arXiv subjects

Yuxuan Guo

Publications and source records attributed to Yuxuan Guo.

At least 19 recordsLinked to original sources

arXiv2026

Degenerate in Whose Frame? An Equivariance Condition for Degeneracy Detection in LiDAR Registration

Degeneracy detectors for LiDAR registration commonly return six per-axis binary labels. We ask whether these labels are properties of the scene. Under a body-frame change, the point-to-plane information matrix transforms by congruence, H' = Ad(T)^T H Ad(T), not similarity. Congruence preserves nullity and, through the adjoint reparameterization, identifies the same physical twist subspace; the per-axis footprint and a thresholded spectrum need not be invariant. In a noise-free circular tunnel, shifting the origin by one metre changes which degrees of freedom are flagged. A generalized criterion Hv = lambda Mv is universally frame-independent over positive-semidefinite information forms if and only if its metric rule is equivariant. No fixed metric qualifies, while a rig-adapted one exists only at zero screw pitch, met in one of nineteen surveyed calibrations. The equivariant point-displacement metric M = sum_i J_i^T J_i yields dimensionless, scene-scale-invariant generalized eigenvalues. They are invariant to body frame, consistent changes of length unit and scene scales; the threshold also transfers empirically across sequences. Across 365 frame pairs from four public sequences, labels rarely change at practical extrinsic magnitudes, yet a remapping estimator's correction differs between body-frame choices on 44.5-69.5% of pairs, with a median of 0.7-4.0 mm and a maximum of 0.87 m. The per-axis footprint changes even under the equivariant metric, placing the fundamental issue in the reported quantity.

cs.RO↗

arXiv2026

Achieving Rate-Concurrency Balance for Underwater Concurrent Random Access

Underwater acoustic networks face a fundamental rate--concurrency tradeoff: high-rate waveforms (e.g., OFDM, OTFS) are designed for point-to-point links and rely on orthogonal MAC protocols (e.g., TDMA) to avoid collisions, sacrificing concurrency; conversely, collision-resilient waveforms (e.g., CDMA, ZCMod) support uncoordinated access but are inherently rate-limited by spreading or sparse index modulation. We present \system, a cross-layer concurrent random-access system that combines two new components: (i) \textbf{EZCDM}, an equidistant ZC division-multiplexing waveform that activates multiple cyclic shifts of a ZC root as parallel sub-channels with a tunable rate--robustness tradeoff, and an intra-symbol differential receiver that eliminates the shared multipath channel response without explicit CIR estimation; and (ii) a \textbf{cross-layer link adaptation (LA) framework} featuring beacon-framed random access, user-specific closed-loop power control, and overlap- and CIR-aware common-MS selection. Channel-trace- and signal-trace-driven physical-layer experiments combined with PHY-in-the-loop network simulations demonstrate that \system\ achieves significant BER and throughput gains over conventional waveforms and MAC protocols by converting traditionally destructive collisions into decodable concurrent streams.

cs.NI↗

arXiv2026

Move First, Commit Later: Selective LiDAR-to-BIM Global Initialization via Sequential Consensus with Symmetry-Aware Abstention

Global LiDAR-to-BIM initialization must place a robot within an as-designed building model without a prior pose. In repetitive interiors, the principal failure mode is not low-confidence registration but confident aliasing: a submap can match several BIM regions with comparable scores, producing a high-scoring pose displaced by symmetry. We present Move First, Commit Later, a selective layer that treats a registration front-end as an evidence source and decides whether to commit. Candidates from multiple submaps are mapped to a common $\mathrm{SE}(2)$ anchor; a top-1 consensus $B_m$, invariant to non-champion multiplicity, aggregates cross-submap evidence; and topology serves only as a binary feasibility gate. The decision is typed--COMMIT, DEFER, or AMBIGUOUS($τ$), reporting the detected symmetry period--and reversible: symmetry-breaking motion upgrades AMBIGUOUS to COMMIT. On a real multi-room building and a controlled symmetric simulation, the layer commits correctly in every tested trajectory-scale configuration and otherwise abstains with a typed state, whereas forced-choice policies on the same front-end select wrong rooms in most cases. Committed anchors are within 0.02--0.36 m of an independent laser-tracker position reference and within $1.9^\circ$ of a BIM-registration orientation proxy. The evaluation covers one building and one front-end; the layer is designed to be front-end modular.

