arXiv subjects

Rui Chen

Publications and source records attributed to Rui Chen.

At least 235 records · Page 13Linked to original sources

arXiv2024

ManiSkill-ViTac 2025: Challenge on Manipulation Skill Learning With Vision and Tactile Sensing

This article introduces the ManiSkill-ViTac Challenge 2025, which focuses on learning contact-rich manipulation skills using both tactile and visual sensing. Expanding upon the 2024 challenge, ManiSkill-ViTac 2025 includes 3 independent tracks: tactile manipulation, tactile-vision fusion manipulation, and tactile sensor structure design. The challenge aims to push the boundaries of robotic manipulation skills, emphasizing the integration of tactile and visual data to enhance performance in complex, real-world tasks. Participants will be evaluated using standardized metrics across both simulated and real-world environments, spurring innovations in sensor design and significantly advancing the field of vision-tactile fusion in robotics.

cs.RO↗

arXiv2024

Effects of Lanthanides on the Structure and Oxygen Permeability of Ti-doped Dual-phase Membranes

The trade-off effect of the oxygen permeability and stability of oxygen transport membranes (OTMs) still exists in working atmospheres containing CO2. Herein, we reported a new series of 60 wt%Ce0.9Ln0.1O2-δ-40wt%Ln0.6Sr0.4Fe0.9Ti0.1O3-δ (CLnO-LnSFTO, Ln = La, Pr, Nd, Sm, Gd, Tb) dual-phase OTMs by selecting different Ln elements based on the reported highly stable Ti-doped CPrO-PrSFTO. The effects of different Ln elements on the structure and oxygen permeability of Ti-doped dual-phase OTMs were systematically studied. Basically, as the atomic number of Ln elements increases, the unit cell parameters of both the fluorite phase and the perovskite phase become smaller. The unit cell volume and spatial symmetry of the perovskite phase are reduced, resulting in a reduction in oxygen permeability. The optimal CLaO-LaSFTO showed JO2 of 0.60 and 0.54 mL min-1 cm-2 with He and CO2 sweeping at 1000 oC, respectively. In addition, all CLnO-LnSFTO OTMs could work for more than 100 hours with no significant performance degradation in a CO2 atmosphere, maintaining excellent stability. This work explores candidate OTM materials for CO2 capture and oxygen separation, as well as provides some ideas for addressing the trade-off effect.

cond-mat.mtrl-sci↗

arXiv2024

Non-volatile Tuning of Cryogenic Optical Resonators

Quantum computing, ultra-low-noise sensing, and high-energy physics experiments often rely on superconducting circuits or semiconductor qubits and devices operating at deep cryogenic temperatures (4K and below). Photonic integrated circuits and interconnects have been demonstrated for scalable communications and optical domain transduction in these systems. Due to energy and area constraints, many of these devices need enhanced light-matter interaction, provided by photonic resonators. A key challenge, however, for using these resonators is the sensitivity of resonance wavelength to process variations and thermal fluctuations. While thermo-optical tuning methods are typically employed at room temperature to mitigate this problem, the thermo-optic effect is ineffective at 4K. To address this issue, we demonstrate a non-volatile approach to tune the resonance of photonic resonators using integrated phase-change materials (PCMs) at cryogenic temperatures. In this work, we report a 10Gb/s free-carrier dispersion based resonant photonic modulator that can be tuned in a non-volatile fashion at sub-4K temperatures using a commercial silicon photonics process. This method paves the way for realizing scalable cryogenic integrated photonics with thousands of resonant devices for quantum and high-energy physics applications.

physics.optics↗

arXiv2024

Arthur's multiplicity formula for even orthogonal and unitary groups

Let G be an even orthogonal or unitary group over a number field. Based on the same observation used in arXiv:1705.10106, we prove the Arthur's multiplicity formula for the generic part of the automorphic discrete spectrum of G by using the theta lift. We also consider a class of non-generic A-parameters and obtain a multiplicity formula in this case. In particular, we obtain a description of the full automorphic discrete spectrum of even orthogonal or unitary groups with Witt index less or equal to one.

