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Along with the rapid growth of autonomous vehicles (AVs), more and more demands are required for environment perception technology. Among others, HD mapping has become one of the more prominent roles in helping the vehicle realize essential tasks such as localization and path planning. While increasing research efforts have been directed toward HD Map development. However, a comprehensive overview of the overall HD map mapping and update framework is still lacking. This article introduces the development and current state of the algorithm involved in creating HD map mapping and its maintenance. As part of this study, the primary data preprocessing approach of processing raw data to information ready to feed for mapping and update purposes, semantic segmentation, and localization are also briefly reviewed. Moreover, the map taxonomy, ontology, and quality assessment are extensively discussed, the map data's general representation method is presented, and the mapping algorithm ranging from SLAM to transformers learning-based approaches are also discussed. The development of the HD map update algorithm, from change detection to the update methods, is also presented. Finally, the authors discuss possible future developments and the remaining challenges in HD map mapping and update technology. This paper simultaneously serves as a position paper and tutorial to those new to HD map mapping and update domains., Comment: 30 Pages, 13 figures

P-wave superconductors hold immense promise for both fundamental physics and practical applications due to their unusual pairing symmetry and potential topological superconductivity. However, the exploration of the p-wave superconductors has proved to be a complex endeavor. Not only are they rare in nature but also the identification of p-wave superconductors has been an arduous task in history. For example, phase-sensitive measurement, an experimental technique which can provide conclusive evidence for unconventional pairing, has not been implemented successfully to identify p-wave superconductors. Here, we study a recently discovered family of superconductors, A2Cr3As3 (A = K, Rb, Cs), which were proposed theoretically to be a candidate of p-wave superconductors. We fabricate superconducting quantum interference devices (SQUIDs) on exfoliated K2Cr3As3, and perform the phase-sensitive measurement. We observe that such SQUIDs exhibit a pronounced second-order harmonic component sin(2{\phi}) in the current-phase relation, suggesting the admixture of 0- and {\pi}-phase. By carefully examining the magnetic field dependence of the oscillation patterns of critical current and Shapiro steps under microwave irradiation, we reveal a crossover from 0- to {\pi}-dominating phase state and conclude that the existence of the {\pi}-phase is in favor of the p-wave pairing symmetry in K2Cr3As3.

Understanding the physics of doping a charge transfer insulator is the most important problem in high-temperature superconductivity. In this work, we show that an in-gap bound state emerges from the localized hole of the doped charge transfer insulator. We propose an approximate ground state wavefunction based on one localized Zhang-Rice singlet and the Neel state. By calculating the excitation states with one hole added and removed from this ground state, we successfully identify the existence of bound states inside the charge transfer gap. This feature is further proved by the MPS-based Lanczos study of a system of $4\times4$ CuO$_2$ unit cells. How these bound states evolve into metallic states is further discussed. Our findings identify the key component of recent STM results on lightly doped Ca$_2$CuO$_2$Cl$_2$ and provide a new understanding of hole-doped charge transfer insulators., Comment: 5 pages, 4 figures in the main text and 1 page, 1 figure in the supplemental material

The Ruddlesden-Popper (R-P) bilayer nickelate, La3Ni2O7, was recently found to show signatures of high-temperature superconductivity (HTSC) at pressures above 14 GPa. Subsequent investigations achieved zero resistance in single- and poly-crystalline samples under hydrostatic pressure conditions. Yet, obvious diamagnetic signals, the other hallmark of superconductors, are still lacking owing to the filamentary nature with low superconducting volume fraction. The presence of a novel "1313" polymorph and competing R-P phases obscured proper identification of the phase for HTSC. Thus, achieving bulk HTSC and identifying the phase at play are the most prominent tasks at present. Here, we address these issues in the praseodymium (Pr)-doped La2PrNi2O7 polycrystalline samples. We find that the substitutions of Pr for La effectively inhibits the intergrowth of different R-P phases, resulting in nearly pure bilayer structure. For La2PrNi2O7, pressure-induced orthorhombic-to-tetragonal structural transition takes place at Pc ~ 11 GPa, above which HTSC emerges gradually upon further compression. The superconducting transition temperatures at 18-20 GPa reach Tconset = 82.5 K and Tczero = 60 K, which are the highest values among known nickelate superconductors. More importantly, bulk HTSC was testified by detecting clear diamagnetic signals below ~75 K corresponding to an estimated superconducting volume fraction ~ 57(5)% at 20 GPa. Our results not only resolve the existing controversies but also illuminate directions for exploring bulk HTSC in the bilayer nickelates.

