arXiv subjects

Shiwu Zhang

Publications and source records attributed to Shiwu Zhang.

At least 19 recordsLinked to original sources

arXiv2026

AEON-z5: A Candidate AGN-driven Outflow Enriching the Circumgalactic Medium at $z\simeq5.23$

The dispersal of chemically enriched gas from galaxies into their surroundings is a key process in galaxy evolution, yet direct observational evidence at z>5 remains scarce. We present AEON-z5, a galaxy at z~5.23 in the COSMOS field comprising a compact continuum-emitting core surrounded by an extended, line-dominated ionized nebula. JWST/NIRCam imaging shows that H$\alpha$+[N II] and H$\beta$+[O III] emission extends to projected radii of >4 kpc - 2-2.5 times the typical effective radius at the host stellar mass - reaching the outer ISM and the inner CGM. F444W grism data reveal a highly asymmetric H$\alpha$+[N II] profile, which we interpret as a bipolar outflow and decompose into three kinematic components. The dominant component has a flux-weighted velocity offset of ~+489 km/s and FWHM~630 km/s, with a wing reaching $v_{84}$~792 km/s. A tentative detached feature at $\Delta v_{LOS}$~2800 km/s, detected at 1.5$\sigma$ in the 1D spectrum (2.4$\sigma$ in the 2D fit), may trace an outflow clump. These kinematics are most coherently explained by an AGN in the core. For the extended nebula, we derive a velocity curve shifting redward with radius, reaching 200-400 km/s at $r_p$~1.3-2.5 kpc - a trend that may reflect an accelerating outflow, corotating gas, or recycled inflow viewed in projection. Crucially, the measured [N II]/H$\alpha$ ratios imply near-solar N2-based abundances (0.7-1.0 $Z_\odot$), remaining >0.37 $Z_\odot$ after allowing for AGN excitation and calibration systematics. The combination of large extent, enrichment, and extreme kinematics identifies AEON-z5 as a candidate snapshot of feedback-driven metal transport, offering a direct view of how early AGN activity may redistribute chemically processed gas into the CGM within the first ~1.1 billion years.

astro-ph.GA↗

arXiv2026

First-star imprints in a metal-poor galaxy overdensity near the end of reionization

The first generation of stars, known as Population III (Pop III), formed from primordial gas consisting solely of hydrogen and helium and is believed to have emerged only a few hundred million years after the Big Bang. Detecting the chemical enrichment of metal-poor circumgalactic gas offers a promising way to trace the enrichment signature of Pop III stars. Along the sightline to the quasar SDSS J0100+2802, a metal absorber at $z = 5.945$, showing over-abundant carbon and silicon compared to solar, has been reported to be consistent with the enrichment pattern of Pop III stars. With the James Webb Space Telescope, we report the discovery of an unusually metal-poor galaxy overdensity of 17 members (mean metallicity $\approx 3\%$ solar) near this metal absorber, which is $\sim 0.4$ dex more metal-poor than coeval galaxies in similarly overdense environments. This less chemically evolved system may have provided favorable conditions for preserving the absorption signatures of Pop III enrichment. We infer a minimum dark matter halo of $\log(M_{\mathrm{h,min}}/M_{\odot})=10.68^{+0.93}_{-1.72}$, supporting late-time Pop III formation at the outskirts of atomic hydrogen cooling halos. Our findings open a promising observational pathway to identify the chemical imprints of the first stars and constrain the conditions for their formation.

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arXiv2026

Human2Humanoid: Physics-Aware Cross-Morphology Motion Retargeting for Humanoid Robots

Retargeting human motion to humanoid robots is critical for teleoperation, imitation learning and human-robot interaction. However, it remains challenging because of substantial morphological discrepancies between humans and robots, including differences in skeletal topology, limb proportions and degrees of freedom, as well as the scarcity of paired motion data. This paper presents Human2Humanoid, an unsupervised motion retargeting framework that transfers human motions to humanoid robot behaviors with high fidelity. To bridge the domain gap under unpaired data, we adopt a CycleGAN-based architecture equipped with a skeleton-aware graph convolutional network to capture topology-dependent motion features. To address cross-domain scale mismatches, we introduce a morphology-invariant end-effector consistency loss that aligns normalized end-effector trajectories to preserve motion semantics across embodiments. To improve physical plausibility and reduce contact artifacts, we impose explicit physics-aware feasibility constraints to encourage reproduction of the contact patterns in the source motion. Experimental results show that the proposed method successfully retargets human motion to the Unitree G1 humanoid robot without paired data, and outperforms existing methods in both downstream controllability and physical feasibility.

