arXiv subjects

Si Wang

Publications and source records attributed to Si Wang.

18 recordsLinked to original sources

arXiv2026

PccDiffuser: Multi-solution Motion Planning for Continuum Robots

We present the PccDiffuser, a conditional diffusion framework for continuum robots that learns a multimodal distribution over complete configuration-space paths and samples multiple candidate solutions in parallel, which are subsequently converted into an executable trajectory by time allocation considering actuator constraints. Under the piecewise constant-curvature model, we use exponential co-ordinates to describe the robot kinematics, and use graph neural network to encode a variable number of environment obstacles. Analytical differential kinematics is incorporated in the denoising process to improve terminal accuracy and whole-body clearance. On a mixed test set comprising workspace with zero to four obstacles, PccDiffuser achieved a success rate of 91\%. Compared with existing sampling- and optimisation-based benchmarks, it delivered both a higher success rate and greater computational efficiency, with the latter advantage becoming more substantial when sampling more candidate solutions. Experiments on a three-section tendon-driven continuum robot further demonstrate consecutive planning, multi-solution planning, and whole-body obstacle avoidance.

cs.RO↗

arXiv2026

Observation of Strong-to-Weak Spontaneous Symmetry Breaking in a Dephased Fermi Gas

Symmetry-based classification of quantum phases of matter is one of the most foundational organizing principles in physics; however, an analogous framework for mixed, decohered quantum states has only begun to emerge. A central new concept is strong-to-weak spontaneous symmetry breaking (SW-SSB), a sharp transition in mixed quantum states that is invisible to any observable linear in the density matrix and that has since been predicted across a broad class of open and monitored quantum systems. It also provides a unifying language for phenomena as disparate as the decodability of topological quantum memories and the emergence of classical hydrodynamics from decohered quantum dynamics. Here we report the first experimental observation of SW-SSB, in dephased single-component fermionic matter imaged by a quantum gas microscope. A quantum-classical estimator built on a machine-learned Gaussian reference state gives direct access to the nonlinear R\'enyi-1 and R\'enyi-2 correlators that diagnose SW-SSB, and reveals long-range R\'enyi order in the dephased Fermi liquid. Adding a commensurate superlattice drives the underlying fermions through a metal-to-insulator transition that, after full dephasing, manifests as a sharp SW-SSB phase transition. Our results uncover the symmetry principle behind information-theoretic transitions in open quantum systems, and extend Landau's symmetry paradigm into the regime of real, decohering quantum devices.

cond-mat.quant-gas↗

arXiv2025

Mr. Virgil: Learning Multi-robot Visual-range Relative Localization

Ultra-wideband (UWB)-vision fusion localization has achieved extensive applications in the domain of multi-agent relative localization. The challenging matching problem between robots and visual detection renders existing methods highly dependent on identity-encoded hardware or delicate tuning algorithms. Overconfident yet erroneous matches may bring about irreversible damage to the localization system. To address this issue, we introduce Mr. Virgil, an end-to-end learning multi-robot visual-range relative localization framework, consisting of a graph neural network for data association between UWB rangings and visual detections, and a differentiable pose graph optimization (PGO) back-end. The graph-based front-end supplies robust matching results, accurate initial position predictions, and credible uncertainty estimates, which are subsequently integrated into the PGO back-end to elevate the accuracy of the final pose estimation. Additionally, a decentralized system is implemented for real-world applications. Experiments spanning varying robot numbers, simulation and real-world, occlusion and non-occlusion conditions showcase the stability and exactitude under various scenes compared to conventional methods. Our code is available at: https://github.com/HiOnes/Mr-Virgil.

cs.RO↗

arXiv2025

Neural Ranging Inertial Odometry

Ultra-wideband (UWB) has shown promising potential in GPS-denied localization thanks to its lightweight and drift-free characteristics, while the accuracy is limited in real scenarios due to its sensitivity to sensor arrangement and non-Gaussian pattern induced by multi-path or multi-signal interference, which commonly occurs in many typical applications like long tunnels. We introduce a novel neural fusion framework for ranging inertial odometry which involves a graph attention UWB network and a recurrent neural inertial network. Our graph net learns scene-relevant ranging patterns and adapts to any number of anchors or tags, realizing accurate positioning without calibration. Additionally, the integration of least squares and the incorporation of nominal frame enhance overall performance and scalability. The effectiveness and robustness of our methods are validated through extensive experiments on both public and self-collected datasets, spanning indoor, outdoor, and tunnel environments. The results demonstrate the superiority of our proposed IR-ULSG in handling challenging conditions, including scenarios outside the convex envelope and cases where only a single anchor is available.

