arXiv subjects

Yufei Yan

Publications and source records attributed to Yufei Yan.

4 recordsLinked to original sources

arXiv2026

Dual-Faraday-laser-pumped cesium beam clock with $7.7\times 10^{-13}/\sqrt\tau$ frequency stability

Compact cesium beam clocks are major frequency references for deployable timing systems. However, further improvement of their short-term frequency stability is limited by the clock signal-to-noise ratio (SNR). Although two-laser optical pumping can increase the effective atomic utilization, the achievable clock SNR has long been limited by laser-induced frequency-to-amplitude noise conversion. Here, we demonstrate a compact dual-Faraday-laser-pumped (DFP) Cs beam clock enabled by a low-frequency-noise atom-referenced laser architecture. The intracavity Faraday anomalous dispersion optical filter provides inherent alignment to the Cs D$_2$ resonances, while modulation transfer spectroscopy offers suppressed frequency noise and drift. The resulting laser system supports robust turnkey operation with a Lorentzian linewidth of 2.12 kHz. The DFP Cs clock achieves a clock SNR of 46,365 in a 1-Hz bandwidth and a fractional Allan deviation of $7.7\times 10^{-13}/\sqrt\tau$ , with Hadamard deviation reaching $7.7\times 10^{-15}$ at 10,000 s. This work pushes the fractional frequency stability of a compact Cs beam clock into the $10^{-13}/\sqrt\tau$ regime, providing a pathway toward high-performance Cs frequency references for field-deployable precision timing, navigation, and synchronization.

physics.atom-ph↗

arXiv2026

Simple but Stable, Fast and Safe: Achieve End-to-end Control by High-Fidelity Differentiable Simulation

Obstacle avoidance is a fundamental vision-based task essential for enabling quadrotors to perform advanced applications. When planning the trajectory, existing approaches both on optimization and learning typically regard quadrotor as a point-mass model, giving path or velocity commands then tracking the commands by outer-loop controller. However, at high speeds, planned trajectories sometimes become dynamically infeasible in actual flight, which beyond the capacity of controller. In this paper, we propose a novel end-to-end policy that directly maps depth images to low-level bodyrate commands by reinforcement learning via differentiable simulation. The high-fidelity simulation in training after parameter identification significantly reduces all the gaps between training, simulation and real world. Analytical process by differentiable simulation provides accurate gradient to ensure efficiently training the low-level policy without expert guidance. The policy employs a lightweight and the most simple inference pipeline that runs without explicit mapping, backbone networks, primitives, recurrent structures, or backend controllers, nor curriculum or privileged guidance. By inferring low-level command directly to the hardware controller, the method enables full flight envelope control and avoids the dynamic-infeasible issue.Experimental results demonstrate that the proposed approach achieves the highest success rate and the lowest jerk among state-of-the-art baselines across multiple benchmarks. The policy also exhibits strong generalization, successfully deploying zero-shot in unseen, outdoor environments while reaching speeds of up to 7.5m/s as well as stably flying in the super-dense forest. This work is released at https://github.com/Fanxing-LI/avoidance.

cs.RO↗

arXiv2025

StableTracker: Learning to Stably Track Target via Differentiable Simulation

Existing FPV object tracking methods heavily rely on handcrafted modular pipelines, which incur high onboard computation and cumulative errors. While learning-based approaches have mitigated computational delays, most still generate only high-level trajectories (position and yaw). This loose coupling with a separate controller sacrifices precise attitude control; consequently, even if target is localized precisely, accurate target estimation does not ensure that the body-fixed camera is consistently oriented toward the target, it still probably degrades and loses target when tracking high-maneuvering target. To address these challenges, we present StableTracker, a learning-based control policy that enables quadrotors to robustly follow a moving target from arbitrary viewpoints. The policy is trained using backpropagation-through-time via differentiable simulation, allowing the quadrotor to keep a fixed relative distance while maintaining the target at the center of the visual field in both horizontal and vertical directions, thereby functioning as an autonomous aerial camera. We compare StableTracker against state-of-the-art traditional algorithms and learning baselines. Simulation results demonstrate superior accuracy, stability, and generalization across varying safe distances, trajectories, and target velocities. Furthermore, real-world experiments on a quadrotor with an onboard computer validate the practicality of the proposed approach.

cs.RO↗

arXiv2024

Faraday laser pumped cesium beam clock

We realize a high-performance compact optically pumped cesium beam clock using Faraday laser simultaneously as pumping and detection lasers. The Faraday laser, which is frequency stabilized by modulation transfer spectroscopy (MTS) technique, has narrow linewidth and superior frequency stability. Measured by optical heterodyne method between two identical systems, the linewidth of the Faraday laser is 2.5 kHz after MTS locking, and the fractional frequency stability of the Faraday laser is optimized to $1.8\times{10}^{-12}/\sqrt{\tau}$. Based on this high-performance Faraday laser, the cesium beam clock realizes a signal-to-noise ratio (SNR) in 1 Hz bandwidth of $39600$ when the cesium oven temperature is 130{\deg}C. Frequency-compared with Hydrogen maser, the fractional frequency stability of the Faraday laser pumped cesium beam clock can reach $1.3\times{10}^{-12}/\sqrt{\tau}$ and drops to $1.4\times{10}^{-14}$ at 10000 s when the cesium oven temperature is 110{\deg}C. %, which is the best reported result compared with other cesium beam clocks. This Faraday laser pumped cesium beam clock demonstrates its excellent performance, and its great potential in the fields of timekeeping, navigation, and communication. Meanwhile, the Faraday laser, as a high-performance optical frequency standard, can also contribute to the development of other applications in quantum metrology, precision measurement and atomic physics.

physics.atom-ph↗