Interaction-aware Kalman Neural Networks for Trajectory Prediction

Forecasting the motion of surrounding obstacles (vehicles, bicycles, pedestrians and etc.) benefits the on-road motion planning for intelligent and autonomous vehicles. Complex scenes always yield great challenges in modeling the patterns of surrounding traffic. For example, one main challenge comes from the intractable interaction effects in a complex traffic system. In this paper, we propose a multi-layer architecture Interaction-aware Kalman Neural Networks (IaKNN) which involves an interaction layer for resolving high-dimensional traffic environmental observations as interaction-aware accelerations, a motion layer for transforming the accelerations to interaction aware trajectories, and a filter layer for estimating future trajectories with a Kalman filter network. Attributed to the multiple traffic data sources, our end-to-end trainable approach technically fuses dynamic and interaction-aware trajectories boosting the prediction performance. Experiments on the NGSIM dataset demonstrate that IaKNN outperforms the state-of-the-art methods in terms of effectiveness for traffic trajectory prediction.Comment: 8 pages, 4 figures, Accepted for IEEE Intelligent Vehicles Symposium (IV) 202

The evolution of magnetic structure driven by a synthetic spin-orbit coupling in two-component Bose-Hubbard model

We study the evolution of magnetic structure driven by a synthetic spin-orbit coupling in a one-dimensional two-component Bose-Hubbard model. In addition to the Mott insulator-superfluid transition, we found in Mott insulator phases a transition from a gapped ferromagnetic phase to a gapless chiral phase by increasing the strength of spin-orbit coupling. Further increasing the spin-orbit coupling drives a transition from the gapless chiral phase to a gapped antiferromagnetic phase. These magnetic structures persist in superfluid phases. In particular, in the chiral Mott insulator and chiral superfluid phases, incommensurability is observed in characteristic correlation functions. These unconventional Mott insulator phase and superfluid phase demonstrate the novel effects arising from the competition between the kinetic energy and the spin-orbit coupling.Comment: 9 fig; English polished, note adde

Non-Abelian Quantum Hall Effect in Topological Flat Bands

Inspired by recent theoretical discovery of robust fractional topological phases without a magnetic field, we search for the non-Abelian quantum Hall effect (NA-QHE) in lattice models with topological flat bands (TFBs). Through extensive numerical studies on the Haldane model with three-body hard-core bosons loaded into a TFB, we find convincing numerical evidence of a stable $\nu=1$ bosonic NA-QHE, with the characteristic three-fold quasi-degeneracy of ground states on a torus, a quantized Chern number, and a robust spectrum gap. Moreover, the spectrum for two-quasihole states also shows a finite energy gap, with the number of states in the lower energy sector satisfying the same counting rule as the Moore-Read Pfaffian state.Comment: 5 pages, 7 figure