cs.RO↗

arXiv2025

Fourth-Order Hierarchical Array: A Novel Scheme for Sparse Array Design Based on Fourth-Order Difference Co-Array

Conventional array designs based on circular fourth-order cumulant typically adopt a single expression form of the fourth-order difference co-array (FODCA), which limits the achievable degrees of freedom (DOFs) and neglects the impact of mutual coupling among physical sensors. To address above issues, this paper proposes a novel scheme to design arrays with increased DOFs by combining different forms of FODCA while accounting for mutual coupling. A novel fourth-order hierarchical array (FOHA) based on different forms of FODCA is constructed using an arbitrary generator set. The analytical expression between the coupling leakage of the generator and the resulting FOHA is derived. Two specific FOHA configurations are presented with closed-form sensor placements. The arrays not only offer increased DOFs for resolving more sources in direction of-arrival (DOA) estimation but also effectively suppress mutual coupling. Moreover, the redundancy of FODCA is examined, and it is shown that arrays based on the proposed scheme achieve lower redundancy compared to existing arrays based on FODCA. Meanwhile, the necessary and sufficient conditions for signal reconstruction by FOHA are derived. Compared with existing arrays based on FODCA, the proposed arrays provide enhanced DOFs and improved robustness against mutual coupling. Numerical simulations verify that FOHAs achieve superior DOA estimation performance compared with other sparse linear arrays.

eess.SP↗

arXiv2025

High-fidelity collisional quantum gates with fermionic atoms

Quantum simulations of electronic structure and strongly correlated quantum phases are widely regarded as among the most promising applications of quantum computing. These computations naturally benefit from native fermionic encodings, which intrinsically restrict the Hilbert space to physical states consistent with fermionic statistics and conservation laws like particle number and magnetization independent of gate errors. While ultracold atoms in optical lattices are established as powerful analog simulators of strongly correlated fermionic matter, neutral-atom platforms have concurrently emerged as versatile, scalable architectures for spin-based digital quantum computation. Unifying these capabilities requires high-fidelity gates that preserve motional degrees of freedom of fermionic atoms, paving the way for a new generation of programmable fermionic quantum processors. Here we demonstrate collisional entangling gates with fidelities up to 99.75(6)% and Bell state lifetimes exceeding $10\,s$, realized via controlled interactions of fermionic atoms in an optical superlattice. Using quantum gas microscopy, we microscopically characterize spin-exchange and pair-tunneling gates, and realize a robust, composite pair-exchange gate, a fundamental primitive for quantum chemistry simulations. Our results establish controlled collisions in optical lattices as a competitive and complementary approach to high entangling gate fidelities in neutral-atom quantum computers. When embedded within a fermionic architecture, this capability enables the preparation of complex quantum states and advanced readout protocols for a new class of scalable analog-digital hybrid quantum simulators. Combined with local addressing, these gates mark a crucial step towards a fully digital fermionic quantum computer based on the controlled motion and entanglement of fermionic neutral atoms.

cond-mat.quant-gas↗

arXiv2025

A Novel Sparse Sum and Difference Co-Array With Low Redundancy and Enhanced DOF for Non-Circular Signals

Array structures based on the sum and difference co-arrays provide more degrees of freedom (DOF). However, since the growth of DOF is limited by a single case of sum and difference co-arrays, the paper aims to design a sparse linear array (SLA) with higher DOF via exploring different cases of second-order cumulants. We present a mathematical framework based on second-order cumulant to devise a second-order extended co-array (SO-ECA) and define the redundancy of SO-ECA. Based on SO-ECA, a novel array is proposed, namely low redundancy sum and difference array (LR-SDA), which can provide closed-form expressions for the sensor positions and enhance DOF in order to resolve more signal sources in the direction of arrival (DOA) estimation of non-circular (NC) signals. For LR-SDA, the maximum DOF under the given number of total physical sensors can be derived and the SO-ECA of LR-SDA is hole-free. Further, the corresponding necessary and sufficient conditions of signal reconstruction for LR-SDA are derived. Additionally, the redundancy and weight function of LR-SDA are defined, and the lower band of the redundancy for LR-SDA is derived. The proposed LR-SDA achieves higher DOF and lower redundancy than those of existing DCAs designed based on sum and difference co-arrays. Numerical simulations are conducted to verify the superiority of LR-SDA on DOA estimation performance and enhanced DOF over other existing DCAs.

