arXiv subjects

Zehao Yu

Publications and source records attributed to Zehao Yu.

At least 19 recordsLinked to original sources

arXiv2026

Gate-tunable superconductor-semiconductor coupling and its impact on zero-energy modes in PbTe-Pb nanowires

Superconductor-semiconductor coupling in hybrid nanowires plays a pivotal role in Majorana devices. Here, we demonstrate this tunable coupling in PbTe-Pb nanowires and its impact on the induced gap and zero-bias peaks (ZBPs). In the strong coupling regime, the device reveals a clean superconducting gap, where robust and non-robust ZBPs are observed in distinct magnetic field ranges. Conversely, increasing the gate voltage drives the system toward the weak coupling regime, where the gap becomes narrow and soft. Consequently, robust ZBPs disappear while non-robust ones persist. Our results establish a direct link between tunable coupling and robust ZBPs, providing guidelines on engineering Majorana zero modes and topological qubits.

cond-mat.mes-hall↗

arXiv2026

Presence versus absence of charging energies in PbTe quantum dots

Charging energy ($E_C$) is essential in quantum dot (QD) devices. Previous studies on PbTe QDs have reported both the presence and absence of $E_C$. To resolve this ambiguity, we vary the QD size, i.e. the cross-sectional area of PbTe nanowires, and track the evolution of $E_C$. For large crosssectional areas ($\sim$ 16000 nm$^2$), the PbTe QDs exhibit no measurable $E_C$, while quantized levels are well resolved. Decreasing this area successively to 5000, 1500, and 460 nm$^2$, $E_C$ becomes finite and increases to 80, 160, and 210 $μ$eV, respectively. We further demonstrate the strong tunability of local gates, which can tune the PbTe device from the QD regime to the regime of ballistic transport. These results address concerns regarding the large dielectric constant of PbTe and provide key insights in engineering advanced PbTe quantum devices.

cond-mat.mes-hall↗

arXiv2026

OASIS: From Simulation Data Collection to Real-World Humanoid Loco-Manipulation

Recent progress in robot manipulation has been largely driven by learning from large-scale demonstrations. For humanoid robot loco-manipulation tasks, however, existing data sources force an unsatisfying tradeoff between trajectory quality and scalability. Real-world teleoperation provides the highest-quality trajectories but requires dedicated physical space and time-consuming scene resets. Simulation offers an alternative way out of this dilemma: it can produce clean, embodiment-aligned data at scale without any physical hardware. In this paper, we propose OASIS, a simulation-data-driven framework for humanoid loco-manipulation. OASIS automatically reconstructs realistic object assets from real-world images using a 3D generative model. Based on these assets, trajectories are first collected through teleoperation in simulation, and then augmented under diverse domain randomizations in a post-processing stage. With the resulting simulation data, we further design a hierarchical visuomotor policy for humanoid loco-manipulation. Extensive experiments on the real humanoid robot show that, under zero-shot deployment, the policy trained on our simulation data achieves higher success rates on most tasks than that trained on real-robot teleoperation data, owing largely to the broad lighting and environmental variations covered by our simulation rendering, which real-robot data fails to capture. The project page is available at https://oasis-humanoid.github.io/.

cs.RO↗

arXiv2026

Strong enhancement of g-factor in PbTe-Pb hybrid nanowires

We report large Lande g-factors observed in PbTe-Pb hybrid nanowires. The g-factor can reach 83, significantly larger than those in bare PbTe nanowires (typically below 20). We attribute this enhancement to orbital effects in the superconducting film, particularly when the magnetic field is nearly perpendicular to the Pb film. This enhancement is beneficial for the search for topological superconductivity by reducing the critical magnetic field required for the phase transition.

cond-mat.mes-hall↗

arXiv2025

Enhanced superconductivity in PbTe-In hybrids

We report the realization of epitaxial indium thin films on PbTe nanowires. The film is continuous and forms an atomically sharp interface with PbTe. Tunneling devices reveal a hard superconducting gap. The gap size, 1.08 to 1.18 meV, is twice as large as bulk indium's ($\sim$ 0.5 meV), due to the presence of PbTe. A similar enhancement is also observed in the critical temperature of In on a PbTe substrate. Subgap peaks appear at finite magnetic fields. The effective $g$-factor (15-45) is notably enhanced compared to bare PbTe wires ($<$ 10) due to the presence of In, differing from Al-hybrids. Josephson devices exhibit gate-tunable supercurrents. The PbTe-In hybrid enhances the properties of both, the superconductivity of In and g-factors of PbTe, and thus may enable exotic phases of matter such as topological superconductivity.

