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Published work

23 published item(s)

preprint2026arXiv

CktGen: Automated Analog Circuit Design with Generative Artificial Intelligence

The automatic synthesis of analog circuits presents significant challenges. Most existing approaches formulate the problem as a single-objective optimization task, overlooking that design specifications for a given circuit type vary widely across applications. To address this, we introduce specification-conditioned analog circuit generation, a task that directly generates analog circuits based on target specifications. The motivation is to leverage existing well-designed circuits to improve automation in analog circuit design. Specifically, we propose CktGen, a simple yet effective variational autoencoder that maps discretized specifications and circuits into a joint latent space and reconstructs the circuit from that latent vector. Notably, as a single specification may correspond to multiple valid circuits, naively fusing specification information into the generative model does not capture these one-to-many relationships. To address this, we decouple the encoding of circuits and specifications and align their mapped latent space. Then, we employ contrastive training with a filter mask to maximize differences between encoded circuits and specifications. Furthermore, classifier guidance along with latent feature alignment promotes the clustering of circuits sharing the same specification, avoiding model collapse into trivial one-to-one mappings. By canonicalizing the latent space with respect to specifications, we can search for an optimal circuit that meets valid target specifications. We conduct comprehensive experiments on the open circuit benchmark and introduce metrics to evaluate cross-model consistency. Experimental results demonstrate that CktGen achieves substantial improvements over state-of-the-art methods.

preprint2026arXiv

FastStair: Learning to Run Up Stairs with Humanoid Robots

Running up stairs is effortless for humans but remains extremely challenging for humanoid robots due to the simultaneous requirements of high agility and strict stability. Model-free reinforcement learning (RL) can generate dynamic locomotion, yet implicit stability rewards and heavy reliance on task-specific reward shaping tend to result in unsafe behaviors, especially on stairs; conversely, model-based foothold planners encode contact feasibility and stability structure, but enforcing their hard constraints often induces conservative motion that limits speed. We present FastStair, a planner-guided, multi-stage learning framework that reconciles these complementary strengths to achieve fast and stable stair ascent. FastStair integrates a parallel model-based foothold planner into the RL training loop to bias exploration toward dynamically feasible contacts and to pretrain a safety-focused base policy. To mitigate planner-induced conservatism and the discrepancy between low- and high-speed action distributions, the base policy was fine-tuned into speed-specialized experts and then integrated via Low-Rank Adaptation (LoRA) to enable smooth operation across the full commanded-speed range. We deploy the resulting controller on the Oli humanoid robot, achieving stable stair ascent at commanded speeds up to 1.65 m/s and traversing a 33-step spiral staircase (17 cm rise per step) in 12 s, demonstrating robust high-speed performance on long staircases. Notably, the proposed approach served as the champion solution in the Canton Tower Robot Run Up Competition.

preprint2026arXiv

RainBalance: Alleviating Dual Imbalance in GNSS-based Precipitation Nowcasting via Continuous Probability Modeling

Global navigation satellite systems (GNSS) station-based Precipitation Nowcasting aims to predict rainfall within the next 0-6 hours by leveraging a GNSS station's historical observations of precipitation, GNSS-PWV, and related meteorological variables, which is crucial for disaster mitigation and real-time decision-making. In recent years, time-series forecasting approaches have been extensively applied to GNSS station-based precipitation nowcasting. However, the highly imbalanced temporal distribution of precipitation, marked not only by the dominance of non-rainfall events but also by the scarcity of extreme precipitation samples, significantly limits model performance in practical applications. To address the dual imbalance problem in precipitation nowcasting, we propose a continuous probability modeling-based framework, RainBalance. This plug-and-play module performs clustering for each input sample to obtain its cluster probability distribution, which is further mapped into a continuous latent space via a variational autoencoder (VAE). By learning in this continuous probabilistic space, the task is reformulated from fitting single and imbalance-prone precipitation labels to modeling continuous probabilistic label distributions, thereby alleviating the imbalance issue. We integrate this module into multiple state-of-the-art models and observe consistent performance gains. Comprehensive statistical analysis and ablation studies further validate the effectiveness of our approach.