The pairing mechanism behind the monolayer FeSe is one essential question for iron-based superconductors. In this work, we show the sublattice degree of freedoms of monolayer FeSe plays a special role in its pairing properties, namely the sublattice dichotomy. The high-quality monolayer FeSe samples with atomic flat $1\times1$ topography on the SrTiO$_3$(001) substrates are grown by molecular beam epitaxy. By comparing the tunneling spectra at $\alpha$ and $\beta$ Fe sublattices, we find the coherence peak of $\alpha$-Fe at the inner gap $+V_i$ is higher than $\beta$-Fe while the coherence peak of $\beta$-Fe at $-V_i$ is higher than $\alpha$-Fe with a similar amount. We also observed a reversed effect at the outer gap $\pm V_o$. We propose the $\eta$-pairing mechanism between $k$ and $-k+Q$ is the key mechanism for this unconventional sublattice dichotomy effect., Comment: 6 pages, 4 figures

Cooperative adaptive cruise control (CACC) has been recognized as a fundamental function of autonomous driving, in which platoon stability and energy efficiency are outstanding challenges that are difficult to accommodate in real-world operations. This paper studied the CACC of connected and autonomous vehicles (CAVs) based on the multi-agent reinforcement learning algorithm (MARL) to optimize platoon stability and energy efficiency simultaneously. The optimal use of communication bandwidth is the key to guaranteeing learning performance in real-world driving, and thus this paper proposes a communication-efficient MARL by incorporating the quantified stochastic gradient descent (QSGD) and a binary differential consensus (BDC) method into a fully-decentralized MARL framework. We benchmarked the performance of our proposed BDC-MARL algorithm against several several non-communicative andcommunicative MARL algorithms, e.g., IA2C, FPrint, and DIAL, through the evaluation of platoon stability, fuel economy, and driving comfort. Our results show that BDC-MARL achieved the highest energy savings, improving by up to 5.8%, with an average velocity of 15.26 m/s and an inter-vehicle spacing of 20.76 m. In addition, we conducted different information-sharing analyses to assess communication efficacy, along with sensitivity analyses and scalability tests with varying platoon sizes. The practical effectiveness of our approach is further demonstrated using real-world scenarios sourced from open-sourced OpenACC.

3D occupancy prediction (Occ) is a rapidly rising challenging perception task in the field of autonomous driving which represents the driving scene as uniformly partitioned 3D voxel grids with semantics. Compared to 3D object detection, grid perception has great advantage of better recognizing irregularly shaped, unknown category, or partially occluded general objects. However, existing 3D occupancy networks (occnets) are both computationally heavy and label-hungry. In terms of model complexity, occnets are commonly composed of heavy Conv3D modules or transformers on the voxel level. In terms of label annotations requirements, occnets are supervised with large-scale expensive dense voxel labels. Model and data inefficiency, caused by excessive network parameters and label annotations requirement, severely hinder the onboard deployment of occnets. This paper proposes an efficient 3d occupancy network (EFFOcc), that targets the minimal network complexity and label requirement while achieving state-of-the-art accuracy. EFFOcc only uses simple 2D operators, and improves Occ accuracy to the state-of-the-art on multiple large-scale benchmarks: Occ3D-nuScenes, Occ3D-Waymo, and OpenOccupancy-nuScenes. On Occ3D-nuScenes benchmark, EFFOcc has only 18.4M parameters, and achieves 50.46 in terms of mean IoU (mIoU), to our knowledge, it is the occnet with minimal parameters compared with related occnets. Moreover, we propose a two-stage active learning strategy to reduce the requirements of labelled data. Active EFFOcc trained with 6\% labelled voxels achieves 47.19 mIoU, which is 95.7% fully supervised performance. The proposed EFFOcc also supports improved vision-only occupancy prediction with the aid of region-decomposed distillation. Code and demo videos will be available at https://github.com/synsin0/EFFOcc., Comment: preprint under review

