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This paper designs a novel trajectory planning approach to resolve the computational efficiency and safety problems in uncoordinated methods by exploiting vehicle-to-everything (V2X) technology. The trajectory planning for connected and autonomous vehicles (CAVs) is formulated as a game with coupled safety constraints. We then define interaction-fair trajectories and prove that they correspond to the variational equilibrium (VE) of this game. We propose a semi-decentralized planner for the vehicles to seek VE-based fair trajectories, which can significantly improve computational efficiency through parallel computing among CAVs and enhance the safety of planned trajectories by ensuring equilibrium concordance among CAVs. Finally, experimental results show the advantages of the approach, including fast computation speed, high scalability, equilibrium concordance, and safety.

A number of experiments show that the decay lifetimes of muons bound to atomic nuclei are longer than the decay lifetimes of free muons. In this paper, a scheme of extending quantum mechanics (EQM) is proposed to resolve this problem. The Schr$\ddot{\text{o}}$dinger's equation is obtained to prove the validation of this attempt. The decay ratio of bound muons is also calculated in EQM, and the result is in good agreement with the experimental data., Comment: 5 pages, 1 figure, 2 tables

The $s\to u$ weak decays of heavy flavor hadrons play a unique role in the field of heavy flavor physics. In this work, we investigate the $s\to u$ decays of singly heavy baryons. We first obtain the form factors in the light-front approach under the three-quark picture, and then apply them to give some predictions on the semileptonic decays. Due to the extremely small phase space, lepton flavor universality (LFU) is sensitive to the masses of leptons, and precise measurement of LFU is expected to be an important tool for testing the standard model. We find that a commonly used method for extracting form factors in the literature is no longer applicable at this time. We also point out the correct way to thoroughly discuss the heavy quark limit for these decays., Comment: 19 pages, no figures, 5 tables

In traditional QCD sum rules, the simple hadron spectral density model of ``delta-function-type ground state + theta-function-type continuous spectrum" determines that there is no perfect parameter selection. In recent years, inverse problem methods, especially the inverse matrix method, have shown better handling of QCD sum rules. This work continues to develop the inverse matrix method. Considering that the narrow-width approximation may still be a good approximation, we separate the contribution of the ground state from the spectral density. Then follow the general steps of the inverse matrix method to extract physical quantities such as decay constants that we are sometimes more interested in., Comment: 13 pages, 6 figures

Using the gauge-gravity duality, we investigate the fermionic correlation function in the D(-1)-D3 brane system which describes the instantonic plasma in holography. In this system, the charge of the D(-1) brane as the D-instanton gives the gluon condensate. To simplify the holographic setup, we first reduce briefly the ten-dimensional supergravity background produced by D(-1)-D3-branes to an equivalently five-dimensional background. Then using the standard method for computing the Green function in the AdS/CFT dictionary, we derive the equations for the fermionic correlation functions and solve them numerically with the infalling boundary condition. Our numerical results illustrate that the fermionic correlation function as spectral function includes two branches of the dispersion curves whose behavior is very close to the results obtained from the method of hard thermal loop. And the effective mass generated by the medium effect of fermion splits into two values due to the spin-dependent interactions induced by instantons. Therefore, this work in holography demonstrates the instantonic configuration is very influential to the fermionic plasmino in plasma., Comment: 19 pages, 5 figures

Generating trajectories that ensure both vehicle safety and improve traffic efficiency remains a challenging task at intersections. Many existing works utilize Nash equilibrium (NE) for the trajectory planning at intersections. However, NE-based planning can hardly guarantee that all vehicles are in the same equilibrium, leading to a risk of collision. In this work, we propose a framework for trajectory planning based on Correlated Equilibrium (CE) when V2I communication is also enabled. The recommendation with CE allows all vehicles to reach a safe and consensual equilibrium and meanwhile keeps the rationality as NE-based methods that no vehicle has the incentive to deviate. The Intersection Manager (IM) first collects the trajectory library and the personal preference probabilities over the library from each vehicle in a low-resolution spatial-temporal grid map. Then, the IM optimizes the recommendation probability distribution for each vehicle's trajectory by minimizing overall collision probability under the CE constraint. Finally, each vehicle samples a trajectory of the low-resolution map to construct a safety corridor and derive a smooth trajectory with a local refinement optimization. We conduct comparative experiments at a crossroad intersection involving two and four vehicles, validating the effectiveness of our method in balancing vehicle safety and traffic efficiency., Comment: 8 pages,12 figures,Submission to IEEE Robotics and Automation Letters