cond-mat.mes-hall↗

arXiv2025

Free360: Layered Gaussian Splatting for Unbounded 360-Degree View Synthesis from Extremely Sparse and Unposed Views

Neural rendering has demonstrated remarkable success in high-quality 3D neural reconstruction and novel view synthesis with dense input views and accurate poses. However, applying it to extremely sparse, unposed views in unbounded 360° scenes remains a challenging problem. In this paper, we propose a novel neural rendering framework to accomplish the unposed and extremely sparse-view 3D reconstruction in unbounded 360° scenes. To resolve the spatial ambiguity inherent in unbounded scenes with sparse input views, we propose a layered Gaussian-based representation to effectively model the scene with distinct spatial layers. By employing a dense stereo reconstruction model to recover coarse geometry, we introduce a layer-specific bootstrap optimization to refine the noise and fill occluded regions in the reconstruction. Furthermore, we propose an iterative fusion of reconstruction and generation alongside an uncertainty-aware training approach to facilitate mutual conditioning and enhancement between these two processes. Comprehensive experiments show that our approach outperforms existing state-of-the-art methods in terms of rendering quality and surface reconstruction accuracy. Project page: https://zju3dv.github.io/free360/

cs.CV↗

arXiv2025

2D Gaussian Splatting for Geometrically Accurate Radiance Fields

3D Gaussian Splatting (3DGS) has recently revolutionized radiance field reconstruction, achieving high quality novel view synthesis and fast rendering speed without baking. However, 3DGS fails to accurately represent surfaces due to the multi-view inconsistent nature of 3D Gaussians. We present 2D Gaussian Splatting (2DGS), a novel approach to model and reconstruct geometrically accurate radiance fields from multi-view images. Our key idea is to collapse the 3D volume into a set of 2D oriented planar Gaussian disks. Unlike 3D Gaussians, 2D Gaussians provide view-consistent geometry while modeling surfaces intrinsically. To accurately recover thin surfaces and achieve stable optimization, we introduce a perspective-correct 2D splatting process utilizing ray-splat intersection and rasterization. Additionally, we incorporate depth distortion and normal consistency terms to further enhance the quality of the reconstructions. We demonstrate that our differentiable renderer allows for noise-free and detailed geometry reconstruction while maintaining competitive appearance quality, fast training speed, and real-time rendering.

cs.CV↗

arXiv2025

Reducing disorder in PbTe nanowires for Majorana research

Material challenges are the key issue in Majorana research where surface disorder constrains device performance. Here, we tackle this challenge by embedding PbTe nanowires within a lattice-constant-matched crystal. The wire edges are shaped by self-organized growth instead of lithography, resulting in nearly-atomic-flat facets along both cross-sectional and longitudinal directions. Quantized conductance is observed at zero magnetic field with channel lengths maximally reaching 1.7 $μ$m, significantly surpassing the state-of-the-art of III-V nanowires (an order-of-magnitude improvement compared to InSb). Coupling PbTe to a Pb film unveils a flat interface spanning microns and a large superconducting gap of 1 meV. Our result not only represents a stride toward meeting the stringent low-disorder requirement for Majoranas, but may also open the door to various hybrid quantum devices requiring a low level of disorder.

cond-mat.mes-hall↗

arXiv2025

Anisotropy of PbTe nanowires with and without a superconductor

We investigate the anisotropic behaviors in PbTe and PbTe-Pb hybrid nanowires. In previous studies on PbTe, wire-to-wire variations in anisotropy indicate poor device control, posing a serious challenge for applications. Here, we achieve reproducible anisotropy in PbTe nanowires through a substantial reduction of disorder. We then couple PbTe to a superconductor Pb, and observe a pronounced deviation in the anisotropy behavior compared to bare PbTe nanowires. This deviation is gate-tunable and attributed to spin-orbit interaction and orbital effect, controlled by charge transfer between Pb and PbTe. These results provide a guidance for the controlled engineering of exotic quantum states in this hybrid material platform.

