arXiv subjects

Yanzhe Wang

Publications and source records attributed to Yanzhe Wang.

17 recordsLinked to original sources

arXiv2026

Proving olympiad geometry theorems on a superconducting quantum processor

Automated theorem proving seeks to use computational systems to prove or disprove mathematical and logical statements [1, 2]. It underpins a wide range of applications, and enhancing theorem-proving capabilities remains a central objective in artificial intelligence [3]. Although recent neuro-symbolic systems have achieved remarkable progress [4-7], their operation is ultimately constrained by classical computational architectures. Quantum computing [8], by contrast, enables information encoding and coherent parallelism beyond classical limits [9-14], raising the possibility of accelerating structured symbolic deduction [15]. Here we report the experimental realization of automated geometry theorem proving on a fully programmable superconducting quantum processor. We develop two complementary quantum proving frameworks. The first implements Wu's algebraic elimination method using quantum pseudo-division, with multivariate polynomials represented in superposition states, enabling quantum algebraic theorem proving. The second implements the full-angle method as backward symbolic reasoning through a hybrid quantum strategy-guided architecture, demonstrating a general route toward quantum symbolic proof search. As illustrative examples, we prove two theorems on a superconducting quantum processor: the perpendicularity of the diagonals of a square and a 1978 International Mathematical Olympiad geometry problem. Our results establish, at the experimental level, automated logical reasoning as a viable task for near-term quantum processors and provide a concrete pathway toward quantum-enhanced symbolic intelligence.

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arXiv2026

SpectraTac: A Compact Camera-Free Optical Tactile Sensor with Distributed Color Sensing

Tactile sensing is essential for physical interaction in robotics and human--machine systems. However, combining rich tactile information with compact hardware, low cost, and low computational overhead remains challenging. This work presents SpectraTac, a compact, camera-free optical tactile sensor that combines active red--green--blue (RGB) illumination with spatially distributed color sensing. Contact deforms a compliant transparent elastomer and modulates its internal light field, producing spatially differentiated changes in color and intensity. Three distributed color sensors capture these responses as low-dimensional spatio-spectral features, avoiding cameras, imaging optics, and high-dimensional image processing. The device measures 19.2 mm in diameter and 4 mm in height, with a material cost below USD~5. A data-driven decoding framework simultaneously estimates three-dimensional (3D) force and the contact region from the optical measurements. For 3D force prediction, the sensor achieved mean absolute errors (MAEs) of 0.161, 0.164, and 0.429 N along the x-, y-, and z-axes, respectively. The nine-region contact-classification accuracy was 99.9%. We further evaluated real-time 3D force tracking and contact-region-based human--machine interaction through an interactive control task. These results indicate that distributed color-resolved optical sensing offers a compact, low-cost alternative to camera-based tactile sensing for robotics, wearable sensing, and interactive systems.

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arXiv2026

Relaxation-Aware Multimodal Sensing of Soft Gripper Driven by Structure-Perception-Learning

Achieving stable, sustained grasping with soft robotic hands remains a fundamental challenge. Compliance enables safe and adaptive contact, yet the intrinsic viscoelasticity of soft polymers leads to stress relaxation and a continuous decay of grasping force during holding. Inspired by human grasping, which combines phase-dependent stiffness regulation with continuous sensing and feedback, this paper presents an integrated structure--perception--learning framework. We develop a variable-stiffness soft gripper that uses onboard vision and infrared thermography to track deformation and the temperature field in real time, preserving continuous tracking of the interaction state. To mitigate relaxation-induced force decay, we propose a temperature-coupled viscoelastic force representation, together with a physics-informed learning model, to reconstruct the force trend and provide explicit compensation during holding. Experiments show that, in a 280s force-controlled grasp-and-hold task, the proposed method maintains the desired force with a mean absolute error of 0.066N, outperforming fixed-aperture and instantaneous-only baselines by 80% and 95%, respectively. Overall, the results support a mechanism--AI co-design view: mechanisms shape feasible interactions, while learning compensates remaining uncertainty in viscoelastic dynamics, together enabling stable, sustained grasping.

