Search

Point cloud bundle adjustment is critical in large-scale point cloud mapping. However, it is both computationally and memory intensive, with its complexity growing cubically as the number of scan poses increases. This paper presents BALM3.0, an efficient and distributed large-scale point cloud bundle adjustment method. The proposed method employs the majorization-minimization algorithm to decouple the scan poses in the bundle adjustment process, thus performing the point cloud bundle adjustment on large-scale data with improved computational efficiency. The key difficulty of applying majorization-minimization on bundle adjustment is to identify the proper surrogate cost function. In this paper, the proposed surrogate cost function is based on the point-to-plane distance. The primary advantages of decoupling the scan poses via a majorization-minimization algorithm stem from two key aspects. First, the decoupling of scan poses reduces the optimization time complexity from cubic to linear, significantly enhancing the computational efficiency of the bundle adjustment process in large-scale environments. Second, it lays the theoretical foundation for distributed bundle adjustment. By distributing both data and computation across multiple devices, this approach helps overcome the limitations posed by large memory and computational requirements, which may be difficult for a single device to handle. The proposed method is extensively evaluated in both simulated and real-world environments. The results demonstrate that the proposed method achieves the same optimal residual with comparable accuracy while offering up to 704 times faster optimization speed and reducing memory usage to 1/8. Furthermore, this paper also presented and implemented a distributed bundle adjustment framework and successfully optimized large-scale data (21,436 poses with 70 GB point clouds) with four consumer-level laptops.

Multi-interest candidate matching plays a pivotal role in personalized recommender systems, as it captures diverse user interests from their historical behaviors. Most existing methods utilize attention mechanisms to generate interest representations by aggregating historical item embeddings. However, these methods only capture overall item-level relevance, leading to coarse-grained interest representations that include irrelevant information. To address this issue, we propose the Diffusion Multi-Interest model (DMI), a novel framework for refining user interest representations at the dimension level. Specifically, DMI first introduces controllable noise into coarse-grained interest representations at the dimensional level. Then, in the iterative reconstruction process, DMI combines a cross-attention mechanism and an item pruning strategy to reconstruct the personalized interest vectors with the guidance of tailored collaborative information. Extensive experiments demonstrate the effectiveness of DMI, surpassing state-of-the-art methods on offline evaluations and an online A/B test. Successfully deployed in the real-world recommender system, DMI effectively enhances user satisfaction and system performance at scale, serving the major traffic of hundreds of millions of daily active users. \footnote{The code will be released for reproducibility once the paper is accepted.}

This paper presents a lightweight LiDAR-inertial-visual odometry system optimized for resource-constrained platforms. It integrates a degeneration-aware adaptive visual frame selector into error-state iterated Kalman filter (ESIKF) with sequential updates, improving computation efficiency significantly while maintaining a similar level of robustness. Additionally, a memory-efficient mapping structure combining a locally unified visual-LiDAR map and a long-term visual map achieves a good trade-off between performance and memory usage. Extensive experiments on x86 and ARM platforms demonstrate the system's robustness and efficiency. On the Hilti dataset, our system achieves a 33% reduction in per-frame runtime and 47% lower memory usage compared to FAST-LIVO2, with only a 3 cm increase in RMSE. Despite this slight accuracy trade-off, our system remains competitive, outperforming state-of-the-art (SOTA) LIO methods such as FAST-LIO2 and most existing LIVO systems. These results validate the system's capability for scalable deployment on resource-constrained edge computing platforms.

