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Inhee Lee

Inhee Lee appears in the imported research catalog. Authorship, coauthor and topic links are available while profile ownership is still unclaimed.

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cond-mat.mes-hallcond-mat.mtrl-scicond-mat.str-elComputer Visioncond-mat.supr-conRobotics

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Published work

6 published item(s)

preprint2026arXiv

OmniRobotHome: A Multi-Camera Platform for Real-Time Multiadic Human-Robot Interaction

Human-robot collaboration has been studied primarily in dyadic or sequential settings. However, real homes require multiadic collaboration, where multiple humans and robots share a workspace, acting concurrently on interleaved subtasks with tight spatial and temporal coupling. This regime remains underexplored because close-proximity interaction between humans, robots, and objects creates persistent occlusion and rapid state changes, making reliable real-time 3D tracking the central bottleneck. No existing platform provides the real-time, occlusion-robust, room-scale perception needed to make this regime experimentally tractable. We present OmniRobotHome, the first room-scale residential platform that unifies wide-area real-time 3D human and object perception with coordinated multi-robot actuation in a shared world frame. The system instruments a natural home environment with 48 hardware-synchronized RGB cameras for markerless, occlusion-robust tracking of multiple humans and objects, temporally aligned with two Franka arms that act on live scene state. Continuous capture within this consistent frame further supports long-horizon human behavior modeling from accumulated trajectories. The platform makes the multiadic collaboration regime experimentally tractable. We focus on two central problems: safety in shared human-robot environments and human-anticipatory robotic assistance, and show that real-time perception and accumulated behavior memory each yield measurable gains in both.

0 citations0 reviewsNo code linkedOpen access
preprint2026arXiv

Spin-orbit coupling controlled two-dimensional magnetism in chromium trihalides

CrX$_3$ (X = Cl, Br, I) have the same crystal structure and Hamiltonian but different ligand spin-orbit coupling (SOC) constant $λ_X$, providing excellent material platform exploring for exotic two-dimensional (2D) spin orders. Their microscopic mechanism underlying 2D spin physics remain unestablished, along with experimental corroboration of Kitaev exchange interaction, central to realizing topological quantum spin liquids. Finding direct evidence for Kitaev interaction and determining its value has been an essential but formidable challenge in Kitaev physics. Here we report the direct Kitaev interaction signature in magnetic anisotropy measured by ferromagnetic resonance (FMR) spectroscopy. We present measured values of Heisenberg $J$, Kitaev $K$, and off-diagonal symmetric $Γ$ exchange interactions in CrX$_3$ determined using FMR and exact diagonalization. $K$ and $Γ$ exhibit dominant dependencies on $λ_X$, indicating its central role in 2D magnetism. Our study provides a foundation for designing 2D magnetic materials exhibiting novel behaviors by tuning intrinsic material parameters such as SOC.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Origin of Nonlinear Damping due to Mode Coupling in Auto-Oscillatory Modes Strongly Driven by Spin-Orbit Torque

We investigate the physical origin of nonlinear damping due to mode coupling between several auto-oscillatory modes driven by spin-orbit torque in constricted Py/Pt heterostructures by examining the dependence of auto-oscillation on temperature and applied field orientation. We observe a transition in the nonlinear damping of the auto-oscillation modes extracted from the total oscillation power as a function of drive current, which coincides with the onset of power redistribution amongst several modes and the crossover from linewidth narrowing to linewidth broadening in all individual modes. This indicates the activation of another relaxation process by nonlinear magnon-magnon scattering within the modes. We also find that both nonlinear damping and threshold current in the mode-interaction damping regime at high drive current after transition are temperature independent, suggesting that the mode coupling occurs dominantly through a non-thermal magnon scattering process via a dipole or exchange interaction rather than thermally excited magnon-mediated scattering. This finding presents a promising pathway to overcome the current limitations of efficiently controlling the interaction between two highly nonlinear magnetic oscillators to prevent mode crosstalk or inter-mode energy transfer and deepens understanding of complex nonlinear spin dynamics in multimode spin wave systems.