preprint2026arXiv

TideGS: Scalable Training of Over One Billion 3D Gaussian Splatting Primitives via Out-of-Core Optimization

Training 3D Gaussian Splatting (3DGS) at billion-primitive scale is fundamentally memory-bound: each Gaussian primitive carries a large attribute vector, and the aggregate parameter table quickly exceeds GPU capacity, limiting prior systems to tens of millions of Gaussians on commodity single-GPU hardware. We observe that 3DGS training is inherently sparse and trajectory-conditioned: each iteration activates only the Gaussians visible from the current camera batch, so GPU memory can serve as a working-set cache rather than a persistent parameter store. Building on this insight, we introduce TideGS, an out-of-core training framework that manages parameters across an SSD-CPU-GPU hierarchy via three synergistic techniques: block-virtualized geometry for SSD-aligned spatial locality, a hierarchical asynchronous pipeline to overlap I/O with computation, and trajectory-adaptive differential streaming that transfers only incremental working-set deltas between iterations. Experiments show that TideGS enables training with over one billion Gaussians on a single 24 GB GPU while achieving the best reconstruction quality among evaluated single-GPU baselines on large-scale scenes, scaling beyond prior out-of-core baselines (e.g., approximately 100M Gaussians) and standard in-memory training (e.g., approximately 11M Gaussians).

preprint2025arXiv

Approximation algorithms for integer programming with resource augmentation

The classic algorithm [Papadimitriou, J.ACM '81] for IPs has a running time $n^{O(m)}(m\cdot\max\{Δ,\|\textbf{b}\|_{\infty}\})^{O(m^2)}$, where $m$ is the number of constraints, $n$ is the number of variables, and $Δ$ and $\|\textbf{b}\|_{\infty}$ are, respectively, the largest absolute values among the entries in the constraint matrix and the right-hand side vector of the constraint. The running time is exponential in $m$, and becomes pseudo-polynomial if $m$ is a constant. In recent years, there has been extensive research on FPT (fixed parameter tractable) algorithms for the so-called $n$-fold IPs, which may possess a large number of constraints, but the constraint matrix satisfies a specific block structure. It is remarkable that these FPT algorithms take as parameters $Δ$ and the number of rows and columns of some small submatrices. If $Δ$ is not treated as a parameter, then the running time becomes pseudo-polynomial even if all the other parameters are taken as constants. This paper explores the trade-off between time and accuracy in solving an IP. We show that, for arbitrary small $\varepsilon>0$, there exists an algorithm for IPs with $m$ constraints that runs in ${f(m,\varepsilon)}\cdot\textnormal{poly}(|I|)$ time, and returns a near-feasible solution that violates the constraints by at most $\varepsilonΔ$. Furthermore, for $n$-fold IPs, we establish a similar result -- our algorithm runs in time that depends on the number of rows and columns of small submatrices together with $1/\varepsilon$, and returns a solution that slightly violates the constraints. Meanwhile, both solutions guarantee that their objective values are no worse than the corresponding optimal objective values satisfying the constraints. As applications, our results can be used to obtain additive approximation schemes for multidimensional knapsack as well as scheduling.

preprint2022arXiv

DynamicFilter: an Online Dynamic Objects Removal Framework for Highly Dynamic Environments

Emergence of massive dynamic objects will diversify spatial structures when robots navigate in urban environments. Therefore, the online removal of dynamic objects is critical. In this paper, we introduce a novel online removal framework for highly dynamic urban environments. The framework consists of the scan-to-map front-end and the map-to-map back-end modules. Both the front- and back-ends deeply integrate the visibility-based approach and map-based approach. The experiments validate the framework in highly dynamic simulation scenarios and real-world datasets.

preprint2022arXiv

Electronic chiralization as an indicator of the anomalous Hall effect in unconventional magnetic systems