This paper applies the Method of Successive Approximations (MSA) based on Pontryagin's principle to solve optimal control problems with state constraints for semilinear parabolic equations. Error estimates for the first and second derivatives of the function are derived under \( L^{\infty} \)-bounded conditions. An augmented MSA is developed using the augmented Lagrangian method, and its convergence is proven. The effectiveness of the proposed method is demonstrated through numerical experiments., Comment: 18 pages, 2 figures

In recent years, 3D Gaussian splatting (3D-GS) has emerged as a novel scene representation approach. However, existing vision-only 3D-GS methods often rely on hand-crafted heuristics for point-cloud densification and face challenges in handling occlusions and high GPU memory and computation consumption. LiDAR-Inertial-Visual (LIV) sensor configuration has demonstrated superior performance in localization and dense mapping by leveraging complementary sensing characteristics: rich texture information from cameras, precise geometric measurements from LiDAR, and high-frequency motion data from IMU. Inspired by this, we propose a novel real-time Gaussian-based simultaneous localization and mapping (SLAM) system. Our map system comprises a global Gaussian map and a sliding window of Gaussians, along with an IESKF-based odometry. The global Gaussian map consists of hash-indexed voxels organized in a recursive octree, effectively covering sparse spatial volumes while adapting to different levels of detail and scales. The Gaussian map is initialized through multi-sensor fusion and optimized with photometric gradients. Our system incrementally maintains a sliding window of Gaussians, significantly reducing GPU computation and memory consumption by only optimizing the map within the sliding window. Moreover, we implement a tightly coupled multi-sensor fusion odometry with an iterative error state Kalman filter (IESKF), leveraging real-time updating and rendering of the Gaussian map. Our system represents the first real-time Gaussian-based SLAM framework deployable on resource-constrained embedded systems, demonstrated on the NVIDIA Jetson Orin NX platform. The framework achieves real-time performance while maintaining robust multi-sensor fusion capabilities. All implementation algorithms, hardware designs, and CAD models will be publicly available.

In recent years, some researchers have applied diffusion models to multivariate time series anomaly detection. The partial diffusion strategy, which depends on the diffusion steps, is commonly used for anomaly detection in these models. However, different diffusion steps have an impact on the reconstruction of the original data, thereby impacting the effectiveness of anomaly detection. To address this issue, we propose a novel method named DiffGAN, which adds a generative adversarial network component to the denoiser of diffusion model. This addition allows for the simultaneous generation of noisy data and prediction of diffusion steps. Compared to multiple state-of-the-art reconstruction models, experimental results demonstrate that DiffGAN achieves superior performance in anomaly detection., Comment: 19 pages, 3 figures, 1 table

Building on the multiband nature of iron-based superconductors (FeSCs), we have uncovered pronounced anisotropy in Majorana vortex topology arising from the interaction between vortex orientation and multiple electronic topologies. This anisotropy manifests in two distinct vortex configurations: the z-vortex and x-vortex, oriented perpendicular and parallel to the Dirac axis (z-axis for FeSCs), respectively. The x-vortex exhibits a unique duality, displaying two distinct topological phase diagrams. One is strikingly simple, comprising only trivial and topological superconducting phases, and remains resilient to multiband entanglement. The other mirrors the z-vortex's complex diagram, featuring alternating trivial, topological crystalline and topological superconducting phases. Crucially, the former is exclusive to the x-vortex and supports unpaired Majorana vortices across a wide parameter range, even with Dirac nodes in electronic bands. Notably, uniaxial strain can modulate these x-vortex phases, enabling the x-vortex to support both stable Majorana vortices and rich exotic physics in a controllable manner. Moreover, we propose that the x-vortex offers promising advantages for developing iron-based superconducting quantum devices. Our findings introduce a novel paradigm in vortex topology within multiband superconducting systems, highlighting the x-vortex as a promising platform for exploring Majorana physics and advancing iron-based superconducting quantum technology., Comment: 7 pages + 4 figures