math.NT↗

arXiv2024

A new approach to N-doped di-molybdenum carbide with enhanced superconductivity via Urea

Chemical doping is a critical factor in the development of new superconductors or optimizing the superconducting transition temperature (Tc) of the parent superconducting materials. Herein, a new simple urea approach is developed to synthesize the N-doped alfa-Mo2C. Benefiting from the simple urea method, a broad superconducting dome is found in the Mo2C1-xNx compositions. XRD results show that the structure of alfa-Mo2C remains unchanged and that there is a variation of lattice parameters with nitrogen doping. Resistivity, magnetic susceptibility, and heat capacity measurement results confirm that the superconducting transition temperature (Tc) was strongly increased from 2.68 K (x = 0) to 7.05 K (x = 0.49). First-principles calculations and our analysis indicate that increasing nitrogen doping leads to a rise in the density of states at the Fermi level and doping-induced phonon softening, which enhances electron-phonon coupling. This results in an increase in Tc and a sharp rise in the upper critical field. Our findings provide a promising strategy for fabricating transition metal carbonitrides and provide a material platform for further study of the superconductivity of transition metal carbides.

cond-mat.supr-con↗

arXiv2024

GAP-RL: Grasps As Points for RL Towards Dynamic Object Grasping

Dynamic grasping of moving objects in complex, continuous motion scenarios remains challenging. Reinforcement Learning (RL) has been applied in various robotic manipulation tasks, benefiting from its closed-loop property. However, existing RL-based methods do not fully explore the potential for enhancing visual representations. In this letter, we propose a novel framework called Grasps As Points for RL (GAP-RL) to effectively and reliably grasp moving objects. By implementing a fast region-based grasp detector, we build a Grasp Encoder by transforming 6D grasp poses into Gaussian points and extracting grasp features as a higher-level abstraction than the original object point features. Additionally, we develop a Graspable Region Explorer for real-world deployment, which searches for consistent graspable regions, enabling smoother grasp generation and stable policy execution. To assess the performance fairly, we construct a simulated dynamic grasping benchmark involving objects with various complex motions. Experiment results demonstrate that our method effectively generalizes to novel objects and unseen dynamic motions compared to other baselines. Real-world experiments further validate the framework's sim-to-real transferability.

cs.RO↗

arXiv2024

Absolute State-wise Constrained Policy Optimization: High-Probability State-wise Constraints Satisfaction

Enforcing state-wise safety constraints is critical for the application of reinforcement learning (RL) in real-world problems, such as autonomous driving and robot manipulation. However, existing safe RL methods only enforce state-wise constraints in expectation or enforce hard state-wise constraints with strong assumptions. The former does not exclude the probability of safety violations, while the latter is impractical. Our insight is that although it is intractable to guarantee hard state-wise constraints in a model-free setting, we can enforce state-wise safety with high probability while excluding strong assumptions. To accomplish the goal, we propose Absolute State-wise Constrained Policy Optimization (ASCPO), a novel general-purpose policy search algorithm that guarantees high-probability state-wise constraint satisfaction for stochastic systems. We demonstrate the effectiveness of our approach by training neural network policies for extensive robot locomotion tasks, where the agent must adhere to various state-wise safety constraints. Our results show that ASCPO significantly outperforms existing methods in handling state-wise constraints across challenging continuous control tasks, highlighting its potential for real-world applications.

cs.LG↗

arXiv2024

Ext-analogues of Gan--Gross--Prasad models vanish for tempered representations

In this paper we prove that Ext-analogues of Gan--Gross--Prasad models vanish for tempered representations, as conjectured by D. Prasad. In particular, this implies a conjectural Euler--Poincaré characteristic formula for Gan--Gross--Prasad models. Besides, we also single out a special class of tempered representations, which includes the Steinberg representation, and show that the restrictions of them are projective.

math.RT↗

arXiv2024

Predicting possible molecular states of nucleons with $Ξ_c$, $Ξ_c^{*}$, and $Ξ_c^{\prime}$

