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Image projection through scattering media has applications ranging from light delivery through multimode fiber to near-eye displays. Conventional methods utilize the transmission matrix (TM) measured by interfering with a reference beam. However, it is noise-sensitive, often resulting in artifacts that degrade the projection quality. Here we propose to characterize the scattering by computationally retrieving TM from intensity-only measurements and solve the projection problem formulated with the retrieved TM by optimization. We experimentally validate the proposed method by projecting through a multimode fiber. Compared to the conventional methods, it projects improved-quality images with resolution near to the diffraction limit, and simplifies the experimental setup by eliminating the reference. It paves the way for applications of high-quality near-diffraction-limited projection through scattering.

Navigating in human-filled public spaces is a critical challenge for deploying autonomous robots in real-world environments. This paper introduces NaviDIFF, a novel Hamiltonian-constrained socially-aware navigation framework designed to address the complexities of human-robot interaction and socially-aware path planning. NaviDIFF integrates a port-Hamiltonian framework to model dynamic physical interactions and a diffusion model to manage uncertainty in human-robot cooperation. The framework leverages a spatial-temporal transformer to capture social and temporal dependencies, enabling more accurate pedestrian strategy predictions and port-Hamiltonian dynamics construction. Additionally, reinforcement learning from human feedback is employed to fine-tune robot policies, ensuring adaptation to human preferences and social norms. Extensive experiments demonstrate that NaviDIFF outperforms state-of-the-art methods in social navigation tasks, offering improved stability, efficiency, and adaptability.

A team of multiple robots seamlessly and safely working in human-filled public environments requires adaptive task allocation and socially-aware navigation that account for dynamic human behavior. Current approaches struggle with highly dynamic pedestrian movement and the need for flexible task allocation. We propose Hyper-SAMARL, a hypergraph-based system for multi-robot task allocation and socially-aware navigation, leveraging multi-agent reinforcement learning (MARL). Hyper-SAMARL models the environmental dynamics between robots, humans, and points of interest (POIs) using a hypergraph, enabling adaptive task assignment and socially-compliant navigation through a hypergraph diffusion mechanism. Our framework, trained with MARL, effectively captures interactions between robots and humans, adapting tasks based on real-time changes in human activity. Experimental results demonstrate that Hyper-SAMARL outperforms baseline models in terms of social navigation, task completion efficiency, and adaptability in various simulated scenarios.

Strategies to achieve higher upper-critical-field superconductors ({\mu}0Hc2(0)) are of great interest for both fundamental science and practical applications. While reducing the thickness of two-dimensional (2D) materials to a few layers significantly enhances {\mu}0Hc2(0) with accompanied potential unconventional pairing mechanisms, further dimensional reduction to 1D compounds rarely exceeds the expected Pauli limit. Here, we report the discovery of a 1D granular Ta-Te nanowire that becomes superconducting under high pressure, with a maximum critical temperature (Tc) of 5.1 K. Remarkably, the {\mu}0Hc2(0) reaches 16 T, which is twice the Pauli limit, setting a record of {\mu}0Hc2 (0) in all the reported 1D superconductors. Our work demonstrates that the Ta-Te nanowire not only is a potential candidate for applications in high magnetic fields, but also provides an ideal platform for further investigations of the mechanisms between nanowires and large {\mu}0Hc2(0)., Comment: 12 pages,4 figures

Large language models (LLMs) have become the foundation of many applications, leveraging their extensive capabilities in processing and understanding natural language. While many open-source LLMs have been released with technical reports, the lack of training details hinders further research and development. This paper presents the development of YuLan, a series of open-source LLMs with $12$ billion parameters. The base model of YuLan is pre-trained on approximately $1.7$T tokens derived from a diverse corpus, including massive English, Chinese, and multilingual texts. We design a three-stage pre-training method to enhance YuLan's overall capabilities. Subsequent phases of training incorporate instruction-tuning and human alignment, employing a substantial volume of high-quality synthesized data. To facilitate the learning of complex and long-tail knowledge, we devise a curriculum-learning framework throughout across these stages, which helps LLMs learn knowledge in an easy-to-hard manner. YuLan's training is finished on Jan, 2024 and has achieved performance on par with state-of-the-art LLMs across various English and Chinese benchmarks. This paper outlines a comprehensive technical roadmap for developing LLMs from scratch. Our model and codes are available at https://github.com/RUC-GSAI/YuLan-Chat.

