arXiv subjects

Xueqin Huang

Publications and source records attributed to Xueqin Huang.

At least 19 recordsLinked to original sources

arXiv2026

MultiUAV-Plat: An LLM-Oriented Platform, Benchmark and Framework for Multi-UAV Collaborative Task Planning

Large language models (LLMs) provide a promising interface for high-level robotic task planning, but their use in multi-UAV collaboration remains difficult to evaluate systematically. Existing UAV simulators mainly emphasize dynamics, perception, or low-level control, while existing LLM-agent benchmarks rarely capture aerial-robotics constraints such as partial observability, spatial coverage, UAV assignment, and multi-vehicle coordination. To bridge this gap, we present MultiUAV-Plat, a lightweight, easy-to-use, LLM-agent-oriented simulation platform for multi-UAV collaborative task planning. The platform exposes concise RESTful APIs, agent-facing observations, role-based information access, hidden validation logic, and optional 2D/3D visualization, allowing agents to solve missions through realistic tool interaction rather than privileged simulator access. Built on this platform, the MultiUAV-Plat Benchmark contains 75 mission sessions, 1500 natural-language tasks, and 9396 validation checks across target assignment, area search, and area assignment and patrol scenarios. We further propose Agent4Drone, a task-specific LLM agent framework that structures multi-UAV behavior into memory, observation, task understanding, planning, execution, and verification. In a full paired benchmark comparison, Agent4Drone achieves a 57.9% task pass rate, a 74.6% average task check pass rate, and a 72.0% global check pass rate, substantially outperforming a ReAct baseline at 30.6%, 47.9%, and 43.1%, respectively. Agent4Drone also reduces the total failed task rate from 32.4% to 12.9%. These results demonstrate that MultiUAV-Plat and MultiUAV-Plat Benchmark provide a reproducible foundation for studying LLM-driven multi-UAV autonomy under realistic information and execution constraints.

cs.AI↗

arXiv2025

Anderson Delocalization in Strongly Coupled Disordered Non-Hermitian Chains

Disorder and non-Hermitian effects together can upend how waves localize. In a 1D disordered chain, the non-Hermitian skin effect (NHSE) can induce Anderson delocalization, defying the usual rule that disorder in low dimensions always localizes states. While weak disorder leaves the NHSE intact, strong disorder restores Anderson localization. Here, we study a surprising twist: coupling a strongly disordered Hatano-Nelson chain to a disordered Hermitian chain with their disorder anti-symmetrically correlated. Strikingly, once the inter-chain coupling exceeds a threshold, the system undergoes Anderson delocalization irrespective of disorder strength, reinstating the NHSE with no Hermitian counterpart. This transition arises from the interplay of non-reciprocal hopping, inter-chain coupling, and engineered disorder correlations, and is captured by a real-space winding number. To confirm this, we build an electrical-circuit analog and directly observe the re-emergent NHSE via voltage measurements. Our work uncovers unexplored and experimentally accessible physics at the crossroads of non-Hermiticity and disorder.

cond-mat.dis-nn↗

arXiv2024

Lines of Bound States in the Continuum in a Phononic Crystal Slab

We demonstrate that bound states in the continuum (BICs) form continuous lines along high-symmetry directions of momentum space in a simple phononic crystal slab. Contrary to common sense, these BICs are symmetry-protected (SP) BICs not only at the center of the Brillouin zone (gamma point) but also off the gamma point. We utilize numerical simulations, a group theory method, and a mode expansion method to comprehensively understand the formation of the BICs. It is revealed that these BICs correspond to phase singularity lines of far-field radiation, and the phase winding number can be defined as a topological index. This makes the BICs topologically protected and robust to any parameter variation that maintains periodicity and rotational symmetry. Finally, the generation of the BICs lines is experimentally demonstrated.

cond-mat.mtrl-sci↗

arXiv2024

Observation of exceptional line semimetal in three-dimensional non-Hermitian phononic crystals

Non-Hermitian topological phases, which exhibit unique features such as skin effect and exceptional points originated from nontrivial band topologies in complex plane, have attracted enormous attention in condensed-matter physics and metamaterials. Here we report the realization of an exceptional line semimetal in a three-dimensional non-Hermitian phononic crystal. A pair of exceptional rings with opposite topologies are connected by the drumhead bulk states in the first Brillouin zone. The exceptional rings not only possess wave-function topology and thus result in the drumhead surface states, but also host spectral topology and thereby give rise to the hybrid-order geometry-dependent skin effect in three dimensions. Our experimental results evidence the complete non-Hermitian bulk-boundary correspondence of the three-dimensional exceptional line semimetal, and may pave the way for designing non-Hermitian acoustic devices.

