arXiv subjects

Chaofan Zhang

Publications and source records attributed to Chaofan Zhang.

At least 19 recordsLinked to original sources

arXiv2026

Multiple superconducting phases and order-parameter evolution in pressurized UTe$_2$

The recently discovered heavy-fermion spin-triplet superconductor candidate UTe$_2$ provides a rich platform for unconventional pairing and topological phenomena. However, limited has been known about its superconducting order parameters and their evolution with control parameters, largely due to the lack of appropriate symmetry-sensitive detections. Here, we report comprehensive point-contact spectroscopy measurements of pressurized UTe$_2$ on the (0~0~1) surface. The observation of Andreev bound states strongly suggests the presence of a $p_z$ component in the superconducting order parameters. Quantitative analysis based on an extended Blonder-Tinkham-Klapwijk model unveils the superconducting order parameters with a finite odd-$k_z$ component (e.g. $B_{2u}$ or $B_{3u}$) for both ambient and pressurized UTe$_2$. Remarkably, the multiple superconducting phases can be distinguished by a single parameter $\langle Δ_{z}\rangle/\langleΔ_{x(y)}\rangle$, the relative weight between the $p_z$-wave and $p_{x(y)}$-wave pairings. These findings place stringent constraints on the pairing symmetry and provide essential spectroscopic signatures for distinguishing pressure-induced multiple superconducting phases in UTe$_2$.

cond-mat.str-el↗

arXiv2026

HiTac-WAM: A Hierarchical Tactile World Action Model for Contact-Rich Robot Manipulation

World action models jointly predict future visual observations and actions, whereas existing tactile-aware variants typically represent future touch as an image or latent stream without modeling the physical dependencies that organize tactile states hierarchically. We present HiTac-WAM, a hierarchical tactile world action model that forecasts a sequence of future tactile states for each candidate action chunk before execution. The forecast factorizes into contact state, a 3D deformation field, and slip risk, organized as a directed hierarchy in which each downstream stage is conditioned on stop-gradient signals from preceding stages. A directed attention mask allows tactile queries to attend to the video-action context of each candidate while preventing video and action queries from attending to tactile tokens. For planning, HiTac-WAM ranks candidate action chunks using tactile forecasts and task-progress estimates. For execution, the selected tactile forecast is retained as a reference; persistent discrepancies between predicted and observed tactile states trigger corrective replanning. HiTac-WAM achieves a mean contact F1 of 0.921; under matched training budgets, the directed hierarchy reduces 3D displacement L2 error by 17.6% relative to the deformation-only predictor and improves slip AUPRC by 60.4% relative to the slip-only predictor. Across chip grasping, blackboard erasing, and USB insertion, selection guided by the hierarchical forecasts increases the average real-robot success rate from 31.1% to 61.1%, while the full system attains 72.2%.

cs.RO↗

arXiv2026

TacPrint: A Wearable Fingertip Tactile Sensor for Human-to-Robot Contact Reproduction

Human-centric data collection is emerging as a significant paradigm for robot skill acquisition, but seamlessly integrating low-cost, scalable tactile sensing systems that capture fine-grained fingertip interactions without compromising natural operation remains a key challenge. This reduces the reliability of human-to-robot transfer in contact-rich tasks. In this work, we present TacPrint, a wearable fingertip tactile sensor, where protrusions on the inner surface of the silicone skin are aligned one-to-one with 24 capacitive taxels to enable localized capacitive responses. A real-to-sim-to-real pipeline estimates a 35 $\times$ 26 contact-depth map from 24-channel capacitive signals. Against simulation-generated labels, the model achieved a contact-region RMSE of 0.223 $\pm$ 0.161 mm, a weighted-centroid error of 1.213 $\pm$ 2.379 pixels, and an IoU of 0.829 $\pm$ 0.169. With measured capacitive inputs, the network-predicted depth evaluated at the guide-calibrated contact center showed a mean absolute error of 0.085 $\pm$ 0.057 mm across all 40 controlled trials, while the mean contact-position error was 0.250 $\pm$ 0.208 mm across the 37 trials whose reference contact regions were not truncated by the sensing boundary. In human-to-robot replay, tactile-guided compensation increased grasping and wiping success rates from 0% to 91.67% and 90%, respectively. In closed-loop grasping, dense-depth feedback achieved success rates of 87.5% over all tested positions and 85% under edge-contact conditions, compared with 67.5% and 45% for raw-taxel feedback.

cs.RO↗

arXiv2026

FeelWorld: Visuo-Tactile World Model for Hierarchical Contact Prediction and Planning