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arXiv2026

Active Surface-Driven Reconfigurable Gripper: Robust Grasping and Sequential Manipulation of Thin Objects

Robotic grippers face substantial challenges in grasping and manipulating thin objects. Most existing grippers rely on highly precise approach and grasp motions, which limits robustness and reduces applicability. This paper explores thin-object grasping using books as a representative example. Here, we propose a novel solution that integrates an active surface with underactuated compliance to achieve stable grasping of thin objects without complex control. First, an underactuated gripper with an active surface is designed. The active-surface thumb performs in-hand repositioning of the target book without requiring adjustments of the robot arm or the other fingers, while the underactuated fingers establish compliant contact conditions with the environment, and the reconfigurable structure enables reliable grasping of books under different configurations. Second, we establish a kinematic model of the gripper, and determine the initial grasp postures for two representative scenarios (books lying flat on a desktop and books vertically packed in a shelf). Third, by analyzing the physical model of a book lying on a table and its interaction with the gripper and the environment, we systematically optimize the structural parameters and grasping strategy. Finally, extensive experiments validate the effectiveness of the proposed gripper and strategy. The results demonstrate strong robustness and adaptability when grasping thin objects placed flat (including books, paper, fabric, plastic film, and mouse pad), as well as a high success rate when grasping vertically packed books. Moreover, the proposed gripper can reliably complete long sequential "grasp-place" tasks.

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arXiv2026

DexLink Hand: A Compact, Affordable, 16-DOF Linkage-Driven Hand with Human-Like Dexterity

Dexterous robotic hands face a longstanding trade-off among dexterity, compactness, and affordability. Particularly, high-degree-of-freedom designs typically demand complex actuation and transmission, hindering integration into human-scale forms. To address these challenges, this work presents a compact, low-cost linkage-driven anthropomorphic hand that achieves high dexterity, structural integration, and human-hand-like functionality. The hand integrates 20 joints driven by 16 independent actuators, with all actuation, sensing, and transmission components compactly embedded within a human-hand-sized structure. The resulting prototype weighs only 320g at a total cost below USD 400. To meet these objectives, a hybrid mechanical architecture combining planar and spatial linkage mechanisms is proposed, enabling decoupled multidirectional motion, biomimetic joint synergies, and high passive load-bearing capability. The thumb further incorporates biomimetic features supporting human-like reconfiguration and opposition movements. Through the coordinated integration of these mechanisms and structural layout, the prototype achieves a highly integrated design with anthropomorphic dexterity. Experimental evaluations demonstrate that the hand achieves the maximum Kapandji score, reproduces all 33 Feix grasp types, and performs stable grasping and dexterous manipulation across a wide variety of daily objects and tools. These results validate the proposed hand as an affordable, compact, and mechanically efficient platform for dexterous manipulation, teleoperation, and robot learning in human-centered environments.

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arXiv2026

SyLink Hand: A Synergy-Inspired Linkage-Driven Anthropomorphic Hand for Human-Like Dexterity

Designing anthropomorphic robotic hands that balance functional dexterity with mechanical simplicity remains a significant challenge. Inspired by human hand synergies, this paper presents the SyLink Hand, an anthropomorphic dexterous hand that integrates biomechanical synergy principles with linkage-driven transmission mechanisms to achieve a high degree of anthropomorphism in appearance, kinematics, and functionality within a compact and cost-effective architecture. Biomechanical analysis of natural hand motions using motion capture gloves reveals strong kinematic correlations among hand joints, providing the basis for a simplified yet functional degree-of-freedom (DOF) configuration. Guided by these synergistic characteristics, optimized linkage mechanisms are employed to coordinate multiple joint motions and reproduce natural finger trajectories. A novel spherical four-bar linkage is further proposed to achieve decoupled flexion/extension (Flex/Ext) and abduction/adduction (Abd/Add) at the metacarpophalangeal joint within a compact form factor. The resulting prototype integrates 19 joints driven by 11 actuators, with a total mass of 520g and a manufacturing cost of approximately USD 400. Experimental evaluations demonstrate its human-like kinematic performance, high load-bearing capability, and versatile grasping and manipulation skills. These results validate that the synergy-inspired, linkage-based design effectively balances anthropomorphism, mechanical simplicity, and functional versatility, highlighting its potential for practical deployment in dexterity-demanding robotic applications.