The bilayer structure of recently discovered high-temperature superconducting nickelates La$_3$Ni$_2$O$_7$ provides a new platform for investigating correlation and superconductivity. Starting from a bilayer Hubbard model, we show that there is a molecular Mott insulator limit forming by the bonding band owing to Hubbard interaction and large interlayer coupling. This molecular Mott insulator becomes self-doped from electrons transferred to the antibonding bands at a weaker interlayer coupling strength. The self-doped molecular Mott insulator is similar to the doped Mott insulator studied in cuprates. We propose La$_3$Ni$_2$O$_7$ is a self-doped molecular Mott insulator, whose molecular Mott limit is formed by two nearly degenerate antisymmetric $d_{x^2-y^2}$ and $d_{z^2}$ orbitals. Partial occupation of higher energy symmetric $d_{x^2-y^2}$ orbital leads to self-doping, which may be responsible for high-temperature superconductivity in La$_3$Ni$_2$O$_7$., Comment: 6+3 pages, 4+1 figures

The augmented Lagrange method is employed to address the optimal control problem involving pointwise state constraints in parabolic equations. The strong convergence of the primal variables and the weak convergence of the dual variables are rigorously established. The sub-problems arising in the algorithm are solved using the Method of Successive Approximations (MSA), derived from Pontryagin's principle. Numerical experiments are provided to validate the convergence of the proposed algorithm., Comment: 26 pages, 3 figures

Trajectory generation for fully autonomous flights of tail-sitter unmanned aerial vehicles (UAVs) presents substantial challenges due to their highly nonlinear aerodynamics. In this paper, we introduce, to the best of our knowledge, the world's first fully autonomous tail-sitter UAV capable of high-speed navigation in unknown, cluttered environments. The UAV autonomy is enabled by cutting-edge technologies including LiDAR-based sensing, differential-flatness-based trajectory planning and control with purely onboard computation. In particular, we propose an optimization-based tail-sitter trajectory planning framework that generates high-speed, collision-free, and dynamically-feasible trajectories. To efficiently and reliably solve this nonlinear, constrained \textcolor{black}{problem}, we develop an efficient feasibility-assured solver, EFOPT, tailored for the online planning of tail-sitter UAVs. We conduct extensive simulation studies to benchmark EFOPT's superiority in planning tasks against conventional NLP solvers. We also demonstrate exhaustive experiments of aggressive autonomous flights with speeds up to 15m/s in various real-world environments, including indoor laboratories, underground parking lots, and outdoor parks. A video demonstration is available at https://youtu.be/OvqhlB2h3k8, and the EFOPT solver is open-sourced at https://github.com/hku-mars/EFOPT.

Autonomous exploration is a fundamental problem for various applications of unmanned aerial vehicles (UAVs). Recently, LiDAR-based exploration has gained significant attention due to its ability to generate high-precision point cloud maps of large-scale environments. While the point clouds are inherently informative for navigation, many existing exploration methods still rely on additional, often expensive, environmental representations. This reliance stems from two main reasons: the need for frontier detection or information gain computation, which typically depends on memory-intensive occupancy grid maps, and the high computational complexity of path planning directly on point clouds, primarily due to costly collision checking. To address these limitations, we present EPIC, a lightweight LiDAR-based UAV exploration framework that directly exploits point cloud data to explore large-scale environments. EPIC introduces a novel observation map derived directly from the quality of point clouds, eliminating the need for global occupancy grid maps while preserving comprehensive exploration capabilities. We also propose an incremental topological graph construction method operating directly on point clouds, enabling real-time path planning in large-scale environments. Leveraging these components, we build a hierarchical planning framework that generates agile and energy-efficient trajectories, achieving significantly reduced memory consumption and computation time compared to most existing methods. Extensive simulations and real-world experiments demonstrate that EPIC achieves faster exploration while significantly reducing memory consumption compared to state-of-the-art methods.

Entity alignment (EA) refers to the task of linking entities in different knowledge graphs (KGs). Existing EA methods rely heavily on structural isomorphism. However, in real-world KGs, aligned entities usually have non-isomorphic neighborhood structures, which paralyses the application of these structure-dependent methods. In this paper, we investigate and tackle the problem of entity alignment between heterogeneous KGs. First, we propose two new benchmarks to closely simulate real-world EA scenarios of heterogeneity. Then we conduct extensive experiments to evaluate the performance of representative EA methods on the new benchmarks. Finally, we propose a simple and effective entity alignment framework called Attr-Int, in which innovative attribute information interaction methods can be seamlessly integrated with any embedding encoder for entity alignment, improving the performance of existing entity alignment techniques. Experiments demonstrate that our framework outperforms the state-of-the-art approaches on two new benchmarks.