The anomalous Hall effect (AHE) can appear in certain antiferromagnetic metals when it is allowed by symmetry. Since the net magnetization is usually small in such anomalous Hall antiferromagnets, it is useful to have other physical indicators of the AHE that have the same symmetry properties as the latter and can be conveniently measured and calculated. Here we propose such indicators named as electronic chiralization (EC), which are constructed using spatial gradients of spin and charge densities in general periodic crystals, and can potentially be measured directly by scattering experiments. Such constructions particularly reveal the important role of magnetic charge in the AHE in unconventional magnetic systems with vanishing net magnetization. Guided by the EC we give two examples of the AHE when magnetic charge is explicitly present: A minimum honeycomb model inspired by the magnetic-charge-ordered phase of kagome spin ice, and skew scattering of two-dimensional Dirac electrons by magnetic charge.

preprint2022arXiv

Existence and multiplicity of solutions to Dirichlet problem for semilinear subelliptic equation with a free perturbation

This paper is concerned with existence and multiplicity results for the semilinear subelliptic equation with free perturbation term. By using the degenerate Rellich-Kondrachov compact embedding theorem, precise lower bound estimates of Dirichlet eigenvalues for the finitely degenerate elliptic operator and minimax method, we obtain the existence and multiplicity of weak solutions for the problem.

preprint2022arXiv

Manifold Optimization Based Multi-user Rate Maximization Aided by Intelligent Reflecting Surface

In this work, two problems associated with a downlink multi-user system are considered with the aid of intelligent reflecting surface (IRS): weighted sum-rate maximization and weighted minimal-rate maximization. For the first problem, a novel DOuble Manifold ALternating Optimization (DOMALO) algorithm is proposed by exploiting the matrix manifold theory and introducing the beamforming matrix and reflection vector using complex sphere manifold and complex oblique manifold, respectively, which incorporate the inherent geometrical structure and the required constraint. A smooth double manifold alternating optimization (S-DOMALO) algorithm is then developed based on the Dinkelbach-type algorithm and smooth exponential penalty function for the second problem. Finally, possible cooperative beamforming gain between IRSs and the IRS phase shift with limited resolution is studied, providing a reference for practical implementation. Numerical results show that our proposed algorithms can significantly outperform the benchmark schemes.

preprint2022arXiv

Polytopic Planar Region Characterization of Rough Terrains for Legged Locomotion

This paper studies the problem of constructing polytopic representations of planar regions from depth camera readings. This problem is of great importance for terrain mapping in complicated environment and has great potentials in legged locomotion applications. To address the polytopic planar region characterization problem, we propose a two-stage solution scheme. At the first stage, the planar regions embedded within a sequence of depth images are extracted individually first and then merged to establish a terrain map containing only planar regions in a selected frame. To simplify the representations of the planar regions that are applicable to foothold planning for legged robots, we further approximate the extracted planar regions via low-dimensional polytopes at the second stage. With the polytopic representation, the proposed approach achieves a great balance between accuracy and simplicity. Experimental validations with RGB-D cameras are conducted to demonstrate the performance of the proposed scheme. The proposed scheme successfully characterizes the planar regions via polytopes with acceptable accuracy. More importantly, the run time of the overall perception scheme is less than 10ms (i.e., > 100Hz) throughout the tests, which strongly illustrates the advantages of our approach developed in this paper.

preprint2022arXiv

Quadruped Capturability and Push Recovery via a Switched-Systems Characterization of Dynamic Balance

