arXiv subjects

Qihang Liu

Publications and source records attributed to Qihang Liu.

At least 19 recordsLinked to original sources

arXiv2026

\textbf{PLATO}: \emph{Preintegration Learning from Accurate Trajectory Observations} for Neural Inertial Odometry

Neural inertial odometry has demonstrated strong potential for motion estimation in challenging environments, yet inertial-only preintegration remains sensitive to IMU bias and uncertainty. To this end, this paper introduces \textbf{PLATO}:~\emph{Preintegration Learning from Accurate Trajectory Observations}, a likelihood-based framework that leverages accurate trajectory observations to jointly learn IMU bias dynamics modeled by a neural ordinary differential equation~(NODE) and gyroscope and accelerometer noise covariances. Optimization exploits the sparse structure of the negative log-likelihood, with IMU noise-parameter gradients computed by forward differentiation. A tailored double-adjoint scheme couples a discrete invariant-error adjoint with a continuous-time adjoint for the bias NODE, enabling memory-efficient likelihood optimization over the nested bias-dynamics and IMU-preintegration rollouts. Validation on EuRoC shows improved performance, and underwater robot experiments demonstrate applicability under intermittent lighting failures and visual degradation.

cs.RO↗

arXiv2026

Spin-orbit magnetism in altermagnets

While the anomalous Hall effect was proposed as a transport fingerprint of altermagnets, it originates from the spin-orbit coupling-induced net magnetization, corresponding to a distinct magnetic phase termed spin-orbit magnetism. However, the microscopic mechanism enabling spin-orbit magnets to yield a prominent anomalous Hall response despite a vanishingly small net magnetization remains elusive. Here, by employing oriented spin group theory and spin-orbit-coupling tensor expansion, we systematically disentangle the perturbative behaviors of orbital and spin magnetizations with respect to spin-orbit coupling in altermagnets. Remarkably, we find that only if the opposite-spin sublattices are connected through a fourfold rotation, the orbital and spin magnetizations exhibit distinct perturbative orders. In these altermagnets, we further discover a coaxial Hall effect characterized by the induced spin and orbital magnetizations aligning parallel to the Néel vector, which we further demonstrate by first-principles calculations in the altermagnet KV$_{2}$Se$_{2}$O. This effect holds great promise for achieving deterministic switching of the Néel order under weak external fields. Our work provides a systematic symmetry approach to identify potential altermagnetic candidates combining a large anomalous Hall effect with minimal net magnetization, paving the way for high-performance, stray-field-free spintronic applications.

cond-mat.mtrl-sci↗

arXiv2026

Symmetry-guided prediction of magnetic-ordered ground states

Given the scarcity of experimentally confirmed magnetic structures, the prediction of magnetic ground states is crucial yet remains a long-sought challenge due to the complex potential energy landscape. Here, we propose a symmetry-guided framework that systematically generates magnetic configurations without requiring any experimental input or prior assumptions. Within a symmetry-breaking scenario, we incorporate the recently developed oriented spin space group formalism, which captures symmetry-breaking induced by both magnetic ordering and spin-orbit coupling. By performing nonrelativistic and relativistic first-principles calculations, we establish the energy ladder of the generated magnetic configurations. Exemplified by three prominent unconventional magnets, we demonstrate that only a few dozen calculations are sufficient to identify the ground-state magnetic structure. To demonstrate the universality and robustness of our approach, we conduct large-scale benchmark tests on the MAGNDATA database. Our framework successfully reproduces experimentally reported magnetic geometries for 78% of the surveyed materials, among which 93% have their spin orientations successfully generated when considering SOC. Furthermore, in a large-scale first-principles benchmark involving 305 compounds, 82% of experimentally reported magnetic structures are accurately captured within an energy tolerance of 5 meV per magnetic atom. Beyond reproducing known magnetic configurations, our framework further predicts a variety of low-energy metastable phases, including altermagnets, spin-orbit magnets, and noncollinear antiferromagnets with spin splitting or geometric Hall effect. Our work establishes a general and efficient route toward large-scale prediction of magnetic structures and unconventional magnets, and offers insight into the origins of magnetic interactions across diverse material systems.

