Crossway Diffusion: Improving Diffusion-based Visuomotor Policy via Self-supervised Learning

Sequence modeling approaches have shown promising results in robot imitation learning. Recently, diffusion models have been adopted for behavioral cloning, benefiting from their exceptional capabilities in modeling complex data distribution. In this work, we propose Crossway Diffusion, a method to enhance diffusion-based visuomotor policy learning by using an extra self-supervised learning (SSL) objective. The standard diffusion-based policy generates action sequences from random noise conditioned on visual observations and other low-dimensional states. We further extend this by introducing a new decoder that reconstructs raw image pixels (and other state information) from the intermediate representations of the reverse diffusion process, and train the model jointly using the SSL loss. Our experiments demonstrate the effectiveness of Crossway Diffusion in various simulated and real-world robot tasks, confirming its advantages over the standard diffusion-based policy. We demonstrate that such self-supervised reconstruction enables better representation for policy learning, especially when the demonstrations have different proficiencies.Comment: 18 pages, 10 figure

Bulk Rotational Symmetry Breaking in Kondo Insulator SmB6

Kondo insulator samarium hexaboride (SmB6) has been intensely studied in recent years as a potential candidate of a strongly correlated topological insulator. One of the most exciting phenomena observed in SmB6 is the clear quantum oscillations appearing in magnetic torque at a low temperature despite the insulating behavior in resistance. These quantum oscillations show multiple frequencies and varied effective masses. The origin of quantum oscillation is, however, still under debate with evidence of both two-dimensional Fermi surfaces and three-dimensional Fermi surfaces. Here, we carry out angle-resolved torque magnetometry measurements in a magnetic field up to 45 T and a temperature range down to 40 mK. With the magnetic field rotated in the (010) plane, the quantum oscillation frequency of the strongest oscillation branch shows a four-fold rotational symmetry. However, in the angular dependence of the amplitude of the same branch, this four-fold symmetry is broken and, instead, a twofold symmetry shows up, which is consistent with the prediction of a two-dimensional Lifshitz-Kosevich model. No deviation of Lifshitz-Kosevich behavior is observed down to 40 mK. Our results suggest the existence of multiple light-mass surface states in SmB6, with their mobility significantly depending on the surface disorder level.Comment: 15 pages, 9 figure