cond-mat.mes-hall↗

arXiv2024

Gaussian Opacity Fields: Efficient Adaptive Surface Reconstruction in Unbounded Scenes

Recently, 3D Gaussian Splatting (3DGS) has demonstrated impressive novel view synthesis results, while allowing the rendering of high-resolution images in real-time. However, leveraging 3D Gaussians for surface reconstruction poses significant challenges due to the explicit and disconnected nature of 3D Gaussians. In this work, we present Gaussian Opacity Fields (GOF), a novel approach for efficient, high-quality, and adaptive surface reconstruction in unbounded scenes. Our GOF is derived from ray-tracing-based volume rendering of 3D Gaussians, enabling direct geometry extraction from 3D Gaussians by identifying its levelset, without resorting to Poisson reconstruction or TSDF fusion as in previous work. We approximate the surface normal of Gaussians as the normal of the ray-Gaussian intersection plane, enabling the application of regularization that significantly enhances geometry. Furthermore, we develop an efficient geometry extraction method utilizing Marching Tetrahedra, where the tetrahedral grids are induced from 3D Gaussians and thus adapt to the scene's complexity. Our evaluations reveal that GOF surpasses existing 3DGS-based methods in surface reconstruction and novel view synthesis. Further, it compares favorably to or even outperforms, neural implicit methods in both quality and speed.

cs.CV↗

arXiv2024

Regression analysis of elliptically symmetric direction data

A comprehensive toolkit is developed for regression analysis of directional data based on a flexible class of angular Gaussian distributions. Informative testing procedures for isotropy and covariate effects on the directional response are proposed. Moreover, a prediction region that achieves the smallest volume in a class of ellipsoidal prediction regions of the same coverage probability is constructed. The efficacy of these inference procedures is demonstrated in simulation experiments. Finally, this new toolkit is used to analyze directional data originating from a hydrology study and a bioinformatics application.

stat.ME↗

arXiv2024

DebSDF: Delving into the Details and Bias of Neural Indoor Scene Reconstruction

In recent years, the neural implicit surface has emerged as a powerful representation for multi-view surface reconstruction due to its simplicity and state-of-the-art performance. However, reconstructing smooth and detailed surfaces in indoor scenes from multi-view images presents unique challenges. Indoor scenes typically contain large texture-less regions, making the photometric loss unreliable for optimizing the implicit surface. Previous work utilizes monocular geometry priors to improve the reconstruction in indoor scenes. However, monocular priors often contain substantial errors in thin structure regions due to domain gaps and the inherent inconsistencies when derived independently from different views. This paper presents \textbf{DebSDF} to address these challenges, focusing on the utilization of uncertainty in monocular priors and the bias in SDF-based volume rendering. We propose an uncertainty modeling technique that associates larger uncertainties with larger errors in the monocular priors. High-uncertainty priors are then excluded from optimization to prevent bias. This uncertainty measure also informs an importance-guided ray sampling and adaptive smoothness regularization, enhancing the learning of fine structures. We further introduce a bias-aware signed distance function to density transformation that takes into account the curvature and the angle between the view direction and the SDF normals to reconstruct fine details better. Our approach has been validated through extensive experiments on several challenging datasets, demonstrating improved qualitative and quantitative results in reconstructing thin structures in indoor scenes, thereby outperforming previous work.

cs.CV↗

arXiv2024

Quantized Andreev conductance in semiconductor nanowires

Clean one-dimensional electron systems can exhibit quantized conductance. The plateau conductance doubles if the transport is dominated by Andreev reflection. Here, we report quantized conductance observed in both Andreev and normal-state transports in PbTe-Pb and PbTe-In hybrid nanowires. The Andreev plateau is observed at $4e^2/h$, twice of the normal plateau value of $2e^2/h$. In comparison, Andreev conductance in the best-optimized III-V nanowires is non-quantized due to mode-mixing induced dips (a disorder effect), despite the quantization of normal-state transport. The negligible mode mixing in PbTe hybrids indicates an unprecedented low-disorder transport regime for nanowire devices, beneficial for Majorana researches.