cond-mat.mtrl-sci↗

arXiv2026

A High-accuracy Event-based Underwater SLAM System

While event cameras offer immense potential for underwater SLAM, existing Time Surface (TS)-based methods prove highly unreliable when deployed underwater. Fluctuating camera velocities severely degrade TS imaging quality, while wide stereo baselines and repetitive underwater textures induce critical matching failures, frequently triggering system failure. To overcome these challenges, we develop the first high-accuracy event-based underwater stereo SLAM system. A structure-aware metric for TS is designed based on structure tensor coherence and gradients to quantitatively evaluate TS structural information density. By decoupling the optimal TS generation into two distinct stages based on system initialization, Bayesian Optimization(BO) first predicts an optimal prior TS sequentially before initialization while we set an asynchronous online local searching method periodically to obtain appropriate TS in real-time during the tracking stage. We use the prior disparity to guarantee precise data association and "latest-observation-first'' triangulation mechanism to realize stable triangulation. As a benchmark for these solutions and a resource for the community, we also contribute UWE, the first high-quality real-world underwater event dataset containing variable camera motions, complex textures and different trajectory features. Extensive evaluations on public datasets and UWE show the competitive accuracy performance of the proposed SLAM system compared to the state-of-the-art event-based method. The code and data will be open-sourced.

cs.RO↗

arXiv2026

Observation of hidden altermagnetism in Cs$_{1-δ}$V$_2$Te$_2$O

Altermagnets are characterized by anisotropic band/spin splittings in momentum space, dictated by their spin-space group symmetries. However, the real-space modulations of altermagnetism are often neglected and have not been explored experimentally. Here we combine neutron diffraction, angle-resolved photoemission spectroscopy (ARPES), spin-resolved ARPES and density functional theory to demonstrate that Cs$_{1-δ}$V$_2$Te$_2$O realizes a spatially modulated form of altermagnetism, i.e., hidden altermagnetism. Such a state in Cs$_{1-δ}$V$_2$Te$_2$O results from its G-type antiferromagnetism and two-dimensional electronic states, allowing for the development of spatially alternating altermagnetic layers, whose local spin polarizations are directly verified by spin-resolved ARPES measurements. Our experimental discovery of hidden altermagnetism broadens the scope of unconventional magnetism and opens routes to exploring emergent phenomena from real-space modulations of altermagnetic order.

cond-mat.mtrl-sci↗

arXiv2026

Identifying Oriented Spin Space Groups and Related Physical Properties Using an Online Platform FINDSPINGROUP

Unconventional magnets that combine antiferromagnetic structures with ferromagnetic-like responses are essential for the development of next-generation spintronics. Their emergent properties are fundamentally dictated by the interplay between exchange-driven magnetic geometry and spin-orbit coupling, which are described by spin space group (SSG) and magnetic space group (MSG) frameworks, respectively. However, the lack of direct correspondence between these frameworks, developed in different eras, hinders the systematic tracking of symmetry evolution of these intertwined physical contributions. In this work, we introduce FINDSPINGROUP, a computational architecture that implements the recently emerged, oriented spin space group framework to unify SSG and MSG descriptions. By automating the tracking of symmetry-breaking pathways from the non-relativistic to the relativistic limit, this online platform enables the classification of magnetic phases and the derivation of symmetry-constrained tensors for phenomena such as momentum-dependent spin splitting and the anomalous Hall effect. By standardizing data exchange through the spin crystallographic information file, this architecture establishes a computational infrastructure for the high-throughput discovery and design of unconventional magnets.

cond-mat.mtrl-sci↗

arXiv2026

Symmetry Classification of Magnetic Orders using Oriented Spin Space Groups

Magnetism has witnessed remarkable progress in recent decades, largely driven by its potential for next-generation storage devices. However, the classification of magnetic orders, even for fundamental concepts such as ferromagnetism and antiferromagnetism, remains a topic of active evolution, particularly with the discovery of unconventional magnetic materials and advances in antiferromagnetic spintronics. Here, we present a unified classification of magnetic order utilizing the state-of-the-art spin space group (SSG) theory. Based on whether the net spin magnetization is constrained to zero by SSG, we systematically categorize magnetic orders into ferromagnetism (including ferrimagnetism) and antiferromagnetism. We further introduce an oriented SSG description, i.e., an SSG with a fixed magnetic orientation, thereby unifying the SSG and magnetic space group frameworks. This approach clearly reveals the symmetry-breaking pathway induced by spin-orbit coupling. The proposed group framework completes the intrinsic logic of magnetic symmetry and identifies a distinct magnetic phase, termed spin-orbit magnetism, in which the net spin magnetization is induced by spin-orbit coupling. Our work provides a comprehensive symmetry-based perspective for classifying magnetic order, offering fresh insights into unconventional magnets and broad applicability in spintronics and quantum material design.

cond-mat.mtrl-sci↗

arXiv2026

Weyl points enabling significant enhancement of thermoelectric performance in an antiferromagnetic van der Waals metal GdTe3