In this work, we present Voxel-SLAM: a complete, accurate, and versatile LiDAR-inertial SLAM system that fully utilizes short-term, mid-term, long-term, and multi-map data associations to achieve real-time estimation and high precision mapping. The system consists of five modules: initialization, odometry, local mapping, loop closure, and global mapping, all employing the same map representation, an adaptive voxel map. The initialization provides an accurate initial state estimation and a consistent local map for subsequent modules, enabling the system to start with a highly dynamic initial state. The odometry, exploiting the short-term data association, rapidly estimates current states and detects potential system divergence. The local mapping, exploiting the mid-term data association, employs a local LiDAR-inertial bundle adjustment (BA) to refine the states (and the local map) within a sliding window of recent LiDAR scans. The loop closure detects previously visited places in the current and all previous sessions. The global mapping refines the global map with an efficient hierarchical global BA. The loop closure and global mapping both exploit long-term and multi-map data associations. We conducted a comprehensive benchmark comparison with other state-of-the-art methods across 30 sequences from three representative scenes, including narrow indoor environments using hand-held equipment, large-scale wilderness environments with aerial robots, and urban environments on vehicle platforms. Other experiments demonstrate the robustness and efficiency of the initialization, the capacity to work in multiple sessions, and relocalization in degenerated environments.

Aerial swarm systems possess immense potential in various aspects, such as cooperative exploration, target tracking, search and rescue. Efficient, accurate self and mutual state estimation are the critical preconditions for completing these swarm tasks, which remain challenging research topics. This paper proposes Swarm-LIO2: a fully decentralized, plug-and-play, computationally efficient, and bandwidth-efficient LiDAR-inertial odometry for aerial swarm systems. Swarm-LIO2 uses a decentralized, plug-and-play network as the communication infrastructure. Only bandwidth-efficient and low-dimensional information is exchanged, including identity, ego-state, mutual observation measurements, and global extrinsic transformations. To support the plug-and-play of new teammate participants, Swarm-LIO2 detects potential teammate UAVs and initializes the temporal offset and global extrinsic transformation all automatically. To enhance the initialization efficiency, novel reflectivity-based UAV detection, trajectory matching, and factor graph optimization methods are proposed. For state estimation, Swarm-LIO2 fuses LiDAR, IMU, and mutual observation measurements within an efficient ESIKF framework, with careful compensation of temporal delay and modeling of measurements to enhance the accuracy and consistency., Comment: 23 Pages

This work presents a LiDAR-based quadrotor system for slope inspection in dense vegetation environments. Cities like Hong Kong are vulnerable to climate hazards, which often result in landslides. To mitigate the landslide risks, the Civil Engineering and Development Department (CEDD) has constructed steel flexible debris-resisting barriers on vulnerable natural catchments to protect residents. However, it is necessary to carry out regular inspections to identify any anomalies, which may affect the proper functioning of the barriers. Traditional manual inspection methods face challenges and high costs due to steep terrain and dense vegetation. Compared to manual inspection, unmanned aerial vehicles (UAVs) equipped with LiDAR sensors and cameras have advantages such as maneuverability in complex terrain, and access to narrow areas and high spots. However, conducting slope inspections using UAVs in dense vegetation poses significant challenges. First, in terms of hardware, the overall design of the UAV must carefully consider its maneuverability in narrow spaces, flight time, and the types of onboard sensors required for effective inspection. Second, regarding software, navigation algorithms need to be designed to enable obstacle avoidance flight in dense vegetation environments. To overcome these challenges, we develop a LiDAR-based quadrotor, accompanied by a comprehensive software system. The goal is to deploy our quadrotor in field environments to achieve efficient slope inspection. To assess the feasibility of our hardware and software system, we conduct functional tests in non-operational scenarios. Subsequently, invited by CEDD, we deploy our quadrotor in six field environments, including five flexible debris-resisting barriers located in dense vegetation and one slope that experienced a landslide. These experiments demonstrated the superiority of our quadrotor in slope inspection., Comment: 36 pages

