arXiv subjects

Xianghao Meng

Publications and source records attributed to Xianghao Meng.

11 recordsLinked to original sources

arXiv2026

Tele-Traversability: Rethinking Traversability for Teleoperated Ground Robots in Terrain Navigation

Teleoperation, a human-in-the-loop control scheme, allows a human operator to remotely command and guide a mobile robot to navigate in off-road environments, yet fluent and user-friendly tele-navigation requires an alignment of traversability evaluation between human and robot. In the teleoperation system, the human operator typically utilizes off-site incomplete and delayed feedback via a human-machine interface to make a judgment of traversability, while the robot makes such an evaluation based on in situ onboard sensory information, which could cause divergent traversability estimation and thus generate mismatched decisions and actions. Existing approaches for traversability modeling, estimation, and prediction are mainly derived from the view of robots, i.e., robot-centric, and are practically suitable for fully autonomous mobile robots, but neglect the influence of human operators. To address this problem, this paper extends the concept of traversability from robot-centric to human-centric by accounting for the operator's cognitive states, such as attention, workload, and risk tolerance or awareness, termed tele-traversability. We first revisit the definitions and roles of traversability in robotics and then extend them to teleoperation settings. Finally, we highlight future trends and open challenges of tele-traversability toward human-centric teleoperation systems.

cs.RO↗

arXiv2026

Giant bulk photovoltaic effect driven by interfacial symmetry breaking in MoS2/Ta2NiSe5 heterostructures

Van der Waals (vdW) heterostructures offer a versatile platform for engineering unconventional bulk photovoltaic (BPV) effect through interfacial symmetry breaking. However, the coexistence of multiple photophysical mechanisms, driven by structural complexity, spontaneous charge transfer, and strong interlayer coupling, often obscures the microscopic origin of the BPV response and hinders its rational optimization. Here, we demonstrate a pronounced BPV effect localized at the overlap region of a cross-bar MoS2/Ta2NiSe5 vdW heterostructure, where symmetry breaking induced by vertical stacking lifts the inversion center of MoS2. The orthogonal device geometry enables the independent probing of intralayer and interfacial photoresponse pathways, facilitating clear separation of competing mechanisms. Spontaneous interfacial charge transfer between MoS2 and Ta2NiSe5 further establishes a strong interlayer electronic coupling. By modulating the interlayer potential landscape through gate voltage and vertical electric fields, we achieve an optimized zero-bias photocurrent density of 247 A/cm2 and a BPV coefficient of 0.99 V-1. Supported by theoretical modelling, our results illustrate how minimalist device geometry can transform complex heterostructures into experimentally tractable platforms. This strategy paves the way for analyzing and optimizing interface-driven BPV effect, with implications for self-powered optoelectronics, broadband photodetection, and energy-harvesting nanodevices.

cond-mat.mes-hall↗

arXiv2026

Adaptive Meta-Learning Stochastic Gradient Hamiltonian Monte Carlo Simulation for Bayesian Updating of Structural Dynamic Models

In the last few decades, Markov chain Monte Carlo (MCMC) methods have been widely applied to Bayesian updating of structural dynamic models in the field of structural health monitoring. Recently, several MCMC algorithms have been developed that incorporate neural networks to enhance their performance for specific Bayesian model updating problems. However, a common challenge with these approaches lies in the fact that the embedded neural networks often necessitate retraining when faced with new tasks, a process that is time-consuming and significantly undermines the competitiveness of these methods. This paper introduces a newly developed adaptive meta-learning stochastic gradient Hamiltonian Monte Carlo (AM-SGHMC) algorithm. The idea behind AM-SGHMC is to optimize the sampling strategy by training adaptive neural networks, and due to the adaptive design of the network inputs and outputs, the trained sampler can be directly applied to various Bayesian updating problems of the same type of structure without further training, thereby achieving meta-learning. Additionally, practical issues for the feasibility of the AM-SGHMC algorithm for structural dynamic model updating are addressed, and two examples involving Bayesian updating of multi-story building models with different model fidelity are used to demonstrate the effectiveness and generalization ability of the proposed method.

stat.AP↗

arXiv2026

MCMC with Adaptive Principal-Component Transformation: Rotation-Invariant Universal Samplers for Bayesian Structural System Identification