Magneto-thermoelectric (MTE) effect has demonstrated significant ad-vantages in achieving optimal thermoelectric (TE) properties compared to conventional methods. Topological materials pro-vide a unique platform for investigating the MTE effect, leveraging their exotic electronic structure topology. In this study, we report that the topological material GdTe3 exhibits an unsaturated power factor of up to 18846 μW m-1 K-1 under a magnetic field of 13.5 T at 20 K, which represents the highest value observed in metallic systems and surpasses most state-of-the-art TE materials. The relative enhancement under magnetic field in thermopower and power factor reaches 873% and 1075%, respectively, attributed to the Weyl points contribution resulting from the field-induced topological transition, as confirmed by our theoretical calculations. Our findings demonstrate a promising candidate for solid-state cooling and reveal the substantial contribution of Weyl points to TE enhancement, thereby offering a novel approach to optimizing TE properties in topological materials.

cond-mat.mtrl-sci↗

arXiv2026

The rise of unconventional magnetism

Unconventional magnetism represents a paradigm shift in condensed matter physics, effectively bridging the fast, high-density advantages of antiferromagnets with the facile read-write capability of ferromagnets. Recent developments in spin space group theory have established a systematic methodology to decouple magnetic geometry from relativistic spin-orbit coupling, driving the exploration of unconventional magnets that exhibit compensated magnetization with time-reversal-odd responses. Here, we review unconventional magnetism across three pivotal facets in momentum space: spin textures, quantum geometry, and emergent quasiparticles. From the perspective of symmetry analysis, we elucidate the mechanisms underlying time-reversal-odd physical responses, including non-relativistic spin splitting, anomalous and nonlinear Hall effects, and exotic electronic and magnonic topological phases. Finally, we provide a forward-looking perspective on coupling unconventional magnetism with ferroelectricity, superconductivity, and moiré engineering. By exploiting symmetry-driven insights, this review highlights the functional potential of unconventional magnets in developing next-generation, high-speed, and energy-efficient spintronic devices.

cond-mat.mtrl-sci↗

arXiv2026

Electric field switching of altermagnetic spin-splitting in multiferroic skyrmions

Magnetic skyrmions are localized magnetic structures that retain their shape and stability over time, thanks to their topological nature. Recent theoretical and experimental progress has laid the groundwork for understanding magnetic skyrmions characterized by negligible net magnetization and ultrafast dynamics. Notably, skyrmions emerging in materials with altermagnetism, a novel magnetic phase featuring lifted Kramers degeneracy-have remained unreported until now. In this study, we demonstrate that BiFeO3, a multiferroic renowned for its strong coupling between ferroelectricity and magnetism, can transit from a spin cycloid to a Neel-type skyrmion under antidamping spin-orbit torque at room temperature. Strikingly, the altermagnetic spin splitting within BiFeO3 skyrmion can be reversed through the application of an electric field, revealed via the Circular photogalvanic effect. This quasiparticle, which possesses a neutral topological charge, holds substantial promise for diverse applications-most notably, enabling the development of unconventional computing systems with low power consumption and magnetoelectric controllability.

cond-mat.mtrl-sci↗

arXiv2025

Non-altermagnetic spin texture in MnTe

Recently, altermagnets have emerged as promising candidates in spintronics, uniquely combining large spin-polarized electronic states with zero net magnetization. A prominent example is $α$-MnTe, whose altermagnetic spin splitting, i.e., the degeneracy lift in momentum space induced by collinear magnetic order, has been experimentally observed. However, the direct evidence of its $g$-wave spin polarization, the key property for altermagnetic spintronics, is thus far lacking. By combining high-resolution spin- and angle-resolved photoemission spectroscopy (SARPES) with first-principles calculations, we reveal a $k_z$-independent, Rashba-like spin texture in $α$-MnTe. Our results indicate that the observed spin polarization is primarily governed by spin-orbit coupling, whereas the magnetic order contributes to the splitting of energy bands but plays a much less dominant role in spin polarization due to the multi-domain nature. From this result, we further establish a way to prescreen altermagnet candidates that favor the formation of large antiferromagnetic domains based on symmetry analysis. Our work elucidates the interplay between magnetic order and spin-orbit coupling in governing spin polarization in altermagnet candidates, and thereby advances the materials design paradigm for spin-functional devices.

cond-mat.mtrl-sci↗

arXiv2025

Magnetic order dependent photoluminescence from high energy excitons in hBN protected few-layer CrSBr