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arXiv2026

A superconducting surface-code processor with lattice-surgery logical operations

Fault-tolerant logical operations are fundamental for scalable quantum computation. Here, we report the experimental realization of lattice-surgery operations between a pair of distance-three surface-code logical qubits on a planar superconducting processor. During repeated syndrome extraction cycles, the logical qubits exhibit per-cycle error rates of $0.0365(2)$ and $0.0282(1)$, respectively, after leakage events are rejected. By leveraging joint initialization and lattice splitting, we deterministically prepare a logical Bell state, confirming genuine bipartite entanglement via the error-corrected logical state fidelity. We further execute a two-qubit Deutsch-Jozsa algorithm at the logical level to demonstrate algorithmic utility in a fault-tolerant framework. Finally, to achieve universal control, we implement magic-state injection and gate teleportation to realize continuous non-Clifford rotations about the logical $X$ axis. For the logical $R_{X}(π/4)$ gate, we achieve a logical gate fidelity of $0.943_{-9}^{+10}$ conditioned on the absence of detected errors. These results establish lattice surgery as a practical and versatile paradigm for logical computation in near-term surface-code architectures, representing a critical milestone toward scalable fault-tolerant quantum advantage in superconducting circuits.

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arXiv2026

Fock space prethermalization and time-crystalline order on a quantum processor

Periodically driven quantum many-body systems exhibit a wide variety of exotic nonequilibrium phenomena and provide a promising pathway for quantum applications. A fundamental challenge for stabilizing and harnessing these highly entangled states of matter is system heating by energy absorption from the drive. Here, we propose and demonstrate a disorder-free mechanism, dubbed Fock space prethermalization (FSP), to suppress heating. This mechanism divides the Fock-space network into linearly many sparse sub-networks, thereby prolonging the thermalization timescale even for initial states at high energy densities. Using 72 superconducting qubits, we observe an FSP-based time-crystalline order that persists over 120 cycles for generic initial Fock states. The underlying kinetic constraint of approximately conserved domain wall (DW) numbers is identified by measuring site-resolved correlators. Further, we perform finite-size scaling analysis for DW and Fock-space dynamics by varying system sizes, which reveals size-independent regimes for FSP-thermalization crossover and links the dynamical behaviors to the eigenstructure of the Floquet unitary. Our work establishes FSP as a robust mechanism for breaking ergodicity, and paves the way for exploring novel nonequilibrium quantum matter and its applications.

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arXiv2026

TacMamba: A Tactile History Compression Adapter Bridging Fast Reflexes and Slow VLA Reasoning

In visually ambiguous manipulation such as detecting button click tactile feedback is often the sole source of ground truth. However, fusing tactile data poses a significant challenge due to a spatiotemporal mismatch: tactile perception requires high-frequency processing with long-horizon memory (System 1), whereas visual policies operate at low control frequencies (System 2). Existing architectures struggle to bridge this gap: Transformers are computationally prohibitive for high-frequency loops (>100Hz), while LSTMs suffer from forgetting over extended interaction histories. In this paper, we introduce TacMamba, a hierarchical architecture that aligns high-bandwidth tactile reflexes with low-frequency visual planning. Our approach comprises three core contributions: (1) a custom high-frequency tactile interface designed for flexible integration; (2) a Mamba-based Tactile History Compressor that encodes continuous force history into a compact state with O(1) inference latency (0.45 ms), enabling plug-and-play fusion with VLA models without joint pre-training and (3) a Tactile-Guided Dual-Stage Training strategy that leverages temporal discrimination for self-supervised representation learning and phase-uniform sampling to mitigate data sparsity. Experiments on discrete counting and implicit state switching demonstrate that TacMamba achieves 100% success rates, significantly outperforming the visual-only pi_0.5 baseline, while strictly satisfying hard real-time constraints.

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arXiv2026

Teleportation transition of surface codes on a superconducting quantum processor

The topological surface code is a leading candidate for harnessing long-range entanglement to protect logical quantum information against errors, and teleportation of logical states is desirable for robust quantum information processing. Nevertheless, scaling up the surface code in quantum teleportation poses a formidable challenge to experiment. Here on a superconducting quantum processor with 125 qubits, we demonstrate the robust teleportation of topological rotated surface code prepared by a linear-depth unitary circuit, with code distances up to 7. We obtain the teleportation phase diagram by tuning the local entangling gates uniformly across a finite threshold. Furthermore, we show that the entangling threshold can be boosted by coherent qubit rotations that inject magic resources beyond the Clifford regime, restoring the duality symmetry of the topological phase, which serves as a guiding principle to minimize the entanglement resource. Our results shed light on simulating and leveraging topological quantum matter on quantum devices, and pave the way to the ultimate goal of distributed fault tolerant quantum computation.