cs.RO↗

arXiv2026

Bionic Human-Motion Style Transfer for Physically Executable Whole-Body Control of Humanoid Robots

Expressive whole-body motion is important for humanoid robots operating in human environments, where robots are expected to move stably while presenting readable and adjustable body behaviors. However, most expressive motions are still obtained from fixed demonstrations or manually designed scripts, making it difficult to reuse a demonstrated style across different motion contents. Inspired by the way human motion styles convey affective and intentional cues through gait rhythm, posture, arm swing and body sway, this paper proposes a bionic generation-to-control framework for exemplar-driven style transfer on humanoid robots. Given a short human style exemplar and a target content motion, the proposed framework generates a stylized whole-body reference that preserves the intended motion content while transferring the demonstrated style. A physics-aware multi-condition latent diffusion model is developed to fuse style, content and trajectory conditions, and classifier-free guidance is used to adjust the style intensity without retraining. To improve hardware executability, contact-consistency and temporal-smoothness regularization are imposed on decoded motions during training. The generated references are then converted into G1-compatible robot references and executed by a preview-based whole-body tracking policy trained with a cluster-and-distill strategy. Simulation and Unitree G1 experiments show that the proposed method can transfer short human style exemplars to diverse robot motion contents, reduce contact and jitter artifacts compared with animation-oriented style-transfer baselines, and achieve a 96.0% success rate over 125 reported real-robot trials. The results demonstrate the feasibility of using short human motion exemplars as reusable bionic sources for physically executable expressive humanoid motion.

cs.RO↗

arXiv2026

Constraining the nature of active galactic nuclei through circumgalactic Lya emission at z=2-3

We present a comprehensive analysis of circumgalactic Lya nebulae around 59 unobscured and 26 obscured quasars at z=2-3, observed with the Keck Cosmic Web Imager (KCWI), to constrain the nature of active galactic nuclei (AGN) at cosmic noon. We find that Lya nebulae around unobscured quasars are significantly less symmetric having a symmetry parameter of a_w=0.2-0.6 and more spatially extended having a scale length of r_h=10.7+/-0.5 kpc than those around obscured quasars (a_w=0.6-0.8; r_h=6.6-7.7 kpc).Unobscured quasars also exhibit steeply declining velocity dispersion profiles with the slope of -4.3+/-0.4 km s^-1 kpc^-1, indicative of large-scale outflows, whereas obscured quasars display flat profiles (-0.2+/-0.7 and -0.6+/-0.4 km s^-1 kpc^-1). The degree of quasar obscuration appears to be intrinsically linked to nebular asymmetry and extent, a relationship that could be in tension with the standard orientation-based AGN unified model, as it expects unobscured-quasar nebulae to be more symmetric and compact. These results naturally fit the evolutionary scenario, where AGN feedback drives a transition from an obscured to an unobscured phase-progressively redistributing gas to larger radii, introducing anisotropy, and driving turbulence. Taken together, our findings favor the evolutionary scenario over the purely orientation-based unified model for quasars at cosmic noon.

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arXiv2026

Fully Analog Resonant Recurrent Neural Network via Metacircuit

Physical neural networks offer a transformative route to edge intelligence, providing superior inference speed and energy efficiency compared to conventional digital architectures. However, realizing scalable, end-to-end, fully analog recurrent neural networks for temporal information processing remains challenging due to the difficulty of faithfully mapping trained network models onto physical hardware. Here we present a fully analog resonant recurrent neural network (R$^2$NN) implemented via a metacircuit architecture composed of coupled electrical local resonators. A reformulated mechanical-electrical analogy establishes a direct mapping between the R$^2$NN model and metacircuit elements, enabling accurate physical implementation of trained neural network parameters. By integrating jointly trainable global resistive coupling and local resonances, which generate effective frequency-dependent negative resistances, the architecture shapes an impedance landscape that steers currents along frequency-selective pathways. This mechanism enables direct extraction of discriminative spectral features, facilitating real-time temporal classification of raw analog inputs while bypassing analog-to-digital conversion. We demonstrate the cross-domain versatility of this framework using integrated hardware for tactile perception, speech recognition, and condition monitoring. This work establishes a scalable, fully analog paradigm for intelligent temporal processing and paves the way for low-latency, resource-efficient physical neural hardware for edge intelligence.