This paper studies capturability and push recovery for quadrupedal locomotion. Despite the rich literature on capturability analysis and push recovery control for legged robots, existing tools are developed mainly for bipeds or humanoids. Distinct quadrupedal features such as point contacts and multiple swinging legs prevent direct application of these methods. To address this gap, we propose a switched systems model for quadruped dynamics, and instantiate the abstract viability concept for quadrupedal locomotion with a time-based gait. Capturability is characterized through a novel specification of dynamically balanced states that addresses the time-varying nature of quadrupedal locomotion and balance. A linear inverted pendulum (LIP) model is adopted to demonstrate the theory and show how the newly developed quadrupedal capturability can be used in motion planning for quadrupedal push recovery. We formulate and solve an explicit model predictive control (EMPC) problem whose optimal solution fully characterizes quadrupedal capturability with the LIP. Given this analysis, an optimization-based planning scheme is devised for determining footsteps and center of mass references during push recovery. To validate the effectiveness of the overall framework, we conduct numerous simulation and hardware experiments. Simulation results illustrate the necessity of considering dynamic balance for quadrupedal capturability, and the significant improvement in disturbance rejection with the proposed strategy. Experimental validations on a replica of the Mini Cheetah quadruped demonstrate an up to 100% improvement as compared with state-of-the-art.

preprint2022arXiv

Quantum sensing and imaging of spin-orbit-torque-driven spin dynamics in noncollinear antiferromagnet Mn3Sn

Novel noncollinear antiferromagnets with spontaneous time-reversal symmetry breaking, nontrivial band topology, and unconventional transport properties have received immense research interest over the past decade due to their rich physics and enormous promise in technological applications. One of the central focuses in this emerging field is exploring the relationship between the microscopic magnetic structure and exotic material properties. Here, the nanoscale imaging of both spin-orbit-torque-induced deterministic magnetic switching and chiral spin rotation in noncollinear antiferromagnet Mn3Sn films using nitrogen-vacancy (NV) centers is reported. Direct evidence of the off-resonance dipole-dipole coupling between the spin dynamics in Mn3Sn and proximate NV centers is also demonstrated with NV relaxometry measurements. These results demonstrate the unique capabilities of NV centers in accessing the local information of the magnetic order and dynamics in these emergent quantum materials and suggest new opportunities for investigating the interplay between topology and magnetism in a broad range of topological magnets.

preprint2022arXiv

Static and spherically symmetric solutions in f(Q) gravity

f(Q) gravity is the extension of symmetric teleparallel general relativity (STGR), in which both curvature and torsion vanish, and gravity is attributed to nonmetricity. This work performs theoretical analyses of static and spherically symmetric solutions with an anisotropic fluid for general f(Q) gravity. We find that the off-diagonal component of the field equation due to a coincident gauge leads to stringent restrictions on the functional form of f(Q) gravity. In addition, although the exact Schwarzschild solution only exists in STGR, we obtain Schwarzschild-like solutions in nontrivial f(Q) gravity and study its asymptotic behavior and deviation from the exact one.

preprint2021arXiv

Emergent Weyl Fermions in an Orbital Multipolar Ordering Phase

Multipolar orderings in degenerate orbital systems offer unique opportunities for emergent topological phases. The phase diagram of interacting spinless fermions in a $p$-band diamond lattice at unit filling is first studied to elucidate the essential role of orbital multipolar orderings in the evolution of multifold degenerate band nodes. The free band structure around the Brillouin zone center is described by two quadratic band nodes each with a threefold degeneracy, which are spanned by the bonding and anti-bonding $p$-orbital multiplets, respectively. Upon switching on interactions, the triply degenerate band node is split into a pair of Weyl fermions with opposite chirality due to the onset of orbital multipolar orderings. Further raising interactions ultimately drives the system into an insulating phase with the orbital quadrupolar ordering. Our study is then generalized to spin-$1/2$ fermions, which has direct relevance with solid-state materials. The system develops full spin polarization through a ferromagnetic transition at tiny interactions, leaving the remaining orbital sector activated. The ensuing transitions take place in the orbital sector as a natural consequence, qualitatively recovering the phase diagram of spinless fermions. Our findings shed new light on the realization of emergent novel fermions with a prospect being a frontier at the confluence of topology, orbital physics and strong correlation.

preprint2021arXiv

Non-Abelian braiding in spin superconductors utilizing the Aharonov-Casher effect