Over decades, Markov chain Monte Carlo (MCMC) methods have been widely studied, with a typical application being the quantification of posterior uncertainties in Bayesian system identification of structural dynamic models. To address the issue of excessively low sampling efficiency in generic MCMC methods when applied to specific problems, researchers developed several MCMC algorithms that integrate trainable neural networks to replace and enhance their critical components. Later, meta-learning MCMC methods emerged to reduce training time. However, they require considerable similarity between test and training tasks, while their sampling efficiency is constrained by trade-off-simplified network designs. This paper proposes the Adaptive Principal-Component (PC) Meta-learning Stochastic Gradient Hamiltonian Monte Carlo (APM-SGHMC) algorithm. It adaptively rotates coordinate axes in the parameter space to align with the PC directions of the current posterior samples, ensuring rotation-invariance of sampling performance with respect to the posterior distribution. By incorporating translation-invariance, scale-invariance, and rotation-invariance in a unified framework, APM-SGHMC enables universal samplers to acquire generalizable knowledge across diverse Bayesian system identification tasks using minimalistic tasks while eliminating the constraints imposed by network design trade-offs on sampling efficiency. Practical feasibility issues are also addressed. Two Bayesian system identification case studies demonstrate its effectiveness and universality: our method overcomes the case-by-case limitations of traditional data-driven approaches, achieving zero-shot generalization across structurally distinct models without retraining and maintaining consistent superior performance across all scenarios.

stat.AP↗

arXiv2025

Isotropic Dirac fermion and anomalous oscillator strength of zeroth Landau level transition

Dirac fermions, characterized by their linear dispersion and relativistic nature, have emerged as a prominent class of quasiparticles in condensed matter physics. While the Dirac equation, initially developed in the context of high-energy physics, provides a remarkable framework for describing the electronic properties of these materials, the inherent symmetry constraints of condensed matter often lead to deviations from the idealized paradigm. In particular, three-dimensional Dirac fermions in solids often exhibit anisotropic behavior, challenging the notion of perfect symmetry inherent in the Dirac equation. Here, we report the observation of isotropic massive Dirac fermions in LaAlSi through Landau level spectroscopy. The presence of three-dimensional massive Dirac fermions across the Fermi energy is demonstrated by quantized and semiclassical analyses of the magnetic field evolution of Landau level transitions. The isotropic topological nature, Fermi velocity, and Dirac mass are evidenced by the identical magneto-infrared response among the Faraday and three Voigt geometries. Furthermore, we observe an unusually large oscillator strength in the zeroth Landau level transition of the Dirac fermion, compared to transitions with higher indices. This phenomenon, supported by model calculations, can be attributed to the combined effects of the partial excitation of Dirac fermion and the resonant dielectric coupling with the Weyl plasma. Our work provides a strategy for realizing ideal quasiparticle excitations and their coupling effects in condensed matter systems, offering a platform for exploring relativistic physics.

cond-mat.mtrl-sci↗

arXiv2025

A High-Flux and High-Efficiency Setup for Magneto-Infrared Spectroscopy

We report the design and implementation of a high-flux, high-efficiency magneto-infrared spectroscopy system optimized for broadband measurements in high magnetic fields. The setup integrates a Fourier transform infrared spectrometer, a 12 T cryogen-free superconducting magnet, precision-polished and gold-plated light tubes, custom-designed reflective focusing modules for Faraday and Voigt geometries, and an external multi-detector chamber with motorized selection. Optical throughput is maximized by reducing light tube loss from 65.5%/m to 22.0%/m via abrasive flow and mechanical polishing followed by gold electroplating, and by adopting a single-on-axis parabolic-mirror Faraday module that increases the effective numerical aperture from 0.14 to 0.36, enhancing collection efficiency by nearly an order of magnitude. An eight-position motorized sample stage and fully automated control over magnetic field, temperature, optical path, and detector choice enable high-throughput measurements without repeated warm-ups. The optimized configuration achieves a root-mean-square noise level of 0.0061% in a 2-minute integration for a 40% reflectivity sample, corresponding to a signal-to-noise ratio exceeding 16000. System capabilities are demonstrated by resolving weak replica bands in EuCd2As2 and faint Landau level transitions in LaAlSi.

cond-mat.mtrl-sci↗

arXiv2025

MILD: Multi-Layer Diffusion Strategy for Complex and Precise Multi-IP Aware Human Erasing

Recent years have witnessed the success of diffusion models in image customization tasks. However, existing mask-guided human erasing methods still struggle in complex scenarios such as human-human occlusion, human-object entanglement, and human-background interference, mainly due to the lack of large-scale multi-instance datasets and effective spatial decoupling to separate foreground from background. To bridge these gaps, we curate the MILD dataset capturing diverse poses, occlusions, and complex multi-instance interactions. We then define the Cross-Domain Attention Gap (CAG), an attention-gap metric to quantify semantic leakage. On top of these, we propose Multi-Layer Diffusion (MILD), which decomposes the generation process into independent denoising pathways, enabling separate reconstruction of each foreground instance and the background. To enhance human-centric understanding, we introduce Human Morphology Guidance, a plug-and-play module that incorporates pose, parsing, and spatial relationships into the diffusion process to improve structural awareness and restoration quality. Additionally, we present Spatially-Modulated Attention, an adaptive mechanism that leverages spatial mask priors to modulate attention across semantic regions, further widening the CAG to effectively minimize boundary artifacts and mitigate semantic leakage. Experiments show that MILD significantly outperforms existing methods. Datasets and code are publicly available at: https://mild-multi-layer-diffusion.github.io/.