In the framework of a one-boson-exchange model, we carry out a comprehensive investigation of the $Ξ_cN/Λ_cΣ/Ξ_c^{\prime}N/Σ_cΛ/Ξ_c^*N/Σ_c^*Λ/Σ_cΣ/Σ_c^*Σ$ interactions. We consider the $S$-$D$-wave mixing effects and the coupled-channel effects to derive the relevant effective potentials. Our results can predict several possible charm-strange deuteronlike $Ξ_c^{(',*)}N$ hexaquarks, the $Ξ_c^{\prime}N$ molecules with $I(I^P)=0(0^+)$, $0(1^+)$, $1(1^+)$, the $Ξ_c^*N$ molecules with $0(1^+)$, $0(2^+)$, $1(2^+)$, and the coupled $Ξ_cN/Ξ_c^{\prime}N/Ξ_c^*N/Σ_cΣ/Σ_c^*Σ$ molecule with $0(1^+)$. We expect the experiments to search for our predictions of the $Ξ_c^{(\prime,*)}N$ bound states.

hep-ph↗

arXiv2024

Exploring the mass spectrum and the electromagnetic properties of the possible $Ξ_{cc}K^{()}$ and $Ξ_{cc}\bar{K}^{()}$ molecules

Using the one-boson-exchange model, we investigate the interactions between the doubly charmed baryon $Ξ_{cc}(3621)$ and the $S-$wave (anti-)kaon accounting for the $S-D$ wave mixing and coupled-channel effects. We find the coupled $Ξ_{cc}K/Ξ_{cc}K^*$ state with $I(J^P)=0(1/2^-)$, the $Ξ_{cc}K^*$ state with $0(1/2^-)$, the $Ξ_{cc}\bar{K}$ state with $0(1/2^-)$, and the $Ξ_{cc}\bar{K}^*$ states with $0(1/2^-,3/2^-)$ can be recommended as good doubly charmed molecular candidates with strangeness $|S|=1$. We further examine their M1 radiative decay behaviors and magnetic moments within the constituent quark model framework. This information can enhance our understanding of their inner structures, including the distribution of electric charge and the orientation of the constituent quarks' spins.

hep-ph↗

arXiv2024

GUARD: A Safe Reinforcement Learning Benchmark

Due to the trial-and-error nature, it is typically challenging to apply RL algorithms to safety-critical real-world applications, such as autonomous driving, human-robot interaction, robot manipulation, etc, where such errors are not tolerable. Recently, safe RL (i.e. constrained RL) has emerged rapidly in the literature, in which the agents explore the environment while satisfying constraints. Due to the diversity of algorithms and tasks, it remains difficult to compare existing safe RL algorithms. To fill that gap, we introduce GUARD, a Generalized Unified SAfe Reinforcement Learning Development Benchmark. GUARD has several advantages compared to existing benchmarks. First, GUARD is a generalized benchmark with a wide variety of RL agents, tasks, and safety constraint specifications. Second, GUARD comprehensively covers state-of-the-art safe RL algorithms with self-contained implementations. Third, GUARD is highly customizable in tasks and algorithms. We present a comparison of state-of-the-art safe RL algorithms in various task settings using GUARD and establish baselines that future work can build on.

cs.LG↗

arXiv2024

Safe Control of Quadruped in Varying Dynamics via Safety Index Adaptation

Varying dynamics pose a fundamental difficulty when deploying safe control laws in the real world. Safety Index Synthesis (SIS) deeply relies on the system dynamics and once the dynamics change, the previously synthesized safety index becomes invalid. In this work, we show the real-time efficacy of Safety Index Adaptation (SIA) in varying dynamics. SIA enables real-time adaptation to the changing dynamics so that the adapted safe control law can still guarantee 1) forward invariance within a safe region and 2) finite time convergence to that safe region. This work employs SIA on a package-carrying quadruped robot, where the payload weight changes in real-time. SIA updates the safety index when the dynamics change, e.g., a change in payload weight, so that the quadruped can avoid obstacles while achieving its performance objectives. Numerical study provides theoretical guarantees for SIA and a series of hardware experiments demonstrate the effectiveness of SIA in real-world deployment in avoiding obstacles under varying dynamics.

