arXiv subjects

Zuxing Lu

Publications and source records attributed to Zuxing Lu.

3 recordsLinked to original sources

arXiv2026

Coexistence and manipulation of multiple singularities in a reconfigurable non-Hermitian metasurface

Non-Hermitian frameworks extend conventional Hermitian physics, offering a powerful paradigm for describing open systems. Central to this field are various singularities within the complex parameter space, such as exceptional points (EPs) and scattering zeros, which dictate exotic physical behaviors. As research shifts from isolated singularities toward multi-singularity interactions, conventional planar metasurfaces remain constrained by limited tuning dimensions. Here, we propose a mirror-coupled design that maps a metasurface into a quasi-high-dimensional parameter space. By employing a metallic plane to generate image resonators, this scheme multiplies the system degrees of freedom without increasing the number of physical resonators. Its implementation on a reconfigurable platform integrated with PIN diodes yields the coexistence and manipulation of an EP and multiple reflection zeros. Through simulations and microwave experiments, we characterize the dynamic evolution of these singularities and exploit their synergistic effects for two distinct applications. First, for tunable absorption, multiple reflection zeros are spectrally coordinated to achieve a near-perfect absorption band exceeding $99.9\%$ across the X-band, thereby dynamically suppressing target scattering. Second, for enhanced sensing, a reflection zero couples with the EP to form a hybrid singularity. This hybrid state inherits the power-law sensitivity of the EP while substantially boosting robustness against fluctuations, resolving the conventional trade-off between sensitivity and stability and simplifying detection to direct peak tracking rather than complex multimode eigenvalue fitting. Our work provides a general methodology to circumvent parameter competition among non-Hermitian singularities, opening new avenues for multifunctional metadevices across the electromagnetic spectrum.

physics.optics↗

arXiv2026

M3imic: Learning a Versatile Whole-Body Controller for Multimodal Motion Mimicking

Building a general-purpose whole-body controller is essential for enabling diverse motion capabilities in humanoid robots across a wide range of downstream tasks, including locomotion and loco-manipulation. Different tasks rely on distinct motion reference modalities: locomotion primarily depends on coordinated robot joint trajectories, whereas manipulation requires precise end-effector trajectory tracking. Existing methods often overlook the representational mismatch between dense robot joint angles and sparse end-effector poses. To address this, we propose Multi-Modal Mimic (M3imic), a versatile multi-modal whole-body control framework that unifies heterogeneous motion reference modalities, including robot joint angles, human pose trajectories, and end-effector poses, using modality-specific encoders to map them into a shared latent space. Leveraging large-scale reinforcement learning in the simulator, we train a single policy that achieves sim-to-real transfer across multiple motion reference modalities without modality-specific retraining. Extensive simulation and real-world experiments on the Unitree G1 robot are conducted to evaluate the proposed framework. In simulation, the policy achieves a peak success rate of 98.42\% on an unseen test dataset, demonstrating its exceptional generalization capability. The code is available at https://github.com/Renforce-Dynamics/MultiModalWBC

cs.RO↗

arXiv2025

GSFF-SLAM: 3D Semantic Gaussian Splatting SLAM via Feature Field

Semantic-aware 3D scene reconstruction is essential for autonomous robots to perform complex interactions. Semantic SLAM, an online approach, integrates pose tracking, geometric reconstruction, and semantic mapping into a unified framework, shows significant potential. However, existing systems, which rely on 2D ground truth priors for supervision, are often limited by the sparsity and noise of these signals in real-world environments. To address this challenge, we propose GSFF-SLAM, a novel dense semantic SLAM system based on 3D Gaussian Splatting that leverages feature fields to achieve joint rendering of appearance, geometry, and N-dimensional semantic features. By independently optimizing feature gradients, our method supports semantic reconstruction using various forms of 2D priors, particularly sparse and noisy signals. Experimental results demonstrate that our approach outperforms previous methods in both tracking accuracy and photorealistic rendering quality. When utilizing 2D ground truth priors, GSFF-SLAM achieves state-of-the-art semantic segmentation performance with 95.03\% mIoU, while achieving up to 2.9$\times$ speedup with only marginal performance degradation.

cs.RO↗