Heteronuclear magnetisms with ultracold spinor bosonic gases in optical lattices

Motivated by recent realizations of spin-1 NaRb mixtures in the experiments, here we investigate heteronuclear magnetism in the Mott-insulating regime. Different from the identical mixtures where the boson (fermion) statistics only admits even (odd) parity states from angular momentum composition, for heteronuclear atoms in principle all angular momentum states are allowed, which can give rise to new magnetic phases. Various magnetic phases can be developed over these degenerate spaces, however, the concrete symmetry breaking phases depend not only on the degree of degeneracy, but also the competitions from many-body interactions. We unveil these rich phases using the bosonic dynamical mean-field theory approach. These phases are characterized by various orders, including spontaneous magnetization order, spin magnitude order, singlet pairing order and nematic order, which may coexist, especially in the regime with odd parity. Finally we address the possible parameter regimes for observing these spin-ordered Mott phases.Comment: 6 pages, 4 figures, with supplementary materials (8 pages

Estimating 6D Pose From Localizing Designated Surface Keypoints

In this paper, we present an accurate yet effective solution for 6D pose estimation from an RGB image. The core of our approach is that we first designate a set of surface points on target object model as keypoints and then train a keypoint detector (KPD) to localize them. Finally a PnP algorithm can recover the 6D pose according to the 2D-3D relationship of keypoints. Different from recent state-of-the-art CNN-based approaches that rely on a time-consuming post-processing procedure, our method can achieve competitive accuracy without any refinement after pose prediction. Meanwhile, we obtain a 30% relative improvement in terms of ADD accuracy among methods without using refinement. Moreover, we succeed in handling heavy occlusion by selecting the most confident keypoints to recover the 6D pose. For the sake of reproducibility, we will make our code and models publicly available soon

Robotic Surgery Remote Mentoring via AR with 3D Scene Streaming and Hand Interaction

With the growing popularity of robotic surgery, education becomes increasingly important and urgently needed for the sake of patient safety. However, experienced surgeons have limited accessibility due to their busy clinical schedule or working in a distant city, thus can hardly provide sufficient education resources for novices. Remote mentoring, as an effective way, can help solve this problem, but traditional methods are limited to plain text, audio, or 2D video, which are not intuitive nor vivid. Augmented reality (AR), a thriving technique being widely used for various education scenarios, is promising to offer new possibilities of visual experience and interactive teaching. In this paper, we propose a novel AR-based robotic surgery remote mentoring system with efficient 3D scene visualization and natural 3D hand interaction. Using a head-mounted display (i.e., HoloLens), the mentor can remotely monitor the procedure streamed from the trainee's operation side. The mentor can also provide feedback directly with hand gestures, which is in-turn transmitted to the trainee and viewed in surgical console as guidance. We comprehensively validate the system on both real surgery stereo videos and ex-vivo scenarios of common robotic training tasks (i.e., peg-transfer and suturing). Promising results are demonstrated regarding the fidelity of streamed scene visualization, the accuracy of feedback with hand interaction, and the low-latency of each component in the entire remote mentoring system. This work showcases the feasibility of leveraging AR technology for reliable, flexible and low-cost solutions to robotic surgical education, and holds great potential for clinical applications

Are We Hungry for 3D LiDAR Data for Semantic Segmentation? A Survey and Experimental Study

3D semantic segmentation is a fundamental task for robotic and autonomous driving applications. Recent works have been focused on using deep learning techniques, whereas developing fine-annotated 3D LiDAR datasets is extremely labor intensive and requires professional skills. The performance limitation caused by insufficient datasets is called data hunger problem. This research provides a comprehensive survey and experimental study on the question: are we hungry for 3D LiDAR data for semantic segmentation? The studies are conducted at three levels. First, a broad review to the main 3D LiDAR datasets is conducted, followed by a statistical analysis on three representative datasets to gain an in-depth view on the datasets' size and diversity, which are the critical factors in learning deep models. Second, a systematic review to the state-of-the-art 3D semantic segmentation is conducted, followed by experiments and cross examinations of three representative deep learning methods to find out how the size and diversity of the datasets affect deep models' performance. Finally, a systematic survey to the existing efforts to solve the data hunger problem is conducted on both methodological and dataset's viewpoints, followed by an insightful discussion of remaining problems and open questions To the best of our knowledge, this is the first work to analyze the data hunger problem for 3D semantic segmentation using deep learning techniques that are addressed in the literature review, statistical analysis, and cross-dataset and cross-algorithm experiments. We share findings and discussions, which may lead to potential topics in future works.Comment: 22 pages, 15 figure