cs.LG↗

arXiv2026

ADAPT: Adaptive Dual-projection Architecture for Perceptive Traversal

Agile humanoid locomotion in complex 3D en- vironments requires balancing perceptual fidelity with com- putational efficiency, yet existing methods typically rely on rigid sensing configurations. We propose ADAPT (Adaptive dual-projection architecture for perceptive traversal), which represents the environment using a horizontal elevation map for terrain geometry and a vertical distance map for traversable- space constraints. ADAPT further treats its spatial sensing range as a learnable action, enabling the policy to expand its perceptual horizon during fast motion and contract it in cluttered scenes for finer local resolution. Compared with voxel-based baselines, ADAPT drastically reduces observation dimensionality and computational overhead while substantially accelerating training. Experimentally, it achieves successful zero-shot transfer to a Unitree G1 Humanoid and signifi- cantly outperforms fixed-range baselines, yielding highly robust traversal across diverse 3D environtmental challenges.

cs.RO↗

arXiv2026

SKATER: Synthesized Kinematics for Advanced Traversing Efficiency on a Humanoid Robot via Roller Skate Swizzles

Although recent years have seen significant progress of humanoid robots in walking and running, the frequent foot strikes with ground during these locomotion gaits inevitably generate high instantaneous impact forces, which leads to exacerbated joint wear and poor energy utilization. Roller skating, as a sport with substantial biomechanical value, can achieve fast and continuous sliding through rational utilization of body inertia, featuring minimal kinetic energy loss. Therefore, this study proposes a novel humanoid robot with each foot equipped with a row of four passive wheels for roller skating. A deep reinforcement learning control framework is also developed for the swizzle gait with the reward function design based on the intrinsic characteristics of roller skating. The learned policy is first analyzed in simulation and then deployed on the physical robot to demonstrate the smoothness and efficiency of the swizzle gait over traditional bipedal walking gait in terms of Impact Intensity and Cost of Transport during locomotion. A reduction of $75.86\%$ and $63.34\%$ of these two metrics indicate roller skating as a superior locomotion mode for enhanced energy efficiency and joint longevity.

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arXiv2025

Traversing Narrow Paths: A Two-Stage Reinforcement Learning Framework for Robust and Safe Humanoid Walking

Traversing narrow paths is challenging for humanoid robots due to the sparse and safety-critical footholds required. Purely template-based or end-to-end reinforcement learning-based methods suffer from such harsh terrains. This paper proposes a two stage training framework for such narrow path traversing tasks, coupling a template-based foothold planner with a low-level foothold tracker from Stage-I training and a lightweight perception aided foothold modifier from Stage-II training. With the curriculum setup from flat ground to narrow paths across stages, the resulted controller in turn learns to robustly track and safely modify foothold targets to ensure precise foot placement over narrow paths. This framework preserves the interpretability from the physics-based template and takes advantage of the generalization capability from reinforcement learning, resulting in easy sim-to-real transfer. The learned policies outperform purely template-based or reinforcement learning-based baselines in terms of success rate, centerline adherence and safety margins. Validation on a Unitree G1 humanoid robot yields successful traversal of a 0.2m wide and 3m long beam for 20 trials without any failure.