As an empirical tool in materials science and engineering, the iconic phase diagram owes its robustness and practicality to the topological characteristics rooted in the celebrated Gibbs phase law (F = C - P + 2). When crossing the phase diagram boundary, the structure transition occurs abruptly, bringing about an instantaneous change in physical properties and limited controllability on the boundaries (F = 1). Here, we expand the sharp phase boundary to an amorphous transition region (F = 2) by partially disrupting the long-range translational symmetry, leading to a sequential crystalline-amorphous-crystalline (CAC) transition in a pressurized In2Te5 single crystal. Through detailed in-situ synchrotron diffraction, we elucidate that the phase transition stems from the rotation of immobile blocks [In2Te2]2+, linked by hinge-like [Te3]2- trimers. Remarkably, within the amorphous region, the amorphous phase demonstrates a notable 25 % increase of the superconducting transition temperature (Tc), while the carrier concentration remains relatively constant. Furthermore, we propose a theoretical framework revealing that the unconventional boost in amorphous superconductivity might be attributed to an intensified electron correlation, triggered by a disorder-augmented multifractal behavior. These findings underscore the potential of disorder and prompt further exploration of unforeseen phenomena on the phase boundaries., Comment: 14 pages, 4 figures, Accepted for publication in Advanced Materials

Weyl semimetals with magnetic ordering provide a promising platform for the investigation of rare topological effects such as the anomalous Hall effect, resulting from the interplay of nontrivial bands with various spin configurations. The materials $R$AlSi, where $R$ represents a rare-earth element, are prominent representatives of Weyl semimetals, where the Weyl states are induced by space inversion symmetry breaking and in addition, for several rare-earth elements $R$, enhanced by time-reversal symmetry breaking through the formation of a magnetic order at low temperature. We report optical signatures of Weyl fermions in the magnetic compounds CeAlSi, PrAlSi, NdAlSi, and SmAlSi as well as the non-magnetic family member LaAlSi by broad-frequency infrared spectroscopy at room temperature, i.e., in the paramagnetic phase. A similar profile of the optical conductivity spectrum and a metallic character are observed for all compounds, with LaAlSi showing the strongest free charge carrier contribution. Furthermore, the linear-in-frequency behavior of the optical conductivity of all investigated compounds indicates the presence of Weyl nodes in close vicinity of the Fermi energy, resulting from inversion symmetry breaking in noncentrosymmetric structures. According to the characteristics of these linear slopes, the $R$AlSi compounds are expected to host mainly type-II Weyl states with overtilted Weyl cones. The results are compared to the optical response of the closely related $R$AlGe materials, which are considered as potential hybridization-driven Weyl-Kondo systems., Comment: 8 pages, 6 figures. Accepted for publication in Phys. Rev. B

An interactive social robotic assistant must provide services in complex and crowded spaces while adapting its behavior based on real-time human language commands or feedback. In this paper, we propose a novel hybrid approach called Social Robot Planner (SRLM), which integrates Large Language Models (LLM) and Deep Reinforcement Learning (DRL) to navigate through human-filled public spaces and provide multiple social services. SRLM infers global planning from human-in-loop commands in real-time, and encodes social information into a LLM-based large navigation model (LNM) for low-level motion execution. Moreover, a DRL-based planner is designed to maintain benchmarking performance, which is blended with LNM by a large feedback model (LFM) to address the instability of current text and LLM-driven LNM. Finally, SRLM demonstrates outstanding performance in extensive experiments. More details about this work are available at: https://sites.google.com/view/navi-srlm