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arXiv2025

Combinatorial optimization enhanced by shallow quantum circuits with 104 superconducting qubits

A pivotal task for quantum computing is to speed up solving problems that are both classically intractable and practically valuable. Among these, combinatorial optimization problems have attracted tremendous attention due to their broad applicability and natural fitness to Ising Hamiltonians. Here we propose a quantum sampling strategy, based on which we design an algorithm for accelerating solving the ground states of Ising model, a class of NP-hard problems in combinatorial optimization. The algorithm employs a hybrid quantum-classical workflow, with a shallow-circuit quantum sampling subroutine dedicated to navigating the energy landscape. Using up to 104 superconducting qubits, we demonstrate that this algorithm outputs favorable solutions against even a highly-optimized classical simulated annealing (SA) algorithm. Furthermore, we illustrate the path toward quantum speedup based on the time-to-solution metric against SA running on a single-core CPU with just 100 qubits. Our results indicate a promising alternative to classical heuristics for combinatorial optimization, a paradigm where quantum advantage might become possible on near-term superconducting quantum processors with thousands of qubits and without the assistance of error correction.

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arXiv2025

Experimental realization of the bucket-brigade quantum random access memory

Quantum random access memory (QRAM) enables efficient classical data access for quantum computers -- a prerequisite for many quantum algorithms to achieve quantum speedup. Despite various proposals, the experimental realization of QRAM remains largely unexplored. Here, we experimentally investigate the circuit-based bucket-brigade QRAM with a superconducting quantum processor. To facilitate the experimental implementation, we introduce a hardware-efficient gate decomposition scheme for quantum routers, which effectively reduces the depth of the QRAM circuit by more than 30% compared to the conventional controlled-SWAP-based implementation. We further propose an error mitigation method to boost the QRAM query fidelity. With these techniques, we are able to experimentally implement the QRAM architectures with two and three layers, achieving query fidelities up to 0.800 $\pm$ 0.026 and 0.604$\pm$0.005, respectively. Additionally, we study the error propagation mechanism and the scalability of our QRAM implementation, providing experimental evidence for the noise resilience nature of the bucket-brigade QRAM architecture. Our results highlight the potential of superconducting quantum processors for realizing a scalable QRAM architecture.

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arXiv2025

Demonstration of low-overhead quantum error correction codes

Quantum computers hold the potential to surpass classical computers in solving complex computational problems. However, the fragility of quantum information and the error-prone nature of quantum operations make building large-scale, fault-tolerant quantum computers a prominent challenge. To combat errors, pioneering experiments have demonstrated a variety of quantum error correction codes. Yet, most of these codes suffer from low encoding efficiency, and their scalability is hindered by prohibitively high resource overheads. Here, we report the demonstration of two low-overhead quantum low-density parity-check (qLDPC) codes, a distance-4 bivariate bicycle code and a distance-3 qLDPC code, on our latest superconducting processor, Kunlun, featuring 32 long-range-coupled transmon qubits. Utilizing a two-dimensional architecture with overlapping long-range couplers, we demonstrate simultaneous measurements of all nonlocal weight-6 stabilizers via the periodic execution of an efficient syndrome extraction circuit. We achieve a logical error rate per logical qubit per cycle of $(8.91 \pm 0.17)\%$ for the distance-4 bivariate bicycle code with four logical qubits and $(7.77 \pm 0.12)\%$ for the distance-3 qLDPC code with six logical qubits. Our results establish the feasibility of implementing various qLDPC codes with long-range coupled superconducting processors, marking a crucial step towards large-scale low-overhead quantum error correction.

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arXiv2025

Demonstrating quantum error mitigation on logical qubits

A long-standing challenge in quantum computing is developing technologies to overcome the inevitable noise in qubits. To enable meaningful applications in the early stages of fault-tolerant quantum computing, devising methods to suppress post-correction logical failures is becoming increasingly crucial. In this work, we propose and experimentally demonstrate the application of zero-noise extrapolation, a practical quantum error mitigation technique, to error correction circuits on state-of-the-art superconducting processors. By amplifying the noise on physical qubits, the circuits yield outcomes that exhibit a predictable dependence on noise strength, following a polynomial function determined by the code distance. This property enables the effective application of polynomial extrapolation to mitigate logical errors. Our experiments demonstrate a universal reduction in logical errors across various quantum circuits, including fault-tolerant circuits of repetition and surface codes. We observe a favorable performance in multi-round error correction circuits, indicating that this method remains effective when the circuit depth increases. These results advance the frontier of quantum error suppression technologies, opening a practical way to achieve reliable quantum computing in the early fault-tolerant era.

