arXiv subjects

Yihao Yin

Publications and source records attributed to Yihao Yin.

15 recordsLinked to original sources

arXiv2026

Resource-Constrained Robotic Planning in the face of Mixed Uncertainty

Robots operate under significant uncertainty, from quantifiable noise to unquantifiable unknowns, and must account for strict operational constraints, such as limited resources. In this paper, we consider the problem of synthesizing robust strategies to guide a robot's actions in fulfilling a given task, while ensuring the system never exhausts its resources. To solve this problem, we first model the robotic system as a Consumption Markov Decision Process with Set-valued Transitions(CMDPST), a unified framework modelling nondeterministic actions, quantifiable and unquantifiable uncertainty, and resource consumption. Then, we combine the CMDPST with the task specification, expressed as a Linear Temporal Logic over finite traces (LTLf ) formula. Lastly, we address the resource constrained optimal robust strategy synthesis problem, which aims to synthesize a strategy that maximizes the probability of satisfying the LTLf objective without resource exhaustion. Our solution involves two techniques: a direct unrolling-based method and a more efficient, optimized approach that leverages state-space pruning for better performance. Experiments on a warehouse transportation network show the effectiveness of the proposed solutions.

cs.RO↗

arXiv2025

Higher-spins on Taub-NUT and higher-spin Taub-NUT

We consider higher-spin extensions of self-dual Yang-Mills (HS-SDYM) and self-dual Gravity (HS-SDGR), which are also truncations of chiral higher-spin gravity. Higher-spin fields can consistently propagate on gravitational instantons and we construct solutions to the higher-spin equations on the Taub-NUT background. We show that these solutions remain exact solutions of HS-SDYM. For HS-SDGR the perturbation theory converges for any given spin to give a higher-spin generalization of Taub-NUT and we identify a commutative non-associative algebra that governs the structure of the perturbation theory.

hep-th↗

arXiv2024

Low spin solutions of Higher Spin Gravity: BPST instanton

Higher spin gravities do not have a low energy limit where higher-spin fields decouple from gravity. Nevertheless, it is possible to construct fine-tuned exact solutions that activate low-spin fields without sourcing the higher-spin fields. We show that BPST (Belavin-Polyakov-Schwartz-Tyupkin) instanton is an exact solution of Chiral Higher Spin Gravity, i.e. it is also a solution of the holographic dual of Chern-Simons matter theories. This gives an example of a low-spin solution. The instanton sources the opposite helicity spin-one field and a scalar field. We derive an Effective Field Theory that describes the coupling between an instanton and the other two fields, whose action starts with the Chalmers-Siegel action and has certain higher derivative couplings.

hep-th↗

arXiv2024

On (spinor)-helicity and bosonization in $AdS_4/CFT_3$

Helicity is a useful concept both for AdS${}_4$ and CFT${}_3$ studies. We work out the complete AdS${}_4$/CFT${}_3$ dictionary for spinning fields/operators in the spinor-helicity base that allows one to scalarize any $n$-point contact vertex. AdS${}_4$-vertices encode correlation functions of conserved currents, stress-tensor and, more generally, higher spin currents in a simple way. We work out the dictionary for Yang-Mills- and gravity-type theories with higher derivative corrections as well as some higher spin examples and exemplify the relation to the three-dimensional bosonization duality. The bosonization can be understood as a simple surgery: vertices/correlators are built via an EM-duality transformation by sewing together (anti)-Chiral higher spin gravities, to whose existence the three-dimensional bosonization duality can be attributed (up to the proof of uniqueness).

hep-th↗

arXiv2023

Gravitational lensing by a charged spherically symmetric black hole immersed in thin dark matter

We investigate the gravitational lensing effect around a spherically symmetric black hole, whose metric is obtained from the Einstein field equation with electric charge and perfect-fluid dark matter contributing to its energy-momentum tensor. We do the calculation analytically in the weak field limit and we assume that both the charge and the dark matter are much less abundant (only give rise to the next-leading-order contribution) in comparison to the black hole mass. In particular, we derive the light deflection angle and the size of the Einstein ring, where approximations up to the next-leading order are done with extra care, especially for the logarithmic term from perfect-fluid dark matter. We expect our results will be useful in the future to relate the theoretical model of perfect fluid dark matter with observations of celestial bodies immersed in thin dark matter.

