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Transparent objects are common in daily life, while their unique optical properties pose challenges for RGB-D cameras, which struggle to capture accurate depth information. For assistant robots, accurately perceiving transparent objects held by humans is essential for effective human-robot interaction. This paper presents a Hand-Aware Depth Restoration (HADR) method for hand-held transparent objects based on creating an implicit neural representation function from a single RGB-D image. The proposed method introduces the hand posture as an important guidance to leverage semantic and geometric information. To train and evaluate the proposed method, we create a high-fidelity synthetic dataset called TransHand-14K with a real-to-sim data generation scheme. Experiments show that our method has a better performance and generalization ability compared with existing methods. We further develop a real-world human-to-robot handover system based on the proposed depth restoration method, demonstrating its application value in human-robot interaction., Comment: 7 pages, 7 figures, conference

Objective: To explore and compare the performance of ChatGPT and other state-of-the-art LLMs on domain-specific NER tasks covering different entity types and domains in TCM against COVID-19 literature. Methods: We established a dataset of 389 articles on TCM against COVID-19, and manually annotated 48 of them with 6 types of entities belonging to 3 domains as the ground truth, against which the NER performance of LLMs can be assessed. We then performed NER tasks for the 6 entity types using ChatGPT (GPT-3.5 and GPT-4) and 4 state-of-the-art BERT-based question-answering (QA) models (RoBERTa, MiniLM, PubMedBERT and SciBERT) without prior training on the specific task. A domain fine-tuned model (GSAP-NER) was also applied for a comprehensive comparison. Results: The overall performance of LLMs varied significantly in exact match and fuzzy match. In the fuzzy match, ChatGPT surpassed BERT-based QA models in 5 out of 6 tasks, while in exact match, BERT-based QA models outperformed ChatGPT in 5 out of 6 tasks but with a smaller F-1 difference. GPT-4 showed a significant advantage over other models in fuzzy match, especially on the entity type of TCM formula and the Chinese patent drug (TFD) and ingredient (IG). Although GPT-4 outperformed BERT-based models on entity type of herb, target, and research method, none of the F-1 scores exceeded 0.5. GSAP-NER, outperformed GPT-4 in terms of F-1 by a slight margin on RM. ChatGPT achieved considerably higher recalls than precisions, particularly in the fuzzy match. Conclusions: The NER performance of LLMs is highly dependent on the entity type, and their performance varies across application scenarios. ChatGPT could be a good choice for scenarios where high recall is favored. However, for knowledge acquisition in rigorous scenarios, neither ChatGPT nor BERT-based QA models are off-the-shelf tools for professional practitioners., Comment: 22 pages with 2 figures

High-order topological phases of matter refer to the systems of $n$-dimensional bulk with the topology of $m$-th order, exhibiting $(n-m)$-dimensional boundary modes and can be characterized by topological pumping. Here, we experimentally demonstrate two types of second-order topological pumps, forming four 0-dimensional corner localized states on a 4$\times$4 square lattice array of 16 superconducting qubits. The initial ground state of the system for half-filling, as a product of four identical entangled 4-qubit states, is prepared using an adiabatic scheme. During the pumping procedure, we adiabatically modulate the superlattice Bose-Hubbard Hamiltonian by precisely controlling both the hopping strengths and on-site potentials. At the half pumping period, the system evolves to a corner-localized state in a quadrupole configuration. The robustness of the second-order topological pump is also investigated by introducing different on-site disorder. Our work studies the topological properties of high-order topological phases from the dynamical transport picture using superconducting qubits, which would inspire further research on high-order topological phases.

We demonstrate that the dynamics of quantum coherence serves as an effective probe for identifying dephasing, which is a distinctive signature of many-body localization (MBL). Quantum coherence can be utilized to measure both the local coherence of specific subsystems and the total coherence of the whole system in a consistent manner. Our results reveal that the local coherence of small subsystems decays over time following a power law in the MBL phase, while it reaches a stable value within the same time window in the Anderson localized (AL) phase. In contrast, the total coherence of the whole system exhibits logarithmic growth during the MBL phase and reaches a stable value in the AL phase. Notably, this dynamic characteristic of quantum coherence remains robust even with weak interactions and displays unbounded behavior in infinite systems. Our results provide insights into understanding many-body dephasing phenomena in MBL systems and propose a novel feasible method for identifying and characterizing MBL phases in experiments.