eess.SY↗

arXiv2024

Perspective: Floquet engineering topological states from effective models towards realistic materials

With significant advances in classifying and cataloguing topological matter, the focus of topological physics has shifted towards quantum control, particularly the creation and manipulation of topological phases of matter. Floquet engineering, the concept of tailoring a system by periodic fields, offers a powerful tool to manipulate electronic properties of condensed systems, and even to create exotic non-equilibrium topological states that are impossibly present in equilibrium scenarios. In this perspective, we give a brief review of recent progress in theoretical investigations of Floquet engineering topological states from effective models towards realistic materials. We show that light irradiation can realize various desired topological states through the introduction of symmetry breaking, such as first- and higher-order Weyl fermions, quadrupole topological insulator with periodic driving and disorder, quantum anomalous Hall effects with a tunable Chern number, as well as beyond. Moreover, based on first-principles calculations and Floquet theorem, we show several realistic material candidates proposed as potential hosts for promising Floquet topological states, facilitating their verification in experiments. We believe that our perspective on Floquet engineering of topological states will advance further studies of rich exotic light-induced phenomena in condensed matter physics.

physics.comp-ph↗

arXiv2024

Anomalous Hall effects in magnetic weak topological insulator films

The interplay between magnetism and strong topological insulator gives rise to distinct new topological phases and various intriguing phenomena, attracting significant attention in recent years. However, magnetic effects in weak topological insulators remain largely unexplored. In this work, we systematically investigate the magnetic effect on thin films of weak topological insulators. We focus on ferromagnetic and antiferromagnetic effects, which have been extensively studied in strong topological insulators, as well as the recently highlighted altermagnetic effect. We reveal that the interplay between magnetism and weak topological insulators leads to a variety of Hall effects in the absence of an external magnetic field, including the metallic quantum anomalous Hall effect without chiral edge states, the quantum anomalous Hall effect with a higher Hall conductance plateau, the quantized layer Hall effect, the metallic half-quantized valley-like Hall effect, and a quantized valley-like Hall effect. This work provides valuable insights for exploring magnetic effect on weak topological insulators.

cond-mat.mes-hall↗

arXiv2024

Million-Q Free Space Meta-Optical Resonator at Visible Wavelengths

High-quality (Q)-factor optical resonators with extreme temporal coherence are of both technological and fundamental importance in optical metrology, continuous-wave lasing, and semiconductor quantum optics. Despite extensive efforts in designing high-Q resonators across different spectral regimes, the experimental realization of very large Q-factors at visible wavelengths remains challenging due to the small feature size that is sensitive to fabrication imperfections, and thus is typically implemented in integrated photonics. In the pursuit of free-space optics with the benefits of large space-bandwidth product and massive parallel operations, here we design and fabricate a visible-wavelength etch-free metasurface with minimized fabrication defects and experimentally demonstrate a million-scale ultrahigh-Q resonance. A new laser-scanning momentum-space-resolved spectroscopy technique with extremely high spectral and angular resolution is developed to characterize the record-high Q-factor as well as the dispersion of the million-Q resonance in free space. By integrating monolayer WSe2 into our ultrahigh-Q meta-resonator, we further demonstrate laser-like highly unidirectional and narrow-linewidth exciton emission, albeit without any operating power density threshold. Under continuous-wave laser pumping, we observe pump-power-dependent linewidth narrowing at room temperature, indicating the potential of our meta-optics platform in controlling coherent quantum light-sources. Our result also holds great promise for applications like optical sensing, spectral filtering, and few-photon nonlinear optics.