Starobinsky's $R^2$ inflation manifests a best-fit scenario for the power spectrum of primordial density fluctuations. Observables derived from the slow-roll picture of the $R^2$ model in the Einstein frame relies on the conformal transformation of the metric, which inevitably induces a unique exponential-type couplings of the rolling scalaron with all matter fields during inflation. The "large-field" nature of the $R^2$ model further invokes non-negligible time and scale dependence to the matter sector through such an exponential coupling, modifying not only the dynamics of matter perturbations on superhorizon scales but also their decay rates. In this work, we identify the simplest observable of the cosmological collider physics built in the background of $R^2$ inflation, focusing on the so-called "quantum primordial clock" signals created by the non-local propagation of massive scalar perturbations. Our numerical formalism based on the unique conformal coupling can have extended applications to (quasi-)single-field inflationary models with non-trivial couplings to gravity or models originated from the $f(R)$ modification of gravity., Comment: 34 + 3 pages, 8 figures; added conditions for tree-level exchanges with an appendix for models in the mixed Higgs-$R^2$ inflation; references added; version matched with publication

Cooperation plays a fundamental role in societal and biological domains, and the population structure profoundly shapes the dynamics of evolution. Practically, individuals behave either altruistically or egoistically in multiple groups, such as relatives, friends and colleagues, and feedbacks from these groupwise interactions will contribute to one's cognition and behavior. Due to the intricacy within and between groups, exploration of evolutionary dynamics over hypergraphs is relatively limited to date. To uncover this conundrum, we develop a higher-order random walk framework for five distinct updating rules, thus establishing explicit conditions for cooperation emergence on hypergraphs, and finding the overlaps between groups tend to foster cooperative behaviors. Our systematic analysis quantifies how the order and hyperdegree govern evolutionary outcomes. We also discover that whenever following a group wisdom update protocol, choosing a high-fitness group to interact equally within its members, cooperators will significantly prevail throughout the community. These findings underscore a crucial role of higher-order interaction and interdisciplinary collaboration throughout a broad range of living systems, favoring social prosperity.

We study the out-of-time-order correlators (OTOC) of Skyrmion as baryon in the D0-D4/D8 model which is expected to be holographically dual to QCD with instantons as D0-branes or with a non-zero theta angle. Baryon states are identified to the excitations of the Skyrmion which are described by a holographic quantum mechanical system in this model. By employing the definition of OTOC in quantum mechanics, we derive the formulas and demonstrate explicitly the numerical calculations of the OTOC. Our calculation illustrates the quantum OTOC with imaginary Lyapunov coefficient indicates the possibly metastable baryonic status in the presence of the instanton while the classical OTOC can not, thus it reveals the instantonic or theta-dependent features of QCD are dominated basically by its quantum properties. Furthermore, the OTOC also implies the baryonic phase becomes really chaotic with real Lyapunov exponent if the instanton charge increases sufficiently which agrees with the unstable baryon spectrum presented in this model. In this sense, we believe the OTOC may be treated as a tool to detect the baryonic phase structure of QCD., Comment: 20 pages, 5 Figures

In this work, we investigate the worldvolume fermion on the flavor brane in the D0-D4/D8 model which is holographically equivalent to the four-dimensional QCD with instantons, or equivalently with a theta angle. The action for the worldvolume fermion is obtained by the T-duality rules in string theory and we accordingly derive its effectively five-dimensional, canonical four-dimensional forms by using the systematical dimensional reduction and decomposition of spinor. Afterwards, we employ the AdS/CFT dictionary in order to evaluate the two-point correlation function as the spectral function for the worldvolume fermion and interpret the fermion as baryon by analyzing its quantum number with the baryon vertex in holography. In this sense, the interacted action involving the worldvolume fermion and gauge field on the flavor brane are finally derived in holography which describes the various interaction of meson and baryon with instantons in large-N limit. Therefore, this work provides a holographic picture to describe baryon and its interactions based on string theory, in particular, in the presence of instantons or a theta angle., Comment: 34 pages, 2 tables, 6 figures, fix some typos in this version