cond-mat.mes-hall↗

arXiv2024

3D Neural Edge Reconstruction

Real-world objects and environments are predominantly composed of edge features, including straight lines and curves. Such edges are crucial elements for various applications, such as CAD modeling, surface meshing, lane mapping, etc. However, existing traditional methods only prioritize lines over curves for simplicity in geometric modeling. To this end, we introduce EMAP, a new method for learning 3D edge representations with a focus on both lines and curves. Our method implicitly encodes 3D edge distance and direction in Unsigned Distance Functions (UDF) from multi-view edge maps. On top of this neural representation, we propose an edge extraction algorithm that robustly abstracts parametric 3D edges from the inferred edge points and their directions. Comprehensive evaluations demonstrate that our method achieves better 3D edge reconstruction on multiple challenging datasets. We further show that our learned UDF field enhances neural surface reconstruction by capturing more details.

cs.CV↗

arXiv2024

Efficient End-to-End Detection of 6-DoF Grasps for Robotic Bin Picking

Bin picking is an important building block for many robotic systems, in logistics, production or in household use-cases. In recent years, machine learning methods for the prediction of 6-DoF grasps on diverse and unknown objects have shown promising progress. However, existing approaches only consider a single ground truth grasp orientation at a grasp location during training and therefore can only predict limited grasp orientations which leads to a reduced number of feasible grasps in bin picking with restricted reachability. In this paper, we propose a novel approach for learning dense and diverse 6-DoF grasps for parallel-jaw grippers in robotic bin picking. We introduce a parameterized grasp distribution model based on Power-Spherical distributions that enables a training based on all possible ground truth samples. Thereby, we also consider the grasp uncertainty enhancing the model's robustness to noisy inputs. As a result, given a single top-down view depth image, our model can generate diverse grasps with multiple collision-free grasp orientations. Experimental evaluations in simulation and on a real robotic bin picking setup demonstrate the model's ability to generalize across various object categories achieving an object clearing rate of around $90 \%$ in simulation and real-world experiments. We also outperform state of the art approaches. Moreover, the proposed approach exhibits its usability in real robot experiments without any refinement steps, even when only trained on a synthetic dataset, due to the probabilistic grasp distribution modeling.

cs.RO↗

arXiv2024

SQUID oscillations in PbTe nanowire networks

Network structures by semiconductor nanowires hold great promise for advanced quantum devices, especially for applications in topological quantum computing. In this study, we created networks of PbTe nanowires arranged in loop configurations. Using shadow-wall epitaxy, we defined superconducting quantum interference devices (SQUIDs) using the superconductor Pb. These SQUIDs exhibit oscillations in supercurrent upon the scanning of a magnetic field. Most of the oscillations can be fitted assuming a sinusoidal current-phase relation for each Josephson junction. Under certain conditions, the oscillations are found to be skewed, suggesting possible deviation from a sinusoidal behavior. Our results highlight the potential of PbTe nanowires for building complex quantum devices in the form of networks.

cond-mat.mes-hall↗

arXiv2024

Gate-tunable subband degeneracy in semiconductor nanowires

Degeneracy and symmetry have a profound relation in quantum systems. Here, we report gate-tunable subband degeneracy in PbTe nanowires with a nearly symmetric cross-sectional shape. The degeneracy is revealed in electron transport by the absence of a quantized plateau. Utilizing a dual gate design, we can apply an electric field to lift the degeneracy, reflected as emergence of the plateau. This degeneracy and its tunable lifting were challenging to observe in previous nanowire experiments, possibly due to disorder. Numerical simulations can qualitatively capture our observation, shedding light on device parameters for future applications.

cond-mat.mes-hall↗

arXiv2024

Selective-Area-Grown PbTe-Pb Planar Josephson Junctions for Quantum Devices

Planar Josephson junctions are predicted to host Majorana zero modes. The material platforms in previous studies are two dimensional electron gases (InAs, InSb, InAsSb and HgTe) coupled to a superconductor such as Al or Nb. Here, we introduce a new material platform for planar JJs, the PbTe-Pb hybrid. The semiconductor, PbTe, was grown as a thin film via selective area epitaxy. The Josephson junction was defined by a shadow wall during the deposition of the superconductor Pb. Scanning transmission electron microscopy reveals a sharp semiconductor-superconductor interface. Gate-tunable supercurrent and multiple Andreev reflections are observed. A perpendicular magnetic field causes interference patterns of the switching current, exhibiting Fraunhofer-like and SQUID-like behaviors. We further demonstrate a prototype device for Majorana detection, wherein phase bias and tunneling spectroscopy are applicable.

cond-mat.supr-con↗