The detection and manipulation of the spin configurations in layered magnetic semiconductors hold significant interest for developing spintronic devices in two-dimensional limit. In this letter, we report a systematical study on the photoluminescence (PL) from the high energy excitons in few-layer CrSBr and its application on detecting the spin configurations. Besides the broad excitonic emission peak (Xl) at around 1.34 eV, we also observed another strong excitonic emission peak (Xh) at around 1.37 eV in hBN encapsulated 2L sample, which splits into two peaks in 3L and 4L samples. With help of the first principles calculations, we conclude that the Xh peak is associated with the transition between the top valence band and the second lowest conduction band, which is forbidden by the inversion symmetry in 1L CrSBr. Furthermore, the position and intensity of the Xh peak are strongly dependent on the interlayer magnetic order of the CrSBr samples, which provides an efficient way to probe their spin configurations. In addition, when the magnetic field is applied at the easy axis direction, we resolve an intermediate magnetic state besides the antiferromagnetic and ferromagnetic states in 3L and 4L samples. Our results reveal few-layer CrSBr as an ideal platform to study the interaction between the excitons and magnetism.

cond-mat.mes-hall↗

arXiv2025

Sliding ferroelectric control of unconventional magnetism in stacked bilayers

The control of unconventional magnetism, which displays ferromagnetism-like properties with compensated magnetization, has drawn intense attention for advancing antiferromagnetic spintronics. Here, through symmetry analysis, we propose a general stacking rule, characterized by a connection operator linking two stacked bilayers, for controlling unconventional magnetism via sliding ferroelectricity. Such rule enables the simultaneous switching of both electric polarization and nonrelativistic spin splitting or anomalous Hall effect in altermagnets, a class of collinear unconventional magnets. By comprehensively surveying the 80 layer groups, we identify all the stacking orders that allow for such two types of simultaneous switching. Furthermore, we extend the stacking rule to collinear compensated ferrimagnets, where the opposite-spin sublattices are not connected by any symmetry operator, yet the net magnetization remains zero. Combined with first-principles calculations, we demonstrate the sliding ferroelectric control of spin polarization and anomalous Hall effect in the altermagnetic AgF2 and Fe2MoSe4 bilayers. Our work provides a symmetry strategy for achieving ferroelectric control of unconventional magnetism in bilayer systems and opens avenues for exploring new types of magnetoelectric coupling.

cond-mat.mtrl-sci↗

arXiv2025

Symmetry, microscopy and spectroscopy signatures of altermagnetism

Altermagnetism is a collinear compensated magnetically-ordered phase with a d, g or i-wave anisotropy and alternating spin polarization of the electronic structure in the position and momentum space. Its recent discovery was in part motivated by the research of compensated magnets towards highly scalable spintronic technologies. Simultaneously, altermagnetism shares the anisotropic higher-partial-wave nature of ordering with unconventional superfluid phases which have been at the forefront of research for the past several decades. These examples illustrate the interest in altermagnetism from a broad range of science and technology perspectives. After summarizing the diverse research context, we turn the focus of this review to the symmetry, microscopy and spectroscopy signatures of altermagnetism. We start from the description of spontaneously broken and retained symmetries which delineate the compensated altermagnetic ordering as a distinct magnetic phase. Next we focus on microscopic signatures and ordering mechanism of the altermagnetic phase. We highlight crystal-structure realizations of a characteristic ferroic order of anisotropic higher-partial-wave components of atomic-scale spin densities in altermagnets, ranging from weakly-interacting metals to strongly correlated insulators. The symmetry and microscopy signatures of altermagnetism are directly reflected in spin-dependent electronic spectra and responses. We review salient band-structure features originating from the altermagnetic ordering, and from its interplay with spin-orbit coupling and topological phenomena. Throughout the review we compare altermagnetism to traditional ferromagnetism and Neel antiferromagntism, and to the currently intensely explored magnetic phases with non-collinear symmetry-protected compensated spin orders. We accompany the theoretical discussions by references to relevant experiments.

cond-mat.mtrl-sci↗

arXiv2025

Magnetic geometry induced quantum geometry and nonlinear transports

The combination of quantum geometry and magnetic geometry in magnets excites diverse phenomena, some critical for antiferromagnetic spintronics. However, very few material platforms have been predicted and experimentally verified to date, with the material pool restricted by the assumed need for strong spin-orbit coupling (SOC). Here, we bypass the need for SOC by considering magnetic order induced quantum geometry and corresponding nonlinear transports (NLTs) in antiferromagnets (AFMs). By integrating spin space group theory into the symmetry analysis, we find that collinear and coplanar magnetic geometries can only induce NLT driven by Berry curvature dipole, and noncoplanar ones may trigger NLT driven by dipoles of Berry curvature, inverse mass, and quantum metric. Using this approach, we establish a materials database of 260 AFMs with SOC-free NLT effects, and complement this with first-principles calculations on several prototypical material candidates. Our work not only provides a universal theoretical framework for studying various magnetism-driven transport effects, but also predicts broad, experimentally accessible material platforms for antiferromagnetic spintronics.