Most vision-based tactile sensors use elastomer deformation to infer tactile information, which can not sense some modalities, like temperature. As an important part of human tactile perception, temperature sensing can help robots better interact with the environment. In this work, we propose a novel multimodal vision-based tactile sensor, SATac, which can simultaneously perceive information of temperature, pressure, and shear. SATac utilizes thermoluminescence of strontium aluminate (SA) to sense a wide range of temperatures with exceptional resolution. Additionally, the pressure and shear can also be perceived by analyzing Voronoi diagram. A series of experiments are conducted to verify the performance of our proposed sensor. We also discuss the possible application scenarios and demonstrate how SATac could benefit robot perception capabilities.

Intelligent robot is the ultimate goal in the robotics field. Existing works leverage learning-based or optimization-based methods to accomplish human-defined tasks. However, the challenge of enabling robots to explore various environments autonomously remains unresolved. In this work, we propose a framework named GExp, which enables robots to explore and learn autonomously without human intervention. To achieve this goal, we devise modules including self-exploration, knowledge-base-building, and close-loop feedback based on foundation models. Inspired by the way that infants interact with the world, GExp encourages robots to understand and explore the environment with a series of self-generated tasks. During the process of exploration, the robot will acquire skills from beneficial experiences that are useful in the future. GExp provides robots with the ability to solve complex tasks through self-exploration. GExp work is independent of prior interactive knowledge and human intervention, allowing it to adapt directly to different scenarios, unlike previous studies that provided in-context examples as few-shot learning. In addition, we propose a workflow of deploying the real-world robot system with self-learned skills as an embodied assistant., Comment: 19 pages

Thouless pumping, a dynamical version of the integer quantum Hall effect, represents the quantized charge pumped during an adiabatic cyclic evolution. Here we report experimental observations of nontrivial topological pumping that is induced by disorder even during a topologically trivial pumping trajectory. With a 41-qubit superconducting quantum processor, we develop a Floquet engineering technique to realize cycles of adiabatic pumping by simultaneously varying the on-site potentials and the hopping couplings. We demonstrate Thouless pumping in the presence of disorder and show its breakdown as the strength of disorder increases. Moreover, we observe two types of topological pumping that are induced by on-site potential disorder and hopping disorder, respectively. Especially, an intrinsic topological pump that is induced by quasi-periodic hopping disorder has never been experimentally realized before. Our highly controllable system provides a valuable quantum simulating platform for studying various aspects of topological physics in the presence of disorder.

Scrambling prevents the access to local information with local operators and therefore can be used to protect quantum information from damage caused by local perturbations. Even though partial quantum information can be recovered if the type of the damage is known, the initial target state cannot be completely recovered, because the obtained state is a mixture of the initial state and a maximally mixed state. Here, we demonstrate an improved scheme to recover damaged quantum information via scrambling in indefinite causal order. We show that scheme with indefinite causal order can record information of the damage and distill the initial state from the damaged state simultaneously. It allows us to retrieve initial information versus any damage. Moreover, by iterating the schemes, the initial quantum state can be completely recovered. In addition, we experimentally demonstrate our schemes on the cloud-based quantum computer, named as Quafu. Our work proposes a feasible scheme to protect whole quantum information from damage, which is also compatible with other techniques such as quantum error corrections and entanglement purification protocols. We expect that our scheme will be useful in the both quantum information recovery from the damage and systems bench-marking.

Migration has been a universal phenomenon, which brings opportunities as well as challenges for global development. As the number of migrants (e.g., refugees) increases rapidly in recent years, a key challenge faced by each country is the problem of migrant resettlement. This problem has attracted scientific research attention, from the perspective of maximizing the employment rate. Previous works mainly formulated migrant resettlement as an approximately submodular optimization problem subject to multiple matroid constraints and employed the greedy algorithm, whose performance, however, may be limited due to its greedy nature. In this paper, we propose a new framework MR-EMO based on Evolutionary Multi-objective Optimization, which reformulates Migrant Resettlement as a bi-objective optimization problem that maximizes the expected number of employed migrants and minimizes the number of dispatched migrants simultaneously, and employs a Multi-Objective Evolutionary Algorithm (MOEA) to solve the bi-objective problem. We implement MR-EMO using three MOEAs, the popular NSGA-II, MOEA/D as well as the theoretically grounded GSEMO. To further improve the performance of MR-EMO, we propose a specific MOEA, called GSEMO-SR, using matrix-swap mutation and repair mechanism, which has a better ability to search for feasible solutions. We prove that MR-EMO using either GSEMO or GSEMO-SR can achieve better theoretical guarantees than the previous greedy algorithm. Experimental results under the interview and coordination migration models clearly show the superiority of MR-EMO (with either NSGA-II, MOEA/D, GSEMO or GSEMO-SR) over previous algorithms, and that using GSEMO-SR leads to the best performance of MR-EMO.