Vision-centric occupancy networks, which represent the surrounding environment with uniform voxels with semantics, have become a new trend for safe driving of camera-only autonomous driving perception systems, as they are able to detect obstacles regardless of their shape and occlusion. Modern occupancy networks mainly focus on reconstructing visible voxels from object surfaces with voxel-wise semantic prediction. Usually, they suffer from inconsistent predictions of one object and mixed predictions for adjacent objects. These confusions may harm the safety of downstream planning modules. To this end, we investigate panoptic segmentation on 3D voxel scenarios and propose an instance-aware occupancy network, PanoSSC. We predict foreground objects and backgrounds separately and merge both in post-processing. For foreground instance grouping, we propose a novel 3D instance mask decoder that can efficiently extract individual objects. we unify geometric reconstruction, 3D semantic segmentation, and 3D instance segmentation into PanoSSC framework and propose new metrics for evaluating panoptic voxels. Extensive experiments show that our method achieves competitive results on SemanticKITTI semantic scene completion benchmark., Comment: 3dv2024

In this work, we perform a systematic investigation of the correlated topological superconductors (TSCs), especially their non-trivial Majorana zero modes (MZMs). Compared to the non-interacting MZMs, the emerged correlated MZMs become projected MZMs. To prove this, we study the topological superconducting nanowire under the Hubbard and Hatsugai-Kohmoto interactions. Both of them become correlated TSCs under a magnetic field. Their topological properties are numerically computed by the Wilson loop and entanglement spectrum. We successfully extract the projected MZMs connecting the ground state and excited state through exact diagonalization. We also extend our results to the spinful Kitaev chain. Our results can provide a new perspective and understanding of the correlated MZMs., Comment: 4 pages, 4 figures and supplemental material

Constructing high-definition (HD) maps is a crucial requirement for enabling autonomous driving. In recent years, several map segmentation algorithms have been developed to address this need, leveraging advancements in Bird's-Eye View (BEV) perception. However, existing models still encounter challenges in producing realistic and consistent semantic map layouts. One prominent issue is the limited utilization of structured priors inherent in map segmentation masks. In light of this, we propose DiffMap, a novel approach specifically designed to model the structured priors of map segmentation masks using latent diffusion model. By incorporating this technique, the performance of existing semantic segmentation methods can be significantly enhanced and certain structural errors present in the segmentation outputs can be effectively rectified. Notably, the proposed module can be seamlessly integrated into any map segmentation model, thereby augmenting its capability to accurately delineate semantic information. Furthermore, through extensive visualization analysis, our model demonstrates superior proficiency in generating results that more accurately reflect real-world map layouts, further validating its efficacy in improving the quality of the generated maps.

The newly discovered Kagome superconductors AV$_3$Sb$_5$ (A=K, Rb and Cs) continue to bring surprises in generating unusual phenomena and physical properties, including anomalous Hall effect, unconventional charge density wave, electronic nematicity and time-reversal symmetry breaking. Here we report an unexpected emergence of multiple flat bands in the AV$_3$Sb$_5$ superconductors. By performing high-resolution angle-resolved photoemission (ARPES) measurements, we observed four branches of flat bands that span over the entire momentum space. The appearance of the flat bands is not anticipated from the band structure calculations and cannot be accounted for by the known mechanisms of flat band generation. It is intimately related to the evolution of van Hove singularities. It is for the first time to observe such emergence of multiple flat bands in solid materials. Our findings provide new insights in revealing the underlying mechanism that governs the unusual behaviors in the Kagome superconductors. They also provide a new pathway in producing flat bands and set a platform to study the flat bands related physics., Comment: 20 pages, 4 figures

