal integration under time constraints. Building on this environment, we curate a benchmark to evaluate corresponding abilities across powerful models. Evaluation results suggest that models struggle with modality bias, and reveal significant gaps in current model's ability to integrate multiple modalities under time constraints. Further in-depth analysis uncovers how multiple modalities interact and jointly influence model decisions in complex multimodal reasoning environments.
Bragg coherent diffraction imaging (BCDI) fails to reliably retrieve phases in micro-crystals exhibiting strong strain inhomogeneities, which restricts its applicability. Here we show that three-dimensional Bragg ptychography (3DBP) overcomes this limitation by enabling stable inversion for large lattice distortions. Using a combination of experimental measurements and numerical tests, we compare the performance limits of the two approaches and demonstrate that 3DBP tolerates lattice distortions more than six times larger than BCDI. We also establish the sensitivity of both methods on a weakly distorted crystal, for which 3DBP yields smoother amplitude and phase fields with reduced short-length-scale artifacts. 3DBP thus provides a reliable route for imaging micro-crystals with large lattice distortions, expanding the scope of coherent X-ray Bragg microscopy to strongly deformed systems.
Recovering a sparse signal from outlier-contaminated measurements is a fundamental challenge in many applications. While existing algorithms predominantly address scenarios with bounded noise or assume known signal sparsity, few methods tackle the more practical problem of sparse recovery from gross outliers without prior knowledge of sparsity. To bridge this gap, we study the sparsity-constrained Least Absolute Deviations (LAD) minimization problem. This paper proposes the Graded Fast Hard Thresholding Pursuit (GFHTP$_1$) algorithm with a quantile-truncated step size for $\ell_1$-loss minimization. In contrast to most state-of-the-art methods, our GFHTP$_1$ requires no prior knowledge of the signal's sparsity level. We establish a theoretical convergence analysis under mild conditions and further prove that an $s$-sparse signal can be recovered exactly within at most $s$ iterations. To our knowledge, these results provide the first efficient recovery guarantees for sparse signal reconstruction from outlier-corrupted measurements without a sparsity prior. Numerical experiments demonstrate that GFHTP$_1$ consistently outperforms competing algorithms in robustness to varying signal sparsity and outlier support size, while also achieving less computational time.
In embodied artificial intelligence, enabling heterogeneous robot teams to execute long-horizon tasks from high-level instructions remains a critical challenge. While large language models (LLMs) show promise in instruction parsing and preliminary planning, they exhibit limitations in long-term reasoning and dynamic multi-robot coordination. We propose EmboTeam, a novel embodied multi-robot task planning framework that addresses these issues through a three-stage cascaded architecture: 1) It leverages an LLM to parse instructions and generate Planning Domain Definition Language (PDDL) problem descriptions, thereby transforming commands into formal planning problems; 2) It combines the semantic reasoning of LLMs with the search capabilities of a classical planner to produce optimized action sequences; 3) It compiles the resulting plan into behavior trees for reactive control. The framework supports dynamically sized heterogeneous robot teams via a shared blackboard mechanism for communication and state synchronization. To validate our approach, we introduce the MACE-THOR benchmark dataset, comprising 42 complex tasks across 8 distinct household layouts. Experiments show EmboTeam improves the task success rate from 12% to 55% and goal condition recall from 32% to 72% over the LaMMA-P baseline.
By leveraging tool-augmented Multimodal Large Language Models (MLLMs), multi-agent frameworks are driving progress in video understanding. However, most of them adopt static and non-learnable tool invocation mechanisms, which limit the discovery of diverse clues essential for robust perception and reasoning regarding temporally or spatially complex videos. To address this challenge, we propose a novel Multi-agent system for video understanding, namely VideoChat-M1. Instead of using a single or fixed policy, VideoChat-M1 adopts a distinct Collaborative Policy Planning (CPP) paradigm with multiple policy agents, which comprises three key processes. (1) Policy Generation: Each agent generates its unique tool invocation policy tailored to the user's query; (2) Policy Execution: Each agent sequentially invokes relevant tools to execute its policy and explore the video content; (3) Policy Communication: During the intermediate stages of policy execution, agents interact with one another to update their respective policies. Through this collaborative framework, all agents work in tandem, dynamically refining their preferred policies based on contextual insights from peers to effectively respond to the user's query. Moreover, we equip our CPP paradigm with a concise Multi-Agent Reinforcement Learning (MARL) method. Consequently, the team of policy agents can be jointly optimized to enhance VideoChat-M1's performance, guided by both the final answer reward and intermediate collaborative process feedback. Extensive experiments demonstrate that VideoChat-M1 achieves SOTA performance across eight benchmarks spanning four tasks. Notably, on LongVideoBench, our method outperforms the SOTA model Gemini 2.5 pro by 3.6% and GPT-4o by 15.6%.