Fast radio bursts (FRBs) are enigmatic high-energy events with unknown origins, which are observationally divided into two categories, i.e., repeaters and non-repeaters. However, there are potentially a number of non-repeaters that may be misclassified, as repeating bursts are missed due to the limited sensitivity and observation periods, thus misleading the investigation of their physical properties. In this work, we propose a repeater identification method based on the t-distributed Stochastic Neighbor Embedding (t-SNE) algorithm and apply the classification to the first Canadian Hydrogen Intensity Mapping Experiment Fast Radio Burst (CHIME/FRB) catalog. We find that the spectral morphology parameters, specifically spectral running ($r$), represent the key features for identifying repeaters from the non-repeaters. Also, the results suggest that repeaters are more biased towards narrowband emission, whereas non-repeaters are inclined toward broadband emission. We provide a list of 163 repeater candidates, 5 of which are confirmed with an updated repeater catalog from CHIME/FRB. Our findings improve our understanding of the various properties underlying repeaters and non-repeaters, as well as guidelines for future FRB detection and categorization., Comment: 19 pages, 10 figures

Point cloud maps with accurate color are crucial in robotics and mapping applications. Existing approaches for producing RGB-colorized maps are primarily based on real-time localization using filter-based estimation or sliding window optimization, which may lack accuracy and global consistency. In this work, we introduce a novel global LiDAR-Visual bundle adjustment (BA) named LVBA to improve the quality of RGB point cloud mapping beyond existing baselines. LVBA first optimizes LiDAR poses via a global LiDAR BA, followed by a photometric visual BA incorporating planar features from the LiDAR point cloud for camera pose optimization. Additionally, to address the challenge of map point occlusions in constructing optimization problems, we implement a novel LiDAR-assisted global visibility algorithm in LVBA. To evaluate the effectiveness of LVBA, we conducted extensive experiments by comparing its mapping quality against existing state-of-the-art baselines (i.e., R$^3$LIVE and FAST-LIVO). Our results prove that LVBA can proficiently reconstruct high-fidelity, accurate RGB point cloud maps, outperforming its counterparts.

Efficiency is critical for autonomous vehicles (AVs), especially for emergency AVs. However, most existing methods focus on regular vehicles, overlooking the distinct strategies required by emergency vehicles to address the challenge of maximizing efficiency while ensuring safety. In this paper, we propose an Integrated Agile Decision-Making with Active and Safety-Critical Motion Planning System (IDEAM). IDEAM focuses on enabling emergency AVs, such as ambulances, to actively attain efficiency in dense traffic scenarios with safety in mind. Firstly, the speed-centric decision-making algorithm named the long short-term spatio-temporal graph-centric decision-making (LSGM) is given. LSGM comprises conditional depth-first search (C-DFS) for multiple paths generation as well as methods for speed gains and risk evaluation for path selection, which presents a robust algorithm for high efficiency and safety consideration. Secondly, with an output path from LSGM, the motion planner reconsiders environmental conditions to decide constraints states for the final planning stage, among which the lane-probing state is designed for actively attaining spatial and speed advantage. Thirdly, under the Frenet-based model predictive control (MPC) framework with final constraints state and selected path, the safety-critical motion planner employs decoupled discrete control barrier functions (DCBFs) and linearized discrete-time high-order control barrier functions (DHOCBFs) to model the constraints associated with different driving behaviors, making the optimal optimization problem convex. Finally, we extensively validate our system using scenarios from a randomly synthetic dataset, demonstrating its capability to achieve speed benefits and assure safety simultaneously.