Humans plan physical interactions by imagining the possible outcomes of candidate actions. However, existing visual world models primarily capture appearance dynamics while overlooking the tactile states that govern contact-rich interactions, potentially producing imagined futures that appear visually plausible but violate physical dynamics. We introduce FeelWorld, a hierarchical visuo-tactile world model that jointly predicts future visual latents and three tactile states. FeelWorld organizes these states hierarchically as contact state, a 3D tactile latent that encodes force-related information, and slip state. These states are jointly predicted by a shared latent dynamics model with explicit supervision. To prevent irrelevant tactile signals during free-space motion from degrading visual prediction, we introduce a contact-gated asymmetric attention mechanism that maintains a visual-only prediction pathway before contact and enables joint visuo-tactile dynamics prediction during contact. The model is further trained with autoregressive rollouts and context noise injection to improve robustness to compounding errors. The predicted contact and slip states also support contact-aware CEM planning. Experiments on chip grasping, fruit grasping, and USB insertion show that FeelWorld reduces 10-step LPIPS from 0.084 to 0.058 and maintains an LPIPS that is 61% lower than that of the visual baseline after an 80-step autoregressive rollout. FeelWorld also achieves an average zero-shot planning success rate of 81.7%, providing an effective approach for incorporating tactile sensing into world models.

cs.RO↗

arXiv2026

The Outerplanar Turán Number of Double Stars

Let $H$ be a nonempty graph. A graph is $H$-free if it does not contain any copy of $H$ as a subgraph. The outerplanar Turán number of $H$, denoted by $ex_{_\mathcal{OP}}(n,H)$, is the maximum number of edges among all $H$-free outerplanar graphs on $n$ vertices. A double star $S_{p,q}$ is the graph obtained from an edge by joining its two endpoints with $p$ and $q$ isolated vertices respectively, where $q \ge p\ge 1$. In this paper, we determine the exact values of $ex_{_\mathcal{OP}}(n,S_{p,q})$ for all $q\ge p\ge 2$, with the sole exception of $p=2$ and $q=3$; for the latter, we establish a lower bound.

math.CO↗

arXiv2026

Information Extraction of Nested Complex Structure of Quantum Cascade Lasers via Large Language Models

The rapid advancement of Large Language Models has transformed scientific research workflows, including enabling the automated extraction of data directly from published literature. Most existing efforts, however, focus on extracting simple labeled key-value entities, whereas many scientific applications require more complex, hierarchically structured data. A representative example is Quantum Cascade Lasers, whose device architectures are defined by tens of interdependent parameters organized in nested layer sequences. In this work we propose a \emph{JSON-Schema Guided Information Extraction Pipeline} (JSG-IE) that enables reliable extraction of deeply structured device data without model fine-tuning. By transforming extraction into a schema-constrained generation task, our approach significantly improves structural consistency and accuracy. Across 12 state-of-the-art LLMs, a properly designed JSON Schema improves performance by 5.7\% over conventional prompting, with the highest $F_1$ score up to 83.4\%, achieved by the reasoning-enabled Kimi-k2-thinking model. Importantly, this performance enhancement is most significant for mid-tier and open-source models, where $F_1$ gains reach as high as 24.1\%, effectively enabling these widely accessible models to achieve extraction fidelity previously restricted to much larger architectures. This framework provides a scalable path toward automated construction of high-fidelity device databases, accelerating data-driven optoelectronic design.

physics.optics↗

arXiv2026

MiMo-Embodied: X-Embodied Foundation Model Technical Report

We open-source MiMo-Embodied, the first cross-embodied foundation model to successfully integrate and achieve state-of-the-art performance in both Autonomous Driving and Embodied AI. MiMo-Embodied sets new records across 17 embodied AI benchmarks in Task Planning, Affordance Prediction and Spatial Understanding, while also excelling in 12 autonomous driving benchmarks across Environmental Perception, Status Prediction, and Driving Planning. Across these tasks, MiMo-Embodied significantly outperforms existing open-source, closed-source, and specialized baselines. Our results indicate that through multi-stage learning, curated data construction, and CoT/RL fine-tuning, these two domains exhibit strong positive transfer and mutually reinforce one another. We provide a detailed analysis of our model design and training methodologies to facilitate further research. Code and models are available at https://github.com/XiaomiMiMo/MiMo-Embodied.

cs.RO↗

arXiv2026

FG-CLTP: Fine-Grained Contrastive Language Tactile Pretraining for Robotic Manipulation