cond-mat.mes-hall↗

arXiv2024

Observation of oriented Landau levels in Berry dipole semimetals

Band crossing points, such as Weyl and Dirac points, play a crucial role in the topological classification of materials and guide the exploration of exotic topological phases. The Berry dipole, a three-dimensional band crossing point beyond the Chern class, hosts a dipolar Berry curvature field and gives rise to numerous nontrivial quantum geometric effects. It has been proposed that the Berry dipole exhibits oriented Landau levels, whose spectrum critically relies on the orientation of the applied magnetic field. However, experimental demonstration of this phenomenon has remained elusive. Here we experimentally demonstrate oriented Landau levels by carefully engineering an inhomogeneous acoustic lattice. We observe distinct Landau level spectra and different propagation properties when the orientation of the pseudomagnetic field is reversed. Notably, we discover a new type of helical zero modes whose existence critically depends on the magnetic field's orientation. Our work paves the way for studying band crossings beyond Chern-class crossing points, including Berry multipoles and even-dimensional monopoles. Furthermore, it offers new insight for exploring topological devices.

cond-mat.mes-hall↗

arXiv2024

Valley edge states as bound states in the continuum

Bound states in the continuum (BICs) are spatially localized states with energy embedded in the continuum spectrum of extended states. The combination of BICs physics and nontrivial band topology theory giving rise to topological BICs, which are robust against disorders and meanwhile of the merit of conventional BICs, is attracting wide attention recently. Here, we report valley edge states as topological BICs, which appear at domain wall between two distinct valley topological phases. The robustness of such BICs is demonstrated. The simulations and experiments show great agreement. Our findings of valley related topological BICs shed light on both BICs and valley physics, and may foster innovative applications of topological acoustic devices.

cond-mat.mes-hall↗

arXiv2024

Observation of Higher Order Nodal Line Semimetal in Phononic Crystals

Higher-order topological insulators and semimetals, which generalize the conventional bulk-boundary correspondence, have attracted extensive research interest. Among them, higher-order Weyl semimetals feature two-fold linear crossing points in three-dimensional (3D) momentum space, 2D Fermi-arc surface states, and 1D hinge states. Higher-order nodal-point semimetals possessing Weyl points or Dirac points have been implemented. However, higher-order nodal-line or nodal-surface semimetals remain to be further explored in experiments in spite of many previous theoretical efforts. In this work, we realize a second-order nodal-line semimetal in 3D phononic crystals. The bulk nodal lines, 2D drumhead surface states guaranteed by Zak phases, and 1D flat hinge states attributed to kz-dependent quadrupole moments, are observed in simulations and experiments. Our findings of nondispersive surface and hinge states may promote applications in acoustic sensing and energy harvesting.

cond-mat.mes-hall↗

arXiv2023

Spin-dependent localization of helical edge states in a non-Hermitian phononic crystal

As a distinctive feature unique to non-Hermitian systems, non-Hermitian skin effect displays fruitful exotic phenomena in one or higher dimensions, especially when conventional topological phases are involved. Among them, hybrid skin-topological effect is theoretically proposed recently, which exhibits anomalous localization of topological boundary states at lower-dimensional boundaries accompanied by extended bulk states. Here we experimentally realize the hybrid skin-topological effect in a non-Hermitian phononic crystal. The phononic crystal, before tuning to be non-Hermitian, is an ideal acoustic realization of the Kane-Mele model, which hosts gapless helical edge states at the boundaries. By introducing a staggered distribution of loss, the spin-dependent edge modes pile up to opposite corners, leading to a direct observation of the spin-dependent hybrid skin-topological effect. Our work highlights the interplay between topology and non-Hermiticity and opens new routes to non-Hermitian wave manipulations.