This paper presents a unified surface reconstruction and rendering framework for LiDAR-visual systems, integrating Neural Radiance Fields (NeRF) and Neural Distance Fields (NDF) to recover both appearance and structural information from posed images and point clouds. We address the structural visible gap between NeRF and NDF by utilizing a visible-aware occupancy map to classify space into the free, occupied, visible unknown, and background regions. This classification facilitates the recovery of a complete appearance and structure of the scene. We unify the training of the NDF and NeRF using a spatial-varying scale SDF-to-density transformation for levels of detail for both structure and appearance. The proposed method leverages the learned NDF for structure-aware NeRF training by an adaptive sphere tracing sampling strategy for accurate structure rendering. In return, NeRF further refines structural in recovering missing or fuzzy structures in the NDF. Extensive experiments demonstrate the superior quality and versatility of the proposed method across various scenarios. To benefit the community, the codes will be released at \url{https://github.com/hku-mars/M2Mapping}.

Pair density wave (PDW) is a distinct superconducting state characterized by a periodic modulation of its order parameter in real space. Its intricate interplay with the charge density wave (CDW) state is a continuing topic of interest in condensed matter physics. While PDW states have been discovered in cuprates and other unconventional superconductors, the understanding of diverse PDWs and their interactions with different types of CDWs remains limited. Here, utilizing scanning tunneling microscopy, we unveil the subtle correlations between PDW ground states and two distinct CDW phases -- namely, anion-centered-CDW (AC-CDW) and hollow-centered-CDW (HC-CDW) -- in 2H-NbSe$_2$. In both CDW regions, we observe coexisting PDWs with a commensurate structure that aligns with the underlying CDW phase. The superconducting gap size, $\Delta(r)$, related to the pairing order parameter is in phase with the charge density in both CDW regions. Meanwhile, the coherence peak height, $H(r)$, qualitatively reflecting the electron-pair density, exhibits a phase difference of approximately $2\pi/3$ relative to the CDW. The three-fold rotational symmetry is preserved in the HC-CDW region but is spontaneously broken in the AC-CDW region due to the PDW state, leading to the emergence of nematic superconductivity., Comment: 21 pages, 5 figures

This paper proposes FAST-LIVO2: a fast, direct LiDAR-inertial-visual odometry framework to achieve accurate and robust state estimation in SLAM tasks and provide great potential in real-time, onboard robotic applications. FAST-LIVO2 fuses the IMU, LiDAR and image measurements efficiently through an ESIKF. To address the dimension mismatch between the heterogeneous LiDAR and image measurements, we use a sequential update strategy in the Kalman filter. To enhance the efficiency, we use direct methods for both the visual and LiDAR fusion, where the LiDAR module registers raw points without extracting edge or plane features and the visual module minimizes direct photometric errors without extracting ORB or FAST corner features. The fusion of both visual and LiDAR measurements is based on a single unified voxel map where the LiDAR module constructs the geometric structure for registering new LiDAR scans and the visual module attaches image patches to the LiDAR points. To enhance the accuracy of image alignment, we use plane priors from the LiDAR points in the voxel map (and even refine the plane prior) and update the reference patch dynamically after new images are aligned. Furthermore, to enhance the robustness of image alignment, FAST-LIVO2 employs an on-demanding raycast operation and estimates the image exposure time in real time. Lastly, we detail three applications of FAST-LIVO2: UAV onboard navigation demonstrating the system's computation efficiency for real-time onboard navigation, airborne mapping showcasing the system's mapping accuracy, and 3D model rendering (mesh-based and NeRF-based) underscoring the suitability of our reconstructed dense map for subsequent rendering tasks. We open source our code, dataset and application on GitHub to benefit the robotics community., Comment: 30 pages, 31 figures, due to the limitation that 'The abstract field cannot exceed 1,920 characters', the abstract presented here is shorter than the one in the PDF file