Recent advancements in integrating tactile sensing into vision-language-action (VLA) models have demonstrated transformative potential for robotic perception. However, existing tactile representations predominantly rely on qualitative descriptors (e.g., texture), neglecting quantitative contact states such as force magnitude, contact geometry, and principal axis orientation, which are indispensable for fine-grained manipulation. To bridge this gap, we propose FG-CLTP, a fine-grained contrastive language tactile pretraining framework. We first introduce a novel dataset comprising over 100k tactile 3D point cloud-language pairs that explicitly capture multidimensional contact states from the sensor's perspective. We then implement a discretized numerical tokenization mechanism to achieve quantitative-semantic alignment, effectively injecting explicit physical metrics into the multimodal feature space. The proposed FG-CLTP model yields a 95.9% classification accuracy and reduces the regression error (MAE) by 52.6% compared to state-of-the-art methods. Furthermore, the integration of 3D point cloud representations establishes a sensor-agnostic foundation with a minimal sim-to-real gap of 3.5%. Building upon this fine-grained representation, we develop a 3D tactile-language-action (3D-TLA) architecture driven by a flow matching policy to enable multimodal reasoning and control. Extensive experiments demonstrate that our framework significantly outperforms strong baselines in contact-rich manipulation tasks, providing a robust and generalizable foundation for tactile-language-action models.

cs.RO↗

arXiv2026

SpikingTac: A Miniaturized Neuromorphic Visuotactile Sensor for High-Precision Dynamic Tactile Imprint Tracking

High-speed event-driven tactile sensors are essential for achieving human-like dynamic manipulation, yet their integration is often limited by the bulkiness of standard event cameras. This paper presents SpikingTac, a miniaturized, highly integrated neuromorphic tactile sensor featuring a custom standalone event camera module, achieved with a total material cost of less than \$150. We construct a global dynamic state map coupled with an unsupervised denoising network to enable precise tracking at a 1000~Hz perception rate and 350~Hz tracking frequency. Addressing the viscoelastic hysteresis of silicone elastomers, we propose a hysteresis-aware incremental update law with a spatial gain damping mechanism. Experimental results demonstrate exceptional zero-point stability, achieving a 100\% return-to-origin success rate with a minimal mean bias of 0.8039 pixels, even under extreme torsional deformations. In dynamic tasks, SpikingTac limits the obstacle-avoidance overshoot to 6.2~mm, representing a 5-fold performance improvement over conventional frame-based sensors. Furthermore, the sensor achieves sub-millimeter geometric accuracy, with Root Mean Square Error (RMSE) of 0.0952~mm in localization and 0.0452~mm in radius measurement.

cs.RO↗

arXiv2026

DexTac: Learning Contact-aware Visuotactile Policies via Hand-by-hand Teaching

For contact-intensive tasks, the ability to generate policies that produce comprehensive tactile-aware motions is essential. However, existing data collection and skill learning systems for dexterous manipulation often suffer from low-dimensional tactile information. To address this limitation, we propose DexTac, a visuo-tactile manipulation learning framework based on kinesthetic teaching. DexTac captures multi-dimensional tactile data-including contact force distributions and spatial contact regions-directly from human demonstrations. By integrating these rich tactile modalities into a policy network, the resulting contact-aware agent enables a dexterous hand to autonomously select and maintain optimal contact regions during complex interactions. We evaluate our framework on a challenging unimanual injection task. Experimental results demonstrate that DexTac achieves a 91.67% success rate. Notably, in high-precision scenarios involving small-scale syringes, our approach outperforms force-only baselines by 31.67%. These results underscore that learning multi-dimensional tactile priors from human demonstrations is critical for achieving robust, human-like dexterous manipulation in contact-rich environments.

cs.RO↗

arXiv2025

Spectroscopic evidence of symmetry breaking in the superconducting vortices of UTe2

The recently discovered heavy-fermion superconductor, UTe2, is an excellent candidate for spin-triplet superconductors where electrons form spin-triplet Cooper pairs with spin S = 1 and odd parity. Unconventional superconductivity often hosts unconventional vortices. Yet, the vortex core and lattice in UTe2 have not been directly visualized and characterized. Here, by using ultralow-temperature scanning tunneling microscopy and spectroscopy, we study the superconducting vortices on the (0-11) surface termination of UTe2 with an out-of-plane external magnetic field. At the center of the vortex core, we observe a robust zero-energy vortex-core state which exhibits a cigar-shaped spatial distribution and extends to ~30 nm along the [100] direction (crystallographic a axis) of UTe2. Along the direction perpendicular to [100], the superconducting gap is deeper and the coherence peak on one side of the vortex core is stronger than on the opposite side, and they are even enhanced in comparison with those under zero field. Due to the anisotropy of magnetic susceptibility in UTe2, the asymmetric dI/dV spectra on the two sides of the vortex core result from the interplay between the magnetization-induced bound current and supercurrent around the vortex core. Our work reveals the important role of magnetization in the vortex behaviors of UTe2 and provides essential microscopic information for understanding its superconducting properties in magnetic field.