gr-qc↗

arXiv2022

The P-V Phase Transition of the FRW Universe

We define thermodynamic pressure $P$ by work density $W$ as the conjugate quantity of thermodynamic volume $V$ from field equation. We derive the equations of state $P$=$P(V, T)$ for the Friedmann-Robertson-Walker (FRW) universe in Einstein gravity and a modified gravity respectively. We find that the equation of state from Einstein gravity shows no $P$-$V$ phase transition, while the equation of state from the modified gravity does, where the critical exponents are the same as those in mean field theory.

gr-qc↗

arXiv2022

The Hawking-Page-like Phase Transition from FRW Spacetime to McVittie Black Hole

In this paper, we investigate the thermodynamics especially the Hawking-Page-like phase transition of the McVittie space-time. We formulate the first law of thermodynamics for the McVittie black hole, and find that the work density $W$ of the perfect fluid plays the role of the thermodynamic pressure, i.e. $P$:=$-W$. We also construct the thermodynamic equation of state for the McVittie black hole. Most importantly, by analysing the Gibbs free energy, we find that the Hawking-Page-like phase transition from FRW spacetime to McVittie black hole is possible in the case $P>0$.

gr-qc↗

arXiv2021

Investigating strong gravitational lensing with black hole metrics modified with an additional term

Gravitational lensing is one of the most impressive celestial phenomena, which has interesting behaviors in its strong field limit. Near such limit, Bozza finds that the deflection angle of light is well-approximated by a logarithmic term and a constant term. In this way he explicitly derived the analytic expressions of deflection angles for a few types of black holes. In this paper, we study the explicit calculation to two new types of metrics in the strong field limit: (i) the Schwarzschild metric extended with an additional $r^{-n}(n\geq 3)$ term in the metric function; (ii) the Reissner-Nordstrom metric extended with an additional $r^{-6}$ term in the metric function. With such types of metrics, Bozza's original way of choosing integration variables may lead to technical difficulties in explicitly expressing the deflection angles, and we use a slightly modified version of Bozza's method to circumvent the problem.

gr-qc↗

arXiv2020

Higher-spin initial data in twistor space with complex stargenvalues

This paper is a supplement to and extension of arXiv:1903.01399. In the internal twistor space of the 4D Vasiliev's higher-spin gravity, we study the star-product eigenfunctions of number operators with generic complex eigenvalues. In particular, we focus on a set of eigenfunctions represented by formulas with generalized Laguerre functions. This set of eigenfunctions can be written as linear combinations of two subsets of eigenfunctions, one of which is closed under the star-multiplication with the creation operator to a generic complex power -- and the other similarly with the annihilation operator. The two subsets intersect when the left and the right eigenvalues differ by an integer. We further investigate how star-multiplications with both the creation and annihilation operators together may change such eigenfunctions and briefly discuss some problems that we are facing in order to use these eigenfunctions as the initial data to construct solutions to Vasiliev's equations.