As the out-of-time-order correlator (OTOC) is a measure of quantum chaos and an important observable in the context of AdS/CFT, we investigate the OTOC of holographic Skyrmion which is described by an analytical quantum mechanical system from the D4/D8 model (as the holographic QCD). By employing the OTOC defined in quantum mechanics, we derive the formulas and demonstrate the numerical calculations of the OTOC explicitly which is also available for the general case with central force field. Our numerical evaluation illustrates the behaviors of the OTOC with large $N_{c}$, however the expected exponential growth of OTOC is not obtained. Besides, we also take a look at the classical limit of the OTOC and analyze the associated behaviors. At the end of this work, we additionally study the OTOC with three-dimensional Coulomb potential, as another example for the central force field, to support our analyses of the general properties of quantum OTOC., Comment: 30 pages, 8 figures

The back-end module of Distributed Collaborative Simultaneous Localization and Mapping (DCSLAM) requires solving a nonlinear Pose Graph Optimization (PGO) under a distributed setting, also known as SE(d)-synchronization. Most existing distributed graph optimization algorithms employ a simple sequential partitioning scheme, which may result in unbalanced subgraph dimensions due to the different geographic locations of each robot, and hence imposes extra communication load. Moreover, the performance of current Riemannian optimization algorithms can be further accelerated. In this letter, we propose a novel distributed pose graph optimization algorithm combining multi-level partitioning with an accelerated Riemannian optimization method. Firstly, we employ the multi-level graph partitioning algorithm to preprocess the naive pose graph to formulate a balanced optimization problem. In addition, inspired by the accelerated coordinate descent method, we devise an Improved Riemannian Block Coordinate Descent (IRBCD) algorithm and the critical point obtained is globally optimal. Finally, we evaluate the effects of four common graph partitioning approaches on the correlation of the inter-subgraphs, and discover that the Highest scheme has the best partitioning performance. Also, we implement simulations to quantitatively demonstrate that our proposed algorithm outperforms the state-of-the-art distributed pose graph optimization protocols.

Fractional magnetisation plateaus, in which the magnetisation is pinned at a fraction of its saturated value within a range of external magnetic field, are spectacular macroscopic manifestations of the collective quantum behaviours. One prominent example of the plateau phase is found in spin-1/2 triangular-lattice antiferromagnets featuring strong geometrical frustration, and is often interpreted as quantum-fluctuation-stabilised state in magnetic field via the "order-by-disorder" mechanism. Here, we observe an unprecedented 1/3 magnetisation plateau between 5.2 and 7.4 T at 2 K in a spin-1 antiferromagnet Na$_3$Ni$_2$BiO$_6$ with a honeycomb lattice, where conventionally no geometrical frustration is anticipated. By carrying out elastic neutron scattering measurements, we propose the spin structure of the plateau phase to be an unusual partial spin-flop ferrimagnetic order, transitioning from the zigzag antiferromagnetic order in zero field. Our theoretical calculations show that the plateau phase is stabilised by the bond-anisotropic Kitaev interaction. These results provide a new paradigm for the exploration of rich quantum phases in frustrated magnets and exotic Kitaev physics in high-spin systems., Comment: Submitted version, 10 pages, 5 figures. Final version has been published in Nature Physics

Cooperative spectrum sensing (CSS) is a promising approach to improve the detection of primary users (PUs) using multiple sensors. However, there are several challenges for existing combination methods, i.e., performance degradation and ceiling effect for hard-decision fusion (HDF), as well as significant uploading latency and non-robustness to noise in the reporting channel for soft-data fusion (SDF). To address these issues, an integrated communication and computation (ICC) framework is proposed in this paper. Specifically, distributed semantic communication (DSC) jointly optimizes multiple sensors and the fusion center to minimize the transmitted data without degrading detection performance. Moreover, over-the-air computation (AirComp) is utilized to further reduce spectrum occupation in reporting channel, taking advantage of characteristics of wireless channel to enable data aggregation. Under the ICC framework, a particular system, namely ICC-CSS, is designed and implemented, which is theoretically proved to be equivalent to the optimal estimator-correlator (E-C) detector with equal gain SDF when the PU signal samples are independent and identically distributed. Extensive simulations verify the superiority of ICC-CSS compared with various conventional CSS schemes in terms of detection performance, robustness to SNR variations in both sensing and reporting channels, as well as scalability with respect to the number of samples and sensors., Comment: 15 pages, Journal, accepted by IEEE TCOM