cond-mat.supr-con↗

arXiv2025

VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

While vision-language models have advanced significantly, their application in language-conditioned robotic manipulation is still underexplored, especially for contact-rich tasks that extend beyond visually dominant pick-and-place scenarios. To bridge this gap, we introduce Vision-Tactile-Language-Action model, a novel framework that enables robust policy generation in contact-intensive scenarios by effectively integrating visual and tactile inputs through cross-modal language grounding. A low-cost, multi-modal dataset has been constructed in a simulation environment, containing vision-tactile-action-instruction pairs specifically designed for the fingertip insertion task. Furthermore, we introduce Direct Preference Optimization (DPO) to offer regression-like supervision for the VTLA model, effectively bridging the gap between classification-based next token prediction loss and continuous robotic tasks. Experimental results show that the VTLA model outperforms traditional imitation learning methods (e.g., diffusion policies) and existing multi-modal baselines (TLA/VLA), achieving over 90% success rates on unseen peg shapes. Finally, we conduct real-world peg-in-hole experiments to demonstrate the exceptional Sim2Real performance of the proposed VTLA model. For supplementary videos and results, please visit our project website: https://sites.google.com/view/vtla

cs.RO↗

arXiv2025

CLTP: Contrastive Language-Tactile Pre-training for 3D Contact Geometry Understanding

Recent advancements in integrating tactile sensing with vision-language models (VLMs) have demonstrated remarkable potential for robotic multimodal perception. However, existing tactile descriptions remain limited to superficial attributes like texture, neglecting critical contact states essential for robotic manipulation. To bridge this gap, we propose CLTP, an intuitive and effective language tactile pretraining framework that aligns tactile 3D point clouds with natural language in various contact scenarios, thus enabling contact-state-aware tactile language understanding for contact-rich manipulation tasks. We first collect a novel dataset of 50k+ tactile 3D point cloud-language pairs, where descriptions explicitly capture multidimensional contact states (e.g., contact location, shape, and force) from the tactile sensor's perspective. CLTP leverages a pre-aligned and frozen vision-language feature space to bridge holistic textual and tactile modalities. Experiments validate its superiority in three downstream tasks: zero-shot 3D classification, contact state classification, and tactile 3D large language model (LLM) interaction. To the best of our knowledge, this is the first study to align tactile and language representations from the contact state perspective for manipulation tasks, providing great potential for tactile-language-action model learning. Code and datasets are open-sourced at https://sites.google.com/view/cltp/.

cs.RO↗

arXiv2025

In-situ three-dimensional strain engineering of solid-state quantum emitters in photonic structures towards scalable quantum networks

Solid-state quantum emitters are pivotal for modern photonic quantum technology, yet their inherent spectral inhomogeneity imposes a critical challenge in pursuing scalable quantum network. Here, we develop a cryogenic-compatible strain-engineering platform based on a polydimethylsiloxane (PDMS) stamp that is not obviously working properly at cryogenic temperature. In-situ three-dimensional (3D) strain control is achieved for quantum dots (QDs) embedded in photonic nanostructures. The compliant PDMS enables independent tuning of emission energy and elimination of fine structure splitting (FSS) of single QDs, as demonstrated by a 7 meV spectral shift with a near-vanishing FSS in circular Bragg resonators and an unprecedented 15 meV tuning range in the micropillar. The PDMS-based 3D strain-engineering platform, compatible with diverse photonic structures at cryogenic temperature, provides a powerful and versatile tool for exploring fundamental strain-related physics and advancing integrated photonic quantum technology.