In visually ambiguous manipulation such as detecting button click tactile feedback is often the sole source of ground truth. However, fusing tactile data poses a significant challenge due to a spatiotemporal mismatch: tactile perception requires high-frequency processing with long-horizon memory (System 1), whereas visual policies operate at low control frequencies (System 2). Existing architectures struggle to bridge this gap: Transformers are computationally prohibitive for high-frequency loops (>100Hz), while LSTMs suffer from forgetting over extended interaction histories. In this paper, we introduce TacMamba, a hierarchical architecture that aligns high-bandwidth tactile reflexes with low-frequency visual planning. Our approach comprises three core contributions: (1) a custom high-frequency tactile interface designed for flexible integration; (2) a Mamba-based Tactile History Compressor that encodes continuous force history into a compact state with O(1) inference latency (0.45 ms), enabling plug-and-play fusion with VLA models without joint pre-training and (3) a Tactile-Guided Dual-Stage Training strategy that leverages temporal discrimination for self-supervised representation learning and phase-uniform sampling to mitigate data sparsity. Experiments on discrete counting and implicit state switching demonstrate that TacMamba achieves 100% success rates, significantly outperforming the visual-only pi_0.5 baseline, while strictly satisfying hard real-time constraints.
Vision-language-action (VLA) models that directly predict multi-step action chunks from current observations face inherent limitations due to constrained scene understanding and weak future anticipation capabilities. In contrast, video world models pre-trained on web-scale video corpora exhibit robust spatiotemporal reasoning and accurate future prediction, making them a natural foundation for enhancing VLA learning. Therefore, we propose \textit{GigaBrain-0.5M*}, a VLA model trained via world model-based reinforcement learning. Built upon \textit{GigaBrain-0.5}, which is pre-trained on over 10,000 hours of robotic manipulation data, whose intermediate version currently ranks first on the international RoboChallenge benchmark. \textit{GigaBrain-0.5M*} further integrates world model-based reinforcement learning via \textit{RAMP} (Reinforcement leArning via world Model-conditioned Policy) to enable robust cross-task adaptation. Empirical results demonstrate that \textit{RAMP} achieves substantial performance gains over the RECAP baseline, yielding improvements of approximately 30\% on challenging tasks including \texttt{Laundry Folding}, \texttt{Box Packing}, and \texttt{Espresso Preparation}. Critically, \textit{GigaBrain-0.5M$^*$} exhibits reliable long-horizon execution, consistently accomplishing complex manipulation tasks without failure as validated by real-world deployment videos on our \href{https://gigabrain05m.github.io}{project page}.
Text-driven 3D editing seeks to modify 3D scenes according to textual descriptions, and most existing approaches tackle this by adapting pre-trained 2D image editors to multi-view inputs. However, without explicit control over multi-view information exchange, they often fail to maintain cross-view consistency, leading to insufficient edits and blurry details. We introduce CoreEditor, a novel framework for consistent text-to-3D editing. The key innovation is a correspondence-constrained attention mechanism that enforces precise interactions between pixels expected to remain consistent throughout the diffusion denoising process. Beyond relying solely on geometric alignment, we further incorporate semantic similarity estimated during denoising, enabling more reliable correspondence modeling and robust multi-view editing. In addition, we design a selective editing pipeline that allows users to choose preferred results from multiple candidates, offering greater flexibility and user control. Extensive experiments show that CoreEditor produces high-quality, 3D-consistent edits with sharper details, significantly outperforming prior methods.
Large Language Models (LLMs) have developed rapidly and are widely applied to both general-purpose and professional tasks to assist human users. However, they still struggle to comprehend and respond to the true user needs when intentions and instructions are imprecisely conveyed, leading to a divergence between subjective user believes and true environment states. Resolving this epistemic divergence requires Theory of Mind (ToM), yet existing ToM evaluations for LLMs primarily focus on isolated belief inference, overlooking its functional utility in real-world interaction. To this end, we formalize ToM for LLMs as a mechanism for epistemic divergence detection and resolution, and propose a benchmark, \benchname, to assess how models reconcile user beliefs and profiles in practice. Results across 11 leading models reveal a significant limitation to identify underlying cognitive gaps that impede task success. To bridge this gap, we further curate a trajectory-based ToM dataset linking belief tracking with task-related state inference. The model trained on this data via reinforcement learning shows consistent improvement in reasoning about user mental states, leading to enhanced downstream performance. Our work highlights the practical value of ToM as an essential interaction-level mechanism rather than as a standalone reasoning skill.