Two-dimensional (2D) heterostructuring is a versatile methodology for designing nanoarchitecture catalytic systems that allow for reconstruction and modulation of interfaces and electronic structures. However, catalysts with such structures are extremely scarce due to limited synthetic strategies. Here, we report a highly ordered 2D Ru/Si nano-heterostructures (RSHS) by acid etching of the LaRuSi electride. RSHS shows a superior electrocatalytic activity for hydrogen evolution with an overpotential of 14 mV at 10 mA/cm2 in alkaline media. Both experimental analysis and first-principles calculations demonstrate that the electronic states of Ru can be tuned by strong interactions of the interfacial Ru-Si, leading to an optimized hydrogen adsorption energy. Moreover, due to the synergistic effect of Ru and Si, the energy barrier of water dissociation is significantly reduced. The unique nanostripe structure with abundant interfaces in RSHS will provide a paradigm for construction of efficient catalysts with tunable electronic states and dual active sites., Comment: 20 pages, 5 figures

Tables, typically two-dimensional and structured to store large amounts of data, are essential in daily activities like database queries, spreadsheet manipulations, web table question answering, and image table information extraction. Automating these table-centric tasks with Large Language Models (LLMs) or Visual Language Models (VLMs) offers significant public benefits, garnering interest from academia and industry. This survey provides a comprehensive overview of table-related tasks, examining both user scenarios and technical aspects. It covers traditional tasks like table question answering as well as emerging fields such as spreadsheet manipulation and table data analysis. We summarize the training techniques for LLMs and VLMs tailored for table processing. Additionally, we discuss prompt engineering, particularly the use of LLM-powered agents, for various table-related tasks. Finally, we highlight several challenges, including diverse user input when serving and slow thinking using chain-of-thought.

Spatial computing is a technological advancement that facilitates the seamless integration of devices into the physical environment, resulting in a more natural and intuitive digital world user experience. Spatial computing has the potential to become a significant advancement in the field of computing. From GPS and location-based services to healthcare, spatial computing technologies have influenced and improved our interactions with the digital world. The use of spatial computing in creating interactive digital environments has become increasingly popular and effective. This is explained by its increasing significance among researchers and industrial organisations, which motivated us to conduct this review. This review provides a detailed overview of spatial computing, including its enabling technologies and its impact on various applications. Projects related to spatial computing are also discussed. In this review, we also explored the potential challenges and limitations of spatial computing. Furthermore, we discuss potential solutions and future directions. Overall, this paper aims to provide a comprehensive understanding of spatial computing, its enabling technologies, their impact on various applications, emerging challenges, and potential solutions., Comment: Submitted to peer reviewe

Anomaly detection in time series analysis is a pivotal task, yet it poses the challenge of discerning normal and abnormal patterns in label-deficient scenarios. While prior studies have largely employed reconstruction-based approaches, which limits the models' representational capacities. Moreover, existing deep learning-based methods are not sufficiently lightweight. Addressing these issues, we present PatchAD, our novel, highly efficient multiscale patch-based MLP-Mixer architecture that utilizes contrastive learning for representation extraction and anomaly detection. With its four distinct MLP Mixers and innovative dual project constraint module, PatchAD mitigates potential model degradation and offers a lightweight solution, requiring only $3.2$MB. Its efficacy is demonstrated by state-of-the-art results across $9$ datasets sourced from different application scenarios, outperforming over $30$ comparative algorithms. PatchAD significantly improves the classical F1 score by $50.5\%$, the Aff-F1 score by $7.8\%$, and the AUC by $10.0\%$. The code is publicly available. \url{https://github.com/EmorZz1G/PatchAD}, Comment: 22 pages, 11 figures, 14 tables, Under review