physics.optics↗

arXiv2025

TLA: Tactile-Language-Action Model for Contact-Rich Manipulation

Significant progress has been made in vision-language models. However, language-conditioned robotic manipulation for contact-rich tasks remains underexplored, particularly in terms of tactile sensing. To address this gap, we introduce the Tactile-Language-Action (TLA) model, which effectively processes sequential tactile feedback via cross-modal language grounding to enable robust policy generation in contact-intensive scenarios. In addition, we construct a comprehensive dataset that contains 24k pairs of tactile action instruction data, customized for fingertip peg-in-hole assembly, providing essential resources for TLA training and evaluation. Our results show that TLA significantly outperforms traditional imitation learning methods (e.g., diffusion policy) in terms of effective action generation and action accuracy, while demonstrating strong generalization capabilities by achieving over 85\% success rate on previously unseen assembly clearances and peg shapes. We publicly release all data and code in the hope of advancing research in language-conditioned tactile manipulation skill learning. Project website: https://sites.google.com/view/tactile-language-action/

cs.RO↗

arXiv2025

Quasi-normal modes empowered coherent control of electromagnetic interactions

Quasi-normal modes (QNMs) and coherent control of light-matter interactions (through synchronized multiple coherent incident waves) are profound and pervasive concepts in and beyond photonics, making accessible photonic manipulations with extreme precision and efficiency. Though each has been playing essential roles in its own, these two sweeping concepts remain largely segregated with little interactions, blocking vast opportunities of cross-fertilization to explore. Here we unify both concepts into a novel framework of coherent control for light interacting with open photonic systems. From the QNM perspective, scattered waves are superimposed radiations from all QNMs excited, and thus coherent controls can be mapped into another problem of QNM excitation manipulations. Within our framework, all incident properties (amplitudes, phases and polarizations) of waves from different directions can be exploited simultaneously in a synchronous manner, facilitating independent manipulations of each QNM and thus unlocking enormous flexibilities for coherent controls of both scattering intensity and polarization: (i) A visible structure under a single incident wave can be made invisible through shining extra waves; (ii) Along a direction where QNMs' radiation polarizations are identical, scattering along this direction can be fully eliminated, thus generalizing Kerker effects from a distinct QNM perspective; (iii) Along a direction of distinct QNM radiation polarizations, arbitrary scattering polarizations can be obtained. Given the ubiquity and profundity of QNMs and coherent control in almost all branches of wave physics, our framework and its underlying principles will inspire further fundamental explorations and practical applications beyond photonics, opening new opportunities for various forms of wave-matter interactions.

physics.optics↗

arXiv2025

Polarizations Underdescribe Vectorial Electromagnetic Waves

Electromagnetic waves are described by not only polarization ellipses but also cyclically rotating vectors tracing out them. The corresponding fields are respectively directionless steady line fields and directional instantaneous vector fields. Here we study the seminal topic of electromagnetic scattering from the perspective of instantaneous vector fields and uncover how the global topology of the momentum sphere regulates local distributions of tangent scattered fields. Structurally-stable generic singularities of vector fields move cyclically along lines of linear polarizations and at any instant the index sum of all instantaneous singularities has to be the Euler characteristic $χ=2$. This contrasts sharply with steady line fields, of which generic singularities constrained by the Euler characteristic locate on points of circular polarizations. From such unique perspective of instantaneous singularities, we discovered that for circularly-polarized waves scattered by electromagnetic duality-symmetric particles, since linearly-polarized scatterings are prohibited by helicity conservation, there must exist at least one dark direction along which the scattering is strictly zero. Two such dark directions can be tuned to overlap, along which the scattering would remain zero for arbitrary incident polarizations. We have essentially revealed that \textit{polarizations underdescribe vectorial electromagnetic waves and the instantaneous perspective is indispensable}. The complementarity we discover provides broader and deeper insights into not only electromagnetism, but also other branches of wave physics where singularities are generic and ubiquitous.

physics.optics↗

arXiv2025

SparseFocus: Learning-based One-shot Autofocus for Microscopy with Sparse Content

Autofocus is necessary for high-throughput and real-time scanning in microscopic imaging. Traditional methods rely on complex hardware or iterative hill-climbing algorithms. Recent learning-based approaches have demonstrated remarkable efficacy in a one-shot setting, avoiding hardware modifications or iterative mechanical lens adjustments. However, in this paper, we highlight a significant challenge that the richness of image content can significantly affect autofocus performance. When the image content is sparse, previous autofocus methods, whether traditional climbing-hill or learning-based, tend to fail. To tackle this, we propose a content-importance-based solution, named SparseFocus, featuring a novel two-stage pipeline. The first stage measures the importance of regions within the image, while the second stage calculates the defocus distance from selected important regions. To validate our approach and benefit the research community, we collect a large-scale dataset comprising millions of labelled defocused images, encompassing both dense, sparse and extremely sparse scenarios. Experimental results show that SparseFocus surpasses existing methods, effectively handling all levels of content sparsity. Moreover, we integrate SparseFocus into our Whole Slide Imaging (WSI) system that performs well in real-world applications. The code and dataset will be made available upon the publication of this paper.

cs.CV↗