cond-mat.mtrl-sci↗

arXiv2025

Disentanglement in dephasing channel with machine learning

Quantum state classification and entanglement quantification are of significant importance in the fundamental research of quantum information science and various quantum applications. Traditional methods, such as quantum state tomography, face exponential measurement demands with increasing numbers of qubits, necessitating more efficient approaches. Recent work has shown promise in using artificial neural networks (ANNs) for quantum state analysis. However, existing ANNs may falter when confronted with states affected by dephasing noise, especially with limited data and computational resources. In this study, we employ a machine-learning approach to investigate the disentanglement process in two-qubit systems in the presence of dephasing noise. Our findings highlight the limitations of general state-trained ANNs in classifying states under dephasing noise. Specialized ANN algorithms, tailored for classifying states and quantifying entanglement in such noisy environments, demonstrate excellent performance using only a subset of tomographic features.

quant-ph↗

arXiv2025

Topological Charge Quadrupole Protected by Spin-Orbit U(1) Quasi-Symmetry in Antiferromagnet NdBiPt

The interplay of symmetry and topology in crystal solids has given rise to various elementary excitations as quasiparticles. Among these, those with significant Berry-phase-related transport responses are of particular interest. Here, we predict a new type of quasiparticle called topological charge quadruple (TCQ), which is analogous to a charge quadrupole but consists of two closely-packed pairs of Weyl points in momentum space, specifically in a half-Heusler antiferromagnet NdBiPt. Interestingly, the TCQ is protected by the spin-orbit $U(1)$ quasi-symmetry, rather than any exact crystallographic symmetries. This quasi-symmetry restricts the energy splitting induced by symmetry-lowering perturbations to a second-order effect. Furthermore, the closely located Berry curvature sources and sinks in the TCQ lead to a large Berry curvature dipole, resulting in a significant nonlinear Hall effect. Our work opens an avenue for designing novel quasiparticles using quasi-symmetries and developing materials with enhanced nonlinear responses.

cond-mat.mtrl-sci↗

arXiv2025

Origin of the Diagonal Double-Stripe Spin-Density-Wave and Potential Superconductivity in Bulk La$_3$Ni$_2$O$_{7}$ at Ambient Pressure

The discovery of high-temperature superconductivity (SC) with $T_c\approx 80$ K in the pressurized La$_3$Ni$_2$O$_{7}$ has aroused great interests. Currently, due to technical difficulties, most experiments on La$_3$Ni$_2$O$_{7}$ can only be performed at ambient pressure (AP). Particularly, various experiments have revealed the presence of spin-density wave (SDW) in the unidirectional diagonal double-stripe pattern with wave vector near $(π/2,π/2)$ in La$_3$Ni$_2$O$_{7}$ at AP. In this work, we employ first-principle calculations followed by the random phase approximation (RPA)-based study to clarify the origin of this special SDW pattern and the potential SC in La$_3$Ni$_2$O$_{7}$ at AP. Starting from our density-functional-theory band structure, we construct an eight-band bilayer tight-binding model using the Ni-$3d_{z^2}$ and $3d_{x^2-y^2}$ orbitals, which is equipped with the standard multi-orbital Hubbard interaction. Our RPA calculation reveals an SDW order driven by Fermi-surface nesting with wave vector ${Q}\approx(0,\pm0.84π)$ in the folded Brillouin zone (BZ). From the view of the unfolded BZ, the wave vector turns to ${Q}_0\approx\pm(0.58π,0.58π)$, which is near the one detected by various experiments. Further more, this SDW exhibits an interlayer antiferromagnetic order with a unidirectional diagonal double-stripe pattern, consistent with recent soft X-ray scattering experiment. This result suggests that the origin of the SDW order in La$_3$Ni$_2$O$_{7}$ at AP can be well understood in the itinerant picture as driven by Fermi surfaces nesting. In the aspect of SC, our RPA study yields an approximate $s^\pm$-wave spin-singlet pairing with $T_c$ much lower than that under high pressure. Further more, the $T_c$ can be strongly enhanced through hole doping, leading to possible high-temperature SC at AP.

cond-mat.supr-con↗