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Zhibin Li

Publications and source records attributed to Zhibin Li.

115 records · Page 7Linked to original sources
arXiv2018

Comparison Study of Nonlinear Optimization of Step Durations and Foot Placement for Dynamic Walking

This paper studies bipedal locomotion as a nonlinear optimization problem based on continuous and discrete dynamics, by simultaneously optimizing the remaining step duration, the next step duration and the foot location to achieve robustness. The linear inverted pendulum as the motion model captures the center of mass dynamics and its low-dimensionality makes the problem more tractable. We first formulate a holistic approach to search for optimality in the three-dimensional parametric space and use these results as baseline. To further improve computational efficiency, our study investigates a sequential approach with two stages of customized optimization that first optimizes the current step duration, and subsequently the duration and location of the next step. The effectiveness of both approaches is successfully demonstrated in simulation by applying different perturbations. The comparison study shows that these two approaches find mostly the same optimal solutions, but the latter requires considerably less computational time, which suggests that the proposed sequential approach is well suited for real-time implementation with a minor trade-off in optimality.

cs.RO↗
arXiv2017

Corrections to holographic entanglement plateau

We investigate the robustness of the Araki-Lieb inequality in a two-dimensional (2D) conformal field theory (CFT) on torus. The inequality requires that $ΔS=S(L)-|S(L-\ell)-S(\ell)|$ is nonnegative, where $S(L)$ is the thermal entropy and $S(L-\ell)$, $S(\ell)$ are the entanglement entropies. Holographically there is an entanglement plateau in the BTZ black hole background, which means that there exists a critical length such that when $\ell \leq \ell_c$ the inequality saturates $ΔS=0$. In thermal AdS background, the holographic entanglement entropy leads to $ΔS=0$ for arbitrary $\ell$. We compute the next-to-leading order contributions to $ΔS$ in the large central charge CFT at both high and low temperatures. In both cases we show that $ΔS$ is strictly positive except for $\ell = 0$ or $\ell = L$. This turns out to be true for any 2D CFT. In calculating the single interval entanglement entropy in a thermal state, we develop new techniques to simplify the computation. At a high temperature, we ignore the finite size correction such that the problem is related to the entanglement entropy of double intervals on a complex plane. As a result, we show that the leading contribution from a primary module takes a universal form. At a low temperature, we show that the leading thermal correction to the entanglement entropy from a primary module does not take a universal form, depending on the details of the theory.

hep-th↗
arXiv2017

Locating the QCD critical end point through the peaked baryon number susceptibilities along the freeze-out line

We investigate the baryon number susceptibilities up to fourth order along different freeze-out lines in a holographic QCD model with the critical end point (CEP), and we propose that the peaked baryon number susceptibilities along the freeze-out line can be used as a clean signature to locate the CEP in the QCD phase diagram. On the temperature and baryon chemical potential plane, the ratio of the baryon number susceptibilities (up to fourth order) forms a ridge along the phase boundary, and develops a sword shape mountain standing upright around the CEP in a narrow and oblate region. This feature is model independent and universal if the CEP exists. The measurement of the baryon number susceptibilities from heavy-ion collision experiment is along the freeze-out line. If the freeze-out line crosses the foot of the CEP mountain, then one can observe the peaked baryon number susceptibilities along the freeze-out line, and the kurtosis of the baryon number distributions has the tallest magnitude. The data from the first phase of beam energy scan program at the Relativistic Heavy Ion Collisions indicates that a peak of the kurtosis of the baryon number distribution would show up at the collision energy around 5 GeV, which suggests that the freeze-out line crosses the foot of the CEP mountain and the summit of the CEP would be located nearby around the collision energy of 3 GeV.

hep-ph↗
arXiv2016

Holographic Rényi entropy for two-dimensional $\mathcal{N}$=(2,2) superconformal field theory

We investigate the holographic Rényi entropy for two-dimensional $\mathcal N=(2,2)$ superconformal field theory (SCFT), which is dual to $\mathcal N=2$ supergravity in AdS$_3$ background. In SCFT we have the stress tensor, current, and their supersymmetric partners, and in supergravity we have the graviton, vector field, and two gravitinos. We get the Rényi mutual information of two short intervals on complex plane in expansion by the cross ratio $x$ to order $x^4$, and Rényi entropy of one interval on torus in expansion by $q=\exp(-2πβ/L)$, with $β$ being the inverse temperature and $L$ being the spatial period, to order $q^2$. We calculate in both the supergravity and SCFT sides, and find matches of the results.

hep-th↗
arXiv2016

iDRM: Humanoid Motion Planning with Real-Time End-Pose Selection in Complex Environments

In this paper, we propose a novel inverse Dynamic Reachability Map (iDRM) that allows a floating base system to find valid end-poses in complex and dynamically changing environments in real-time. End-pose planning for valid stance pose and collision-free configuration is an essential problem for humanoid applications, such as providing goal states for walking and motion planners. However, this is non-trivial in complex environments, where standing locations and reaching postures are restricted by obstacles. Our proposed iDRM customizes the robot-to-workspace occupation list and uses an online update algorithm to enable efficient reconstruction of the reachability map to guarantee that the selected end-poses are always collision-free. The iDRM was evaluated in a variety of reaching tasks using the 38 degree-of-freedom (DoF) humanoid robot Valkyrie. Our results show that the approach is capable of finding valid end-poses in a fraction of a second. Significantly, we also demonstrate that motion planning algorithms integrating our end-pose planning method are more efficient than those not utilizing this technique.

cs.RO↗
arXiv2016

On one-loop entanglement entropy of two short intervals from OPE of twist operators

We investigate the one-loop entanglement entropy of two short intervals with small cross ratio $x$ on a complex plane in two-dimensional conformal field theory (CFT) using operator product expansion of twist operators. We focus on the one-loop entanglement entropy instead of the general order $n$ Rényi entropy, and this makes the calculation much easier. We consider the contributions of stress tensor to order $x^{10}$, contributions of $W_3$ operator to order $x^{12}$, and contributions of $W_4$ operator to order $x^{14}$. The CFT results agree with the ones in gravity.

hep-th↗