340 research outputs found

    Quantum Signatures of Topological Phase in Bosonic Quadratic System

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    Quantum entanglement and classical topology are two distinct phenomena that are difficult to be connected together. Here we discover that an open bosonic quadratic chain exhibits topology-induced entanglement effect. When the system is in the topological phase, the edge modes can be entangled in the steady state, while no entanglement appears in the trivial phase. This finding is verified through the covariance approach based on the quantum master equations, which provide exact numerical results without truncation process. We also obtain concise approximate analytical results through the quantum Langevin equations, which perfectly agree with the exact numerical results. We show the topological edge states exhibit near-zero eigenenergies located in the band gap and are separated from the bulk eigenenergies, which match the system-environment coupling (denoted by the dissipation rate) and thus the squeezing correlations can be enhanced. Our work reveals that the stationary entanglement can be a quantum signature of the topological phase in bosonic systems, and inversely the topological quadratic systems can be powerful platforms to generate robust entanglement.Comment: 14 pages, 7 figure

    LGC-Net: A Lightweight Gyroscope Calibration Network for Efficient Attitude Estimation

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    This paper presents a lightweight, efficient calibration neural network model for denoising low-cost microelectromechanical system (MEMS) gyroscope and estimating the attitude of a robot in real-time. The key idea is extracting local and global features from the time window of inertial measurement units (IMU) measurements to regress the output compensation components for the gyroscope dynamically. Following a carefully deduced mathematical calibration model, LGC-Net leverages the depthwise separable convolution to capture the sectional features and reduce the network model parameters. The Large kernel attention is designed to learn the long-range dependencies and feature representation better. The proposed algorithm is evaluated in the EuRoC and TUM-VI datasets and achieves state-of-the-art on the (unseen) test sequences with a more lightweight model structure. The estimated orientation with our LGC-Net is comparable with the top-ranked visual-inertial odometry systems, although it does not adopt vision sensors. We make our method open-source at: https://github.com/huazai665/LGC-Ne

    Augmenting Iterative Trajectory for Bilevel Optimization: Methodology, Analysis and Extensions

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    In recent years, there has been a surge of machine learning applications developed with hierarchical structure, which can be approached from Bi-Level Optimization (BLO) perspective. However, most existing gradient-based methods overlook the interdependence between hyper-gradient calculation and Lower-Level (LL) iterative trajectory, focusing solely on the former. Consequently, convergence theory is constructed with restrictive LL assumptions, which are often challenging to satisfy in real-world scenarios. In this work, we thoroughly analyze the constructed iterative trajectory, and highlight two deficiencies, including empirically chosen initialization and default use of entire trajectory for hyper-gradient calculation. To address these issues, we incrementally introduce two augmentation techniques including Initialization Auxiliary (IA) and Pessimistic Trajectory Truncation (PTT), and investigate various extension strategies such as prior regularization, different iterative mapping schemes and acceleration dynamics to construct Augmented Iterative Trajectory (AIT) for corresponding BLO scenarios (e.g., LL convexity and LL non-convexity). Theoretically, we provide convergence analysis for AIT and its variations under different LL assumptions, and establish the first convergence analysis for BLOs with non-convex LL subproblem. Finally, we demonstrate the effectiveness of AIT through three numerical examples, typical learning and vision applications (e.g., data hyper-cleaning and few-shot learning) and more challenging tasks such as neural architecture search.Comment: 16 page

    Motion-Scenario Decoupling for Rat-Aware Video Position Prediction: Strategy and Benchmark

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    Recently significant progress has been made in human action recognition and behavior prediction using deep learning techniques, leading to improved vision-based semantic understanding. However, there is still a lack of high-quality motion datasets for small bio-robotics, which presents more challenging scenarios for long-term movement prediction and behavior control based on third-person observation. In this study, we introduce RatPose, a bio-robot motion prediction dataset constructed by considering the influence factors of individuals and environments based on predefined annotation rules. To enhance the robustness of motion prediction against these factors, we propose a Dual-stream Motion-Scenario Decoupling (\textit{DMSD}) framework that effectively separates scenario-oriented and motion-oriented features and designs a scenario contrast loss and motion clustering loss for overall training. With such distinctive architecture, the dual-branch feature flow information is interacted and compensated in a decomposition-then-fusion manner. Moreover, we demonstrate significant performance improvements of the proposed \textit{DMSD} framework on different difficulty-level tasks. We also implement long-term discretized trajectory prediction tasks to verify the generalization ability of the proposed dataset.Comment: Rat, Video Position Predictio