arXiv subjects

Yang Gao

Publications and source records attributed to Yang Gao.

At least 415 records · Page 23Linked to original sources

arXiv2024

CoPa: General Robotic Manipulation through Spatial Constraints of Parts with Foundation Models

Foundation models pre-trained on web-scale data are shown to encapsulate extensive world knowledge beneficial for robotic manipulation in the form of task planning. However, the actual physical implementation of these plans often relies on task-specific learning methods, which require significant data collection and struggle with generalizability. In this work, we introduce Robotic Manipulation through Spatial Constraints of Parts (CoPa), a novel framework that leverages the common sense knowledge embedded within foundation models to generate a sequence of 6-DoF end-effector poses for open-world robotic manipulation. Specifically, we decompose the manipulation process into two phases: task-oriented grasping and task-aware motion planning. In the task-oriented grasping phase, we employ foundation vision-language models (VLMs) to select the object's grasping part through a novel coarse-to-fine grounding mechanism. During the task-aware motion planning phase, VLMs are utilized again to identify the spatial geometry constraints of task-relevant object parts, which are then used to derive post-grasp poses. We also demonstrate how CoPa can be seamlessly integrated with existing robotic planning algorithms to accomplish complex, long-horizon tasks. Our comprehensive real-world experiments show that CoPa possesses a fine-grained physical understanding of scenes, capable of handling open-set instructions and objects with minimal prompt engineering and without additional training. Project page: https://copa-2024.github.io/

cs.RO↗

arXiv2024

Observation of the decay $h_{c}\to3(π^{+}π^{-})π^{0}$

Based on $(2712.4\pm14.1)\times10^{6}$ $ψ(3686)$ events collected with the BESIII detector, we study the decays $h_{c}\to3(π^{+}π^{-})π^{0}$, $h_{c}\to2(π^{+}π^{-})ω$, $h_{c}\to2(π^{+}π^{-})π^{0}η$, $h_{c}\to2(π^{+}π^{-})η$, and $h_{c}\to p\bar{p}$ via $ψ(3686)\toπ^{0}h_{c}$. The decay channel $h_{c}\to3(π^{+}π^{-})π^{0}$ is observed for the first time, and its branching fraction is determined to be $\left( {9.28\pm 1.14 \pm 0.77} \right) \times {10^{ - 3}}$, where the first uncertainty is statistical and the second is systematic. In addition, first evidence is found for the modes $h_{c} \to 2(π^{+}π^{-})π^{0}η$ and $h_{c}\to2(π^{+}π^{-})ω$ with significances of 4.8$σ$ and 4.7$σ$, and their branching fractions are determined to be $(7.55\pm1.51\pm0.77)\times10^{-3}$ and $\left( {4.00 \pm 0.86 \pm 0.35}\right) \times {10^{ - 3}}$, respectively. No significant signals of $h_c\to 2(π^+π^-)η$ and $h_{c}\to p\bar{p}$ are observed, and the upper limits of the branching fractions of these decays are determined to be $<6.19\times10^{-4}$ and $<4.40\times10^{-5}$ at the 90% confidence level, respectively.

hep-ex↗

arXiv2024

Determination of the $Σ^{+}$ Timelike Electromagnetic Form Factors

Based on data samples collected with the BESIII detector at the BEPCII collider, the process $e^{+}e^{-} \to Σ^{+}\barΣ^{-}$ is studied at center-of-mass energies $\sqrt{s}$ = 2.3960, 2.6454, and 2.9000 GeV. Using a fully differential angular description of the final state particles, both the relative magnitude and phase information of the $Σ^{+}$ electromagnetic form factors in the timelike region are extracted. The relative phase between the electric and magnetic form factors is determined to be $\sinΔΦ$ = -0.67~$\pm$~0.29~(stat)~$\pm$~0.18~(syst) at $\sqrt{s}$ = 2.3960 GeV, $ΔΦ$ = 55$^{\circ}$~$\pm$~19$^{\circ}$~(stat) $\pm$~14$^{\circ}$~(syst) at $\sqrt{s}$ = 2.6454 GeV, and 78$^{\circ}$~$\pm$~22$^{\circ}$~(stat) $\pm$~9$^{\circ}$~(syst) at $\sqrt{s}$ = 2.9000 GeV. For the first time, the phase of the hyperon electromagnetic form factors is explored in a wide range of four-momentum transfer. The evolution of the phase along with four-momentum transfer is an important input for understanding its asymptotic behavior and the dynamics of baryons.