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arXiv2025

Observation of topological prethermal strong zero modes

Symmetry-protected topological phases cannot be described by any local order parameter and are beyond the conventional symmetry-breaking paradigm for understanding quantum matter. They are characterized by topological boundary states robust against perturbations that respect the protecting symmetry. In a clean system without disorder, these edge modes typically only occur for the ground states of systems with a bulk energy gap and would not survive at finite temperatures due to mobile thermal excitations. Here, we report the observation of a distinct type of topological edge modes, which are protected by emergent symmetries and persist even up to infinite temperature, with an array of 100 programmable superconducting qubits. In particular, through digital quantum simulation of the dynamics of a one-dimensional disorder-free "cluster" Hamiltonian, we observe robust long-lived topological edge modes over up to 30 cycles at a wide range of temperatures. By monitoring the propagation of thermal excitations, we show that despite the free mobility of these excitations, their interactions with the edge modes are substantially suppressed in the dimerized regime due to an emergent U(1)$\times$U(1) symmetry, resulting in an unusually prolonged lifetime of the topological edge modes even at infinite temperature. In addition, we exploit these topological edge modes as logical qubits and prepare a logical Bell state, which exhibits persistent coherence in the dimerized and off-resonant regime, despite the system being disorder-free and far from its ground state. Our results establish a viable digital simulation approach to experimentally exploring a variety of finite-temperature topological phases and demonstrate a potential route to construct long-lived robust boundary qubits that survive to infinite temperature in disorder-free systems.

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arXiv2025

Exploring nontrivial topology at quantum criticality in a superconducting processor

The discovery of nontrivial topology in quantum critical states has introduced a new paradigm for classifying quantum phase transitions and challenges the conventional belief that topological phases are typically associated with a bulk energy gap. However, realizing and characterizing such topologically nontrivial quantum critical states with large particle numbers remains an outstanding experimental challenge in statistical and condensed matter physics. Programmable quantum processors can directly prepare and manipulate exotic quantum many-body states, offering a powerful path for exploring the physics behind these states. Here, we present an experimental exploration of the critical cluster Ising model by preparing its low-lying critical states on a superconducting processor with up to $100$ qubits. We develop an efficient method to probe the boundary $g$-function based on prepared low-energy states, which allows us to uniquely identify the nontrivial topology of the critical systems under study. Furthermore, by adapting the entanglement Hamiltonian tomography technique, we recognize two-fold topological degeneracy in the entanglement spectrum under periodic boundary condition, experimentally verifying the universal bulk-boundary correspondence in topological critical systems. Our results demonstrate the low-lying critical states as useful quantum resources for investigating the interplay between topology and quantum criticality.

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arXiv2024

GelSight FlexiRay: Breaking Planar Limits by Harnessing Large Deformations for Flexible,Full-Coverage Multimodal Sensing

The integration of tactile sensing into compliant soft robotic grippers offers a compelling pathway toward advanced robotic grasping and safer human-robot interactions. Visual-tactile sensors realize high-resolution, large-area tactile perception with affordable cameras. However, conventional visual-tactile sensors rely heavily on rigid forms, sacrificing finger compliance and sensing regions to achieve localized tactile feedback. Enabling seamless, large-area tactile sensing in soft grippers remains challenging, as deformations inherent to soft structures can obstruct the optical path and restrict the camera's field of view. To address these, we present Gelsight FlexiRay, a multimodal visual-tactile sensor designed for safe and compliant interactions with substantial structural deformation through integration with Finray Effect grippers. First, we adopt a multi-mirror configuration, which is systematically modeled and optimized based on the physical force-deformation characteristics of FRE grippers. Second, we enhanced Gelsight FlexiRay with human-like multimodal perception, including contact force and location, proprioception, temperature, texture, and slippage. Experiments demonstrate Gelsight FlexiRay's robust tactile performance across diverse deformation states, achieving a force measurement accuracy of 0.14 N and proprioceptive positioning accuracy of 0.19 mm. Compared with state of art compliant VTS, the FlexiRay demonstrates 5 times larger structural deformation under the same loads. Its expanded sensing area and ability to distinguish contact information and execute grasping and classification tasks highlights its potential for versatile, large-area multimodal tactile sensing integration within soft robotic systems. This work establishes a foundation for flexible, high-resolution tactile sensing in compliant robotic applications.

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