cs.RO↗

arXiv2026

PrimitiveVLA: Learning Reusable Motion Primitives for Efficient and Generalizable Robotic Manipulation

Vision-Language-Action (VLA) models offer a promising paradigm for generalist robotic policies, yet their adaptation is hindered by data inefficiency and poor generalization. We argue that these bottlenecks stem from the prevailing Direct Instruction-to-Control Mapping, which forces models to memorize monolithic trajectories rather than reusable motion patterns, i.e., primitives. We propose PrimitiveVLA, a framework that shifts this paradigm toward a Primitive-Centric Disassemble & Assemble paradigm. Supported by a shared Multimodal Canonical Representation (MCR), PrimitiveVLA unifies two phases: (1) Fine-tuning-phase Disassembly, which uses an automated pipeline to disassemble demonstrations into reusable primitives; and (2) Inference-phase Assembly, which employs a VLM-based planner and an LLM-generated switch module for robust closed-loop execution. By disassembling tasks into reusable primitives, PrimitiveVLA enables VLA models to learn invariant motion patterns instead of task-specific trajectories. Extensive experiments show that our framework improves data efficiency and achieves superior zero-shot generalization across unseen and long-horizon tasks.

cs.RO↗

arXiv2026

Strong-to-Weak Spontaneous Symmetry Breaking in a $(2+1)$D Transverse-Field Ising Model under Decoherence

Decoherence in many-body quantum systems can give rise to intrinsically mixed-state phases and phase transitions beyond the pure-state paradigm. Here we study the $(2+1)$D transverse-field Ising model subject to a strongly $\mathbb{Z}_2$-symmetric decoherence channel, with a focus on strong-to-weak spontaneous symmetry breaking (SWSSB). This problem is challenging because the relevant transitions occur in the strong-decoherence regime, beyond the reach of perturbative expansions around the pure-state limit, while conventional quantum Monte Carlo (QMC) methods are hampered by the need to access nonlinear observables and by the sign problem. We overcome these difficulties by developing a QMC algorithm that efficiently evaluates nonlinear Rényi-2 correlators in higher dimensions, complemented by an effective field-theoretic approach. We show that the decohered state realizes a rich mixed-state phase diagram governed by an effective 2D Ashkin-Teller theory. This theory enables analytical predictions for the mixed-state phases and the universality classes of the phase boundaries, all of which are confirmed by large-scale QMC simulations.

quant-ph↗

arXiv2026

Cavity-Induced Excitonic Insulation and Non-Fermi-Liquid Behavior in Dirac Materials

We investigate two-dimensional Dirac fermions embedded in a deep-subwavelength cavity formed by high-impedance metasurfaces. We point out that, unlike conventional metallic boundaries, these metasurfaces support quasielectrostatic transverse-magnetic modes that mediate a long-range interaction between two-dimensional electrons. Combining static electronic screening with a Dyson-Schwinger analysis, we show that this engineered interaction can qualitatively alter the ground-state properties of Dirac materials. For a fermion flavor number $N_{f}$ below a critical value $N_{c}=16/π$, the interaction drives an excitonic insulating phase through an infinite-order quantum phase transition and spontaneously generates a mass gap. At $N_{f}>N_{c}$, the system remains gapless but enters a non-Fermi-liquid critical regime where the quasiparticle residue is singularly suppressed to zero, and the Dirac cone exhibits a nonanalytic dispersion relation. Furthermore, under a perpendicular magnetic field, the cavity fluctuations dynamically lift the zeroth Landau level degeneracy across all $N_{f}$. These results identify high-impedance metasurface cavities as promising platforms for engineering correlated Dirac matter.

cond-mat.str-el↗

arXiv2026

Generalized Li-Haldane Correspondence in Critical Dirac-Fermion Systems

Topological phenomena in quantum critical systems have recently attracted growing attention, as they go beyond the traditional paradigms of condensed matter and statistical physics. However, a general framework for identifying such nontrivial phenomena, particularly in higher-dimensional systems, remains insufficiently explored. In this work, we propose a universal fingerprint for detecting nontrivial topology in critical free-fermion systems protected by global on-site symmetries. Specifically, we analytically establish an exact relation between the bulk entanglement spectrum and the boundary energy spectrum at topological criticality in arbitrary dimensions, demonstrating that the degeneracy of edge modes can be extracted from the bulk entanglement spectrum. These findings, further supported by numerical simulations of lattice models, provide a universal fingerprint for identifying nontrivial topology in critical free-fermion systems.

