Reversible Superdense Ordering of Tetragonal Lithium in a Layered Material

Posted by klaurent Cornell

Kavli Affiliate: Lynden Archer | Summary:Understanding lithium (Li) ordering and dynamics is foundational in energy storage. X-ray based experimental methods do not simultaneously provide atomic structure information together with chemical composition and local bonding information for lithium in solids. Here we employ scanning transmission electron microscopy (STEM) and combine imaging, spectroscopy, and diffraction within a […]


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Bionic Human-Motion Style Transfer for Physically Executable Whole-Body Control of Humanoid Robots

Posted by klaurent Caltech

Kavli Affiliate: Wei Gao| Summary:Expressive whole-body motion is important for humanoid robots operating in human environments, where robots are expected to move stably while presenting readable and adjustable body behaviors. However, most expressive motions are still obtained from fixed demonstrations or manually designed scripts, making it difficult to reuse a demonstrated style across different motion […]


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Human2Humanoid: Physics-Aware Cross-Morphology Motion Retargeting for Humanoid Robots

Posted by klaurent Caltech

Kavli Affiliate: Wei Gao| Summary:Retargeting human motion to humanoid robots is critical for teleoperation, imitation learning and human-robot interaction. However, it remains challenging because of substantial morphological discrepancies between humans and robots, including differences in skeletal topology, limb proportions and degrees of freedom, as well as the scarcity of paired motion data. This paper presents […]


Continue.. Human2Humanoid: Physics-Aware Cross-Morphology Motion Retargeting for Humanoid Robots

Irregular Metamaterial Networks

Posted by klaurent Caltech

Kavli Affiliate: Chiara Daraio | Summary:Metamaterials can achieve exceptional functionality through careful engineering of their mesoscale structure. Although appropriately introduced irregularities can be advantageous, current approaches largely conform to regular structures to preserve tractability. Here, we contend that network theory, enriched with geometry and physics, provides a natural framework for designing metamaterials with controlled irregularities […]


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Irregular Metamaterial Networks

Posted by klaurent Caltech

Kavli Affiliate: Chiara Daraio | Summary:Metamaterials can achieve exceptional functionality through careful engineering of their mesoscale structure. Although appropriately introduced irregularities can be advantageous, current approaches largely conform to regular structures to preserve tractability. Here, we contend that network theory, enriched with geometry and physics, provides a natural framework for designing metamaterials with controlled irregularities […]


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Dexterity-BEV: Aligning 3D World and Actions for Generalizable Robot Policies Learning

Posted by klaurent Caltech

Kavli Affiliate: Wei Gao| Summary:End-to-end manipulation policies, combined with web-scale pretrained Vision-Language Models (VLMs), show the promise for generalizable and dexterous robotic manipulation. However, they inherit two key limitations from 2D foundation models: 1) the reliance on 2D RGB inputs that ignores the intrinsically 3D nature of manipulation; and 2) the lack of spatial 3D […]


Continue.. Dexterity-BEV: Aligning 3D World and Actions for Generalizable Robot Policies Learning

Dexterity-BEV: Aligning 3D World and Actions for Generalizable Robot Policies Learning

Posted by klaurent Caltech

Kavli Affiliate: Wei Gao| Summary:End-to-end manipulation policies, combined with web-scale pretrained Vision-Language Models (VLMs), show the promise for generalizable and dexterous robotic manipulation. However, they inherit two key limitations from 2D foundation models: 1) the reliance on 2D RGB inputs that ignores the intrinsically 3D nature of manipulation; and 2) the lack of spatial 3D […]


Continue.. Dexterity-BEV: Aligning 3D World and Actions for Generalizable Robot Policies Learning

Towards Heisenberg Scaling: Measurement-Efficient Non-Orthogonal Quantum Eigensolver

Posted by klaurent Berkeley

Kavli Affiliate: Birgitta Whaley | Summary:The Non-Orthogonal Quantum Eigensolver (NOQE) provides an accurate framework for electronic-structure calculations, but the estimation of its Hamiltonian and overlap matrix elements relies on sampling and requires $O(1/varepsilon^2)$ circuit repetitions to achieve additive precision $varepsilon$. Here, we reformulate this matrix-element estimation step as a collection of amplitude-estimation tasks and integrate […]


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Diagnosing LLM Arbitration Behavior over Pre-evidence Epistemic States in RAG-based Fact-Checking

Posted by klaurent Caltech

Kavli Affiliate: Wei Gao| Summary:In RAG-based fact-checking, LLMs are increasingly used as verifiers to check given claims against retrieved evidence. Their parametric knowledge can induce pre-evidence tendencies that may conflict with the retrieved context, yet existing evaluation frameworks do not characterize such prior-context discrepancy or measure how verifiers arbitrate between parametric and contextual signals. We […]


Continue.. Diagnosing LLM Arbitration Behavior over Pre-evidence Epistemic States in RAG-based Fact-Checking

Diagnosing LLM Arbitration Behavior over Pre-evidence Epistemic States in RAG-based Fact-Checking

Posted by klaurent Caltech

Kavli Affiliate: Wei Gao| Summary:In RAG-based fact-checking, LLMs are increasingly used as verifiers to check given claims against retrieved evidence. Their parametric knowledge can induce pre-evidence tendencies that may conflict with the retrieved context, yet existing evaluation frameworks do not characterize such prior-context discrepancy or measure how verifiers arbitrate between parametric and contextual signals. We […]


Continue.. Diagnosing LLM Arbitration Behavior over Pre-evidence Epistemic States in RAG-based Fact-Checking