0 citations0 reviewsNo code linkedOpen access
preprint2019arXiv

Fundamental Spin Interactions Underlying the Magnetic Anisotropy in the Kitaev Ferromagnet CrI$_3$

We lay the foundation for determining the microscopic spin interactions in two-dimensional (2D) ferromagnets by combining angle-dependent ferromagnetic resonance (FMR) experiments on high quality CrI$_3$ single crystals with theoretical modeling based on symmetries. We discover that the Kitaev interaction is the strongest in this material with $K \sim -5.2$ meV, 25 times larger than the Heisenberg exchange $J \sim -0.2$ meV, and responsible for opening the $\sim$5 meV gap at the Dirac points in the spin-wave dispersion. Furthermore, we find that the symmetric off-diagonal anisotropy $Γ\sim -67.5$ $μ$eV, though small, is crucial for opening a $\sim$0.3 meV gap in the magnon spectrum at the zone center and stabilizing ferromagnetism in the 2D limit. The high resolution of the FMR data further reveals a $μ$eV-scale quadrupolar contribution to the $S=3/2$ magnetism. Our identification of the underlying exchange anisotropies opens paths toward 2D ferromagnets with higher $T_\text{C}$ as well as magnetically frustrated quantum spin liquids based on Kitaev physics.

0 citations0 reviewsNo code linkedOpen access
preprint2014arXiv

Imaging Dirac-Mass Disorder from Magnetic Dopant-Atoms in the Ferromagnetic Topological Insulator Cr$_x$(Bi$_{0.1}$Sb$_{0.9}$)$_{2-x}$Te$_3$

To achieve and utilize the most exotic electronic phenomena predicted for the surface states of 3D topological insulators (TI),it is necessary to open a "Dirac-mass gap" in their spectrum by breaking time-reversal symmetry. Use of magnetic dopant atoms to generate a ferromagnetic state is the most widely used approach. But it is unknown how the spatial arrangements of the magnetic dopant atoms influence the Dirac-mass gap at the atomic scale or, conversely, whether the ferromagnetic interactions between dopant atoms are influenced by the topological surface states. Here we image the locations of the magnetic (Cr) dopant atoms in the ferromagnetic TI Cr$_{0.08}$(Bi$_{0.1}$Sb$_{0.9}$)$_{1.92}$Te$_3$. Simultaneous visualization of the Dirac-mass gap $Δ(r)$ reveals its intense disorder, which we demonstrate directly is related to fluctuations in $n(r)$, the Cr atom areal density in the termination layer. We find the relationship of surface-state Fermi wavevectors to the anisotropic structure of $Δ(r)$ consistent with predictions for surface ferromagnetism mediated by those states. Moreover, despite the intense Dirac-mass disorder, the anticipated relationship $Δ(r)\propto n(r)$ is confirmed throughout, and exhibits an electron-dopant interaction energy $J^*$=145$meV\cdot nm^2$. These observations reveal how magnetic dopant atoms actually generate the TI mass gap locally and that, to achieve the novel physics expected of time-reversal-symmetry breaking TI materials, control of the resulting Dirac-mass gap disorder will be essential.

0 citations0 reviewsNo code linkedOpen access
preprint2014arXiv

Simultaneous Transitions in Cuprate Momentum-Space Topology and Electronic Symmetry Breaking

The existence of electronic symmetry breaking in the underdoped cuprates, and its disappearance with increased hole-density $p$, are now widely reported. However, the relationship between this transition and the momentum space ($\vec{k}$-space) electronic structure underpinning the superconductivity has not been established. Here we visualize the $\vec{Q}$=0 (intra-unit-cell) and $\vec{Q}\neq$0 (density wave) broken-symmetry states simultaneously with the coherent $\vec{k}$-space topology, for Bi$_2$Sr$_2$CaCu$_2$O$_{8+d}$ samples spanning the phase diagram 0.06$\leq p \leq$0.23. We show that the electronic symmetry breaking tendencies weaken with increasing $p$ and disappear close to $p_c$=0.19. Concomitantly, the coherent $\vec{k}$-space topology undergoes an abrupt transition, from arcs to closed contours, at the same $p_c$. These data reveal that the $\vec{k}$-space topology transformation in cuprates is linked intimately with the disappearance of the electronic symmetry breaking at a concealed critical point.

0 citations0 reviewsNo code linkedOpen access