cond-mat.str-el↗

arXiv2026

Current-tunable room temperature ferromagnetism and current-driven phase transitions

It is generally assumed that the application of a charge-current in ferromagnetic metals suppresses their ferromagnetic order through trivial Joule heating. Here, we demonstrate that a charge current can instead enhance magnetic ordering. Using a WTe2/Fe3Ge2Te (FGT) stack as a model system, we show that a charge current flowing in WTe2 controls the ferromagnetic properties and magnetic phase transition of the adjacent FGT via a current-induced effective magnetic-field arising from orbital magnetization. Remarkably, the charge current drives a substantial enhancement of the Curie temperature, boosting it well above room temperature. Furthermore, we show that the charge-current enables controlled tuning of the phase transitions in FGT, which confirms the scaling behaviour of a ferromagnet-paramagnet phase transition. This work provides a pathway for integrating two-dimensional ferromagnets into spintronic functionalities at technologically relevant temperatures and for exploring novel current-driven phenomena in ferromagnetic systems.

cond-mat.mtrl-sci↗

arXiv2025

Quantum Strong-to-Weak Spontaneous Symmetry Breaking in Decohered One Dimensional Critical States

Symmetry breaking has been a central theme in classifying quantum phases and phase transitions. Recently, this concept has been extended to the mixed states of open systems, attracting considerable attention due to the emergence of novel physics beyond closed systems. In this work, we reveal a new type of phase transition in mixed states, termed \emph{quantum} strong-to-weak spontaneous symmetry breaking (SWSSB). Using a combination of field theory calculations and large-scale matrix product state simulations, we map out the global phase diagram of the XXZ critical spin chain under local strong symmetry preserving decoherence, which features an SWSSB phase and a trivial Luttinger liquid phase, separated by a straight critical line that belongs to the boundary Berezinskii-Kosterlitz-Thouless universality class with a varying effective central charge. Importantly, we analyze this transition from two complementary perspectives: on one hand, through the behavior of order parameters that characterize the symmetry breaking; on the other hand, from a quantum information viewpoint by studying entropic quantities and the concept of quantum recoverability. Remarkably, the SWSSB transition in our case is \emph{purely quantum} in the sense that it can only be driven by tuning the Hamiltonian parameter even under arbitrary decoherence strength, fundamentally distinguishing it from the decoherence-driven SWSSB transitions extensively discussed in previous literature. Importantly, our unified theoretical framework is applicable to a broad class of one-dimensional quantum systems, including spin chains and fermionic systems, whose low-energy physics can be described by Luttinger liquid theory, under arbitrary symmetry-preserving decoherence channels. Finally, we also discuss the experimental relevance of our theory on quantum simulator platforms.

cond-mat.str-el↗

arXiv2025

Code Driven Planning with Domain-Adaptive Critic

Large Language Models (LLMs) have been widely adopted as task planners for AI agents in sequential decision-making problems, leveraging their extensive world knowledge. However, the gap between their general knowledge and environment-specific requirements often leads to inaccurate plans. To address this, existing approaches rely on frequent LLM queries to iteratively refine plans based on immediate environmental feedback, which incurs substantial query costs. However, this refinement is typically guided by short-term environmental feedback, limiting LLMs from developing plans aligned with long-term rewards. We propose Code Driven Planning with Domain-Adaptive Critic (CoPiC). Instead of relying on frequent queries, CoPiC employs LLMs to generate a diverse set of high-level planning programs, which iteratively produce and refine candidate plans. A trained domain-adaptive critic then evaluates these candidates and selects the one most aligned with long-term rewards for execution. Using high-level planning programs as planner and domain-adaptive critic as estimator, CoPiC improves planning while significantly reducing query costs. Results in ALFWorld, NetHack, and StarCraft II Unit Building show that CoPiC outperforms advanced LLM-based baselines, AdaPlanner and Reflexion, achieving an average (1) 23.33% improvement in success rate and (2) 91.27% reduction in query costs.