cs.CV↗

arXiv2024

Memristive switching in the surface of a charge-density-wave topological semimetal

Owing to the outstanding properties provided by nontrivial band topology, topological phases of matter are considered as a promising platform towards low-dissipation electronics, efficient spin-charge conversion, and topological quantum computation. Achieving ferroelectricity in topological materials enables the non-volatile control of the quantum states, which could greatly facilitate topological electronic research. However, ferroelectricity is generally incompatible with systems featuring metallicity due to the screening effect of free carriers. In this study, we report the observation of memristive switching based on the ferroelectric surface state of a topological semimetal (TaSe4)2I. We find that the surface state of (TaSe4)2I presents out-of-plane ferroelectric polarization due to surface reconstruction. With the combination of ferroelectric surface and charge-density-wave-gapped bulk states, an electric switchable barrier height can be achieved in (TaSe4)2I-metal contact. By employing a multi-terminal grounding design, we manage to construct a prototype ferroelectric memristor based on (TaSe4)2I with on/off ratio up to 10^3, endurance over 10^3 cycles, and good retention characteristics. The origin of the ferroelectric surface state is further investigated by first-principles calculations, which reveals an interplay between ferroelectricity and band topology. The emergence of ferroelectricity in (TaSe4)2I not only demonstrates it as a rare but essential case of ferroelectric topological materials, but also opens new routes towards the implementation of topological materials in functional electronic devices.

cond-mat.mtrl-sci↗

arXiv2024

The discovery of three-dimensional Van Hove singularity

Arising from the extreme/saddle point in electronic bands, Van Hove singularity (VHS) manifests divergent density of states (DOS) and induces various new states of matter such as unconventional superconductivity. VHS is believed to exist in one and two dimensions, but rarely found in three dimension (3D). Here, we report the discovery of 3D VHS in a topological magnet EuCd2As2 by magneto-infrared spectroscopy. External magnetic fields effectively control the exchange interaction in EuCd2As2, and shift 3D Weyl bands continuously, leading to the modification of Fermi velocity and energy dispersion. Above the critical field, the 3D VHS forms and is evidenced by the abrupt emergence of inter-band transitions, which can be quantitatively described by the minimal model of Weyl semimetals. Three additional optical transitions are further predicted theoretically and verified in magneto-near-infrared spectra. Our results pave the way to exploring VHS in 3D systems and uncovering the coordination between electronic correlation and the topological phase.

cond-mat.mtrl-sci↗

arXiv2023

Giant superlinear power dependence of photocurrent based on layered Ta$_2$NiS$_5$ photodetector

Photodetector based on two-dimensional (2D) materials is an ongoing quest in optoelectronics. These 2D photodetectors are generally efficient at low illuminating power but suffer severe recombination processes at high power, which results in the sublinear power dependence of photoresponse and lower optoelectronic efficiency. The desirable superlinear photocurrent is mostly achieved by sophisticated 2D heterostructures or device arrays, while 2D materials rarely show intrinsic superlinear photoresponse. Here, we report the giant superlinear power dependence of photocurrent based on multi-layer Ta$_2$NiS$_5$. While the fabricated photodetector exhibits good sensitivity ($3.1 mS/W$ per square) and fast photoresponse ($31 μ$$s$), the bias-, polarization-, and spatial-resolved measurements point to an intrinsic photoconductive mechanism. By increasing the incident power density from $1.5 μ$W/$μ$$m^{2}$ to $200 μ$W/$μ$$m^{2}$, the photocurrent power dependence varies from sublinear to superlinear. At higher illuminating conditions, a prominent superlinearity is observed with a giant power exponent of $γ=1.5$. The unusual photoresponse can be explained by a two-recombination-center model where the distinct density of states of the recombination centers effectively closes all recombination channels. The fabricated photodetector is integrated into camera for taking photos with enhanced contrast due to the superlinearity. Our work provides an effective route to enable higher optoelectronic efficiency at extreme conditions.

physics.app-ph↗

arXiv2022

Topological Lifshitz transition and one-dimensional Weyl mode in HfTe5

Landau band crossings typically stem from the intra-band evolution of electronic states in magnetic fields and enhance the interaction effect in their vicinity. Here in the extreme quantum limit of topological insulator HfTe5, we report the observation of a topological Lifshitz transition from inter-band Landau level crossings using magneto-infrared spectroscopy. By tracking the Landau level transitions, we demonstrate that band inversion drives the zeroth Landau bands to cross with each other after 4.5 T and forms one-dimensional Weyl mode with fundamental gap persistently closed. The unusual reduction of the zeroth Landau level transition activity suggests a topological Lifshitz transition at 21 T which shifts the Weyl mode close to Fermi level. As a result, a broad and asymmetric absorption feature emerges due to the Pauli blocking effect in one dimension, along with a distinctive negative magneto-resistivity. Our results provide a strategy for realizing one-dimensional Weyl quasiparticles in bulk crystals.

cond-mat.mtrl-sci↗