physics.optics↗

arXiv2024

Nonlinear Hall effect on a disordered lattice

The nonlinear Hall effect has recently attracted significant interest due to its potential as a promising spectral tool and device applications. A theory of the nonlinear Hall effect on a disordered lattice is a crucial step towards explorations in realistic devices, but has not been addressed. We study the nonlinear Hall response on a lattice, which allows us to introduce strong disorder numerically. We reveal a disorder-induced fluctuation of the Berry curvature that was not discovered in the previous perturbation theories. The fluctuating Berry curvature induces a fluctuation of the nonlinear Hall conductivity, which anomalously increases as the Fermi energy moves from the band edges to higher energies. More importantly, the fluctuation may explain those observations in the recent experiments. We also discover an "Anderson localization" of the nonlinear Hall effect. This work shows a territory of the nonlinear Hall effect yet to be explored.

cond-mat.mes-hall↗

arXiv2024

Excellent and CO$_2$$_{0.85}$Nd$_{0.1}$Cu$_{0.05}$O$_{2-δ}$-Nd$_x$Sr$_{1-x}$Fe$_{1-y}$Cu$_y$O$_{3-δ}$ dual-phase oxygen transport membranes

Oxygen transport membranes(OTMs)have provided great opportunities in the last decades but are suffering from the trade-off effect between stability and oxygen permeability. Here, we report a group of new planar dual-phase mixed ionic-electronic conducting (MIEC) OTMs consisting of CO$_2$$_{0.85}$Nd$_{0.1}$Cu$_{0.05}$O$_2$ (CNCO) and Nd$_x$Sr$_{1-x}$Fe$_{1-y}$Cu$_y$O$_3$(NSFCO; $x = 0.4, 0.6$; $y = 0.05, 0.1$) phases, showing excellent oxygen permeability while comparable CO$_2$-resistant stability. The substitution of Cu as a bifunctional additive decreases the sintering temperature and enhances bulk diffusion and oxygen permeability with the co-doping of Nd.The oxygen permeation fluxes reached 2.62 and 1.52 mL min$^{-1}$ cm$^{-2}$ at 1000$^\circ$C through the optimal 60wt%Ce0.85Nd0.1Cu0.05O2-40wt%Nd0.4Sr0.6Fe0.9Cu0.1O3 (CNCO-NSFCO41) composition with He and CO$_2$ sweeping, respectively, higher than all reported dense dual-phase OTMs. Such excellent CO$_2$-tolerant permeability meets the needs of potential industrial applications. Analysis with Zhu's oxygen permeation model shows lower bulk diffusion resistance of CNCO-NSFCO41 than that of reported 60wt%Ce0.85Pr0.1Cu0.05O2-40wt%Pr0.4Sr0.6Fe0.9Cu0.1O3(CPCO-PSFCO41)and more limitation by the interfacial exchange at high temperature. All the prepared OTMs also show good long-term stability over 100 hours in both atmospheres. Our results confirm the excellent oxygen permeability and stability under a high-concentration CO2 atmosphere, providing a material candidate for CO2 capture in oxyfuel combustion.

cond-mat.mtrl-sci↗

arXiv2024

Revealing the nontrivial topological surface states of catalysts for effective photochemical carbon dioxide conversion

Topological semimetals with protected surface states mark a new paradigm of research beyond the early landmarks of band-structure engineering, allowing fabrication of efficient catalyst to harness the rich metallic surface states to activate specific chemical processes. Herein, we demonstrate a facile solid-phase method for in-situ doping of Ir at the Os sites in the Os3Sn7, an alloy with topological states, which significantly improves the photocatalytic performance for the reduction of CO2 to CO and CH4. Experimental evidence combined with theoretical calculations reveal that the nontrivial topological surface states greatly accelerate charge-separation/electron-enrichment and adsorption/activation of CO2 molecules, rendering highly efficient reaction channels to stimulate the formation of *COOH and *CO, as well CHO*. This work shows the promise of achieving high photocatalytic performances with synthesizing topological catalysts and provides hints on the design of novel topological catalysts with superior photoactivity towards the CO2 reduction reaction.

cond-mat.mtrl-sci↗