cs.AI↗

arXiv2025

Bernstein Bounds for Caustics

Systematically simulating specular light transport requires an exhaustive search for primitive tuples containing admissible paths. Given the extreme inefficiency of enumerating all combinations, we propose to significantly reduce the search domain by sampling such tuples. The challenge is to design proper sampling probabilities that keep the noise level controllable. Our key insight is that by bounding the range of irradiance contributed by each primitive tuple at a given position, we can sample a subset of primitive tuples with potentially high contributions. Although low-contribution tuples are assigned a negligible probability, the overall variance remains low. Therefore, we derive vertex position and irradiance bounds for each primitive tuple, introducing a bounding property of rational functions on the Bernstein basis. When formulating position and irradiance expressions into rational functions, we handle non-rational components through remainder variables to maintain validity. Finally, we carefully design the sampling probabilities by optimizing the upper bound of the variance, expressed only using the position and irradiance bound. The proposed primitive sampling is intrinsically unbiased. It can be seamlessly combined with various unbiased and biased root-finding techniques within a local primitive domain. Extensive evaluations show that our method enables fast and reliable rendering of complex caustic effects.

cs.GR↗

arXiv2024

Tower of Structured Excited States from Measurements

Preparing highly entangled quantum states is a key challenge in quantum metrology and quantum information science. Measurements, especially those of global observables, offer a simple and efficient way to generate entanglement between subsystems when they are measured as a whole. We introduce a log-depth protocol leveraging quantum phase estimation to measure a global observable, such as total magnetization and momentum. We demonstrate its capability to prepare towers of structured excited states that are useful in quantum metrology; examples include quantum many-body scars in various models, including the Affleck-Kennedy-Lieb-Tasaki (AKLT) model, the constrained domain-wall model, and the spin-$\frac{1}{2}$ and spin-$1$ XX chains. The same method is also applicable to preparing the Dicke states of high weight. In addition, we propose a protocol for momentum measurement that avoids disturbing the system, facilitating the preparation of states beyond the above construction, such as the Arovas $A$ state of the AKLT Hamiltonian. Our results expand the utility of measurement-based approaches to accessing highly entangled states in quantum many-body systems.

quant-ph↗

arXiv2024

Mixed-state phase transitions in spin-Holstein models

Understanding coupled electron-phonon systems is one of the fundamental issues in strongly correlated systems. In this work, we aim to extend the notion of mixed-state phases to the realm of coupled electron/spinphonon systems. Specifically, we consider a two-dimensional cluster Hamiltonian locally coupled to a set of single bosonic modes with arbitrary coupling strength. First, we adopt a pure-state framework and examine whether a ground state phase transition out of the symmetry-protected topological phase can be captured using the standard polaron unitary transformation. This approach involves restricting the analysis to the low-energy manifold of the phonon degrees of freedom. We find that the pure-state approach fails to detect the anticipated transition to a topologically trivial phase at strong spin-phonon coupling. Next, we turn to a mixed-state picture. Here, we analyze mixed states of the model obtained by tracing out the phonons degrees of freedom. We employ two distinct diagnostics for mixed-state phase transitions: (i) the von Neumann conditional mutual information (CMI) and (ii) the Rényi-2 CMI. We argue that both measures detect signatures of mixed-state phase transitions, albeit at different critical spin-phonon coupling strengths, corresponding to subtly distinct notions of the mixed-state phases.

cond-mat.str-el↗

arXiv2024

Luban: Building Open-Ended Creative Agents via Autonomous Embodied Verification

Building open agents has always been the ultimate goal in AI research, and creative agents are the more enticing. Existing LLM agents excel at long-horizon tasks with well-defined goals (e.g., `mine diamonds' in Minecraft). However, they encounter difficulties on creative tasks with open goals and abstract criteria due to the inability to bridge the gap between them, thus lacking feedback for self-improvement in solving the task. In this work, we introduce autonomous embodied verification techniques for agents to fill the gap, laying the groundwork for creative tasks. Specifically, we propose the Luban agent target creative building tasks in Minecraft, which equips with two-level autonomous embodied verification inspired by human design practices: (1) visual verification of 3D structural speculates, which comes from agent synthesized CAD modeling programs; (2) pragmatic verification of the creation by generating and verifying environment-relevant functionality programs based on the abstract criteria. Extensive multi-dimensional human studies and Elo ratings show that the Luban completes diverse creative building tasks in our proposed benchmark and outperforms other baselines ($33\%$ to $100\%$) in both visualization and pragmatism. Additional demos on the real-world robotic arm show the creation potential of the Luban in the physical world.