hep-ex↗

arXiv2024

Observation of $ψ(3686)\to 3ϕ$

Using $(2.712\pm0.014)\times 10^9$ $ψ(3686)$ events collected by the BESIII detector operating at the BEPCII collider, we report the first observation of $ψ(3686)\to 3ϕ$ decay with a significance larger than 10$σ$. The branching fraction of this decay is determined to be $(1.46\pm0.05\pm0.17)\times10^{-5}$, where the first uncertainty is statistical and the second is systematic. No significant structure is observed in the $ϕϕ$ invariant mass spectra.

hep-ex↗

arXiv2024

Updated measurement of the branching fraction of $D_s^+\to τ^+ν_τ$ via $τ^+\toπ^+\barν_τ$

This paper reports the study of $D_s^+\to τ^+ν$ via $τ^+\toπ^+\barν_τ$ using a boosted decision tree method, with $7.33$ fb$^{-1}$ of $e^{+}e^{-}$ collision data collected by the BESIII detector at center-of-mass energies between $4.128$ and $4.226$~GeV. The branching fraction of $D_s^+\to τ^+ν_τ$ is determined to be $(5.44\pm0.17_{\rm stat}\pm0.13_{\rm syst})\%$. The product of the $D_s^+$ decay constant $f_{D_s^+}$ and the CKM matrix element $|V_{cs}|$ is $f_{D_s^+}|V_{cs}| = (248.3\pm3.9_{\rm stat}\pm3.1_{\rm syst}\pm1.0_{\rm input})~\mathrm{MeV}$. Combining with the $|V_{cs}|$ value obtained from the Standard Model global fit or the $f_{D_s^+}$ from the lattice quantum chromodynamics, we determine $|V_{cs}| = 0.993\pm0.015_{\rm stat}\pm0.012_{\rm syst}\pm0.004_{\rm input}$ and $f_{D_s^+} = (255.0\pm4.0_{\rm stat}\pm3.2_{\rm syst}\pm1.0_{\rm input})~\text{MeV}$. The first uncertainty is statistical, the second one is systematic and the third one is due to the input parameters, mainly the lifetime of $D_s^+$. All results obtained in this work supersede the BESIII previous results based on 6.32 fb$^{-1}$ of $e^+e^-$ collision data taken at center-of-mass energies between $4.178$ and $4.226$~GeV.

hep-ex↗

arXiv2024

Revisiting Disentanglement in Downstream Tasks: A Study on Its Necessity for Abstract Visual Reasoning

In representation learning, a disentangled representation is highly desirable as it encodes generative factors of data in a separable and compact pattern. Researchers have advocated leveraging disentangled representations to complete downstream tasks with encouraging empirical evidence. This paper further investigates the necessity of disentangled representation in downstream applications. Specifically, we show that dimension-wise disentangled representations are unnecessary on a fundamental downstream task, abstract visual reasoning. We provide extensive empirical evidence against the necessity of disentanglement, covering multiple datasets, representation learning methods, and downstream network architectures. Furthermore, our findings suggest that the informativeness of representations is a better indicator of downstream performance than disentanglement. Finally, the positive correlation between informativeness and disentanglement explains the claimed usefulness of disentangled representations in previous works. The source code is available at https://github.com/Richard-coder-Nai/disentanglement-lib-necessity.git.

cs.CV↗

arXiv2024

Can Transformers Capture Spatial Relations between Objects?