eess.SP↗

arXiv2025

A Novel Design Method for Seeking Sparse Linear Arrays With Low Redundancy and Enhanced DOF

Sparse arrays with $N$-sensors can provide up to $O(N^2)$ degrees of freedom (DOF) by second-order cumulants. However, these sparse arrays like minimum-/low-redundancy arrays (MRAs/LRAs), nested arrays and coprime arrays can only provide limited DOF and array aperture with the same number of physical sensors. However, further increasing DOF would increase costs in practical applications. The paper aims to design a sparse linear array (SLA) with higher DOF and lower redundancy via exploring different cases of third-order cumulants. Based on the framework third-order exhaustive co-array (TO-ECA), a general third-order array (GTOA) with any generator is proposed in the paper. Further, three novel arrays are designed based on GTOA with different generators, namely third-order sum and difference array (generator) (TO-SDA(CNA)), (TO-SDA(SCNA)) and (TO-SDA(TNA-II)) which can provide closed-form expressions for the sensor locations and enhance DOF in order to resolve more signal sources in the estimation of direction of arrival (DOA). The three TO-SDAs are all consisted of two sub-arrays, where the first is the generator and another is a ULA with big inter-spacing between sensors. For the three TO-SDAs, the maximum DOF under the given number of total physical sensors can be derived and the TO-ECA of the three TO-SDAs are hole-free. Additionally, the redundancy of the three TO-SDAs is defined, and the lower band of the redundancy for the three TO-SDAs is derived. Furthermore, the proposed TO-SDA(TNA-II) not only achieves higher DOF than those of existing TONA and even SE-FL-NA but also reduces mutual coupling effects. Meanwhile it realizes higher resolution and decreases redundancy. Numerical simulations are conducted to verify the superiority of TO-SDA(TNA-II) on DOA estimation performance and enhanced DOF over other existing DCAs.

eess.SP↗

arXiv2024

FOGNA: An effective Sum-Difference Co-Array Design Based on Fourth-Order Cumulants

Array structures based on the fourth-order difference co-array (FODCA) provide more degrees of freedom (DOF). However, since the growth of DOF is limited by a single case of fourth-order cumulant in FODCA, this paper aims to design a sparse linear array (SLA) with higher DOF via exploring different cases of fourth-order cumulants. This paper presents a mathematical framework based on fourth-order cumulant to devise a fourth-order extend co-array (FOECA), which is equivalent to FODCA. A novel SLA, namely fourth-order generalized nested array (FOGNA), is proposed based on FOECA to provide closed-form expressions for the sensor locations and enhance DOF to resolve more signal sources in direction of arrival (DOA) estimation. FOGNA is consisted of three subarrays, where the first is a concatenated nested array and the other two subarrays are SLA with big inter-spacing between sensors. When the total physical sensors of FOGNA are given, the number of sensors in each subarray is determined by the designed method, which can obtain the maximum DOF under the proposed array structure and derive closed-form expressions for the sensor locations of FOGNA. The proposed array structure not only achieves higher DOF than those of existing FODCAs but also reduces mutual coupling effects. Numerical simulations are conducted to verify the superiority of FOGNA on DOA estimation performance and enhanced DOF over other existing FODCAs.

eess.SP↗

arXiv2024

Observation of emergent scaling of spin-charge correlations at the onset of the pseudogap

In strongly correlated materials, interacting electrons are entangled and form collective quantum states, resulting in rich low-temperature phase diagrams. Notable examples include cuprate superconductors, in which superconductivity emerges at low doping out of an unusual "pseudogap" metallic state above the critical temperature. The Fermi-Hubbard model, describing a wide range of phenomena associated with strong electron correlations, still offers major computational challenges despite its simple formulation. In this context, ultracold atoms quantum simulators have provided invaluable insights into the microscopic nature of correlated quantum states. Here, we use a quantum gas microscope Fermi-Hubbard simulator to explore a wide range of dopings and temperatures in a regime where a pseudogap is known to develop. By measuring multi-point correlation functions up to fifth order, we uncover a novel universal scaling behaviour in magnetic and higher-order spin-charge correlations characterised by a doping-dependent temperature scale. Accurate comparisons with determinant Quantum Monte Carlo and Minimally Entangled Typical Thermal States simulations confirm that this temperature scale is comparable to the pseudogap temperature T*. Our quantitative findings reveal a novel qualitative behaviour of magnetic properties and spin-charge correlations in an emergent pseudogap and pave the way towards the exploration of charge pairing and collective phenomena expected at lower temperatures.