cs.AI↗

arXiv2024

Symmetric Mass Generation of Kähler-Dirac Fermions from the Perspective of Symmetry-Protected Topological Phases

The Kähler-Dirac fermion, recognized as an elegant geometric approach, offers an alternative to traditional representations of relativistic fermions. Recent studies have demonstrated that symmetric mass generation (SMG) can precisely occur with two copies of Kähler-Dirac fermions across any spacetime dimensions. This conclusion stems from the study of anomaly cancellation within the fermion system. Our research provides an alternative understanding of this phenomenon from a condensed matter perspective, by associating the interacting Kähler-Dirac fermion with the boundary of bosonic symmetry-protected topological (SPT) phases. We show that the low-energy bosonic fluctuations in a single copy of the Kähler-Dirac fermion can be mapped to the boundary modes of a $\mathbb{Z}_2$-classified bosonic SPT state, protected by an inversion symmetry universally across all dimensions. This implies that two copies of Kähler-Dirac fermions can always undergo SMG through interactions mediated by these bosonic modes. This picture aids in systematically designing SMG interactions for Kähler-Dirac fermions in any dimension. We present the exact lattice Hamiltonian of these interactions and validate their efficacy in driving SMG.

cond-mat.str-el↗

arXiv2024

Two-dimensional symmetry-protected topological phases and transitions in open quantum systems

We investigate the influence of local decoherence on a symmetry-protected topological (SPT) phase of the two-dimensional (2D) cluster state. Mapping the 2D cluster state under decoherence to a classical spin model, we show a topological phase transition of a $\mathbb{Z}_2^{(0)}\times\mathbb{Z}_{2}^{(1)}$ SPT phase into the trivial phase occurring at a finite decoherence strength. To characterize the phase transition, we employ three distinct diagnostic methods, namely, the relative entropy between two decohered SPT states with different topological edge states, the strange correlation function of $\mathbb{Z}_2^{(1)}$ charge, and the multipartite negativity of the mixed state on a disk. All the diagnostics can be obtained as certain thermodynamic quantities in the corresponding classical model, and the results of three diagnostic tests are consistent with each other. Given that the 2D cluster state possesses universal computational capabilities in the context of measurement-based quantum computation, the topological phase transition found here can also be interpreted as a transition in the computational power.

quant-ph↗

arXiv2024

Multi-Modal Discussion Transformer: Integrating Text, Images and Graph Transformers to Detect Hate Speech on Social Media

We present the Multi-Modal Discussion Transformer (mDT), a novel methodfor detecting hate speech in online social networks such as Reddit discussions. In contrast to traditional comment-only methods, our approach to labelling a comment as hate speech involves a holistic analysis of text and images grounded in the discussion context. This is done by leveraging graph transformers to capture the contextual relationships in the discussion surrounding a comment and grounding the interwoven fusion layers that combine text and image embeddings instead of processing modalities separately. To evaluate our work, we present a new dataset, HatefulDiscussions, comprising complete multi-modal discussions from multiple online communities on Reddit. We compare the performance of our model to baselines that only process individual comments and conduct extensive ablation studies.

cs.CL↗

arXiv2023

Emergent Communication for Rules Reasoning

Research on emergent communication between deep-learning-based agents has received extensive attention due to its inspiration for linguistics and artificial intelligence. However, previous attempts have hovered around emerging communication under perception-oriented environmental settings, that forces agents to describe low-level perceptual features intra image or symbol contexts. In this work, inspired by the classic human reasoning test (namely Raven's Progressive Matrix), we propose the Reasoning Game, a cognition-oriented environment that encourages agents to reason and communicate high-level rules, rather than perceived low-level contexts. Moreover, we propose 1) an unbiased dataset (namely rule-RAVEN) as a benchmark to avoid overfitting, 2) and a two-stage curriculum agent training method as a baseline for more stable convergence in the Reasoning Game, where contexts and semantics are bilaterally drifting. Experimental results show that, in the Reasoning Game, a semantically stable and compositional language emerges to solve reasoning problems. The emerged language helps agents apply the extracted rules to the generalization of unseen context attributes, and to the transfer between different context attributes or even tasks.

cs.AI↗