Valley-Hall photonic topological insulators with dual-band kink states

Extensive researches have revealed that valley, a binary degree of freedom (DOF), can be an excellent candidate of information carrier. Recently, valley DOF has been introduced into photonic systems, and several valley-Hall photonic topological insulators (PTIs) have been experimentally demonstrated. However, in the previous valley-Hall PTIs, topological kink states only work at a single frequency band, which limits potential applications in multiband waveguides, filters, communications, and so on. To overcome this challenge, here we experimentally demonstrate a valley-Hall PTI, where the topological kink states exist at two separated frequency bands, in a microwave substrate-integrated circuitry. Both the simulated and experimental results demonstrate the dual-band valley-Hall topological kink states are robust against the sharp bends of the internal domain wall with negligible inter-valley scattering. Our work may pave the way for multi-channel substrate-integrated photonic devices with high efficiency and high capacity for information communications and processing

Realization of a three-dimensional photonic topological insulator

Confining photons in a finite volume is in high demand in modern photonic devices. This motivated decades ago the invention of photonic crystals, featured with a photonic bandgap forbidding light propagation in all directions. Recently, inspired by the discoveries of topological insulators (TIs), the confinement of photons with topological protection has been demonstrated in two-dimensional (2D) photonic structures known as photonic TIs, with promising applications in topological lasers and robust optical delay lines. However, a fully three-dimensional (3D) topological photonic bandgap has never before been achieved. Here, we experimentally demonstrate a 3D photonic TI with an extremely wide (> 25% bandwidth) 3D topological bandgap. The sample consists of split-ring resonators (SRRs) with strong magneto-electric coupling and behaves as a 'weak TI', or a stack of 2D quantum spin Hall insulators. Using direct field measurements, we map out both the gapped bulk bandstructure and the Dirac-like dispersion of the photonic surface states, and demonstrate robust photonic propagation along a non-planar surface. Our work extends the family of 3D TIs from fermions to bosons and paves the way for applications in topological photonic cavities, circuits, and lasers in 3D geometries

Topological triply-degenerate point with double Fermi arcs

Unconventional chiral particles have recently been predicted to appear in certain three dimensional (3D) crystal structures containing three- or more-fold linear band degeneracy points (BDPs). These BDPs carry topological charges, but are distinct from the standard twofold Weyl points or fourfold Dirac points, and cannot be described in terms of an emergent relativistic field theory. Here, we report on the experimental observation of a topological threefold BDP in a 3D phononic crystal. Using direct acoustic field mapping, we demonstrate the existence of the threefold BDP in the bulk bandstructure, as well as doubled Fermi arcs of surface states consistent with a topological charge of 2. Another novel BDP, similar to a Dirac point but carrying nonzero topological charge, is connected to the threefold BDP via the doubled Fermi arcs. These findings pave the way to using these unconventional particles for exploring new emergent physical phenomena

LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning

Lifelong learning offers a promising paradigm of building a generalist agent that learns and adapts over its lifespan. Unlike traditional lifelong learning problems in image and text domains, which primarily involve the transfer of declarative knowledge of entities and concepts, lifelong learning in decision-making (LLDM) also necessitates the transfer of procedural knowledge, such as actions and behaviors. To advance research in LLDM, we introduce LIBERO, a novel benchmark of lifelong learning for robot manipulation. Specifically, LIBERO highlights five key research topics in LLDM: 1) how to efficiently transfer declarative knowledge, procedural knowledge, or the mixture of both; 2) how to design effective policy architectures and 3) effective algorithms for LLDM; 4) the robustness of a lifelong learner with respect to task ordering; and 5) the effect of model pretraining for LLDM. We develop an extendible procedural generation pipeline that can in principle generate infinitely many tasks. For benchmarking purpose, we create four task suites (130 tasks in total) that we use to investigate the above-mentioned research topics. To support sample-efficient learning, we provide high-quality human-teleoperated demonstration data for all tasks. Our extensive experiments present several insightful or even unexpected discoveries: sequential finetuning outperforms existing lifelong learning methods in forward transfer, no single visual encoder architecture excels at all types of knowledge transfer, and naive supervised pretraining can hinder agents' performance in the subsequent LLDM. Check the website at https://libero-project.github.io for the code and the datasets

LivelySpeaker: Towards Semantic-Aware Co-Speech Gesture Generation

Gestures are non-verbal but important behaviors accompanying people's speech. While previous methods are able to generate speech rhythm-synchronized gestures, the semantic context of the speech is generally lacking in the gesticulations. Although semantic gestures do not occur very regularly in human speech, they are indeed the key for the audience to understand the speech context in a more immersive environment. Hence, we introduce LivelySpeaker, a framework that realizes semantics-aware co-speech gesture generation and offers several control handles. In particular, our method decouples the task into two stages: script-based gesture generation and audio-guided rhythm refinement. Specifically, the script-based gesture generation leverages the pre-trained CLIP text embeddings as the guidance for generating gestures that are highly semantically aligned with the script. Then, we devise a simple but effective diffusion-based gesture generation backbone simply using pure MLPs, that is conditioned on only audio signals and learns to gesticulate with realistic motions. We utilize such powerful prior to rhyme the script-guided gestures with the audio signals, notably in a zero-shot setting. Our novel two-stage generation framework also enables several applications, such as changing the gesticulation style, editing the co-speech gestures via textual prompting, and controlling the semantic awareness and rhythm alignment with guided diffusion. Extensive experiments demonstrate the advantages of the proposed framework over competing methods. In addition, our core diffusion-based generative model also achieves state-of-the-art performance on two benchmarks. The code and model will be released to facilitate future research.Comment: Accepted by ICCV 202

Ideal Unconventional Weyl Point in a Chiral Photonic Metamaterial

Unconventional Weyl points (WPs), carrying topological charge 2 or higher, possess interesting properties different from ordinary charge-1 WPs, including multiple Fermi arcs that stretch over a large portion of the Brillouin zone. Thus far, such WPs have been observed in chiral materials and acoustic metamaterials, but there has been no clean demonstration in photonics in which the unconventional photonic WPs are separated from trivial bands. We experimentally realize an ideal symmetry-protected photonic charge-2 WP in a three-dimensional topological chiral microwave metamaterial. We use field mapping to directly observe the projected bulk dispersion, as well as the two long surface arcs that form a noncontractible loop wrapping around the surface Brillouin zone. The surface states span a record-wide frequency window of around 22.7% relative bandwidth. We demonstrate that the surface states exhibit a novel topological self-collimation property and are robust against disorder. This work provides an ideal photonic platform for exploring fundamental physics and applications of unconventional WPs.Comment: 6 pages, 4 figure