Spin superconductor (SSC) is an exciton condensate state where the spin-triplet exciton superfluidity is charge neutral while spin $2(\hbar/2)$. In analogy to the Majorana zero mode (MZM) in topological superconductors, the interplay between SSC and band topology will also give rise to a specific kind of topological boundary state obeying non-Abelian braiding statistics. Remarkably, the non-Abelian geometric phase here originates from the Aharonov-Casher effect of the "half-charge" other than the Aharonov-Bohm effect. Such topological boundary state of SSC is bound with the vortex of electric flux gradient and can be experimentally more distinct than the MZM for being electrically charged. This theoretical proposal provides a new avenue investigating the non-Abelian braiding physics without the assistance of MZM and charge superconductor.

preprint2021arXiv

The spectral gap to torsion problem for some non-convex domains

In this paper we study the following torsion problem \begin{equation*} \begin{cases} -Δu=1~&\mbox{in}\ Ω,\\[1mm] u=0~&\mbox{on}\ \partialΩ. \end{cases} \end{equation*} Let $Ω\subset \mathbb{R}^2$ be a bounded, convex domain and $u_0(x)$ be the solution of above problem with its maximum $y_0\in Ω$. Steinerberger proved that there are universal constants $c_1, c_2>0$ satisfying \begin{equation*} λ_{\max}\left(D^2u_0(y_0)\right)\leq -c_1\mbox{exp}\left(-c_2\frac{\text{diam}(Ω)}{\mbox{inrad}(Ω)}\right). \end{equation*} And he proposed following open problem: "Does above result hold true on domains that are not convex but merely simply connected or perhaps only bounded? The proof uses convexity of the domain $Ω$ in a very essential way and it is not clear to us whether the statement remains valid in other settings." Here by some new idea involving the computations on Green's function, we compute the spectral gap $λ_{\max}D^2u(y_0)$ for some non-convex smooth bounded domains, which gives a negative answer to above open problem. Also some extensions are given.

preprint2020arXiv

Big Bang Nucleosynthesis Hunts Chameleon Dark Matter

We study the chameleon field dark matter, dubbed \textit{scalaron}, in $F(R)$ gravity in the Big Bang Nucleosynthesis (BBN) epoch. With an $R^{2}$-correction term required to solve the singularity problem for $F(R)$ gravity, we first find that the scalaron dynamics is governed by the $R^{2}$ term and the chameleon mechanism in the early universe, which makes the scalaron physics model-independent regarding the low-energy scale modification. In viable $F(R)$ dark energy models including the $R^{2}$ correction, our analysis suggests the scalaron universally evolves in a way with a bouncing oscillation irrespective of the low-energy modification for the late-time cosmic acceleration. Consequently, we find a universal bound on the scalaron mass in the BBN epoch, to be reflected on the constraint for the coupling strength of the $R^2$ term, which turns out to be more stringent than the one coming from the fifth force experiments. It is then shown that the scalaron naturally develops a small enough fluctuation in the BBN epoch, hence can avoid the current BBN constraint placed by the latest Planck 2018 data, and can also have a large enough sensitivity to be hunted by the BBN, with more accurate measurements for light element abundances as well as the baryon number density fraction.

preprint2020arXiv

Finite-thickness effect and spin polarization of the even-denominator fractional quantum Hall states

The spin-polarized even-denominator fractional quantum Hall (FQH) states in the second Landau level (LL), i.e. 5/2 and 7/2, may possess novel quasi-particle excitations obeying non-Abelian statistics. However, the spin polarization of the 7/2 FQH state has not been investigated experimentally and the spin polarization of the 5/2 FQH state from tilted field experiments remains controversial. Using a piezo-driven sample rotator with the lowest electron temperature down to 25 mK, we studied the energy gap of the even-denominator FQH states in the second LL by precise control of the tilted angles with a resolution less than 0.1°. We observed two different energy gap dependences on the in-plane magnetic field for 5/2, 7/2, other FQH states (7/3 and 8/3) in the second LL and reentrant integer quantum Hall (RIQH) states in the third LL. Though the transition fields vary from states, their corresponding in-plane magnetic lengths are comparable to the quantum well thickness of the sample, which may result from the influence of the finite-thickness effect. At low in-plane magnetic fields, before the conjectured finite-thickness effect starts to dominate, the energy gaps of both 5/2 and 7/2 states show a non-decreasing behavior, supporting spin-polarized ground states. Our results also suggest that the 7/3, 8/3 FQH states, and the RIQH states in the third LL are spin-polarized or partially spin-polarized.

