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Weyl semimetal (WSM) states can be achieved by breaking spatial-inversion symmetry or time reversal symmetry. However, the anisotropy of the energy reduction contributing to the emergence of WSM states has seldom been investigated by experiments. A van der Waals metal MoTe2 exhibits a type-II WSM phase below the monoclinic-to-orthorhombic-phase-transition temperature Tc ~ 250 K. Here, we report a combined linearly-polarized optical-spectroscopy and electrical-transport study of MoTe2 at different temperatures. The Drude components in the a-axis, b-axis and c-axis optical conductivity spectra, together with the metallic out-of-plane and in-plane electrical resistivities, indicate the coherent inter-layer and in-plane charge transports. Moreover, the Drude weight in {\sigma}1a({\omega}), rather than the Drude weights in {\sigma}1b({\omega}) and {\sigma}1c({\omega}), decreases dramatically below Tc, which exhibits a highly anisotropic decrease in its Drude weight and thus suggests a strongly anisotropic reduction of the electronic kinetic energy in the WSM phase. Furthermore, below Tc, due to the in-plane anisotropic spectral-weight transfer from Drude component to high-energy region, the in-plane inter-band-absorption anisotropy increases remarkably around 770 meV, and has the largest value (~ 0.68) of normalized linear dichroism among the reported type-II WSMs. Our work sheds light on seeking new WSMs and developing novel photonic devices based on WSMs., Comment: Accepted by Laser & Photonics Reviews

Tactile and textile skin technologies have become increasingly important for enhancing human-robot interaction and allowing robots to adapt to different environments. Despite notable advancements, there are ongoing challenges in skin signal processing, particularly in achieving both accuracy and speed in dynamic touch sensing. This paper introduces a new framework that poses the touch sensing problem as an estimation problem of resistive sensory arrays. Utilizing a Regularized Least Squares objective function which estimates the resistance distribution of the skin. We enhance the touch sensing accuracy and mitigate the ghosting effects, where false or misleading touches may be registered. Furthermore, our study presents a streamlined skin design that simplifies manufacturing processes without sacrificing performance. Experimental outcomes substantiate the effectiveness of our method, showing 26.9% improvement in multi-touch force-sensing accuracy for the tactile skin.

Combining data-driven applications with control systems plays a key role in recent Autonomous Car research. This thesis offers a structured review of the latest literature on Deep Reinforcement Learning (DRL) within the realm of autonomous vehicle Path Planning and Control. It collects a series of DRL methodologies and algorithms and their applications in the field, focusing notably on their roles in trajectory planning and dynamic control. In this review, we delve into the application outcomes of DRL technologies in this domain. By summarizing these literatures, we highlight potential challenges, aiming to offer insights that might aid researchers engaged in related fields.

A van der Waals material, MoTe2 with a monoclinic 1T' crystal structure is a candidate for three-dimensional (3D) second-order topological insulators (SOTIs) hosting gapless hinge states and insulating surface states. However, due to the temperature-induced structural phase transition, the monoclinic 1T' structure of MoTe2 would be transformed into the orthorhombic Td structure as the temperature is lowered, which hinders the experimental verification and the electronic applications of the predicted SOTI state at low temperatures. Here, we present systematic Raman spectroscopy studies of the exfoliated MoTe2 thin flakes with variable thicknesses at different temperatures. As a spectroscopic signature of the orthorhombic Td structure of MoTe2, the out-of-plane vibration mode D at ~ 125 cm-1 is always visible below a certain temperature in the multilayer flakes thicker than ~ 27.7 nm, but vanishes in the temperature range from 80 K to 320 K when the flake thickness becomes lower than ~ 19.5 nm. The absence of the out-of-plane vibration mode D in the Raman spectra here demonstrates not only the disappearance of the monoclinic-to-orthorhombic phase transition but also the persistence of the monoclinic 1T' structure in the MoTe2 thin flakes thinner than ~ 19.5 nm at low temperatures down to 80 K, which may be caused by the high enough density of the holes introduced during the gold-enhanced exfoliation process and exposure to air. The MoTe2 thin flakes with the low-temperature monoclinic 1T' structure provide a material platform for realizing SOTI states in van der Waals materials at low temperatures, which paves the way for developing a new generation of electronic devices based on SOTIs., Comment: 20 pages, 5 figures