Spatial relationships between objects represent key scene information for humans to understand and interact with the world. To study the capability of current computer vision systems to recognize physically grounded spatial relations, we start by proposing precise relation definitions that permit consistently annotating a benchmark dataset. Despite the apparent simplicity of this task relative to others in the recognition literature, we observe that existing approaches perform poorly on this benchmark. We propose new approaches exploiting the long-range attention capabilities of transformers for this task, and evaluating key design principles. We identify a simple "RelatiViT" architecture and demonstrate that it outperforms all current approaches. To our knowledge, this is the first method to convincingly outperform naive baselines on spatial relation prediction in in-the-wild settings. The code and datasets are available in \url{https://sites.google.com/view/spatial-relation}.

cs.CV↗

arXiv2024

Observation of $D^+_s\to η^\prime μ^+ν_μ$, Precision Test of Lepton Flavor Universality with $D^+_s\to η^{(\prime)} \ell^+ν_\ell$, and First Measurements of $D^+_s\to η^{(\prime)}μ^+ν_μ$ Decay Dynamics

By analyzing 7.33 fb$^{-1}$ of $e^+e^-$ annihilation data collected at center-of-mass energies between 4.128 and 4.226 GeV with the BESIII detector, we report the observation of the semileptonic decay $D^+_s\to η^\prime μ^+ν_μ$, with a statistical significance larger than 10$σ$, and the measurements of the $D_s^+ \to ημ^+ν_μ$ and $D_s^+ \to η^\primeμ^+ν_μ$ decay dynamics for the first time. The branching fractions of $D_s^+ \to ημ^+ν_μ$ and $D_s^+ \to η^\primeμ^+ν_μ$ are determined to be $(2.235\pm0.051_{\rm stat}\pm0.052_{\rm syst})\%$ and $(0.801\pm0.055_{\rm stat}\pm0.028_{\rm syst})\%$, respectively, with precision improved by factors of 6.0 and 6.6 compared to the previous best measurements. Combined with the results for the decays $D_s^+ \to ηe^+ν_e$ and $D_s^+ \to η^\prime e^+ν_e$, the ratios of the decay widths are examined both inclusively and in several $\ell^+ν_\ell$ four-momentum transfer ranges. No evidence for lepton flavor universality violation is found within the current statistics. The products of the hadronic form factors $f_{+,0}^{η^{(\prime)}}(0)$ and the $c\to s$ Cabibbo-Kobayashi-Maskawa matrix element $|V_{cs}|$ are determined. The results based on the two-parameter series expansion are $f^η_{+,0}(0)|V_{cs}| = 0.452\pm0.010_{\rm stat}\pm0.007_{\rm syst}$ and $f^{η^{\prime}}_{+,0}(0)|V_{cs}| = 0.504\pm0.037_{\rm stat}\pm0.012_{\rm syst}$, which help to constrain present models on $f_{+,0}^{η^{(\prime)}}(0)$. The forward-backward asymmetries are determined to be $\langle A_{\rm FB}^η\rangle=-0.059\pm0.031_{\rm stat}\pm0.005_{\rm syst}$ and $\langle A_{\rm FB}^{η^\prime}\rangle=-0.064\pm0.079_{\rm stat}\pm0.006_{\rm syst}$ for the first time, which are consistent with the theoretical calculation.

hep-ex↗

arXiv2024

Measurement of the $e^{+}e^{-} \to K_{S}^{0} K_{L}^{0} π^{0}$ cross sections from $\sqrt{s}=$ 2.000 to 3.080 GeV

Based on $e^{+}e^{-}$ collision data collected at center-of-mass energies from 2.000 to 3.080 GeV by the BESIII detector at the BEPCII collider, a partial wave analysis is performed for the process $e^{+}e^{-}\to K_{S}^{0} K_{L}^{0} π^{0}$. The results allow the Born cross sections of the process $e^{+}e^{-}\to K_{S}^{0} K_{L}^{0} π^{0}$, as well as its subprocesses $e^{+}e^{-}\to K^{*}(892)^{0}\bar{K}^{0}$ and $K^{*}_{2}(1430)^{0}\bar{K}^{0}$ to be measured. The Born cross sections for $e^{+}e^{-}\to K_{S}^{0}K_{L}^{0}π^{0}$ are consistent with previous measurements by BaBar, but with substantially improved precision. The Born cross section lineshape of the process $e^{+}e^{-}\to K^{*}(892)^{0}\bar{K}^{0}$ is consistent with a vector meson state around 2.2 GeV with a significance of 3.2$σ$. A Breit-Wigner fit determines its mass as $M_Y=(2164.7\pm9.1\pm3.1)~{\rm{MeV}}/c^{2}$ and its width as $Γ_{Y}=(32.4\pm21.0\pm1.8)~\rm{MeV}$.