Characterizing the nature of hydrodynamical transport properties in quantum dynamics provides valuable insights into the fundamental understanding of exotic non-equilibrium phases of matter. Simulating infinite-temperature transport on large-scale complex quantum systems remains an outstanding challenge. Here, using a controllable and coherent superconducting quantum simulator, we experimentally realize the analog quantum circuit, which can efficiently prepare the Haar-random states, and probe spin transport at infinite temperature. We observe diffusive spin transport during the unitary evolution of the ladder-type quantum simulator with ergodic dynamics. Moreover, we explore the transport properties of the systems subjected to strong disorder or a titled potential, revealing signatures of anomalous subdiffusion in accompany with the breakdown of thermalization. Our work demonstrates a scalable method of probing infinite-temperature spin transport on analog quantum simulators, which paves the way to study other intriguing out-of-equilibrium phenomena from the perspective of transport., Comment: Main text: 12 pages, 7 figures; Supplementary: 12 pages, 8 figures

Submodular maximization arises in many applications, and has attracted a lot of research attentions from various areas such as artificial intelligence, finance and operations research. Previous studies mainly consider only one kind of constraint, while many real-world problems often involve several constraints. In this paper, we consider the problem of submodular maximization under the intersection of two commonly used constraints, i.e., $k$-matroid constraint and $m$-knapsack constraint, and propose a new algorithm SPROUT by incorporating partial enumeration into the simultaneous greedy framework. We prove that SPROUT can achieve a polynomial-time approximation guarantee better than the state-of-the-art algorithms. Then, we introduce the random enumeration and smooth techniques into SPROUT to improve its efficiency, resulting in the SPROUT++ algorithm, which can keep a similar approximation guarantee. Experiments on the applications of movie recommendation and weighted max-cut demonstrate the superiority of SPROUT++ in practice.

Efficient preparation of spin-squeezed states is important for quantum-enhanced metrology. Current protocols for generating strong spin squeezing rely on either high dimensionality or long-range interactions. A key challenge is how to generate considerable spin squeezing in one-dimensional systems with only nearest-neighbor interactions. Here, we develop variational spin-squeezing algorithms to solve this problem. We consider both digital and analog quantum circuits for these variational algorithms. After the closed optimization loop of the variational spin-squeezing algorithms, the generated squeezing can be comparable to the strongest squeezing created from two-axis twisting. By analyzing the experimental imperfections, the variational spin-squeezing algorithms proposed in this work are feasible in recent developed noisy intermediate-scale quantum computers.

Effective light cones may emerge in non-relativistic local quantum systems from the Lieb-Robinson bounds, resulting in exponentially decaying commutator norms of two space-time separated operators in the Heisenberg picture. Here, we derive a mechanism for the emergence and consequences of a logarithmic light cone (LLC). As a possible way, the LLC can emerge from a phenomenological model of many-body-localization. We show that the information scrambling is logarithmically slow in the regime of the LLC. We prove that the bipartite entanglement entropy grows logarithmically with time for arbitrary finite space dimensions and arbitrary initial pure states. As an application in quantum information processing, the LLC supports long-lived quantum memory after unitary time evolution: a quantum code with macroscopic code distance and exponentially long lifetime., Comment: 7+3 pages, 2 figures.In version 2, typos were fixed; the proof of theorem 1 was slightly modified

Multipartite entanglement, characterized by the quantum Fisher information (QFI), plays a central role in quantum-enhanced metrology and understanding quantum many-body physics. With a dynamical generalization of the Mazur-Suzuki relations, we provide a rigorous lower bound on the QFI for the thermal Gibbs states in terms of dynamical symmetries, i.e., operators with periodic time dependence. We demonstrate that this bound can be saturated when considering a complete set of dynamical symmetries. Moreover, this lower bound with dynamical symmetries can be generalized to the QFI matrix and to the QFI for the thermal pure states, predicted by the eigenstate thermalization hypothesis. Our results reveal a new perspective to detect multipartite entanglement and other generalized variances in an equilibrium system, from its nonstationary dynamical properties, and is promising for studying emergent nonequilibrium many-body physics., Comment: 6+4 pages, 2+0 figures