Intrinsic Rashba spin-orbital coupling (SOC) can exist in centrosymmetric materials with local inversion symmetry breaking. Here we show that such a SOC can induce topological superconductivity together with an in-plane Zeeman field in planar Josephson junctions formed by the centrosymmetric materials. A single Majorana mode can be created at each end of the junction. We demonstrate this result in a model based on iron-based superconductors. We derive the necessary Fermi surface condition for the topological planar junction and calculate the topological phase diagram with respect to the in-plane Zeeman field and the phase difference between the two superconductors. We provide experimental characteristics for the topological superconductivity, including the differential conductance and the Fano factor tomography which can be measured in the scanning tunneling spectroscopy. Our study reveals that the centrosymmetric systems with local-inversion-symmetry breaking can serve as new platforms for the topological planar Josephson junctions, and help to find more experimentally feasible materials for the topological superconductors., Comment: 14 pages, 7 figures

Vortices and bound states offer an effective means of comprehending the electronic properties of superconductors. Recently, surface dependent vortex core states have been observed in the newly discovered kagome superconductors CsV3Sb5. Although the spatial distribution of the sharp zero energy conductance peak appears similar to Majorana bound states arising from the superconducting Dirac surface states, its origin remains elusive. In this study, we present observations of tunable vortex bound states (VBSs) in two chemically doped kagome superconductors Cs(V1-xTrx)3Sb5 (Tr=Ta or Ti), using low temperature scanning tunneling microscopy/spectroscopy. The CsV3Sb5-derived kagome superconductors exhibit full gap pairing superconductivity accompanied by the absence of long range charge orders, in contrast to pristine CsV3Sb5. Zero energy conductance maps demonstrate a field-driven continuous reorientation transition of the vortex lattice, suggesting multiband superconductivity. The Ta doped CsV3Sb5 displays the conventional cross shaped spatial evolution of Caroli de Gennes Matricon bound states, while the Ti doped CsV3Sb5 exhibits a sharp, non split zero bias conductance peak (ZBCP) that persists over a long distance across the vortex. The spatial evolution of the non split ZBCP is robust against surface effects and external magnetic field but is related to the doping concentrations. Our study reveals the tunable VBSs in multiband chemically doped CsV3Sb5 system and offers fresh insights into previously reported Y shaped ZBCP in a non quantum limit condition at the surface of kagome superconductor., Comment: accepted by Science Bulletin DOI:10.1016/j.scib.2024.01.036

We carry out a systematic study of the electronic and magnetic structure of the ambient-pressure bilayer La$_3$Ni$_2$O$_7$. Employing the hybrid exchange-correlation functional, we show that the exchange-correlation pushes the antibonding $d_{z^2}$ bands below the Fermi level to be fully occupied. The calculated Fermi surfaces and the correlation normalized band structure match well with the experimental findings at ambient pressure. Moreover, the electronic susceptibility calculated for this new band structure features nesting-induced peaks near the wave vector $Q=(\pi/2, \pi/2)$, suggesting a possible density wave instability in agreement with recent experiments. Through a mean field study and DFT+U calculation, we confirm the spin-charge intertwined double stripe order is the magnetic ground state. Our results provide a faithful description for the low-pressure La$_3$Ni$_2$O$_7$ electronic structure., Comment: 4 pages, 7 figures and supplemental material

The striking discovery of high-temperature superconductivity (HTSC) of 80 K in a bilayer nickelate La$_3$Ni$_2$O$_7$ under a moderately high pressure of about 14 GPa ignited a new wave of studying HTSC in nickelates. The properties of the parental phase at ambient pressure may contain key information on basic interactions therein and bosons that may mediate pairing giving birth to superconductivity. Moreover, the bilayer structure of La$_3$Ni$_2$O$_7$ may suggest a distinct minimal model in comparison to cuprate superconductors. Here using X-ray absorption spectroscopy and resonant inelastic X-ray scattering, we studied La$_3$Ni$_2$O$_7$ at ambient pressure, and found that Ni 3$d_{x^2-y^2}$, Ni 3$d_{z^2}$, and ligand oxygen 2$p$ orbitals dominate the low-energy physics with a small charge-transfer energy. Remarkably, well-defined optical-like magnetic excitations were found to soften into a quasi-static spin-density-wave ordering, evidencing the strong electronic correlations and rich magnetic properties. Based on a Heisenberg spin model, we found that the inter-layer effective magnetic superexchange interaction is much larger than the intra-layer ones, and proposed two viable magnetic structures. Our results set the foundation for further exploration of La$_3$Ni$_2$O$_7$ superconductor.