Deep learning-empowered semantic communication is regarded as a promising candidate for future 6G networks. Although existing semantic communication systems have achieved superior performance compared to traditional methods, the end-to-end architecture adopted by most semantic communication systems is regarded as a black box, leading to the lack of explainability. To tackle this issue, in this paper, a novel semantic communication system with a shared knowledge base is proposed for text transmissions. Specifically, a textual knowledge base constructed by inherently readable sentences is introduced into our system. With the aid of the shared knowledge base, the proposed system integrates the message and corresponding knowledge from the shared knowledge base to obtain the residual information, which enables the system to transmit fewer symbols without semantic performance degradation. In order to make the proposed system more reliable, the semantic self-information and the source entropy are mathematically defined based on the knowledge base. Furthermore, the knowledge base construction algorithm is developed based on a similarity-comparison method, in which a pre-configured threshold can be leveraged to control the size of the knowledge base. Moreover, the simulation results have demonstrated that the proposed approach outperforms existing baseline methods in terms of transmitted data size and sentence similarity., Comment: 14 pages, Journal, accepted by IEEE TWC

By using the gauge-gravity duality, we investigate the correlation function of flavored fermion in the \mathrm{D}_{p}/\mathrm{D}_{p+4} model as top-down approaches of holographic QCD for p=4,3. The bulk spinor, as the source of the flavored fermion in QCD, is identified to the worldvolume fermion on the flavor \mathrm{D}_{p+4}-branes and the standard form of its action can be therefore obtained by the T-duality rules in string theory. Keeping this in hand, we afterwards generalize the prescription for two-point correlation function in AdS/CFT dictionary into general D-brane backgrounds and apply it to the case of p=4,3, i.e. the D4/D8 and D3/D7 approach respectively. Resultantly, our numerical calculation with the bubble background always displays discrete peaks in the correlation functions which imply the bound states created by the flavored fermions as the confinement in QCD. With the black brane background, the onshell condition illustrated by the correlation function covers basically the dispersion curves of fermion obtained by the hard thermal loop approximation in the hot medium. Finally, we interpret the flavored fermions in the bubble background as baryons by taking into account a baryon vertex, then find the two-point correlation function is able to fit the lowest baryon spectrum. In this sense, we conclude remarkably that our top-down approach in this work could reveal the fundamental properties of QCD both in the confined and deconfined phase., Comment: 42 pages; 12 figures; 1 table; added a new figure

With the rapid evolution of large language models (LLMs), there is a growing concern that they may pose risks or have negative social impacts. Therefore, evaluation of human values alignment is becoming increasingly important. Previous work mainly focuses on assessing the performance of LLMs on certain knowledge and reasoning abilities, while neglecting the alignment to human values, especially in a Chinese context. In this paper, we present CValues, the first Chinese human values evaluation benchmark to measure the alignment ability of LLMs in terms of both safety and responsibility criteria. As a result, we have manually collected adversarial safety prompts across 10 scenarios and induced responsibility prompts from 8 domains by professional experts. To provide a comprehensive values evaluation of Chinese LLMs, we not only conduct human evaluation for reliable comparison, but also construct multi-choice prompts for automatic evaluation. Our findings suggest that while most Chinese LLMs perform well in terms of safety, there is considerable room for improvement in terms of responsibility. Moreover, both the automatic and human evaluation are important for assessing the human values alignment in different aspects. The benchmark and code is available on ModelScope and Github., Comment: Working in Process

We propose a type of non-cooperative game, termed multi-cluster aggregative game, which is composed of clusters as players, where each cluster consists of collaborative agents with cost functions depending on their own decisions and the aggregate quantity of each participant cluster to modeling large-scale and hierarchical multi-agent systems. This novel game model is motivated by decision-making problems in competitive-cooperative network systems with large-scale nodes, such as the Energy Internet. To address challenges arising in seeking Nash equilibrium for such network systems, we develop an algorithm with a hierarchical communication topology which is a hybrid with distributed and semi-decentralized protocols. The upper level consists of cluster coordinators estimating the aggregate quantities with local communications, while the lower level is cluster subnets composed of its coordinator and agents aiming to track the gradient of the corresponding cluster. In particular, the clusters exchange the aggregate quantities instead of their decisions to relieve the burden of communication. Under strongly monotone and mildly Lipschitz continuous assumptions, we rigorously prove that the algorithm linearly converges to a Nash equilibrium with a fixed step size.We present the applications in the context of the Energy Internet. Furthermore, the numerical results verify the effectiveness of the algorithm.