We investigate the meson excitations (particle-antiparticle bound states) in quantum many-body scars of a 1D $\mathbb{Z}_2$ lattice gauge theory coupled to a dynamical spin-$\frac{1}{2}$ chain as a matter field. By introducing a string representation of the physical Hilbert space, we express a scar state $\ket {\Psi_{n,l}}$ as a superposition of all string bases with an identical string number $n$ and a total length $l$. For the small-$l$ scar state $\ket {\Psi_{n,l}}$, the gauge-invariant spin exchange correlation function of the matter field hosts an exponential decay as the distance increases, indicating the existence of stable mesons. However, for large $l$, the correlation function exhibits a power-law decay, signaling the emergence of nonmesonic excitations. Furthermore, we show that this mesonic-nonmesonic crossover can be detected by the quench dynamics, starting from two low-entangled initial states, respectively, which are experimentally feasible in quantum simulators. Our results expand the physics of quantum many-body scars in lattice gauge theories and reveal that the nonmesonic state can also manifest ergodicity breaking., Comment: 7+2 pages, 4+1 figures

Geographic data plays an essential role in various Web, Semantic Web and machine learning applications. OpenStreetMap and knowledge graphs are critical complementary sources of geographic data on the Web. However, data veracity, the lack of integration of geographic and semantic characteristics, and incomplete representations substantially limit the data utility. Verification, enrichment and semantic representation are essential for making geographic data accessible for the Semantic Web and machine learning. This article describes recent approaches we developed to tackle these challenges.

Quantum simulation of different exotic topological phases of quantum matter on a noisy intermediate-scale quantum (NISQ) processor is attracting growing interest. Here, we develop a one-dimensional 43-qubit superconducting quantum processor, named as Chuang-tzu, to simulate and characterize emergent topological states. By engineering diagonal Aubry-Andr$\acute{\mathrm{e}}$-Harper (AAH) models, we experimentally demonstrate the Hofstadter butterfly energy spectrum. Using Floquet engineering, we verify the existence of the topological zero modes in the commensurate off-diagonal AAH models, which have never been experimentally realized before. Remarkably, the qubit number over 40 in our quantum processor is large enough to capture the substantial topological features of a quantum system from its complex band structure, including Dirac points, the energy gap's closing, the difference between even and odd number of sites, and the distinction between edge and bulk states. Our results establish a versatile hybrid quantum simulation approach to exploring quantum topological systems in the NISQ era., Comment: Main text: 6 pages, 4 figures; Supplementary: 16 pages, 14 figures

This paper studies semi-supervised video object segmentation through boosting intra-frame interaction. Recent memory network-based methods focus on exploiting inter-frame temporal reference while paying little attention to intra-frame spatial dependency. Specifically, these segmentation model tends to be susceptible to interference from unrelated nontarget objects in a certain frame. To this end, we propose Global Spectral Filter Memory network (GSFM), which improves intra-frame interaction through learning long-term spatial dependencies in the spectral domain. The key components of GSFM is 2D (inverse) discrete Fourier transform for spatial information mixing. Besides, we empirically find low frequency feature should be enhanced in encoder (backbone) while high frequency for decoder (segmentation head). We attribute this to semantic information extracting role for encoder and fine-grained details highlighting role for decoder. Thus, Low (High) Frequency Module is proposed to fit this circumstance. Extensive experiments on the popular DAVIS and YouTube-VOS benchmarks demonstrate that GSFM noticeably outperforms the baseline method and achieves state-of-the-art performance. Besides, extensive analysis shows that the proposed modules are reasonable and of great generalization ability. Our source code is available at https://github.com/workforai/GSFM., Comment: ECCV2022

The ground state degeneracy of topologically ordered gapped Hamiltonians is the bedrock for a quantum error-correcting code with macroscopic distance, which is unfortunately not stable away from equilibrium. In this work, we show that the presence of a bounded lightcone preserves topological order. As a quantum code, the initial ground space will keep its macroscopic distance during unitary time evolution. We also show how a bounded lightcone can emerge through suitable perturbations in the two-dimensional toric code. Our results suggest that topological quantum memory can be dynamically robust at zero temperature., Comment: 6+3 pages, 4 figures, the Supplemental Material is updated. arXiv admin note: substantial text overlap with arXiv:2102.03046