cs.RO↗

arXiv2025

AGNs in the extremely overdense galaxy region BOSS 1441: A Chandra observation

We present a Chandra/ACIS-I study of X-ray sources in BOSS 1441, a protocluster at $z=2.32\pm0.02$ that exhibits a prominent overdensity of Ly$\alpha$ emitters (LAEs). Using a 45 ks observation, we identify seven X-ray sources spatially coincident with LAE density peaks. The average X-ray photon index for the seven sources, derived from an absorbed power-law model with Galactic absorption fixed, is 1.49 (ranging from -0.68 to 2.51), corresponding to an average luminosity of $\rm 6.85\times 10^{44}~erg~s^{-1}$ in the rest-frame 2-33 keV band, with individual luminosities spanning $(3.57 - 13.96)\rm\times 10^{44}~erg~s^{-1}$. Three sources exhibit relatively flat spectral slopes. Two are associated with the MAMMOTH-1 nebula, while the third, located at the edge of BOSS 1441 with a $> 5'$ offset from the LAE density peak, resides in a region with a high submillimeter-band density. We estimate the fraction of X-ray detected AGNs among the LAEs to be $11.5^{+3.8}_{-4.6}\%$, approximately double that of previously studied LAEs. This elevated fraction suggests BOSS 1441 is in a mature evolutionary stage, with even higher AGN fractions expected in massive LAEs such as PKS 1138-262. In contrast, the submillimeter galaxy population shows a lower AGN fraction ($6.9^{+6.9}_{-4.5}\%$), consistent with their typically obscured nature. These results indicate that the protocluster's massive galaxies are evolving into the bright red sequence galaxies observed in local clusters, where AGNs likely play a critical role in quenching their star formation.

astro-ph.GA↗

arXiv2025

A dual AGN at z = 5.4 associated with a Lyman-alpha Nebula in the Center of a Cosmic Filament

Predictions from current theories and simulations suggest that dual AGN systems are exceedingly rare at high redshifts. The intense radiation and powerful outflows from AGNs regulate star formation, heat the interstellar medium, and drive massive gas outflows that shape the host galaxy and its surroundings. One manifestation of AGN feedback is the creation of extended Ly$\alpha$ nebulae. However, identifying these systems at high-$z$ is challenging. Here, we report a remarkable dual AGN candidate at $z \sim 5.4$ using JWST NIRCam and NIRSpec, with a separation of $\sim1.7$ arcseconds ($\sim10.4$ pkpc). This is one of the highest spectroscopically confirmed redshift dual AGNs discovered. Photometric SED fitting shows excellent agreement with AGN templates, strongly suggesting a rare dual AGN system. BPT diagrams and high ionisation lines further support the presence of AGNs. VLT/MUSE observations reveal strong extended Ly$\alpha$ emission, extending to $>22$ kpc, making it one of the most extended Ly$\alpha$ nebulae at $z \sim 6$. This provides observational evidence of anisotropic AGN-driven photoionization or shocks. The high Ly$\alpha$ escape fraction also indicates an AGN outflow. This dual AGN candidate is also associated with a well-defined overdensity, potentially at the center of a $z \sim 5.4$ protocluster or filamentary structure node. Further analysis indicates the fraction of dual AGNs is significantly higher than theoretically expected at high redshifts. This discovery provides a new opportunity to study dual AGN interactions and their impact on the circumgalactic medium and cosmic structure evolution.

astro-ph.GA↗

arXiv2025

Testing the AGN unified model with simulated emission lines from the circumgalactic medium (CGM)

The CGM around unobscured AGN has received much attention in recent years. Comparatively, nebulae associated with obscured AGN are less studied. Here, we simulate the Ly$\alpha$, H$\alpha$, and HeII nebulae around the two types of AGN at $z=2-3$ with ten massive systems from the FIRE simulations based on the unified model to show their differences and to test if they can be used to constrain the AGN model. We post-process the data with the CLOUDY and the Ly$\alpha$ radiative transfer code, RASCAS. Overall, we find that the Ly$\alpha$ nebulae around the unobscured AGN (type-I nebulae) and obscured AGN (type-II nebulae) do not exhibit significant differences in the luminosity, area, and HeII/Ly$\alpha$ when the simulated cutout is set to the halo virial radius. Whereas, the type-II nebulae exhibit less symmetric morphologies, flatter surface brightness profiles, and larger emission line widths (at $R\geq 10$ kpc) than those of the type-I nebulae. These nebulae properties exhibit complicated correlations with the AGN, indicating that nebulae observations can be applied to constrain the AGN engine. However, independent observations on nebulae in the mentioned emissions are insufficient to test the unified model as a priori in observations is not possible to know the direction and opening angle of the ionization cone. We prompt that the joint observations of Ly$\alpha$ nebulae and radio jets can help to reveal the ionization cone to probe the unified model. Our calculations suggest that this method requires $\geq 75$ type-II Ly$\alpha$ nebulae with current instruments to reach a confidence level of $\geq 95\%$.

