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新论文 · v1arXiv:2611.07695

Equivariant Deep Learning in Direct-Product Space for Electronic-Structure Hamiltonian Prediction

Shi Yin, Zujian Dai, Xinyang Pan, Lixin He

原文摘要

Most existing equivariant architectures for Hamiltonian prediction propagate features in direct-sum spaces of irreducible spherical tensors, whereas the target Hamiltonian is naturally an operator block in a direct-product representation over local orbital and spin bases. This representation mismatch fragments contiguous Hamiltonian blocks, obscures direct manipulation of orbital couplings, and organizes features into irregular angular-momentum components that require numerous transformations and are poorly aligned with efficient hardware execution and memory management. To address both the representation mismatch and computational bottleneck, we propose DP-Learner, an equivariant learning framework that performs message passing directly on Hamiltonian-like operator blocks in the direct-product space. Theoretically, we propose Lie-generator-based directional embedding and invariantly weighted left--right products and contractions that preserve equivariance to SO(3), SU(2), and spatial inversions, without explicit Clebsch--Gordan decomposition or inverse reconstruction. Methodologically, we instantiate this principle as a Transformer architecture, in which Hamiltonian-like feature matrices or tensors evolve through equivariant operators in the direct-product space, while non-linear invariant scalar routing controls structured gating over matrix units, directional propagation, attention, and environment-embedded context interactions. We further construct MP-HAM-110K, a large-scale Hamiltonian dataset comprising more than 110,000 material structures covering 68 elements with both Hamiltonian and wavefunction data. Experiments on MP-HAM-110K and Materials-HAM-SOC demonstrate that DP-Learner dramatically improves Hamiltonian prediction accuracy and inference efficiency over the state-of-the-art method.

cs.LG · cond-mat.mtrl-sci · cs.AI · physics.comp-ph

版本更新 · v2arXiv:2603.23481

VTAM: Efficient Visuo-Tactile World-Action Models for Contact-Rich Manipulation without Tactile Pretraining

Haoran Yuan, Weigang Yi, Zhenyu Zhang, Wendi Chen, Yuchen Mo, Jiashi Yin, Xinzhuo Li, Yue Luo 等 14 位作者

原文摘要

Tactile vision-language-action models (VLAs) and tactile world-action models (WAMs) are a promising new paradigm for contact-rich manipulation, but existing models either underutilize touch, rely on large-scale tactile pretraining, or incur high inference latency due to iterative video generation. We present VTAM, an efficient visuo-tactile world-action model for contact-rich manipulation that requires no tactile or action pretraining. RGB and tactile observations share a frozen video VAE and the pretrained video transformer weights. VTAM first adapts the video backbone to jointly predict future visual and tactile latents, then fine-tunes it end-to-end with a randomly initialized action expert that predicts actions, proprioceptive states, and a light flow-force proxy computed from tactile optical flow. Trained only on task demonstrations, VTAM outperforms all baselines on four real-robot tasks across two platforms with different tactile sensors, outperforms all baselines without tactile pretraining in average success on eight UniVTAC simulation tasks, and is comparable to tactile VLAs and WAMs pretrained on over 30K hours of largely visuo-tactile robot data (83.4% vs. 84.5% for N0-TWAM). Without full video denoising at inference, VTAM is approximately 6x and 16x faster than N0-TWAM and LingBot-VA without compilation, with compiled latency comparable to Fast-WAM. Ablations show that feeding frozen-VAE tactile features directly to the action expert, bypassing tactile world modeling, fails on every tested task, that Stage I visuo-tactile world-model fine-tuning improves UniVTAC success on most tasks, and that flow-force proxy keeps the policy from fully ignoring touch. The tactile encoder transfers zero-shot across GelSight Mini and Xense Photon sensors.

cs.RO · cs.AI · cs.CV · cs.LG