hep-ex↗

arXiv2024

First observation of $Λ_c^+\rightarrowΛK^+π^0$ and evidence of $Λ_c^+\rightarrowΛK^+π^+π^-$

We present the first observation of the singly Cabibbo-suppressed decay $Λ_c^+ \rightarrow ΛK^+π^0$ with a significance of $5.7σ$ and the first evidence of $Λ_c^+ \rightarrow ΛK^+π^+π^-$ decay with a significance of $3.1σ$, based on $e^+e^-$ annihilation data recorded by the BESIII detector at the BEPCII collider. The data correspond to an integrated luminosity of $6.4~{\rm fb^{-1}}$, in the center-of-mass energy range from $4.600~{\rm GeV}$ to $4.950~{\rm GeV}$. We determine the branching fractions of $Λ_c^+ \rightarrow ΛK^+π^0$ and $Λ_c^+ \rightarrow ΛK^+π^+π^-$ relative to their Cabibbo-favored counterparts to be $\frac{\mathcal{B}(Λ_c^+ \rightarrow ΛK^+π^0)}{\mathcal{B}(Λ_c^+ \rightarrow Λπ^+π^0)} = (2.09\pm0.39_{\mathrm{stat.}}\pm0.07_{\mathrm{syst.}}) \times 10^{-2}$ and $\frac{\mathcal{B}(Λ_c^+ \rightarrow ΛK^+π^+π^-)}{\mathcal{B}(Λ_c^+ \rightarrow Λπ^+π^+π^-)} = (1.13\pm0.41_{\mathrm{stat.}}\pm0.06_{\mathrm{syst.}}) \times 10^{-2}$, respectively. Moreover, by combining our measured result with the world average of $\mathcal{B}(Λ^+_c\to Λπ^+π^0)$, we obtain the branching fraction $\mathcal{B}(Λ_c^+ \to ΛK^+π^0) = (1.49\pm0.27_{\mathrm{stat.}}\pm0.05_{\mathrm{syst.}}\pm0.08_{\mathrm{ref.}}) \times 10^{-3}$. This result significantly departs from theoretical predictions based on quark $SU(3)$ flavor symmetry, which is underpinned by the presumption of meson pair $S$-wave amplitude dominance.

hep-ex↗

arXiv2024

Observation of the In-plane Anomalous Hall Effect induced by Octupole in Magnetization Space

The Anomalous Hall Effect (AHE) manifests as a transverse voltage proportional to magnetization in ferromagnetic materials under the application of a charge current, being an indispensable tool for probing magnetism, especially in nanoscale devices. However, the AHE primarily sensitizes to out-of-plane magnetization, thereby hindering its capacity to discern the in-plane magnetization, a characteristic prevalent in ferromagnetic films. Here we challenge this conventional understanding by demonstrating the in-plane magnetization-induced AHE in iron and nickel, two ubiquitous ferromagnets. This observation of the in-plane AHE is remarkable as it contradicts existing theories that forbid such phenomena in cubic crystal systems. We trace the origin of this unanticipated phenomenon to a hitherto unconsidered octupole of the anomalous Hall conductivity in the magnetization space, a mechanism we propose could enable the detection of in-plane AHE in a wide range of ferromagnetic materials. This work realizes the in-plane AHE in common ferromagnets by exploiting the anomalous Hall conductivity octupole, revealing a new physical origin of the AHE and promising to revolutionize the design of magnetic devices and sensors.