hep-th↗

arXiv2019

Higher spin fluctuations on spinless 4D BTZ black hole

We construct linearized solutions to Vasiliev's four-dimensional higher spin gravity on warped $AdS_3 \times_ξS^1$ which is an $Sp(2)\times U(1)$ invariant non-rotating BTZ-like black hole with $\mathbb{R}^2\times T^2$ topology. The background can be obtained from $AdS_4$ by means of identifications along a Killing boost $K$ in the region where $ξ^2\equiv K^2\geqslant 0$, or, equivalently, by gluing together two Bañados--Gomberoff--Martinez eternal black holes along their past and future space-like singularities (where $ξ$ vanishes) as to create a periodic (non-Killing) time. The fluctuations are constructed from gauge functions and initial data obtained by quantizing inverted harmonic oscillators providing an oscillator realization of $K$ and of a commuting Killing boost $\widetilde K$. The resulting solution space has two main branches in which $K$ star commutes and anti-commutes, respectively, to Vasiliev's twisted-central closed two-form $J$. Each branch decomposes further into two subsectors generated from ground states with zero momentum on $S^1$. We examine the subsector in which $K$ anti-commutes to $J$ and the ground state is $U(1)_K\times U(1)_{\widetilde K}$-invariant of which $U(1)_K$ is broken by momenta on $S^1$ and $U(1)_{\widetilde K}$ by quasi-normal modes. We show that a set of $U(1)_{\widetilde K}$-invariant modes (with $n$ units of $S^1$ momenta) are singularity-free as master fields living on a total bundle space, although the individual Fronsdal fields have membrane-like singularities at $\widetilde K^2=1$. We interpret our findings as an example where Vasiliev's theory completes singular classical Lorentzian geometries into smooth higher spin geometries.

hep-th↗

arXiv2017

New classes of bi-axially symmetric solutions to four-dimensional Vasiliev higher spin gravity

We present new infinite-dimensional spaces of bi-axially symmetric asymptotically anti-de Sitter solutions to four-dimensional Vasiliev higher spin gravity, obtained by modifications of the Ansatz used in arXiv:1107.1217, which gave rise to a Type-D solution space. The current Ansatz is based on internal semigroup algebras (without identity) generated by exponentials formed out of the bi-axial symmetry generators. After having switched on the vacuum gauge function, the resulting generalized Weyl tensor is given by a sum of generalized Petrov type-D tensors that are Kerr-like or 2-brane-like in the asymptotic AdS4 region, and the twistor space connection is smooth in twistor space over finite regions of spacetime. We provide evidence for that the linearized twistor space connection can be brought to Vasiliev gauge.

hep-th↗

arXiv2013

New Massive Supergravity and Auxiliary Fields

We construct a supersymmetric formulation of linearized New Massive Gravity without introducing higher derivatives. Instead, we introduce supersymmetrically a set of bosonic and fermionic auxiliary fields which, upon elimination by their equations of motion, introduce fourth-order derivative terms for the metric and third-order derivative terms for the gravitino. Our construction requires an off-shell formulation of the three-dimensional supersymmetric massive Fierz-Pauli theory. We discuss the non-linear extension of our results.

hep-th↗

arXiv2012

On Topologically Massive Spin-2 Gauge Theories beyond Three Dimensions

We investigate in which sense, at the linearized level, one can extend the 3D topologically massive gravity theory beyond three dimensions. We show that, for each k=1,2,3... a free topologically massive gauge theory in 4k-1 dimensions can be defined describing a massive "spin-2" particle provided one uses a non-standard representation of the massive "spin-2" state which makes use of a two-column Young tableau where each column is of height 2k-1. We work out the case of k=2, i.e. 7D, and show, by canonical analysis, that the model describes, unitarily, 35 massive "spin-2" degrees of freedom. The issue of interactions is discussed and compared with the three-dimensional situation.

hep-th↗

arXiv2012

Critical points of maximal D=8 gauged supergravities

We study the general deformations of maximal eight-dimensional supergravity by using the embedding tensor approach. The scalar potential induced by these gaugings is determined. Subsequently, by combining duality covariance arguments and algebraic geometry techniques, we find the complete set of critical points of the scalar potential. Remarkably, up to SO(2) X SO(3) rotations there turns out to be a unique theory admitting extrema. The gauge group of the theory is CSO(2,0,1).

hep-th↗

arXiv2011

A spin-4 analog of 3D massive gravity

A 6th-order, but ghost-free, gauge-invariant action is found for a 4th-rank symmetric tensor potential in a three-dimensional (3D) Minkowski spacetime. It propagates two massive modes of spin 4 that are interchanged by parity, and is thus a spin-4 analog of linearized "new massive gravity". Also found are ghost-free spin-4 analogs of linearized "topologically massive gravity" and "new topologically massive gravity", of 5th- and 8th-order respectively.

hep-th↗