Excitons, which represent a type of quasi-particles consisting of electron-hole pairs bound by the mutual Coulomb interaction, were often observed in lowly-doped semiconductors or insulators. However, realizing excitons in the semiconductors or insulators with high charge carrier densities is a challenging task. Here, we perform infrared spectroscopy, electrical transport, ab initio calculation, and angle-resolved-photoemission spectroscopy studies of a van der Waals degenerate-semiconductor Bi4O4SeCl2. A peak-like feature (i.e., alpha peak) is present around ~ 125 meV in the optical conductivity spectra at low temperature T = 8 K and room temperature. After being excluded from the optical excitations of free carriers, interband transitions, localized states and polarons, the alpha peak is assigned as the exciton absorption. Moreover, assuming the existence of weakly-bound excitons--Wannier-type excitons in this material violates the Lyddane-Sachs-Teller relation. Besides, the exciton binding energy of ~ 375 meV, which is about an order of magnitude larger than those of conventional semiconductors, and the charge-carrier concentration of ~ 1.25 * 10^19 cm^-3, which is higher than the Mott density, further indicate that the excitons in this highly-doped system should be tightly bound. Our results pave the way for developing the optoelectronic devices based on the tightly-bound and room-temperature-stable excitons in highly-doped van der Waals degenerate semiconductors., Comment: Accepted by Communications Materials

Tactile skins made from textiles enhance robot-human interaction by localizing contact points and measuring contact forces. This paper presents a solution for rapidly fabricating, calibrating, and deploying these skins on industrial robot arms. The novel automated skin calibration procedure maps skin locations to robot geometry and calibrates contact force. Through experiments on a FANUC LR Mate 200id/7L industrial robot, we demonstrate that tactile skins made from textiles can be effectively used for human-robot interaction in industrial environments, and can provide unique opportunities in robot control and learning, making them a promising technology for enhancing robot perception and interaction.

Fast radio bursts (FRBs) are highly dispersed millisecond-duration radio bursts, of which the physical origin is still not fully understood. FRB 20201124A is one of the most actively repeating FRBs. In this paper, we present the collection of 1863 burst dynamic spectra of FRB 20201124A measured with the Five-hundred-meter Aperture Spherical radio Telescope (FAST). The current collection, taken from the observation during the FRB active phase from April to June 2021, is the largest burst sample detected in any FRB so far. The standard PSRFITs format is adopted, including dynamic spectra of the burst, and the time information of the dynamic spectra, in addition, mask files help readers to identify the pulse positions are also provided.

An intuitive control method for the flying trot, which combines offline trajectory planning with real-time balance control, is presented. The motion features of running animals in the vertical direction were analysed using the spring-load-inverted-pendulum (SLIP) model, and the foot trajectory of the robot was planned, so the robot could run similar to an animal capable of vertical flight, according to the given height and speed of the trunk. To improve the robustness of running, a posture control method based on a foot acceleration adjustment is proposed. A novel kinematic based CoM observation method and CoM regulation method is present to enhance the stability of locomotion. To reduce the impact force when the robot interacts with the environment, the virtual model control method is used in the control of the foot trajectory to achieve active compliance. By selecting the proper parameters for the virtual model, the oscillation motion of the virtual model and the planning motion of the support foot are synchronized to avoid the large disturbance caused by the oscillation motion of the virtual model in relation to the robot motion. The simulation and experiment using the quadruped robot Billy are reported. In the experiment, the maximum speed of the robot could reach 4.73 times the body length per second, which verified the feasibility of the control method., Comment: 30 pages, 20 figures, journal