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arXiv2025

A Dual-Bearing Magnetorheological Grease Clutch with Intention-Based Demagnetization for Wearable Haptic Feedback

This paper presents the design, modeling, and control of a dual-bearing magnetorheological grease (MRG) clutch for wearable haptic feedback. Compared with conventional MR fluid devices, the proposed clutch avoids leakage-related reliability degradation while achieving high torque density in a compact structure. To provide physical insight into the torque-generation mechanism, a physics-inspired interpretive model is introduced to capture the dominant relationship among excitation current, magnetic-field evolution in the bearing gaps, and clutch locking torque. To mitigate the undesirable ``sticky'' sensation caused by passive bidirectional braking, an intention-based control strategy with active demagnetization is further developed to enable smoother release during human--robot interaction. Experimental characterization shows that the proposed clutch achieves a maximum locking torque of 43.42\,N$\cdot$m at 1.3\,A and a torque-to-mass ratio of 96.5\,N$\cdot$m/kg. Bench tests, replay validation, teleoperation experiments, and user studies indicate that the proposed approach accelerates clutch release and improves perceived release transparency and contact-to-release smoothness, while maintaining effective multi-level kinesthetic rendering.

eess.SY↗

arXiv2025

A 13-Billion-Year View of Galaxy Growth: Metallicity Gradient Evolution from the Local Universe to $z=9$ with JWST and Archival Surveys

The galaxy gas-phase metallicity gradients have been extensively studied over the past four decades, both in the local and high-redshift universe, as they trace the baryon cycle and growth of galaxies. With the unprecedented spatial resolution and sensitivity of JWST, it is now possible to measure metallicity and its radial gradients out to redshifts as high as $z = 9$. Here, we present a sample of 455 spectroscopically confirmed galaxies from redshifts $1.7 \lesssim z \lesssim 9$ that are spatially resolved on sub-kiloparsec (kpc) scales by deep JWST NIRCam or NIRISS Wide Field Slitless Spectroscopy (WFSS). Synthesizing these new JWST observations with legacy observations from the literature, we observe that at redshift $z > 5$, galaxy centers are more metal-rich, exhibiting negative metallicity gradients of $\sim-0.4$ dex kpc$^{-1}$. These gradients flatten over time, reaching near-zero around $z \approx 2$, coinciding with the peak of the cosmic star formation rate. Beyond this point, the gradients become negative again at lower redshifts approaching $z=0$. This evolution likely reflects transitions in galaxy formation modes: an inside-out growth phase dominated by intense central star formation with inefficient feedback and limited gas mixing during ``cosmic dawn", enhanced gas mixing due to feedback-driven wind and gas accretion at ``cosmic noon", and a later phase of slow evolution and reduced feedback toward the present day. These physical processes, including gas accretion and feedback, not only regulate star and galaxy formation on a cosmic scale but also shape the evolutionary pathways of individual galaxies over cosmic time.

astro-ph.GA↗

arXiv2025

Development of a magnetorheological hand exoskeleton featuring a high force-to-power ratio for enhanced grip endurance

Hand exoskeletons have significant potential in labor-intensive fields by mitigating hand grip fatigue, enhancing hand strength, and preventing injuries. However, most of the traditional hand exoskeletons are driven by motors, whose output force is limited in the constrained installation conditions. Besides, they also come with the disadvantages of high power consumption, complex and bulky assistive systems, and high instability. In this work, we develop a novel hand exoskeleton integrated with innovative magnetorheological (MR) clutches that offers a high force-to-power ratio to improve grip endurance. The clutch features an enhanced structure design, a micro roller enhancing structure, which can significantly boost output forces. The experimental data demonstrate that, when it is supplied with 2 V, the clutch can deliver a peak holding force of 381.15 N-55 times that when no voltage is provided (7 N). In this scenario, it only consumes 1.38 W, yielding a force-to-power ratio of 256.75N/W, which is 2.35 times higher than the best-reported actuator used for hand exoskeletons. This capability enables the designed MRHE to provide approximately 419.79 N support force for gripping. The designed MR hand exoskeleton is highly integrated, comprising an exoskeleton frame, MR clutches, a control unit, and a battery. Evaluations through static grip endurance tests and dynamic carrying and lifting tests confirm that the MR hand exoskeleton can effectively reduce muscle fatigue, extend grip endurance, and minimize injuries. These findings highlight its strong potential for practical applications in repetitive tasks such as carrying and lifting in industrial settings.