A map, as crucial information for downstream applications of an autonomous driving system, is usually represented in lanelines or centerlines. However, existing literature on map learning primarily focuses on either detecting geometry-based lanelines or perceiving topology relationships of centerlines. Both of these methods ignore the intrinsic relationship of lanelines and centerlines, that lanelines bind centerlines. While simply predicting both types of lane in one model is mutually excluded in learning objective, we advocate lane segment as a new representation that seamlessly incorporates both geometry and topology information. Thus, we introduce LaneSegNet, the first end-to-end mapping network generating lane segments to obtain a complete representation of the road structure. Our algorithm features two key modifications. One is a lane attention module to capture pivotal region details within the long-range feature space. Another is an identical initialization strategy for reference points, which enhances the learning of positional priors for lane attention. On the OpenLane-V2 dataset, LaneSegNet outperforms previous counterparts by a substantial gain across three tasks, \textit{i.e.}, map element detection (+4.8 mAP), centerline perception (+6.9 DET$_l$), and the newly defined one, lane segment perception (+5.6 mAP). Furthermore, it obtains a real-time inference speed of 14.7 FPS. Code is accessible at https://github.com/OpenDriveLab/LaneSegNet., Comment: Accepted in ICLR 2024

In this paper, we present XuanCe, a comprehensive and unified deep reinforcement learning (DRL) library designed to be compatible with PyTorch, TensorFlow, and MindSpore. XuanCe offers a wide range of functionalities, including over 40 classical DRL and multi-agent DRL algorithms, with the flexibility to easily incorporate new algorithms and environments. It is a versatile DRL library that supports CPU, GPU, and Ascend, and can be executed on various operating systems such as Ubuntu, Windows, MacOS, and EulerOS. Extensive benchmarks conducted on popular environments including MuJoCo, Atari, and StarCraftII multi-agent challenge demonstrate the library's impressive performance. XuanCe is open-source and can be accessed at https://github.com/agi-brain/xuance.git., Comment: 16 pages, 4 figures, 32 conferences

Next generation neutrino telescopes are highly anticipated to boost the development of neutrino astronomy. A multi-cubic-kilometer neutrino telescope, TRopIcal DEep-sea Neutrino Telescope (TRIDENT), was proposed to be built in the South China Sea. The detector aims to achieve ~ 0.1 degree angular resolution for track-like events at energy above 100 TeV by using hybrid digital optical modules, opening new opportunities for neutrino astronomy. In order to measure the water optical properties and marine environment of the proposed TRIDENT site, a pathfinder experiment was conducted, in which a 100-meter-long string consisting of three optical modules was deployed at a depth of 3420 m to perform in-situ measurements. The central module emits light by housing LEDs, whereas the other two modules detect light with two independent and complementary systems: the PMT and the camera systems. By counting the number of detected photons and analyzing the photon arrival time distribution, the PMT system can measure the absorption and scattering lengths of sea water, which serve as the basic inputs for designing the neutrino telescope. In this paper, we present the design concept, calibration and performance of the PMT system in the pathfinder experiment.

Connected and automated vehicles (CAVs) have emerged as a potential solution to the future challenges of developing safe, efficient, and eco-friendly transportation systems. However, CAV control presents significant challenges, given the complexity of interconnectivity and coordination required among the vehicles. To address this, multi-agent reinforcement learning (MARL), with its notable advancements in addressing complex problems in autonomous driving, robotics, and human-vehicle interaction, has emerged as a promising tool for enhancing the capabilities of CAVs. However, there is a notable absence of current reviews on the state-of-the-art MARL algorithms in the context of CAVs. Therefore, this paper delivers a comprehensive review of the application of MARL techniques within the field of CAV control. The paper begins by introducing MARL, followed by a detailed explanation of its unique advantages in addressing complex mobility and traffic scenarios that involve multiple agents. It then presents a comprehensive survey of MARL applications on the extent of control dimensions for CAVs, covering critical and typical scenarios such as platooning control, lane-changing, and unsignalized intersections. In addition, the paper provides a comprehensive review of the prominent simulation platforms used to create reliable environments for training in MARL. Lastly, the paper examines the current challenges associated with deploying MARL within CAV control and outlines potential solutions that can effectively overcome these issues. Through this review, the study highlights the tremendous potential of MARL to enhance the performance and collaboration of CAV control in terms of safety, travel efficiency, and economy.

