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Garment manipulation (e.g., unfolding, folding and hanging clothes) is essential for future robots to accomplish home-assistant tasks, while highly challenging due to the diversity of garment configurations, geometries and deformations. Although able to manipulate similar shaped garments in a certain task, previous works mostly have to design different policies for different tasks, could not generalize to garments with diverse geometries, and often rely heavily on human-annotated data. In this paper, we leverage the property that, garments in a certain category have similar structures, and then learn the topological dense (point-level) visual correspondence among garments in the category level with different deformations in the self-supervised manner. The topological correspondence can be easily adapted to the functional correspondence to guide the manipulation policies for various downstream tasks, within only one or few-shot demonstrations. Experiments over garments in 3 different categories on 3 representative tasks in diverse scenarios, using one or two arms, taking one or more steps, inputting flat or messy garments, demonstrate the effectiveness of our proposed method. Project page: https://warshallrho.github.io/unigarmentmanip., Comment: CVPR 2024

We report a study on low-temperature heat transport of Kitaev magnet Na$_2$Co$_2$TeO$_6$, with the heat current and magnetic fields along the honeycomb spin layer (the $ab$ plane). The zero-field thermal conductivity of $\kappa^a_{xx}$ and $\kappa^{a*}_{xx}$ display similar temperature dependence and small difference in their magnitudes; whereas, their magnetic field (parallel to the heat current) dependence are quite different and are related to the field-induced magnetic transitions. The $\kappa^a_{xx}(B)$ data for $B \parallel a$ at very low temperatures have an anomaly at 10.25--10.5 T, which reveals an unexplored magnetic transition. The planar thermal Hall conductivity $\kappa^a_{xy}$ and $\kappa^{a*}_{xy}$ show very weak signals at low fields and rather large values with sign change at high fields. This may point to a possible magnetic structure transition or the change of the magnon band topology that induces a radical change of magnon Berry curvature distribution before entering the spin polarized state. These results put clear constraints on the high-field phase and the theoretical models for Na$_2$Co$_2$TeO$_6$., Comment: 7 pages, 4 figures

This paper presents a logic of preference and functional dependence (LPFD) and its hybrid extension (HLPFD), both of whose sound and strongly complete axiomatization are provided. The decidability of LPFD is also proved. The application of LPFD and HLPFD to modelling cooperative games in strategic and coalitional forms is explored. The resulted framework provides a unified view on Nash equilibrium, Pareto optimality and the core. The philosophical relevance of these game-theoretical notions to discussions of collective agency is made explicit. Some key connections with other logics are also revealed, for example, the coalition logic, the logic functional dependence and the logic of ceteris paribus preference.

In transition-metal dipnictides $TmPn_2$ ($Tm$ = Ta, Nb; $Pn$ = P, As, Sb), the origin of extremely large magnetoresistance (XMR) is yet to be studied by the direct visualization of the experimental band structures. Here, using angle-resolved photoemission spectroscopy, we map out the three-dimensional electronic structure of NbAs$_2$. The open-orbit topology contributes to a non-negligible part of the Fermi surfaces (FSs), like that of the isostructural compound MoAs$_2$, where the open FS is proposed to likely explain the origin of XMR. We further demonstrate the observation of open characters in the overall FSs of W$_2$As$_3$, which is also a XMR semimetal with the same space group of $C$12/$m$1 as $TmPn_2$ family and MoAs$_2$. Our results suggest that the open-orbit FS topology may be a shared feature between XMR materials with the space group of $C$12/$m$1, and thus could possibly play a role in determining the corresponding XMR effect together with the electron-hole compensation., Comment: 7 pages, 4 figures, Editor's pick

We present experimental evidence of an intriguing phase transition between distinct topological states in the type-II Weyl semimetal MoTe2. We observe anomalies in the Raman phonon frequencies and linewidths as well as electronic quasielastic peaks around 70 K, which, together with structural, thermodynamic measurements, and electron-phonon coupling calculations, demonstrate a temperature-induced transition between two topological phases previously identified by contrasting spectroscopic measurements. An analysis of experimental data suggests electron-phonon coupling as the main driving mechanism for the change of key topological characters in the electronic structure of MoTe2.We also find the phase transition to be sensitive to sample conditions distinguished by synthesis methods. These discoveries of temperature and material condition-dependent topological phase evolutions and transitions in MoTe2 advance the fundamental understanding of the underlying physics and enable an effective approach to tuning Weyl semimetal states for technological applications., Comment: 6 pages, 4 figures