cond-mat.str-el↗

arXiv2024

Top Quark Electroweak Dipole Moment at a High Energy Muon Collider

We study the sensitivity reach to probe the electroweak dipole operators associated with a top quark at a multi-TeV lepton collider. Studying the electroweak dipole operators is strongly motivated by precision physics. The operators exhibit unique chiral structure and can be enhanced with respect to others in theories beyond the Standard Model. We illustrate this point in a strongly coupled composite Higgs model. We find that a high energy $\mu^+\mu^-$ collider may offer unique opportunity to probe the electroweak dipole operators beyond the coverage by the LHC and future hadron colliders. The significant sensitivity is achieved by the leading channel $\mu^+ \mu^- \to t \bar t$ near the threshold, and substantially improved by the novel channel $\mu^+ \mu^- \to t \bar t h$ at high energies. We may be able to reach a new physics scale well above the collider energy for moderate couplings of the Wilson coefficients. Our main conclusions are applicable to future $e^+e^-$ colliders.

hep-ph↗

arXiv2024

BadHMP: Backdoor Attack against Human Motion Prediction

Precise future human motion prediction over sub-second horizons from past observations is crucial for various safety-critical applications. To date, only a few studies have examined the vulnerability of skeleton-based neural networks to evasion and backdoor attacks. In this paper, we propose BadHMP, a novel backdoor attack that targets specifically human motion prediction tasks. Our approach involves generating poisoned training samples by embedding a localized backdoor trigger in one limb of the skeleton, causing selected joints to follow predefined motion in historical time steps. Subsequently, the future sequences are globally modified that all the joints move following the target trajectories. Our carefully designed backdoor triggers and targets guarantee the smoothness and naturalness of the poisoned samples, making them stealthy enough to evade detection by the model trainer while keeping the poisoned model unobtrusive in terms of prediction fidelity to untainted sequences. The target sequences can be successfully activated by the designed input sequences even with a low poisoned sample injection ratio. Experimental results on two datasets (Human3.6M and CMU-Mocap) and two network architectures (LTD and HRI) demonstrate the high-fidelity, effectiveness, and stealthiness of BadHMP. Robustness of our attack against fine-tuning defense is also verified.

cs.CV↗

arXiv2024

Local control and mixed dimensions: Exploring high-temperature superconductivity in optical lattices

The simulation of high-temperature superconducting materials by implementing strongly correlated fermionic models in optical lattices is one of the major objectives in the field of analog quantum simulation. Here we show that local control and optical bilayer capabilities combined with spatially resolved measurements create a versatile toolbox to study fundamental properties of both nickelate and cuprate high-temperature superconductors. On the one hand, we present a scheme to implement a mixed-dimensional (mixD) bilayer model that has been proposed to capture the essential pairing physics of pressurized bilayer nickelates. This allows for the long-sought realization of a state with long-range superconducting order in current lattice quantum simulation machines. In particular, we show how coherent pairing correlations can be accessed in a partially particle-hole transformed and rotated basis. On the other hand, we demonstrate that control of local gates enables the observation of $d$-wave pairing order in the two-dimensional (single-layer) repulsive Fermi-Hubbard model through the simulation of a system with attractive interactions. Lastly, we introduce a scheme to measure momentum-resolved dopant densities, providing access to observables complementary to solid-state experiments -- which is of particular interest for future studies of the enigmatic pseudogap phase appearing in cuprates.