In this work, we investigate the tunneling characteristics of Majorana zero modes (MZMs) in vortex lattices based on scanning tunneling microscopy measurement. We find that zero bias conductance does not reach the quantized value owing to the coupling between the MZMs. On the contrary, the Fano factor measured in the high voltage regime reflects the local particle-hole asymmetry of the bound states and is insensitive to the energy splitting between them. We propose using spatially resolved Fano factor tomography as a tool to identify the existence of MZMs. In both cases of isolated MZM or MZMs forming bands, there is a spatially resolved Fano factor plateau at one in the vicinity of a vortex core, regardless of the tunneling parameter details, which is in stark contrast to other trivial bound states. These results reveal new tunneling properties of MZMs in vortex lattices and provide measurement tools for topological quantum devices., Comment: 12 pages, 13 figures

Cooper pairs formed by two electrons with different effective masses are common in multiband superconductors, pair density wave states, and other superconducting systems with multiple degrees of freedom. In this paper, we show that there are paramagnetic contributions to the superfluid stiffness in superconductors with different-mass Cooper pairs. This paramagnetic response is owing to the relative motion between two electrons with different mass. Additionally, we identify a particle-hole dichotomy effect related to this mass difference. We investigate the paramagnetic contributions based on the linear-response theory in two-band superconductors with interband pairings and in pair density wave states, respectively. Our results offer a different perspective of the electromagnetic superfluid stiffness in unconventional superconductors beyond the traditional BCS response., Comment: 5 pages, 4 figures in the main text and 6 pages, 4 figures in the supplemental material

Monocular Re-Localization (MRL) is a critical component in autonomous applications, estimating 6 degree-of-freedom ego poses w.r.t. the scene map based on monocular images. In recent decades, significant progress has been made in the development of MRL techniques. Numerous algorithms have accomplished extraordinary success in terms of localization accuracy and robustness. In MRL, scene maps are represented in various forms, and they determine how MRL methods work and how MRL methods perform. However, to the best of our knowledge, existing surveys do not provide systematic reviews about the relationship between MRL solutions and their used scene map representation. This survey fills the gap by comprehensively reviewing MRL methods from such a perspective, promoting further research. 1) We commence by delving into the problem definition of MRL, exploring current challenges, and comparing ours with existing surveys. 2) Many well-known MRL methods are categorized and reviewed into five classes according to the representation forms of utilized map, i.e., geo-tagged frames, visual landmarks, point clouds, vectorized semantic map, and neural network-based map. 3) To quantitatively and fairly compare MRL methods with various map, we introduce some public datasets and provide the performances of some state-of-the-art MRL methods. The strengths and weakness of MRL methods with different map are analyzed. 4) We finally introduce some topics of interest in this field and give personal opinions. This survey can serve as a valuable referenced materials for MRL, and a continuously updated summary of this survey is publicly available to the community at: https://github.com/jinyummiao/map-in-mono-reloc., Comment: 33 pages, 10 tables, 16 figures, under review

The recent discovery of high-temperature superconductivity in the Ruddlesden-Popper phase La3Ni2O7 under high pressure marks a significant breakthrough in the field of 3d transition-metal oxide superconductors. For an emerging novel class of high-Tc superconductors, it is crucial to find more analogous superconducting materials with a dedicated effort toward broadening the scope of nickelate superconductors. Here, we report on the observation of high-Tc superconductivity in the high-pressure tetragonal I4/mmm phase of La2PrNi2O7 above ~10 GPa, which is distinct from the reported orthorhombic Fmmm phase of La3Ni2O7 above 14 GPa. For La2PrNi2O7, the onset and the zero-resistance temperatures of superconductivity reach Tconset = 78.2 K and Tczero = 40 K at 15 GPa. This superconducting phase shares the samilar structural symmetry as many cuprate superconductors, providing a fresh platform to investigate underlying mechanisms of nickelate superconductors., Comment: 19 pages and 6 figures