cond-mat.mtrl-sci↗

arXiv2024

Simulation Studies for the First Pathfinder of the CATCH Space Mission

The Chasing All Transients Constellation Hunters (CATCH) space mission is an intelligent constellation consisting of 126 micro-satellites in three types (A, B, and C), designed for X-ray observation with the objective of studying the dynamic universe. Currently, we are actively developing the first Pathfinder (CATCH-1) for the CATCH mission, specifically for type-A satellites. CATCH-1 is equipped with Micro Pore Optics (MPO) and a 4-pixel Silicon Drift Detector (SDD) array. To assess its scientific performance, including the effective area of the optical system, on-orbit background, and telescope sensitivity, we employ the Monte Carlo software Geant4 for simulation in this study. The MPO optics exhibit an effective area of $41$ cm$^2$ at the focal spot for 1 keV X-rays, while the entire telescope system achieves an effective area of $29$ cm$^2$ at 1 keV when taking into account the SDD detector's detection efficiency. The primary contribution to the background is found to be from the Cosmic X-ray Background. Assuming a 625 km orbit with an inclination of $29^\circ$, the total background for CATCH-1 is estimated to be $8.13\times10^{-2}$ counts s$^{-1}$ in the energy range of 0.5--4 keV. Based on the background within the central detector and assuming a Crab-like source spectrum, the estimated ideal sensitivity could achieve $1.9\times10^{-12}$ erg cm$^{-2}$ s$^{-1}$ for an exposure of 10$^4$ s in the energy band of 0.5--4 keV. Furthermore, after simulating the background caused by low-energy charged particles near the geomagnetic equator, we have determined that there is no need to install a magnetic deflector.

astro-ph.IM↗

arXiv2024

Distributionally Robust Graph-based Recommendation System

With the capacity to capture high-order collaborative signals, Graph Neural Networks (GNNs) have emerged as powerful methods in Recommender Systems (RS). However, their efficacy often hinges on the assumption that training and testing data share the same distribution (a.k.a. IID assumption), and exhibits significant declines under distribution shifts. Distribution shifts commonly arises in RS, often attributed to the dynamic nature of user preferences or ubiquitous biases during data collection in RS. Despite its significance, researches on GNN-based recommendation against distribution shift are still sparse. To bridge this gap, we propose Distributionally Robust GNN (DR-GNN) that incorporates Distributional Robust Optimization (DRO) into the GNN-based recommendation. DR-GNN addresses two core challenges: 1) To enable DRO to cater to graph data intertwined with GNN, we reinterpret GNN as a graph smoothing regularizer, thereby facilitating the nuanced application of DRO; 2) Given the typically sparse nature of recommendation data, which might impede robust optimization, we introduce slight perturbations in the training distribution to expand its support. Notably, while DR-GNN involves complex optimization, it can be implemented easily and efficiently. Our extensive experiments validate the effectiveness of DR-GNN against three typical distribution shifts. The code is available at https://github.com/WANGBohaO-jpg/DR-GNN.

cs.IR↗

arXiv2024

Search for a muonphilic scalar $X_{0}$ or vector $X_{1}$ via $J/ψ\toμ^+μ^-+\rm{invisible}$ decays at BESII

A light scalar $X_{0}$ or vector $X_{1}$ particles have been introduced as a possible explanation for the $(g-2)_μ$ anomaly and dark matter phenomena. Using $(8.998\pm 0.039)\times10^9$ $\jpsi $ events collected by the BESIII detector, we search for a light muon philic scalar $X_{0}$ or vector $X_{1}$ in the processes $J/ψ\toμ^+μ^- X_{0,1}$ with $X_{0,1}$ invisible decays. No obvious signal is found, and the upper limits on the coupling $g_{0,1}'$ between the muon and the $X_{0,1}$ particles are set to be between $1.1\times10^{-3}$ and $1.0\times10^{-2}$ for the $X_{0,1}$ mass in the range of $1<M(X_{0,1})<1000$ MeV$/c^2$ at 90$\%$ confidence level.

hep-ex↗

arXiv2024

Study of light scalar mesons through $D_s^+ \to π^0 π^0 e^+ ν_e$ and $K_S^0 K_S^0 e^+ ν_e$ decays