The topological Weyl semimetals with peculiar band structure exhibit novel nonlinear optical enhancement phenomena even for light at optical wavelengths. While many intriguing nonlinear optical effects were constantly uncovered in type-I semimetals, few experimental works focused on basic nonlinear optical properties in type-II Weyl semimetals. Here we perform a fundamental static and time-resolved second harmonic generation (SHG) on the three dimensional Type-II Weyl semimetal candidate $\beta$-WP$_2$. Although $\beta$-WP$_2$ exhibits extremely high conductivity and an extraordinarily large mean free path, the second harmonic generation is unscreened by conduction electrons, we observed rather strong SHG response compared to non-topological polar metals and archetypal ferroelectric insulators. Additionally, our time-resolved SHG experiment traces ultrafast symmetry switching and reveals that polar metal $\beta$-WP$_2$ tends to form inversion symmetric metastable state after photo-excitation. Intense femtosecond laser pulse could optically drive symmetry switching and tune nonlinear optical response on ultrafast timescales although the interlayer coupling of $\beta$-WP$_2$ is very strong. Our work is illuminating for the polar metal nonlinear optics and potential ultrafast topological optoelectronic applications., Comment: 8 pages, 5 figures

For robots to be effectively deployed in novel environments and tasks, they must be able to understand the feedback expressed by humans during intervention. This can either correct undesirable behavior or indicate additional preferences. Existing methods either require repeated episodes of interactions or assume prior known reward features, which is data-inefficient and can hardly transfer to new tasks. We relax these assumptions by describing human tasks in terms of object-centric sub-tasks and interpreting physical interventions in relation to specific objects. Our method, Object Preference Adaptation (OPA), is composed of two key stages: 1) pre-training a base policy to produce a wide variety of behaviors, and 2) online-updating according to human feedback. The key to our fast, yet simple adaptation is that general interaction dynamics between agents and objects are fixed, and only object-specific preferences are updated. Our adaptation occurs online, requires only one human intervention (one-shot), and produces new behaviors never seen during training. Trained on cheap synthetic data instead of expensive human demonstrations, our policy correctly adapts to human perturbations on realistic tasks on a physical 7DOF robot. Videos, code, and supplementary material are provided., Comment: Accepted to ICRA 2023

Temporal information extraction plays a critical role in natural language understanding. Previous systems have incorporated advanced neural language models and have successfully enhanced the accuracy of temporal information extraction tasks. However, these systems have two major shortcomings. First, they fail to make use of the two-sided nature of temporal relations in prediction. Second, they involve non-parallelizable pipelines in inference process that bring little performance gain. To this end, we propose a novel temporal information extraction model based on deep biaffine attention to extract temporal relationships between events in unstructured text efficiently and accurately. Our model is performant because we perform relation extraction tasks directly instead of considering event annotation as a prerequisite of relation extraction. Moreover, our architecture uses Multilayer Perceptrons (MLP) with biaffine attention to predict arcs and relation labels separately, improving relation detecting accuracy by exploiting the two-sided nature of temporal relationships. We experimentally demonstrate that our model achieves state-of-the-art performance in temporal relation extraction.

Extracting temporal relations among events from unstructured text has extensive applications, such as temporal reasoning and question answering. While it is difficult, recent development of Neural-symbolic methods has shown promising results on solving similar tasks. Current temporal relation extraction methods usually suffer from limited expressivity and inconsistent relation inference. For example, in TimeML annotations, the concept of intersection is absent. Additionally, current methods do not guarantee the consistency among the predicted annotations. In this work, we propose SMARTER, a neural semantic parser, to extract temporal information in text effectively. SMARTER parses natural language to an executable logical form representation, based on a custom typed lambda calculus. In the training phase, dynamic programming on denotations (DPD) technique is used to provide weak supervision on logical forms. In the inference phase, SMARTER generates a temporal relation graph by executing the logical form. As a result, our neural semantic parser produces logical forms capturing the temporal information of text precisely. The accurate logical form representations of an event given the context ensure the correctness of the extracted relations.