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Rutile RuO$_2$ has been posited as a potential $d$-wave altermagnetism candidate, with a predicted significant spin splitting up to 1.4 eV. Despite accumulating theoretical predictions and transport measurements, direct spectroscopic observation of spin splitting has remained elusive. Here, we employ spin- and angle-resolved photoemission spectroscopy to investigate the band structures and spin polarization of thin-film and single-crystal RuO$_2$. Contrary to expectations of altermagnetism, our analysis indicates that RuO$_2$'s electronic structure aligns with those predicted under non-magnetic conditions, exhibiting no evidence of the hypothesized spin splitting. Additionally, we observe significant in-plane spin polarization of the low-lying bulk bands, which is antisymmetric about the high-symmetry plane and contrary to the $d$-wave spin texture due to time-reversal symmetry breaking in altermagnetism. These findings definitively challenge the altermagnetic order previously proposed for rutile RuO$_2$, prompting a reevaluation of its magnetic properties., Comment: 7 pages, 4 figures. Published in Physical Review Letters

Altermagnetism (AM), a newly discovered magnetic state, ingeniously integrates the properties of ferromagnetism and antiferromagnetism, representing a significant breakthrough in the field of magnetic materials. Despite experimental verification of some typical AM materials, such as MnTe and MnTe$_2$, the pursuit of AM materials that feature larger spin splitting and higher transition temperature is still essential. Here, our research focuses on CrSb, which possesses N{\'e}el temperature of up to 700K and giant spin splitting near the Fermi level ($E_F$). Utilizing high-resolution angle-resolved photoemission spectroscopy and density functional theory calculations, we meticulously map the three-dimensional electronic structure of CrSb. Our photoemission spectroscopic results on both (0001) and (10$\overline{1}$0) cleavages of CrSb collaboratively reveal unprecedented details on AM-induced band splitting, and subsequently pin down its unique bulk $g$-wave symmetry through quantitative analysis of the angular and photon-energy dependence of spin splitting. Moreover, the observed spin splitting reaches the magnitude of 0.93~eV near $E_F$, the most substantial among all confirmed AM materials. This study not only validates the nature of CrSb as a prototype $g$-wave like AM material but also underscores its pivotal role in pioneering applications in spintronics., Comment: 7 pages, 4 figures

Magnetic topological quantum materials display a diverse range of fascinating physical properties which arise from their intrinsic magnetism and the breaking of time-reversal symmetry. However, so far, few examples of intrinsic magnetic topological materials have been confirmed experimentally, which significantly hinder our comprehensive understanding of the abundant physical properties in this system. The kagome lattices, which host diversity of electronic structure signatures such as Dirac nodes, flat bands, and saddle points, provide an alternative and promising platform for in-depth investigations into correlations and band topology. In this article, drawing inspiration from the stacking configuration of MnBi$_2$Te$_4$, we conceive and then synthesize a high-quality single crystal EuTi$_3$Bi$_4$, which is a unique natural heterostructure consisting of both topological kagome layers and magnetic interlayers. We investigate the electronic structure of EuTi$_3$Bi$_4$ and uncover distinct features of anisotropic multiple Van Hove singularitie (VHS) that might prevent Fermi surface nesting, leading to the absence of a charge density wave (CDW). In addition, we identify the topological nontrivial surface states that serve as connections between different saddle bands in the vicinity of the Fermi level. Combined with calculations, we establish that, the effective time-reversal symmetry S=$\theta$$\tau_{1/2}$ play a crucial role in the antiferromagnetic ground state of EuTi$_3$Bi$_4$, which ensures the stability of the topological surface states and gives rise to their intriguing topological nature. Therefore, EuTi$_3$Bi$_4$ offers the rare opportunity to investigate correlated topological states in magnetic kagome materials., Comment: 9 pages, 4 figures

A charge order has been discovered to emerge deep into the antiferromagnetic phase of the kagome metal FeGe. To study its origin, the evolution of the low-lying electronic structure across the charge order phase transition is investigated with angle-resolved photoemission spectroscopy. We do not find signatures of nesting between Fermi surface sections or van-Hove singularities in zero-frequency joint density of states, and there are no obvious energy gaps at the Fermi level, which exclude the nesting mechanism for the charge order formation in FeGe. However, two obvious changes in the band structure have been detected, i.e., one electron-like band around the K point and another one around the A point move upward in energy position when the charge order forms. These features can be well reproduced by our density-functional theory calculations, where the charge order is primarily driven by magnetic energy saving via large dimerizations of a quarter of Ge1-sites (in the kagome plane) along the c-axis. Our results provide strong support for this novel charge order formation mechanism in FeGe, in contrast to the conventional nesting mechanism., Comment: 6 pages, 4 figures

Using angle resolved photoemission spectroscopy measurements and first principle calculations, we report that the possible unconventional 2q antiferromagnetic (AFM) order in NdSb can induce unusual modulation on its electronic structure. The obvious extra bands observed in the AFM phase of NdSb are well reproduced by theoretical calculations, in which the Fermi-arc-like structures and sharp extra bands are originated from the in-gap surface states. However, they are demonstrated to be topological trivial. By tuning the chemical potential, the AFM phase of NdSb would go through a topological phase transition, realizing a magnetic topological insulator phase. Hence, our study sheds new light on the rare earth monopnictides for searching unusual AFM structure and the potential of intrinsic magnetic topological materials., Comment: 13 pages, 4 figures

We propose a new algorithm to simplify the controller development for distributed robotic systems subject to external observations, disturbances, and communication delays. Unlike prior approaches that propose specialized solutions to handling communication latency for specific robotic applications, our algorithm uses an arbitrary centralized controller as the specification and automatically generates distributed controllers with communication management and delay compensation. We formulate our goal as nonlinear optimal control -- using a regret minimizing objective that measures how much the distributed agents behave differently from the delay-free centralized response -- and solve for optimal actions w.r.t. local estimations of this objective using gradient-based optimization. We analyze our proposed algorithm's behavior under a linear time-invariant special case and prove that the closed-loop dynamics satisfy a form of input-to-state stability w.r.t. unexpected disturbances and observations. Our experimental results on both simulated and real-world robotic tasks demonstrate the practical usefulness of our approach and show significant improvement over several baseline approaches., Comment: 8 pages, 4 figures