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Zhiming Sun

Publications and source records attributed to Zhiming Sun.

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Evolution of topological phases in atomically thin WTe2 films

Topological materials ranging from topological insulators to semimetals host many novel quantum phenomena including quantum spin Hall effect and topological Fermi arcs. Transitions between these topological phases have attracted much research interest. We performed angle-resolved photoemission spectroscopy (ARPES) on WTe2 ranging from a monolayer to the bulk and reveal the evolution of the electronic structure and the band gap. Notably, the gap observed in the monolayer system is suppressed in the three layers, where the film becomes metallic. Variations in the topological properties with thickness are demonstrated by the first-principles calculations. Topological Z2 invariant is shown to oscillate between 1 and 0 with the addition of layers, originating from the interlayer coupling-induced change in band crossing. The system evolves into a Weyl semimetal when the conduction and valence bands touch near the Fermi level and the topological nature is described by the Chern number. Our findings demonstrate the non-monotonic dependence of topological states on dimensionality and how layer-driven electronic band reconfiguration leads to phase transitions in solids.

cond-mat.mes-hall

ABot-Claw: A Foundation for Persistent, Cooperative, and Self-Evolving Robotic Agents

Current embodied intelligent systems still face a substantial gap between high-level reasoning and low-level physical execution in open-world environments. Although Vision-Language-Action (VLA) models provide strong perception and intuitive responses, their open-loop nature limits long-horizon performance. Agents incorporating System 2 cognitive mechanisms improve planning, but usually operate in closed sandboxes with predefined toolkits and limited real-system control. OpenClaw provides a localized runtime with full system privileges, but lacks the embodied control architecture required for long-duration, multi-robot execution. We therefore propose ABot-Claw, an embodied extension of OpenClaw that integrates: 1) a unified embodiment interface with capability-driven scheduling for heterogeneous robot coordination; 2) a visual-centric cross-embodiment multimodal memory for persistent context retention and grounded retrieval; and 3) a critic-based closed-loop feedback mechanism with a generalist reward model for online progress evaluation, local correction, and replanning. With a decoupled architecture spanning the OpenClaw layer, shared service layer, and robot embodiment layer, ABot-Claw enables real-world interaction, closes the loop from natural language intent to physical action, and supports progressively self-evolving robotic agents in open, dynamic environments.

cs.CV

DRIVE-Nav: Directional Reasoning, Inspection, and Verification for Efficient Open-Vocabulary Navigation

Open-Vocabulary Object Navigation (OVON) requires an embodied agent to locate a language-specified target in unknown environments. Many zero-shot methods rely on frontier-candidate reasoning under incomplete observations, while topology-aware methods reduce candidate redundancy but may still introduce panoramic inspection overhead and repeated reconsideration. We present DRIVE-Nav, a structured framework that organizes exploration around persistent directions rather than raw frontiers. By inspecting encountered directions more completely and restricting subsequent decisions to still-relevant directions within a forward 240-degree view range, DRIVE-Nav reduces redundant revisits and improves path efficiency. The framework extracts and tracks directional candidates from weighted Fast Marching Method (FMM) paths, maintains representative views for semantic inspection, and combines vision-language-guided prompt enrichment with cross-frame verification to improve grounding reliability. Experiments on HM3D-OVON, HM3Dv1, HM3Dv2, and MP3D demonstrate strong overall performance and consistent efficiency gains. On HM3D-OVON, DRIVE-Nav achieves 50.2% SR and 32.6% SPL, improving the previous best method by 1.9% SR and 5.6% SPL. It also delivers the best SPL on HM3Dv1, HM3Dv2, and MP3D and transfers to a physical humanoid robot. Real-world deployment also demonstrates its effectiveness.

cs.RO