We propose a modified BCS wavefunction as the ground state of a correlated superconductor with the correlation specified between $k$ and $-k$ electrons in the reciprocal space. Owing to this correlation, low-energy excitations are not conventional BCS Bogoliubov quasiparticles. They display at least four poles in the Green's function and their particle-hole weights in the tunneling and photon-emission spectrum become asymmetric. The superfluid density or superfluid stiffness also deviates from the BCS predictions with finite paramagnetic terms inside the total diamagnetic response. Moreover, a $d$-wave correlated pairing state becomes robust against weak disorders. Hence, this state can explain many mysterious features observed in unconventional superconductors like cuprates., Comment: 8 pages, 4 figures in the main text and 3 pages, 1 figure in the supplemental material

Finding viable Kagome lattices is vital for materializing novel phenomena in quantum materials. In this work, we performed element substitutions on CsV3Sb5 with space group P6/mmm, TbMn6Sn6 with space group P6/mmm, and CsV6Sb6 with space group R-3 m, respectively, as the parent compounds. A total of 4158 materials were obtained through element substitutions, and these materials were then calculated via density function theory in high-throughput mode. Afterward, 48 materials were identified with high thermodynamic stability (E_hull<5meV/atom). Furthermore, we compared the thermodynamic stability of three different phases with the same elemental composition and predicted some competing phases that may arise during material synthesis. Finally, by calculating the electronic structures of these materials, we attempted to identify patterns in the electronic structure variations as the elements change. This work provides guidance for discovering promising AM3X5/AM6X6 Kagome materials from a vast phase space.

Motivated by the recent discovery of high-temperature superconductivity in bilayer La$_3$Ni$_2$O$_7$ under pressure, we study its electronic properties and superconductivity due to strong electron correlation. Using the inversion symmetry, we decouple the low-energy electronic structure into block-diagonal symmetric and antisymmetric sectors. We find that the antisymmetric sector can be reduced to a one-band system near half filling, while the symmetric bands occupied by about two electrons are heavily overdoped individually. Using the strong coupling mean field theory, we obtain strong superconducting pairing with $B_{1g}$ symmetry in the antisymmetric sector. We propose that due to the spin-orbital exchange coupling between the two sectors, $B_{1g}$ pairing is induced in the symmetric bands, which in-turn boosts the pairing gap in the antisymmetric band and enhances the high-temperature superconductivity with a congruent $d$-wave symmetry in pressurized La$_3$Ni$_2$O$_7$., Comment: 4 pages and 3 figures with supplemental materials

We classify the pairing symmetries of three-dimensional superconductivity in the zinc-blende structure which can support an electronic environment to host unconventional high temperature superconductivity, and calculate the pairing symmetry in the presence of strong electron-electron correlation by the slave boson mean-field approach. We find that the $d_{2z^2-x^2-y^2} \pm id_{x^2-y^2}$ pairing state, a three dimensional analogy of the $d\pm id$ pairing in a two dimensional square lattice, is ubiquitously favored near half filling upon hole doping in both single-orbital and three-orbital models. However, unlike the two dimensional counterpart, the Bogoliubov quasiparticle spectrum of the three dimensional state upholds the full $T_d$ point group symmetry and encompasses point nodes along certain high symmetric lines., Comment: 9pages,6 figures and 7 tabulations

Edge states in topological systems have attracted great interest due to their robustness and linear dispersions. Here a superconducting-proximitized edge interferometer is engineered on a topological insulator Ta2Pd3Te5 with asymmetric edges to realize the interfering Josephson diode effect (JDE), which hosts many advantages, such as the high efficiency as much as 73% at tiny applied magnetic fields with an ultra-low switching power around picowatt, and a giant interfering magnetochiral anisotropy with a maximal coefficient gamma = 1.2 x 10^{9} T^{-1}A^{-1}. As an important element to induce such JDE, the second-order harmonic in the current-phase relation is also experimentally confirmed by half-integer Shapiro steps. This edge interferometer offers a novel and effective method to enhance the overall performance of JDE and magnetochiral anisotropy, and boosts great potential applications for future superconducting quantum devices., Comment: 29 pages,21 figures