Predicting crowded intents and trajectories is crucial in varouls real-world applications, including service robots and autonomous vehicles. Understanding environmental dynamics is challenging, not only due to the complexities of modeling pair-wise spatial and temporal interactions but also the diverse influence of group-wise interactions. To decode the comprehensive pair-wise and group-wise interactions in crowded scenarios, we introduce Hyper-STTN, a Hypergraph-based Spatial-Temporal Transformer Network for crowd trajectory prediction. In Hyper-STTN, crowded group-wise correlations are constructed using a set of multi-scale hypergraphs with varying group sizes, captured through random-walk robability-based hypergraph spectral convolution. Additionally, a spatial-temporal transformer is adapted to capture pedestrians' pair-wise latent interactions in spatial-temporal dimensions. These heterogeneous group-wise and pair-wise are then fused and aligned though a multimodal transformer network. Hyper-STTN outperformes other state-of-the-art baselines and ablation models on 5 real-world pedestrian motion datasets.

Data science pipelines commonly utilize dataframe and array operations for tasks such as data preprocessing, analysis, and machine learning. The most popular tools for these tasks are pandas and NumPy. However, these tools are limited to executing on a single node, making them unsuitable for processing large-scale data. Several systems have attempted to distribute data science applications to clusters while maintaining interfaces similar to single-node libraries, enabling data scientists to scale their workloads without significant effort. However, existing systems often struggle with processing large datasets due to Out-of-Memory (OOM) problems caused by poor data partitioning. To overcome these challenges, we develop Xorbits, a high-performance, scalable data science framework specifically designed to distribute data science workloads across clusters while retaining familiar APIs. The key differentiator of Xorbits is its ability to dynamically switch between graph construction and graph execution. Xorbits has been successfully deployed in production environments with up to 5k CPU cores. Its applications span various domains, including user behavior analysis and recommendation systems in the e-commerce sector, as well as credit assessment and risk management in the finance industry. Users can easily scale their data science workloads by simply changing the import line of their pandas and NumPy code. Our experiments demonstrate that Xorbits can effectively process very large datasets without encountering OOM or data-skewing problems. Over the fastest state-of-the-art solutions, Xorbits achieves an impressive 2.66* speedup on average. In terms of API coverage, Xorbits attains a compatibility rate of 96.7%, surpassing the fastest framework by an impressive margin of 60 percentage points. Xorbits is available at https://github.com/xorbitsai/xorbits., Comment: ICDE 2024 Industrial and Application Track

The (Bi2)m(Bi2Te3)n homologous series possess natural multilayer heterostructure with intriguing physical properties at ambient pressure. Herein, we report the pressure-dependent evolution of the structure and electrical transport of the dual topological insulator BiTe, a member of the (Bi2)m(Bi2Te3)n series. With applied pressure, BiTe exhibits several different crystal structures and distinct superconducting states, which is remarkably similar to other members of the (Bi2)m(Bi2Te3)n series. Our results provide a systematic phase diagram for the pressure-induced superconductivity in BiTe, contributing to the highly interesting physics in this (Bi2)m(Bi2Te3)n series., Comment: 17 pages, 5 figures

Tellurium (Te) is one of the p-orbital chalcogens, which shows attractive physical properties at ambient pressure. Here, we systematically investigate both structural and electronic evolution of Te single crystal under high pressure up to 40 GPa. The pressure dependence of the experimental Raman spectrum reveals the occurrence of multiple phase transitions, which is consistent with highpressure synchrotron X-ray diffraction (XRD) measurements. The appearance of superconductivity in high-pressure phase of Te is accompanied by structural phase transitions. The high-pressure phases of Te reveal a nonmonotonic evolution of superconducting temperature Tc with notably different upper critical fields. The theoretical calculations demonstrate that the pressure dependence of the density of states(DOS) agrees well with the variation of Tc. Our results provide a systematic phase diagram for the pressure-induced superconductivity of Te., Comment: 9 pages, 6 figures