preprint2020arXiv

Linear magnetoresistance induced by intra-scattering semiclassics of Bloch electrons

The weak field magnetoresistance has seen a revived interest due to the distinct role played by the momentum-space Berry curvature of Bloch electrons. While most previous studies in this regard focus on the inter-scattering motion of semiclassical Bloch electrons in electromagnetic fields, the intra-scattering effects of the semiclassical dynamics augmented by the Berry curvature, magnetic moment and shift vector on the magnetoresistance have been largely overlooked. Here we uncover that these intra-scattering effects, which are neglected in the field-independent relaxation time approximation to the Boltzmann collision integral, can be as important as the inter-scattering ones. Concrete calculations on the two dimensional gapped Dirac model show that the sign of the negative linear magnetoresistance given by the Berry curvature alone is reversed when one considers the magnetic moment and shift vector.

preprint2020arXiv

Realization of the kagome spin ice state in a frustrated intermetallic compound

Spin ices are exotic phases of matter characterized by frustrated spins obeying local ice rules, in analogy with the electric dipoles in water ice. In two dimensions, one can similarly define ice rules for in-plane Ising-like spins arranged on a kagome lattice. These ice rules require each triangle plaquette to have a single monopole, and can lead to various unique orders and excitations. Using experimental and theoretical approaches including magnetometry, thermodynamic measurements, neutron scattering and Monte Carlo simulations, we establish HoAgGe as a crystalline (i.e. non-artificial) system that realizes the kagome spin ice state. The system features a variety of partially and fully ordered states and a sequence of field-induced phases at low temperatures, all consistent with the kagome ice rule.

preprint2019arXiv

Emergent flat band lattices in spatially periodic magnetic fields

Motivated by the recent discovery of Mott insulating phase and unconventional superconductivity due to the flat bands in twisted bilayer graphene, we propose more generic ways of getting two-dimensional (2D) emergent flat band lattices using either 2D Dirac materials or ordinary electron gas (2DEG) subject to moderate periodic orbital magnetic fields with zero spatial average. Employing both momentum-space and real-space numerical methods to solve the eigenvalue problems, we find stark contrast between Schrödinger and Dirac electrons, i.e., the former show recurring "magic" values of the magnetic field when the lowest band becomes flat, while for the latter the zero-energy bands are asymptotically flat without magicness. By examining the Wannier functions localized by the smooth periodic magnetic fields, we are able to explain these nontrivial behaviors using minimal tight-binding models on a square lattice. The two cases can be interpolated by varying the $g$-factor or effective mass of a 2DEG and by taking into account the Zeeman coupling, which also leads to flat bands with nonzero Chern numbers for each spin. Our work provides flexible platforms for exploring interaction-driven phases in 2D systems with on-demand superlattice symmetries.

preprint2019arXiv

Manipulating Anomalous Hall Antiferromagnets with Magnetic Fields

The symmetry considerations that imply a non-zero anomalous Hall effect (AHE) in certain non-collinear antiferromagnets also imply both non-zero orbital magnetization and a net spin magnetization. We have explicitly evaluated the orbital magnetizations of several anomalous Hall effect antiferromagnets and find that they tend to dominate over spin magnetizations, especially so when spin-orbit interactions are weak. Because of the greater relative importance of orbital magnetization the coupling between magnetic order and an external magnetic field is unusual. We explain how magnetic fields can be used to manipulate magnetic configurations in these systems, pointing in particular to the important role played by the response of orbital magnetization to the Zeeman-like spin exchange fields.