An \mathcal{O}(N) Maxwell solver with improved numerical dispersion properties

A Maxwell solver derived from finite element method with \mathcal{O}(N) computing cost is developed to improve the numerical dispersion properties in relativistic particle-in-cell (PIC) simulations. The correction of the dispersion relation of the electromagnetic wave is achieved using the neighboring cells via an iteration scheme without decomposing into Fourier modes. The local nature of the communication is ideally suited to massively parallel computer architectures. This Maxwell solver constrains the Numerical Cherenkov instability (NCI) for the ultra-relativistic drifting pair plasma in x direction to large wave vectors for two dimensional grid. The growth rate of NCI is suppressed by using the low pass filtering.Comment: 16 pages, 4 figures, submitted to Computer Physics Communication

SemanticPOSS: A Point Cloud Dataset with Large Quantity of Dynamic Instances

3D semantic segmentation is one of the key tasks for autonomous driving system. Recently, deep learning models for 3D semantic segmentation task have been widely researched, but they usually require large amounts of training data. However, the present datasets for 3D semantic segmentation are lack of point-wise annotation, diversiform scenes and dynamic objects. In this paper, we propose the SemanticPOSS dataset, which contains 2988 various and complicated LiDAR scans with large quantity of dynamic instances. The data is collected in Peking University and uses the same data format as SemanticKITTI. In addition, we evaluate several typical 3D semantic segmentation models on our SemanticPOSS dataset. Experimental results show that SemanticPOSS can help to improve the prediction accuracy of dynamic objects as people, car in some degree. SemanticPOSS will be published at \url{www.poss.pku.edu.cn}.Comment: submited to IEEE Intelligent Vehicles Symposium(2020

Metastable magnetic bubble in [Co/Pd]4/Py multilayers

Magnetic bubbles are topologically spin textures that offering the interesting physics and great promise for next-generation information storage technologies. The main obstacles so far are that magnetic bubbles are generated with no field stimuli in new material systems at room temperature. Here, we report the observation of individual magnetic bubbles and its high frequency measurement at room temperature in an exchange-coupled [Co/Pd]4/Py multilayers. We demonstrate that the emergence of magnetic bubbles at remanence can be tuned by the in-plane tilted magnetic field (roughly 3{\deg}) along the film plane at room temperature. High frequency results indicate that the presence of magnetic bubbles leads to broadening of the magnetic permeability spectrum lines (due to the non-uniformity of the magnetic moments). Our findings open the door to the bubble-based spintronics at room temperature in exchange-coupled magnetic multilayers.Comment: 15 pages, 7 figure

Human Correspondence Consensus for 3D Object Semantic Understanding

Semantic understanding of 3D objects is crucial in many applications such as object manipulation. However, it is hard to give a universal definition of point-level semantics that everyone would agree on. We observe that people have a consensus on semantic correspondences between two areas from different objects, but are less certain about the exact semantic meaning of each area. Therefore, we argue that by providing human labeled correspondences between different objects from the same category instead of explicit semantic labels, one can recover rich semantic information of an object. In this paper, we introduce a new dataset named CorresPondenceNet. Based on this dataset, we are able to learn dense semantic embeddings with a novel geodesic consistency loss. Accordingly, several state-of-the-art networks are evaluated on this correspondence benchmark. We further show that CorresPondenceNet could not only boost fine-grained understanding of heterogeneous objects but also cross-object registration and partial object matching.Comment: 18 pages; ECCV 202

KeypointNet: A Large-scale 3D Keypoint Dataset Aggregated from Numerous Human Annotations

Detecting 3D objects keypoints is of great interest to the areas of both graphics and computer vision. There have been several 2D and 3D keypoint datasets aiming to address this problem in a data-driven way. These datasets, however, either lack scalability or bring ambiguity to the definition of keypoints. Therefore, we present KeypointNet: the first large-scale and diverse 3D keypoint dataset that contains 103,450 keypoints and 8,234 3D models from 16 object categories, by leveraging numerous human annotations. To handle the inconsistency between annotations from different people, we propose a novel method to aggregate these keypoints automatically, through minimization of a fidelity loss. Finally, ten state-of-the-art methods are benchmarked on our proposed dataset. Our code and data are available on https://github.com/qq456cvb/KeypointNet.Comment: 8 pages; to appear in CVPR 202

Systematic investigations of positive-parity doublet bands with three-quasiparticle configurations in 125,127,129,131^{125,127,129,131}Cs

The experimental features of positive-parity doublet bands in the odd-\emph{A} cesium isotopes $^{125,127,129,131}$Cs, including angular momentum alignment, energy staggering, $B(M1)/B(E2)$ etc. are studied systematically and compared to those of the candidate chiral bands in the adjacent odd-odd Cs isotopes. The configuration assignments and the dynamics of these bands are discussed. The self-consistent tilted axis cranking relativistic mean-field calculations are performed with configuration reassigned to these bands. The experimental level schemes of four nuclei are well reproduced, and the calculations also show four nuclei have obvious triaxial deformations and thus support the candidate chiral doublet bands in $^{125,127,129,131}$Cs.Comment: 18 pages, 10 figure