Nickelate superconductors have attracted a great deal of attention over the past few decades due to their similar crystal and electronic structures with high-temperature cuprate superconductors. Here, we report the superconductivity in a pressurized Ruddlesden-Popper phase single crystal, La4Ni3O10 (n = 3), and its interplay with the density wave order in the phase diagram. With increasing pressure, the density wave order as indicated by the anomaly in the resistivity is progressively suppressed, followed by the emergence of the superconductivity around 25 K. Our angle-resolved photoemission spectroscopy measurements reveal that the electronic structure of La4Ni3O10 is very similar to that of La3Ni2O7, suggesting unified electronic properties of nickelates in Ruddlesden-Popper phases. Moreover, theoretical analysis unveils that antiferromagnetic (AFM) super-exchange interactions can serve as the effective pairing interaction for the emergence of superconductivity (SC) in pressurized La4Ni3O10. Our research provides a new platform for the investigation of the unconventional superconductivity mechanism in Ruddlesden-Popper trilayer perovskite nickelates., Comment: 21 pages, 4 figures

Policy-based reinforcement learning algorithms are widely used in various fields. Among them, mainstream policy optimization algorithms such as TRPO and PPO introduce importance sampling into policy iteration, which allows the reuse of historical data. However, this can also lead to a high variance of the surrogate objective and indirectly affects the stability and convergence of the algorithm. In this paper, we first derived an upper bound of the surrogate objective variance, which can grow quadratically with the increase of the surrogate objective. Next, we proposed the dropout technique to avoid the excessive increase of the surrogate objective variance caused by importance sampling. Then, we introduced a general reinforcement learning framework applicable to mainstream policy optimization methods, and applied the dropout technique to the PPO algorithm to obtain the D-PPO variant. Finally, we conduct comparative experiments between D-PPO and PPO algorithms in the Atari 2600 environment, and the results show that D-PPO achieved significant performance improvements compared to PPO, and effectively limited the excessive increase of the surrogate objective variance during training.

Lu5Rh6Sn18 is one of the caged-type quasiskutterudite superconductors with superconducting transition temperature Tc = 4.12 K. Here, we investigate the effect of pressure on the superconductivity in Lu5Rh6Sn18 by combining high pressure electrical transport, synchrotron x-ray diffraction (XRD) and chemical doping. Application of high pressure can enhance both the metallicity and the superconducting transition temperature in Lu5Rh6Sn18. Tc is found to show a continuous increase reaching up to 5.50 K at 11.4 GPa. Our high pressure synchrotron XRD measurements demonstrate the stability of the pristine crystal structure up to 12.0 GPa. In contrast, Tc is suppressed after the substitution of La ions in Lu sites, inducing negative chemical pressure. Our study provides valuable insights into the improvement of superconductivity in caged compounds., Comment: 9 pages, 8 figures

Topological transition metal dichalcogenides (TMDCs) have attracted much attention due to its potential applications in spintronics and quantum computations. In this work, we systematically investigate the structural and electronic properties of topological TMDCs candidate ZrTe2 under high pressure. A pressure-induced Lifshitz transition is evidenced by the change of charge carrier type as well as the Fermi surface. Superconductivity was observed at around 8.3 GPa without structural phase transition. A typical dome-shape phase diagram is obtained with the maximum Tc of 5.6 K for ZrTe2. Furthermore, our theoretical calculations suggest the presence of multiple pressure-induced topological quantum phase transitions, which coexists with emergence of superconductivity. The results demonstrate that ZrTe2 with nontrivial topology of electronic states display new ground states upon compression., Comment: Accepted for publication in Advanced Science 2023

Layered SnAs-based Zintl compounds exhibit a distinctive electronic structure, igniting extensive research efforts in areas of superconductivity, topological insulators and quantum magnetism. In this paper, we systematically investigate the crystal structures and electronic properties of the Zintl compound SrSn2As2 under high-pressure. At approximately 20.8 GPa, pressure-induced superconductivity is observed in SrSn2As2 with a characteristic dome-like evolution of Tc. Theoretical calculations together with high pressure synchrotron X-ray diffraction and Raman spectroscopy have identified that SrSn2As2 undergoes a structural transformation from a trigonal to a monoclinic structure. Beyond 28.3 GPa, the superconducting transition temperature is suppressed due to a reduction of the density of state at the Fermi level. The discovery of pressure-induced superconductivity, accompanied by structural transitions in SrSn2As2, greatly expands the physical properties of layered SnAs-based compounds and provides a new ground states upon compression., Comment: 15 pages, 6 figures. arXiv admin note: text overlap with arXiv:2307.15629