cond-mat.mes-hall↗

arXiv2023

Brillouin Klein space and half-turn space in three-dimensional acoustic crystals

The Bloch band theory and Brillouin zone (BZ) that characterize wave behaviors in periodic mediums are two cornerstones of contemporary physics ranging from condensed matter to topological physics. Recent theoretical breakthrough revealed that, under the projective symmetry algebra enforced by artificial gauge fields, the usual two-dimensional (2D) BZ (orientable Brillouin two-torus) can be fundamentally modified to a non-orientable Brillouin Klein bottle with radically distinct topology and novel topological phases. However, the physical consequence of artificial gauge fields on the more general three-dimensional (3D) BZ (orientable Brillouin three-torus) was so far missing. Here, we report the first theoretical discovery and experimental observation of non-orientable Brillouin Klein space and orientable Brillouin half-turn space in a 3D acoustic crystal with artificial gauge fields. We experimentally identify peculiar 3D momentum-space non-symmorphic screw rotation and glide reflection symmetries in the measured band structures. Moreover, we demonstrate a novel 3D Klein bottle insulator featuring a nonzero Z_2 topological invariant and self-collimated topological surface states at two opposite surfaces related by a nonlocal twist, radically distinct from all previous topological insulators. Our discovery not only fundamentally modifies the 3D Bloch band theory and 3D BZ, but also opens the door towards a wealth of previously overlooked momentum-space topologies and unexplored topological physics with gauge symmetry beyond the existing paradigms.

physics.class-ph↗

arXiv2023

Topological phononic metamaterials

The concept of topological energy bands and their manifestations have been demonstrated in condensed matter systems as a fantastic paradigm toward unprecedented physical phenomena and properties that are robust against disorders. Recent years, this paradigm was extended to phononic metamaterials (including mechanical and acoustic metamaterials), giving rise to the discovery of remarkable phenomena that were not observed elsewhere thanks to the extraordinary controllability and tunability of phononic metamaterials as well as versatile measuring techniques. These phenomena include, but not limited to, topological negative refraction, topological 'sasers' (i.e., the phonon analog of lasers), higher-order topological insulating states, non-Abelian topological phases, higher-order Weyl semimetal phases, Majorana-like modes in Dirac vortex structures and fragile topological phases with spectral flows. Here we review the developments in the field of topological phononic metamaterials from both theoretical and experimental perspectives with emphasis on the underlying physics principles. To give a broad view of topological phononics, we also discuss the synergy with non-Hermitian effects and cover topics including synthetic dimensions, artificial gauge fields, Floquet topological acoustics, bulk topological transport, topological pumping, and topological active matters as well as potential applications, materials fabrications and measurements of topological phononic metamaterials. Finally, we discuss the challenges, opportunities and future developments in this intriguing field and its potential impact on physics and materials science.

cond-mat.mes-hall↗

arXiv2023

Observation of exceptional points and skin effect correspondence in non-Hermitian phononic crystals

Exceptional points and skin effect, as the two distinct hallmark features unique to the non-Hermitian physics, have each attracted enormous interests. Recent theoretical works reveal that the topologically nontrivial exceptional points can give rise to the non-Hermitian skin effect, which is geometry-dependent. However, this kind of novel correspondence between the exceptional points and skin effect remains to be confirmed by experiments. Here, we corroborate the correspondence in a non-Hermitian phononic crystal. The exceptional points connected by the bulk Fermi arcs, and the skin effects with the geometry dependence, are evidenced in simulations and experiments. Our work, building an experimental bridge between the exceptional points and skin effect and uncovering the unconventional geometry-dependent skin effect, expands a horizon in non-Hermitian physics.

cond-mat.mes-hall↗

arXiv2022

Circular Accessible Depth: A Robust Traversability Representation for UGV Navigation

In this paper, we present the Circular Accessible Depth (CAD), a robust traversability representation for an unmanned ground vehicle (UGV) to learn traversability in various scenarios containing irregular obstacles. To predict CAD, we propose a neural network, namely CADNet, with an attention-based multi-frame point cloud fusion module, Stability-Attention Module (SAM), to encode the spatial features from point clouds captured by LiDAR. CAD is designed based on the polar coordinate system and focuses on predicting the border of traversable area. Since it encodes the spatial information of the surrounding environment, which enables a semi-supervised learning for the CADNet, and thus desirably avoids annotating a large amount of data. Extensive experiments demonstrate that CAD outperforms baselines in terms of robustness and precision. We also implement our method on a real UGV and show that it performs well in real-world scenarios.

cs.RO↗

arXiv2022

Observation of quadruple Weyl point in hybrid-Weyl phononic crystals

The discovery of Weyl semimetals opens the door for searching topological semimetals in physical science. The Weyl points are generally recognized as conventional, quadratic, spin-1, and those of high topological charges. Here we report the observation of the quadruple Weyl point of charge 4, the highest topological charge a twofold degenerate node can carry. Besides the quadruple Weyl point, the phononic semimetal also hosts conventional, quadratic, and spin-1 Weyl points, which stands as a system with yet the richest types of Weyl points. The quadruple-helicoid surface states, specific to the quadruple Weyl point, are demonstrated. The finding of the high-charge Weyl point enriches the knowledge of Weyl semimetals and may stimulate related researches in other systems, such as photonic, mechanical and cold atom systems.