Self-driving vehicles (SDVs) are becoming reality but still suffer from "long-tail" challenges during natural driving: the SDVs will continually encounter rare, safety-critical cases that may not be included in the dataset they were trained. Some safety-assurance planners solve this problem by being conservative in all possible cases, which may significantly affect driving mobility. To this end, this work proposes a method to automatically adjust the conservative level according to each case's "long-tail" rate, named dynamically conservative planner (DCP). We first define the "long-tail" rate as an SDV's confidence to pass a driving case. The rate indicates the probability of safe-critical events and is estimated using the statistics bootstrapped method with historical data. Then, a reinforcement learning-based planner is designed to contain candidate policies with different conservative levels. The final policy is optimized based on the estimated "long-tail" rate. In this way, the DCP is designed to automatically adjust to be more conservative in low-confidence "long-tail" cases while keeping efficient otherwise. The DCP is evaluated in the CARLA simulator using driving cases with "long-tail" distributed training data. The results show that the DCP can accurately estimate the "long-tail" rate to identify potential risks. Based on the rate, the DCP automatically avoids potential collisions in "long-tail" cases using conservative decisions while not affecting the average velocity in other typical cases. Thus, the DCP is safer and more efficient than the baselines with fixed conservative levels, e.g., an always conservative planner. This work provides a technique to guarantee SDV's performance in unexpected driving cases without resorting to a global conservative setting, which contributes to solving the "long-tail" problem practically.

Deep reinforcement learning (DRL) has emerged as a promising approach for developing more intelligent autonomous vehicles (AVs). A typical DRL application on AVs is to train a neural network-based driving policy. However, the black-box nature of neural networks can result in unpredictable decision failures, making such AVs unreliable. To this end, this work proposes a method to identify and protect unreliable decisions of a DRL driving policy. The basic idea is to estimate and constrain the policy's performance uncertainty, which quantifies potential performance drop due to insufficient training data or network fitting errors. By constraining the uncertainty, the DRL model's performance is always greater than that of a baseline policy. The uncertainty caused by insufficient data is estimated by the bootstrapped method. Then, the uncertainty caused by the network fitting error is estimated using an ensemble network. Finally, a baseline policy is added as the performance lower bound to avoid potential decision failures. The overall framework is called uncertainty-bound reinforcement learning (UBRL). The proposed UBRL is evaluated on DRL policies with different amounts of training data, taking an unprotected left-turn driving case as an example. The result shows that the UBRL method can identify potentially unreliable decisions of DRL policy. The UBRL guarantees to outperform baseline policy even when the DRL policy is not well-trained and has high uncertainty. Meanwhile, the performance of UBRL improves with more training data. Such a method is valuable for the DRL application on real-road driving and provides a metric to evaluate a DRL policy.

High-precision vehicle localization with commercial setups is a crucial technique for high-level autonomous driving tasks. Localization with a monocular camera in LiDAR map is a newly emerged approach that achieves promising balance between cost and accuracy, but estimating pose by finding correspondences between such cross-modal sensor data is challenging, thereby damaging the localization accuracy. In this paper, we address the problem by proposing a novel Transformer-based neural network to register 2D images into 3D LiDAR map in an end-to-end manner. Poses are implicitly represented as high-dimensional feature vectors called pose queries and can be iteratively updated by interacting with the retrieved relevant information from cross-model features using attention mechanism in a proposed POse Estimator Transformer (POET) module. Moreover, we apply a multiple hypotheses aggregation method that estimates the final poses by performing parallel optimization on multiple randomly initialized pose queries to reduce the network uncertainty. Comprehensive analysis and experimental results on public benchmark conclude that the proposed image-to-LiDAR map localization network could achieve state-of-the-art performances in challenging cross-modal localization tasks., Comment: 8 pages, 3 figures, 4 tables