Recent advances in mapping techniques have enabled the creation of highly accurate dense 3D maps during robotic missions, such as point clouds, meshes, or NeRF-based representations. These developments present new opportunities for reusing these maps for localization. However, there remains a lack of a unified approach that can operate seamlessly across different map representations. This paper presents and evaluates a global visual localization system capable of localizing a single camera image across various 3D map representations built using both visual and lidar sensing. Our system generates a database by synthesizing novel views of the scene, creating RGB and depth image pairs. Leveraging the precise 3D geometric map, our method automatically defines rendering poses, reducing the number of database images while preserving retrieval performance. To bridge the domain gap between real query camera images and synthetic database images, our approach utilizes learning-based descriptors and feature detectors. We evaluate the system's performance through extensive real-world experiments conducted in both indoor and outdoor settings, assessing the effectiveness of each map representation and demonstrating its advantages over traditional structure-from-motion (SfM) localization approaches. The results show that all three map representations can achieve consistent localization success rates of 55% and higher across various environments. NeRF synthesized images show superior performance, localizing query images at an average success rate of 72%. Furthermore, we demonstrate an advantage over SfM-based approaches that our synthesized database enables localization in the reverse travel direction which is unseen during the mapping process. Our system, operating in real-time on a mobile laptop equipped with a GPU, achieves a processing rate of 1Hz.

Einstein-Podolsky-Rosen (EPR) paradox highlights the absence of a local realistic explanation for quantum mechanics, and shows the incompatibility of the local-hidden-state models with quantum theory. For $N$-qubit states, or more importantly, the $N$-qubit mixed states, we present the EPR steering paradox in the form of the contradictory equality "2=1". We show that the contradiction holds for any $N$-qubit state as long as both the pure state requirement and the measurement requirement are satisfied. This also indicates that the EPR steering paradox exists in more general cases. Finally, we give specific examples to demonstrate and analyze our arguments., Comment: 12 pages, 0 figure

Gamma-ray bursts (GRBs) are typically classified into long and short GRBs based on their durations. However, there is a significant overlapping in the duration distributions of these two categories. In this paper, we apply the unsupervised dimensionality reduction algorithm called t-SNE and UMAP to classify 2061 Fermi GRBs based on four observed quantities: duration, peak energy, fluence, and peak flux. The map results of t-SNE and UMAP show a clear division of these GRBs into two clusters. We mark the two clusters as GRBs-I and GRBs-II, and find that all GRBs associated with supernovae are classified as GRBs-II. It includes the peculiar short GRB 200826A, which was confirmed to originate from the death of a massive star. Furthermore, except for two extreme events GRB 211211A and GRB 230307A, all GRBs associated with kilonovae fall into GRBs-I population. By comparing to the traditional classification of short and long GRBs, the distribution of durations for GRBs-I and GRBs-II do not have a fixed boundary. We find that more than 10% of GRBs-I have a duration greater than 2 seconds, while approximately 1% of GRBs-II have a duration shorter than 2 seconds., Comment: 11 pages, 5 figures, revised version submitted to MNRAS

Entity alignment (EA) aims to find equivalent entities between two Knowledge Graphs. Existing embedding-based EA methods usually encode entities as embeddings, triples as embeddings' constraint and learn to align the embeddings. However, the details of the underlying logical inference steps among the alignment process are usually omitted, resulting in inadequate inference process. In this paper, we introduce NALA, an entity alignment method that captures three types of logical inference paths with Non-Axiomatic Logic (NAL). Type 1&2 align the entity pairs and type 3 aligns relations. NALA iteratively aligns entities and relations by integrating the conclusions of the inference paths. Our method is logically interpretable and extensible by introducing NAL, and thus suitable for various EA settings. Experimental results show that NALA outperforms state-of-the-art methods in terms of Hits@1, achieving 0.98+ on all three datasets of DBP15K with both supervised and unsupervised settings. We offer a pioneering in-depth analysis of the fundamental principles of entity alignment, approaching the subject from a unified and logical perspective. Our code is available at https://github.com/13998151318/NALA., Comment: 21 pages. EMNLP 2024 Findings (Accepted)