Using 6.32~fb$^{-1}$ of $e^+e^-$ collision data recorded by the BESIII detector at center-of-mass energies between $4.178$ to $4.226$ GeV, we present the first measurement of the decay $D_s^+\to f_0(980)e^+ν_e,\,f_0(980)\to π^0π^0$. The product branching fraction of $D_s^+\to f_0(980)e^+ν_e,\,f_0(980)\to π^0π^0$ is measured to be $(7.9\pm1.4_{\rm stat} \pm0.3_{\rm syst})\times 10^{-4}$, with a statistical significance of $7.8σ$. Furthermore, the upper limits on the product branching fractions of $D_s^+\to f_0(500)e^+ν_e$ with $f_0(500)\to π^0π^0$ and the branching fraction of $D_s^+\to K_{S}^{0}K_{S}^{0}e^+ν_e$ are set to be $7.3\times 10^{-4}$ and $3.8\times 10^{-4}$ at 90\% confidence level, respectively. Our results provide valuable inputs to the understanding of the structures of light scalar mesons.

hep-ex↗

arXiv2024

Search for the production of deuterons and antideuterons in e^+e^- annihilation at center-of-mass energies between 4.13 and 4.70 GeV

Using a data sample of $e^+e^-$ collision data corresponding to an integrated luminosity of 19 fb$^{-1}$ collected with the BESIII detector at the BEPCII collider, we search for the production of deuterons and antideuterons via $e^+e^-\to ppπ^-\bar{d}+c.c.$ for the first time at center-of-mass energies between 4.13 and 4.70 GeV. No significant signal is observed and the upper limit of the $e^+e^-\to ppπ^-\bar{d}+c.c.$ cross section is determined to be from 9.0 to 145 fb depending on the center-of-mass energy at the $90\%$ confidence level.

hep-ex↗

arXiv2024

Imitation Learning from Observation with Automatic Discount Scheduling

Humans often acquire new skills through observation and imitation. For robotic agents, learning from the plethora of unlabeled video demonstration data available on the Internet necessitates imitating the expert without access to its action, presenting a challenge known as Imitation Learning from Observations (ILfO). A common approach to tackle ILfO problems is to convert them into inverse reinforcement learning problems, utilizing a proxy reward computed from the agent's and the expert's observations. Nonetheless, we identify that tasks characterized by a progress dependency property pose significant challenges for such approaches; in these tasks, the agent needs to initially learn the expert's preceding behaviors before mastering the subsequent ones. Our investigation reveals that the main cause is that the reward signals assigned to later steps hinder the learning of initial behaviors. To address this challenge, we present a novel ILfO framework that enables the agent to master earlier behaviors before advancing to later ones. We introduce an Automatic Discount Scheduling (ADS) mechanism that adaptively alters the discount factor in reinforcement learning during the training phase, prioritizing earlier rewards initially and gradually engaging later rewards only when the earlier behaviors have been mastered. Our experiments, conducted on nine Meta-World tasks, demonstrate that our method significantly outperforms state-of-the-art methods across all tasks, including those that are unsolvable by them.

cs.RO↗

arXiv2024

Angle Robustness Unmanned Aerial Vehicle Navigation in GNSS-Denied Scenarios

Due to the inability to receive signals from the Global Navigation Satellite System (GNSS) in extreme conditions, achieving accurate and robust navigation for Unmanned Aerial Vehicles (UAVs) is a challenging task. Recently emerged, vision-based navigation has been a promising and feasible alternative to GNSS-based navigation. However, existing vision-based techniques are inadequate in addressing flight deviation caused by environmental disturbances and inaccurate position predictions in practical settings. In this paper, we present a novel angle robustness navigation paradigm to deal with flight deviation in point-to-point navigation tasks. Additionally, we propose a model that includes the Adaptive Feature Enhance Module, Cross-knowledge Attention-guided Module and Robust Task-oriented Head Module to accurately predict direction angles for high-precision navigation. To evaluate the vision-based navigation methods, we collect a new dataset termed as UAV_AR368. Furthermore, we design the Simulation Flight Testing Instrument (SFTI) using Google Earth to simulate different flight environments, thereby reducing the expenses associated with real flight testing. Experiment results demonstrate that the proposed model outperforms the state-of-the-art by achieving improvements of 26.0% and 45.6% in the success rate of arrival under ideal and disturbed circumstances, respectively.

cs.RO↗