The quantum Hall effect, fundamental in modern condensed matter physics, continuously inspires new theories and predicts emergent phases of matter. Here we experimentally demonstrate three types of Chern insulators with synthetic dimensions on a programable 30-qubit-ladder superconducting processor. We directly measure the band structures of the 2D Chern insulator along synthetic dimensions with various configurations of Aubry-Andr\'e-Harper chains and observe dynamical localisation of edge excitations. With these two signatures of topology, our experiments implement the bulk-edge correspondence in the synthetic 2D Chern insulator. Moreover, we simulate two different bilayer Chern insulators on the ladder-type superconducting processor. With the same and opposite periodically modulated on-site potentials for two coupled chains, we simulate topologically nontrivial edge states with zero Hall conductivity and a Chern insulator with higher Chern numbers, respectively. Our work shows the potential of using superconducting qubits for investigating different intriguing topological phases of quantum matter., Comment: main text: 18 pages, 9 figures; supplementary information: 25 pages, 26 figures

Recently, several spatial-temporal memory-based methods have verified that storing intermediate frames and their masks as memory are helpful to segment target objects in videos. However, they mainly focus on better matching between the current frame and the memory frames without explicitly paying attention to the quality of the memory. Therefore, frames with poor segmentation masks are prone to be memorized, which leads to a segmentation mask error accumulation problem and further affect the segmentation performance. In addition, the linear increase of memory frames with the growth of frame number also limits the ability of the models to handle long videos. To this end, we propose a Quality-aware Dynamic Memory Network (QDMN) to evaluate the segmentation quality of each frame, allowing the memory bank to selectively store accurately segmented frames to prevent the error accumulation problem. Then, we combine the segmentation quality with temporal consistency to dynamically update the memory bank to improve the practicability of the models. Without any bells and whistles, our QDMN achieves new state-of-the-art performance on both DAVIS and YouTube-VOS benchmarks. Moreover, extensive experiments demonstrate that the proposed Quality Assessment Module (QAM) can be applied to memory-based methods as generic plugins and significantly improves performance. Our source code is available at https://github.com/workforai/QDMN., Comment: Accepted by ECCV2022

Superradiant phase transitions (SPTs) are important for understanding light-matter interactions at the quantum level, and play a central role in criticality-enhanced quantum sensing. So far, SPTs have been observed in driven-dissipative systems, but the emergent light fields did not show any nonclassical characteristic due to the presence of strong dissipation. Here we report an experimental demonstration of the SPT featuring the emergence of a highly nonclassical photonic field, realized with a resonator coupled to a superconducting qubit, implementing the quantum Rabi model. We fully characterize the light-matter state by Wigner matrix tomography. The measured matrix elements exhibit quantum interference intrinsic of a photonic mesoscopic superposition, and reveal light-matter entanglement, Comment: 20 pages, 19 figures, 2 tables

Web search is among the most frequent online activities. Whereas traditional information retrieval techniques focus on the information need behind a user query, previous work has shown that user behaviour and interaction can provide important signals for understanding the underlying intent of a search mission. An established taxonomy distinguishes between transactional, navigational and informational search missions, where in particular the latter involve a learning goal, i.e. the intent to acquire knowledge about a particular topic. We introduce a supervised approach for classifying online search missions into either of these categories by utilising a range of features obtained from the user interactions during an online search mission. Applying our model to a dataset of real-world query logs, we show that search missions can be categorised with an average F1 score of 63% and accuracy of 69%, while performance on informational and navigational missions is particularly promising (F1>75%). This suggests the potential to utilise such supervised classification during online search to better facilitate retrieval and ranking as well as to improve affiliated services, such as targeted online ads.

The emerging research field Search as Learning investigates how the Web facilitates learning through modern information retrieval systems. SAL research requires significant amounts of data that capture both search behavior of users and their acquired knowledge in order to obtain conclusive insights or train supervised machine learning models. However, the creation of such datasets is costly and requires interdisciplinary efforts in order to design studies and capture a wide range of features. In this paper, we address this issue and introduce an extensive dataset based on a user study, in which $114$ participants were asked to learn about the formation of lightning and thunder. Participants' knowledge states were measured before and after Web search through multiple-choice questionnaires and essay-based free recall tasks. To enable future research in SAL-related tasks we recorded a plethora of features and person-related attributes. Besides the screen recordings, visited Web pages, and detailed browsing histories, a large number of behavioral features and resource features were monitored. We underline the usefulness of the dataset by describing three, already published, use cases., Comment: To be published at the 2022 ACM SIGIR Conference on Human Information Interaction and Retrieval (CHIIR '22)