The structure of quantum mechanics forbids a bipartite scenario for masking quantum information, however, it allows multipartite maskers. The Latin squares are found to be closely related to a series of tripartite maskers. This adds another item, significantly different from the original no-cloning theorem, to the no-go theorems. On the other hand, anyonic excitations in two dimensions exhibit exotic collective behaviors of quantum physics, and open the avenue of fault-tolerant topological quantum computing. Here, we give the Latin-square construction of Abelian and Ising anyons %of in the Kitaev model and study the maskable space configuration in anyonic space. The circling and braiding of Kitaev anyons are masking operations on extended hyperdisks in anyonic space. We also realize quantum information masking in a teleportation way in the Kitaev Ising anyon model., Comment: 7 pages, 4 figures

Subsystems of a composite system in a pure state generally exist in mixed states and undergo changes with the overall state. This phenomenon arises from the coherence of the entire system and represents a crucial distinction between quantum and classical systems. Such a quantum property can enhance the work of an Otto heat engine, where two coupled qubits serve as the working substance, allowing situations in which negative work output initially occurred to now yield positive work. We utilize the imagery of Maxwell's demon to explain the reason for positive work in this Otto cycle, attributing it to the increased coherence after the mutual measurement of the two subsystems. Conversely, the quantum measurement-erase cycle typically outputs negative work, attributed to the decoherence of the instrument during the measurement process., Comment: 8 pages, 4 figures

We carry out a systematic study of the electronic and magnetic structure of the ambient-pressure bilayer La$_3$Ni$_2$O$_7$. Employing the hybrid exchange-correlation functional, we show that the exchange-correlation pushes the bonding $d_{z^2}$ bands below the Fermi level to be fully occupied. The calculated Fermi surfaces and the correlation normalized band structure match well with the experimental findings at ambient pressure. Moreover, the electronic susceptibility calculated for this new band structure features nesting-induced peaks near the wave vector $Q=(\pi/2, \pi/2)$, suggesting a possible density wave instability in agreement with recent experiments. Through a mean field study and DFT+U calculation introducing a Hubbard U interaction within conventional density functional theory, we confirm the spin-charge intertwined double stripe order is the magnetic ground state. Our results provide a faithful description for the low-pressure La$_3$Ni$_2$O$_7$ electronic structure., Comment: 4 pages, 7 figures and supplemental material

The fractional quantum Hall (FQH) states are exotic quantum many-body phases whose elementary charged excitations are neither bosons nor fermions but anyons, obeying fractional braiding statistics. While most FQH states are believed to have Abelian anyons, the Moore-Read type states with even denominators, appearing at half filling of a Landau level (LL), are predicted to possess non-Abelian excitations with appealing potentials in topological quantum computation. These states, however, depend sensitively on the orbital contents of the single-particle LL wavefunction and the mixing between different LLs. Although they have been observed in a few materials, their non-Abelian statistics still awaits experimental confirmation. Here we show magnetotransport measurements on Bernal-stacked trilayer graphene (TLG), whose unique multiband structure facilitates the interlaced LL mixing, which can be controlled by external magnetic and displacement fields. We observe a series of robust FQH states including even-denominator ones at filling factors $\nu=-9/2$, $-3/2$, $3/2$ and $9/2$. In addition, we are able to finetune the LL mixing and crossings to drive quantum phase transitions of these half-filling states and their neighboring odd-denominator ones, exhibiting a related emerging and waning behavior. Our results establish TLG as a controllable system for tuning the weights of LL orbitals and mixing strength, and a fresh platform to seek for non-Abelian quasi-particles.

In this note, we numerically estimate Colding-Minicozzi entropies of some self-shrinkers and get that Colding-Minicozzi entropies of $n$-dimensional Angenent torus are decreasing about dimension $n$ ($2\leq n\leq 5*10^7$), which partially answer the questions of Berchenko-Kogan \cite{BK}., Comment: Comments are welcome