Data preparation, which aims to transform heterogeneous and noisy raw tables into analysis-ready data, remains a major bottleneck in data science. Recent approaches leverage large language models (LLMs) to automate data preparation from natural language specifications. However, existing LLM-powered methods either make decisions without grounding in intermediate execution results, or rely on linear interaction processes that offer limited support for revising earlier decisions. To address these limitations, we propose DeepPrep, an LLM-powered agentic system for autonomous data preparation. DeepPrep constructs data preparation pipelines through iterative, execution-grounded interaction with an environment that materializes intermediate table states and returns runtime feedback. To overcome the limitations of linear interaction, DeepPrep organizes pipeline construction with tree-based agentic reasoning, enabling structured exploration and non-local revision based on execution feedback. To enable effective learning of such behaviors, we propose a progressive agentic training framework, together with data synthesis that supplies diverse and complex ADP tasks. Extensive experiments show that DeepPrep achieves data preparation accuracy comparable to strong closed-source models (e.g., GPT-5) while incurring 15x lower inference cost, while establishing state-of-the-art performance among open-source baselines and generalizing effectively across diverse datasets.
We propose an optimized adiabatic-impulse (OAI) protocol that substantially reduces the evolution time for crossing a quantum phase transition while preserving Kibble-Zurek (KZ) scaling. Near criticality, the control parameter is ramped linearly across the critical point at a rate characterized by a quench time $τ_Q$. Away from criticality, the evolution remains adiabatic and is tuned close to the threshold of adiabatic breakdown, as quantified by an adiabatic coefficient $ζ$ that scales as $τ_Q^α$. As a consequence, the total evolution time exhibits a sublinear power-law dependence on $τ_Q$, and the conventional linear quench is recovered in the limit $α\rightarrow\infty$. We apply the OAI protocol to the transverse Ising chain and numerically determine the minimal $ζ$ required for KZ scaling. We further investigate the nonequilibrium dynamics in the presence of a noisy field that can induce anti-Kibble-Zurek (AKZ) behavior. Within the OAI protocol, noise-induced defects is significantly attenuated due to the shorter evolution time. The optimal quench time at which the defect density is minimized obeys an altered universal power-law scaling with the noise strength. Finally, we generalize the OAI protocol to the nonlinear quenches and numerically demonstrate a marked reduction in noise-induced defects.
Similar to other heavy flavor mesons, the weak decays of $D^*_{(s)}$ mesons can provide a platform to verify the standard model, explore new physics, and understand the mechanisms of weak interactions. At present, the theoretical and experimental studies on $D^*_{(s)}$ mesons are relatively limited. In addition to the dominant electromagnetic decays, the $D^*_{(s)}$ weak decays should be feasible to explore the $D^*_{(s)}$ mesons. In this study, we used the covariant light-front quark model to study the form factors of the transitions $D^*_{(s)}\to π, K, η_{q,s}$, then calculated the branching ratios of the semi-leptonic decays $D^*_{(s)}\to P\ell^{+}ν_{\ell}$ and the non-leptonic decays $D^*_{(s)}\to PP, PV$ with $P=π, K, η^{(\prime)}, V=ρ, K^*, ϕ$ and $\ell=e, μ$. The channels $D_{s}^{*+}\toη\ell^{+}ν_{\ell}$ and $D^{*+}_{s}\to ηρ^{+}$ possess the largest branching ratios, which can reach an order of $10^{-6}$ among these decays, and are most likely to be accessible in experiments at future high-luminosity colliders. Furthermore, we predict and discuss the longitudinal polarization fraction $f_{L}$ and the forward-backward asymmetry $A_{FB}$ for the considered semi-leptonic $D^*_{(s)}$ decays.
Supervised fine-tuning (SFT) is fundamental to adapting large language models, yet training on complete datasets incurs prohibitive costs with diminishing returns. Existing data selection methods suffer from severe domain specificity: techniques optimized for general instruction-following fail on reasoning tasks, and vice versa. We observe that measuring entropy differences between base models and minimally instruction-tuned calibrated models reveals a pattern -- samples with the lowest differential entropy consistently yield optimal performance across domains, yet this principle manifests domain-adaptively: reasoning tasks favor entropy increase (cognitive expansion), while general tasks favor entropy decrease (cognitive compression). We introduce InstructDiff, a unified framework that operationalizes differential entropy as a domain-adaptive selection criterion through warmup calibration, bi-directional NLL filtering, and entropy-based ranking. Extensive experiments show that InstructDiff achieves 17\% relative improvement over full data training on mathematical reasoning and 52\% for general instruction-following, outperforming prior baselines while using only 10\% of the data.