cs.RO↗

arXiv2025

High-Precision Transformer-Based Visual Servoing for Humanoid Robots in Aligning Tiny Objects

High-precision tiny object alignment remains a common and critical challenge for humanoid robots in real-world. To address this problem, this paper proposes a vision-based framework for precisely estimating and controlling the relative position between a handheld tool and a target object for humanoid robots, e.g., a screwdriver tip and a screw head slot. By fusing images from the head and torso cameras on a robot with its head joint angles, the proposed Transformer-based visual servoing method can correct the handheld tool's positional errors effectively, especially at a close distance. Experiments on M4-M8 screws demonstrate an average convergence error of 0.8-1.3 mm and a success rate of 93\%-100\%. Through comparative analysis, the results validate that this capability of high-precision tiny object alignment is enabled by the Distance Estimation Transformer architecture and the Multi-Perception-Head mechanism proposed in this paper.

cs.CV↗

arXiv2025

3D Printing of Near-Ambient Responsive Liquid Crystal Elastomers with Enhanced Nematic Order and Pluralized Transformation

Liquid Crystal Elastomers with near-ambient temperature-responsiveness (NAT-LCEs) have been extensively studied for building bio-compatible, low-power consumption devices and robotics. However, conventional manufacturing methods face limitations in programmability (e.g., molding) or low nematic order (e.g., DIW printing). Here, a hybrid cooling strategy is proposed for programmable 3D printing of NAT-LCEs with enhanced nematic order, intricate shape forming, and morphing capability. By integrating a low-temperature nozzle and a cooling platform into a 3D printer, the resulting temperature field synergistically facilitates mesogen alignment during extrusion and disruption-free UV cross-linking. This method achieves a nematic order 3000% higher than NAT-LCEs fabricated using traditional room temperature 3D printing. Enabled by shifting of transition temperature during hybrid cooling printing, printed sheets spontaneously turn into 3D structures after release from the platform, exhibiting bidirectional deformation with heating and cooling. By adjusting the nozzle and plate temperatures, NAT-LCEs with graded properties can be fabricated for intricate shape morphing. A wristband system with enhanced heart rate monitoring is also developed based on 3D-printed NAT-LCE. Our method may open new possibilities for soft robotics, biomedical devices, and wearable electronics.

cond-mat.soft↗

arXiv2024

MAMMOTH-Subaru. II. Diverse Populations of Circumgalactic Ly$α$ Nebulae at Cosmic Noon

Circumgalactic Lyman-alpha (Ly$α$) nebulae are gaseous halos around galaxies exhibiting luminous extended Ly$α$ emission. This work investigates Ly$α$ nebulae from deep imaging of $\sim12~\mathrm{deg}^2$ sky, targeted by the MAMMOTH-Subaru survey. Utilizing the wide-field capability of Hyper Suprime-Cam (HSC), we present one of the largest blind Ly$α$ nebula selections, including QSO nebulae, Ly$α$ blobs, and radio galaxy nebulae down to typical $2σ$ Ly$α$ surface brightness of $(5-10)\times10^{-18}\mathrm{~erg~s^{-1}~cm^{-2}~arcsec^{-2}}$. The sample contains 117 nebulae with Ly$α$ sizes of 40 - 400 kpc, and the most gigantic one spans about 365 kpc, referred to as the Ivory Nebula. Combining multiwavelength data, we investigate diverse nebula populations and associated galaxies. We find a small fraction of Ly$α$ nebulae have QSOs ($\sim7\%$), luminous infrared galaxies ($\sim1\%$), and radio galaxies ($\sim 2\%$). Remarkably, among the 28 enormous Ly$α$ nebulae (ELANe) exceeding 100 kpc, about 80\% are associated with UV-faint galaxies ($M_\mathrm{UV} > -22$), categorized as Type II ELANe. We underscore that Type II ELANe constitute the majority but remain largely hidden in current galaxy and QSO surveys. Dusty starburst and obscured AGN activity are proposed to explain the nature of Type II ELANe. The SED of stacking all Ly$α$ nebulae also reveals signs of massive dusty star-forming galaxies with obscured AGNs. We propose a model to explain the dusty nature where the diverse populations of Ly$α$ nebulae capture massive galaxies at different evolutionary stages undergoing violent assembling. Ly$α$ nebulae provide critical insights into the formation and evolution of today's massive cluster galaxies at cosmic noon.

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