I. Introduction
The explosive growth in mobile devices and applications poses significant challenges to the forthcoming sixth generation (6G) networks to handle user demands in a wide range of fields, such as high-speed data services and high-precision sensing [1]. Evolved from massive multiple-input multiple-output (MIMO) [2], ultra-massive MIMO is expected to be one of the most powerful technologies to satisfy such stringent requirements in 6G networks due to its capability of highly directional beamforming [3]. However, standard massive MIMO is enabled by large-scale phased arrays, which rely on high-resolution phase shifters to achieve phase-controlled beamforming. Hence, the hardware cost together with power consumption will become unaffordable when implementing ultra-massive MIMO with phased arrays in practical systems [4], [5], [6].