cond-mat.mes-hall↗

arXiv2021

Topological materials for full-vector elastic waves

Elastic wave manipulation is important in a wide variety of scales in applications including information processing in tiny elastic devices and noise control in big solid structures. The recent emergence of topological materials opens a new avenue toward modulating elastic waves in solids. However, because of the full-vector feature, and the complicated couplings of the longitudinal and transverse components of elastic waves, manipulating elastic waves is generally difficult, compared with manipulating acoustic waves (scalar waves) and electromagnetic waves (vectorial waves but transverse only). Up to date, topological materials, including insulators and semimetals, have been realized for acoustic and electromagnetic waves. Although topological materials of elastic waves have also been reported, the topological edge modes observed all lie on the domain wall. A natural question can be asked: whether there exists an elastic metamaterial with the topological edge modes on its own boundary only? Here, we report a 3D metal-printed bilayer metamaterial, insulating topologically the elastic waves. By introducing the chiral interlayer couplings, the spin-orbit couplings for elastic waves are induced, which give rise to nontrivial topological properties. The helical edge states with the vortex feature are demonstrated on the boundary of the single topological phase. We further show a heterostructure of the metamaterial, which exhibits tunable edge transport. Our work may have potential in devices based on elastic waves in solids.

cond-mat.mtrl-sci↗

arXiv2021

3D hinge transport in acoustic higher-order topological insulators

The discovery of topologically protected boundary states in topological insulators opens a new avenue toward exploring novel transport phenomena. The one-way feature of boundary states against disorders and impurities prospects great potential in applications of electronic and classical wave devices. Particularly, for the 3D higher-order topological insulators, it can host hinge states, which allow the energy to transport along the hinge channels. However, the hinge states haveonly been observed along a single hinge, and a natural question arises: whether the hinge states can exist simultaneously on all the three independent directions of one sample? Here we theoretically predict and experimentally observe the hinge states on three different directions of a higher-order topological phononic crystal, and demonstrate their robust one-way transport from hinge to hinge. Therefore, 3D topological hinge transport is successfully achieved. The novel sound transport may serve as the basis for acoustic devices of unconventional functions.

cond-mat.mes-hall↗

arXiv2021

Higher-order topological semimetal in acoustic crystals

The notion of higher-order topological insulators has endowed materials with topological states beyond the first order. Particularly, a three-dimensional (3D) higher-order topological insulator can host topologically protected 1D hinge states, referred to as the second-order topological insulator, or 0D corner states, referred to as the third-order topological insulator. Similarly, a 3D higher-order topological semimetal can be envisaged if it hosts states on the 1D hinges. Here we report the realization of a second-order topological Weyl semimetal in a 3D-printed acoustic crystal, which possesses Weyl points in 3D momentum space, 2D Fermi arc states on surfaces and 1D gapless states on hinges. Like the arc surface states, the hinge states also connect the projections of the Weyl points. Our experimental results evidence the existence of the higher-order topological semimetal, which may pave the way towards innovative acoustic devices.

cond-mat.mes-hall↗

arXiv2020

Hybrid-order topological insulators in a phononic crystal

Topological phases, including the conventional first-order and higher-order topological insulators and semimetals, have emerged as a thriving topic in the fields of condensed-matter physics and material science. Usually, a topological insulator is characterized by a fixed order topological invariant and exhibits associated bulk-boundary correspondence. Here, we realize a new type of topological insulator in a bilayer phononic crystal, which hosts simultaneously the first-order and second-order topologies, referred here as the hybrid-order topological insulator. The one-dimensional gapless helical edge states, and zero-dimensional corner states coexist in the same system. The new hybrid-order topological phase may produce novel applications in topological acoustic devices.

cond-mat.mes-hall↗

arXiv2020

Experimental characterization of fragile topology in an acoustic metamaterial

Symmetries crucially underlie the classification of topological phases of matter. Most materials, both natural as well as architectured, possess crystalline symmetries. Recent theoretical works unveiled that these crystalline symmetries can stabilize fragile Bloch bands that challenge our very notion of topology: while answering to the most basic definition of topology, one can trivialize these bands through the addition of trivial Bloch bands. Here, we fully characterize the symmetry properties of the response of an acoustic metamaterial to establish the fragile nature of the low-lying Bloch bands. Additionally, we present a spectral signature in the form of spectral flow under twisted boundary conditions.

cond-mat.mes-hall↗