In public spaces shared with humans, ensuring multi-robot systems navigate without collisions while respecting social norms is challenging, particularly with limited communication. Although current robot social navigation techniques leverage advances in reinforcement learning and deep learning, they frequently overlook robot dynamics in simulations, leading to a simulation-to-reality gap. In this paper, we bridge this gap by presenting a new multi-robot social navigation environment crafted using Dec-POSMDP and multi-agent reinforcement learning. Furthermore, we introduce SAMARL: a novel benchmark for cooperative multi-robot social navigation. SAMARL employs a unique spatial-temporal transformer combined with multi-agent reinforcement learning. This approach effectively captures the complex interactions between robots and humans, thus promoting cooperative tendencies in multi-robot systems. Our extensive experiments reveal that SAMARL outperforms existing baseline and ablation models in our designed environment. Demo videos for this work can be found at: https://sites.google.com/view/samarl, Comment: To appear in ICRA2024

Recently the discovery of superconductivity with a critical temperature Tc up to 80 K in Ruddlesden-Popper phases Lan+1NinO3n+1 (n = 2) under pressure has garnered considerable attention. Up to now, the superconductivity was only observed in La3Ni2O7 single crystal grown with the optical-image floating zone furnace under oxygen pressure. It remains to be understood the effect of chemical doping on superconducting La3Ni2O7 as well as other Ruddlesden-Popper phases. Here, we systematically investigate the effect of external pressure and chemical doping on polycrystalline Ruddlesden-Popper phases. Our results demonstrate the application of pressure and doping effectively tunes the transport properties of Ruddlesden-Popper phases. We find pressure-induced superconductivity up to 86 K in La3Ni2O7 polycrystalline sample, while no signatures of superconductivity are observed in La2NiO4 and La4Ni3O10 systems under high pressure up to 50 GPa. Our study sheds light on the exploration of high-Tc superconductivity in nickelates., Comment: 21 papes, 8 figures and 1 table

The Zintl compound AIn2X2 (A = Ca, Sr, and X = P, As), as a theoretically predicted new non-magnetic topological insulator, requires experiments to understand their electronic structure and topological characteristics. In this paper, we systematically investigate the crystal structures and electronic properties of the Zintl compound SrIn2As2 under both ambient and high-pressure conditions. Based on systematic angle-resolved photoemission spectroscopy (ARPES) measurements, we observed the topological surface states on its (001) surface as predicted by calculations, indicating that SrIn2As2 is a strong topological insulator. Interestingly, application of pressure effectively tuned the crystal structure and electronic properties of SrIn2As2. Superconductivity is observed in SrIn2As2 for pressure where the temperature dependence of the resistivity changes from a semiconducting-like behavior to that of a metal. The observation of nontrivial topological states and pressure-induced superconductivity in SrIn2As2 provides crucial insights into the relationship between topology and superconductivity, as well as stimulates further studies of superconductivity in topological materials., Comment: 15 pages,5 figures

Recently, the giant intrinsic anomalous Hall effect (AHE) has been observed in the materials with kagome lattice. In this study, we systematically investigate the influence of high pressure on the AHE in the ferromagnet LiMn6Sn6 with clean Mn kagome lattice. Our in-situ high-pressure Raman spectroscopy indicates that the crystal structure of LiMn6Sn6 maintains a hexagonal phase under high pressures up to 8.51 GPa. The anomalous Hall conductivity (AHC) {\sigma}xyA remains around 150 {\Omega}-1 cm-1, dominated by the intrinsic mechanism. Combined with theoretical calculations, our results indicate that the stable AHE under pressure in LiMn6Sn6 originates from the robust electronic and magnetic structure., Comment: 11 pages 5 figures