cond-mat.quant-gas↗

arXiv2024

Optical superlattice for engineering Hubbard couplings in quantum simulation

Quantum simulations of Hubbard models with ultracold atoms rely on the exceptional control of coherent motion provided by optical lattices. Here we demonstrate enhanced tunability using an optical superlattice in a fermionic quantum gas microscope. With our phase-stable bichromatic design, we achieve a precise control of tunneling and tilt throughout the lattice, as evidenced by long-lived coherent double-well oscillations and next-nearest-neighbor quantum walks in a staggered configuration. We furthermore present correlated quantum walks of two particles initiated through a resonant pair-breaking mechanism. Finally, we engineer tunable spin couplings through local offsets and create a spin ladder with ferromagnetic and antiferromagnetic couplings along the rungs and legs, respectively. Our work underscores the high potential of optical superlattices for engineering, simulating, and detecting strongly correlated many-body quantum states.

cond-mat.quant-gas↗

arXiv2023

Formation of stripes in a mixed-dimensional cold-atom Fermi-Hubbard system

The relation between d-wave superconductivity and stripes is fundamental to the understanding of ordered phases in cuprates. While experimentally both phases are found in close proximity, numerical studies on the related Fermi-Hubbard model have long been investigating whether stripes precede, compete or coexist with superconductivity. Such stripes are characterised by interleaved charge and spin density wave ordering where fluctuating lines of dopants separate domains of opposite antiferromagnetic order. Here we show first signatures of stripes in a cold-atom Fermi-Hubbard quantum simulator. By engineering a mixed-dimensional system, we increase their typical energy scales to the spin exchange energy, enabling us to access the interesting crossover temperature regime where stripes begin to form. We observe extended, attractive correlations between hole dopants and find an increased probability to form larger structures akin to stripes. In the spin sector, we study correlation functions up to third order and find results consistent with stripe formation. These higher-order correlation measurements pave the way towards an improved microscopic understanding of the emergent properties of stripes and their relation to other competing phases. More generally, our approach has direct relevance for newly discovered high-temperature superconducting materials in which mixed dimensions play an essential role.

cond-mat.quant-gas↗

arXiv2023

Searching for Heavy Leptophilic $Z'$: from Lepton Colliders to Gravitational Waves

We study the phenomenology of leptophilic $Z'$ gauge bosons at the future high-energy $e^+e^-$ and $\mu^+\mu^-$ colliders, as well as at the gravitational wave observatories. The leptophilic $Z'$ model, although well-motivated, remains largely unconstrained from current low-energy and collider searches for $Z'$ masses above ${\cal O}(100~{\rm GeV})$, thus providing a unique opportunity for future lepton colliders. Taking $U(1)_{L_\alpha-L_\beta}~(\alpha,\beta=e,\mu,\tau)$ models as concrete examples, we show that future $e^+e^-$ and $\mu^+\mu^-$ colliders with multi-TeV center-of-mass energies provide unprecedented sensitivity to heavy leptophilic $Z'$ bosons. Moreover, if these $U(1)$ models are classically scale-invariant, the phase transition at the $U(1)$ symmetry-breaking scale tends to be strongly first-order with ultra-supercooling, and leads to observable stochastic gravitational wave signatures. We find that the future sensitivity of gravitational wave observatories, such as advanced LIGO-VIRGO and Cosmic Explorer, can be complementary to the collider experiments, probing higher $Z'$ masses up to ${\cal O}(10^4~{\rm TeV})$, while being consistent with naturalness and perturbativity considerations.

hep-ph↗

arXiv2018

The order $p^8$ mesonic chiral Lagrangian

We derive the chiral Lagrangian at next-to-next-to-next-to-leading order (NNNLO) for a general number $N_f$ of light quark flavours as well as for $N_f=2,3$. We enumerate the contact terms separately. We also discuss the cases where some of the external fields are not included. An example of a choice of Lagrangian is given in the supplementary material.

hep-ph↗

arXiv2017

Inverse engineering and composite pulses for magnetization reversal

We put forward a method for achieving fast and robust for magnetization reversal in a nanomagnet, by combining the inverse engineering and composite pulses. The magnetic fields, generated by microwave with time-dependent frequency, are first designed inversely within short operation time, and composite pulses are further incorporated to improve the fidelity through reducing the effect of magnetic anisotropy. The high-fidelity magnetization reversals are illustrated with numerical examples, and visualized on Bloch sphere. The influence of damping parameters, relevant to the pulse sequence, is finally discussed based on Landau-Lifshitz-Gilber equation. These results pave the way for precise but fast magnetization reversal or switching, with the applications in high density information storage and processing.

quant-ph↗