arXiv subjects

Yang-Yang Li

Publications and source records attributed to Yang-Yang Li.

5 recordsLinked to original sources

arXiv2026

RAAP: Retrieval-Augmented Affordance Prediction with Cross-Image Action Alignment

Understanding object affordances is essential for enabling robots to perform purposeful and fine-grained interactions in diverse and unstructured environments. However, existing approaches either rely on retrieval, which is fragile due to sparsity and coverage gaps, or on large-scale models, which frequently mislocalize contact points and mispredict post-contact actions when applied to unseen categories, thereby hindering robust generalization. We introduce Retrieval-Augmented Affordance Prediction (RAAP), a framework that unifies affordance retrieval with alignment-based learning. By decoupling static contact localization and dynamic action direction, RAAP transfers contact points via dense correspondence and predicts action directions through a retrieval-augmented alignment model that consolidates multiple references with dual-weighted attention. Trained on compact subsets of DROID and HOI4D with as few as tens of samples per task, RAAP achieves consistent performance across unseen objects and categories, and enables zero-shot robotic manipulation in both simulation and the real world. Project website: https://github.com/SEU-VIPGroup/RAAP.

cs.RO↗

arXiv2024

Quantum Many-Body Lattice C-R-T Symmetry: Fractionalization, Anomaly, and Symmetric Mass Generation

Charge conjugation (C), mirror reflection (R), and time reversal (T) symmetries, along with internal symmetries, are essential for massless Majorana and Dirac fermions. These symmetries are sufficient to rule out potential fermion bilinear mass terms, thereby establishing a gapless free fermion fixed point phase, pivotal for symmetric mass generation (SMG) transition. In this work, we systematically study the anomaly of C-R-T-internal symmetry in all spacetime dimensions by analyzing the projective representation (i.e. the fractionalization) of the C-R-T-internal symmetry group in the quantum many-body Hilbert space on the lattice. By discovering the fermion-flavor-number-dependent C-R-T-internal symmetry's anomaly structure, we demonstrate an alternative way to derive the minimal flavor number for SMG, which shows consistency with known results from K\"ahler-Dirac fermion or cobordism classification. Our findings reveal that, in general spatial dimensions, either 8 copies of staggered Majorana fermions or 4 copies of staggered Dirac fermions admit SMG. By directly searching for 4-fermion interactions that form commuting stabilizers respecting all symmetry constraints, we can prove the explicit SMG gapping retained a unique ground state in the codespace. Furthermore, we establish the correspondence between the symmetry operators of staggered fermions and free fermions, which is instrumental in facilitating the analysis of symmetry fractionalization at the field theory level.

cond-mat.str-el↗

arXiv2024

C-R-T Fractionalization in the First Quantized Hamiltonian Theory

Recent research has revealed that the CRT symmetry for fermions exhibits a fractionalization distinct from the $\mathbb{Z}_2^{\mathcal{C}}\times\mathbb{Z}_2^{\mathcal{R}}\times\mathbb{Z}_2^{\mathcal{T}}$ for scalar bosons. In fact, the CRT symmetry for fermions can be extended by internal symmetries such as fermion parity, thereby forming a group extension of the $\mathbb{Z}_2$ direct product. Conventionally, a Majorana fermion is defined by one Dirac fermion with trivial charge conjugation. However, when the spacetime dimension $d+1=5,6,7\bmod8$, the real dimension of Majorana fermion (dim$_{\mathbb{R}}\chi_{\mathcal{C}\ell(d,0)}$) aligns with the real dimension of Dirac fermion (dim$_{\mathbb{R}}\psi_{\mathcal{C}\ell(d)}$), rather than being half, which necessitates the introduction of a symplectic Majorana fermion, defined by two Dirac fermions with trivial charge conjugation. To include these two types of Majorana fermions, we embed the theory in $n_{\mathbb{R}}$ and define the Majorana fermion field as a representation of the real Clifford algebra with 8-fold periodicity. Within the Hamiltonian formalism, we identify the 8-fold CRT-internal symmetry groups across general dimensions. Similarly, Dirac fermion field is defined as a representation of the complex Clifford algebra with 2-fold periodicity. Interestingly, we discover that the CRT-internal symmetry groups exhibit an 8-fold periodicity that is distinct from that of the complex Clifford algebra. In certain dimensions where distinct mass terms can span a mass manifold, the CRT-internal symmetries can act non-trivially upon this mass manifold. Employing domain wall reduction method, we are able to elucidate the relationships between symmetries across different dimensions.

cond-mat.str-el↗

arXiv2024

Floating Edge Bands in the Bernevig-Hughes-Zhang model with Altermagnetism

Floating edge bands (FEB) have been identified in systems such as obstructed atomic insulators and layered nonsymmorphic semimetals, attracting considerable interest recently. Here we demonstrate that FEB can arise in a simplified model incorporating altermagnetism. By enhancing the Bernevig-Hughes-Zhang model on a square lattice with additional altermagnetic and Zeeman fields perpendicular to the 2D plane, we uncover the emergence of FEB that are distinct from the bulk bands across the entire Brillouin zone and over broad parameter regimes. We calculate topological phase diagrams, highlighting the strong topological properties characterized by the Chern number and the weak topological properties marked by the winding number. Furthermore, we provide analytical results of the energy spectrum and the wave functions of the FEB. We also study the robustness of the FEB, showcasing its resilience against various perturbations such as geometric rotation, energy spectrum asymmetry, and spin coupling. Our findings advance our understanding of FEB and may pave new avenues for further exploration of topological phases in quantum materials.

cond-mat.mes-hall↗

arXiv2012

Holographic Λ(t)CDM model in a non-flat universe

The holographic $Λ(t)$CDM model in a non-flat universe is studied in this paper. In this model, to keep the form of the stress-energy of the vacuum required by general covariance, the holographic vacuum is enforced to exchange energy with dark matter. It is demonstrated that for the holographic model the best choice for the IR cutoff of the effective quantum field theory is the event horizon size of the universe. We derive the evolution equations of the holographic $Λ(t)$CDM model in a non-flat universe. We constrain the model by using the current observational data, including the 557 Union2 type Ia supernovae data, the cosmic microwave background anisotropy data from the 7-yr WMAP, and the baryon acoustic oscillation data from the SDSS. Our fit results show that the holographic $Λ(t)$CDM model tends to favor a spatially closed universe (the best-fit value of $Ω_{k0}$ is -0.042), and the 95% confidence level range for the spatial curvature is $-0.101<Ω_{k0}<0.040$. We show that the interaction between the holographic vacuum and dark matter induces an energy flow of which the direction is first from vacuum to dark matter and then from dark matter to vacuum. Thus, the holographic $Λ(t)$CDM model is just a time-varying vacuum energy scenario in which the interaction between vacuum and dark matter changes sign during the expansion of the universe.

astro-ph.CO↗