arXiv subjects

Hao Zhang

Publications and source records attributed to Hao Zhang.

At least 991 records · Page 55Linked to original sources

arXiv2021

Epitaxy of Advanced Nanowire Quantum Devices

Semiconductor nanowires provide an ideal platform for various low-dimensional quantum devices. In particular, topological phases of matter hosting non-Abelian quasi-particles can emerge when a semiconductor nanowire with strong spin-orbit coupling is brought in contact with a superconductor. To fully exploit the potential of non-Abelian anyons for topological quantum computing, they need to be exchanged in a well-controlled braiding operation. Essential hardware for braiding is a network of single-crystalline nanowires coupled to superconducting islands. Here, we demonstrate a technique for generic bottom-up synthesis of complex quantum devices with a special focus on nanowire networks having a predefined number of superconducting islands. Structural analysis confirms the high crystalline quality of the nanowire junctions, as well as an epitaxial superconductor-semiconductor interface. Quantum transport measurements of nanowire "hashtags" reveal Aharonov-Bohm and weak-antilocalization effects, indicating a phase coherent system with strong spin-orbit coupling. In addition, a proximity-induced hard superconducting gap is demonstrated in these hybrid superconductor-semiconductor nanowires, highlighting the successful materials development necessary for a first braiding experiment. Our approach opens new avenues for the realization of epitaxial 3-dimensional quantum device architectures.

cond-mat.mes-hall↗

arXiv2021

Universal conductance scaling of Andreev reflections using a dissipative probe

The Majorana search is caught up in an extensive debate about the false-positive signals from non-topological Andreev bound states (ABSs). We introduce a remedy using the dissipative probe to generate electron-boson interaction. We theoretically show that the interaction-induced renormalization leads to significantly distinct universal zero-bias conductance behaviors, i.e. distinct characteristic power-law in temperature, for different types of Andreev reflections, which shows a sharp contrast to that of a Majorana zero mode. Various specific cases have been studied, including the cases that two charges involved in an Andreev reflection process maintain/lose coherence, and the cases for multiple ABSs with or without a Majorana present. A transparent list of conductance features in each case is provided to help distinguishing the observed subgap states in experiments, which also promotes the identification of Majorana zero modes.

cond-mat.mes-hall↗

arXiv2021

Self-Reflective Terrain-Aware Robot Adaptation for Consistent Off-Road Ground Navigation

Ground robots require the crucial capability of traversing unstructured and unprepared terrains and avoiding obstacles to complete tasks in real-world robotics applications such as disaster response. When a robot operates in off-road field environments such as forests, the robot's actual behaviors often do not match its expected or planned behaviors, due to changes in the characteristics of terrains and the robot itself. Therefore, the capability of robot adaptation for consistent behavior generation is essential for maneuverability on unstructured off-road terrains. In order to address the challenge, we propose a novel method of self-reflective terrain-aware adaptation for ground robots to generate consistent controls to navigate over unstructured off-road terrains, which enables robots to more accurately execute the expected behaviors through robot self-reflection while adapting to varying unstructured terrains. To evaluate our method's performance, we conduct extensive experiments using real ground robots with various functionality changes over diverse unstructured off-road terrains. The comprehensive experimental results have shown that our self-reflective terrain-aware adaptation method enables ground robots to generate consistent navigational behaviors and outperforms the compared previous and baseline techniques.

cs.RO↗

arXiv2021

From the Littlewood-Paley-Stein Inequality to the Burkholder-Gundy Inequality

Let $\{\mathsf{T}_t\}_{t>0}$ be a symmetric diffusion semigroup on a $σ$-finite measure space $(Ω, \mathscr{A}, μ)$ and $G^{\mathsf{T}}$ the associated Littlewood-Paley $g$-function operator: $$G^{\mathsf{T}}(f)=\Big(\int_0^\infty \left|t\frac{\partial}{\partial t} \mathsf{T}_t(f)\right|^2\frac{\mathrm{d}t}{t}\Big)^{\frac12}.$$ The classical Littlewood-Paley-Stein inequality asserts that for any $1 0}$ of $L_p(Ω)$. Recently, Xu proved that $ \mathsf{L}^{\mathsf{T}}_{ p}\lesssim p$ as $p\rightarrow\infty$, and raised the problem abut the optimal order of $ \mathsf{L}^{\mathsf{T}}_{ p}$ as $p\rightarrow\infty$. We solve Xu's open problem by showing that this upper estimate of $\mathsf{L}^{\mathsf{T}}_{ p}$ is in fact optimal. Our argument is based on the construction of a special symmetric diffusion semigroup associated to any given martingale such that its square function $G^{\mathsf{T}}(f)$ for any $f\in L_p(Ω)$ is pointwise comparable with the martingale square function of $f$. Our method also extends to the vector-valued and noncommutative setting.

math.FA↗

arXiv2021

Towards Debiasing Temporal Sentence Grounding in Video

The temporal sentence grounding in video (TSGV) task is to locate a temporal moment from an untrimmed video, to match a language query, i.e., a sentence. Without considering bias in moment annotations (e.g., start and end positions in a video), many models tend to capture statistical regularities of the moment annotations, and do not well learn cross-modal reasoning between video and language query. In this paper, we propose two debiasing strategies, data debiasing and model debiasing, to "force" a TSGV model to capture cross-modal interactions. Data debiasing performs data oversampling through video truncation to balance moment temporal distribution in train set. Model debiasing leverages video-only and query-only models to capture the distribution bias, and forces the model to learn cross-modal interactions. Using VSLNet as the base model, we evaluate impact of the two strategies on two datasets that contain out-of-distribution test instances. Results show that both strategies are effective in improving model generalization capability. Equipped with both debiasing strategies, VSLNet achieves best results on both datasets.

cs.CV↗

arXiv2021

Asynchronous Collaborative Localization by Integrating Spatiotemporal Graph Learning with Model-Based Estimation

Collaborative localization is an essential capability for a team of robots such as connected vehicles to collaboratively estimate object locations from multiple perspectives with reliant cooperation. To enable collaborative localization, four key challenges must be addressed, including modeling complex relationships between observed objects, fusing observations from an arbitrary number of collaborating robots, quantifying localization uncertainty, and addressing latency of robot communications. In this paper, we introduce a novel approach that integrates uncertainty-aware spatiotemporal graph learning and model-based state estimation for a team of robots to collaboratively localize objects. Specifically, we introduce a new uncertainty-aware graph learning model that learns spatiotemporal graphs to represent historical motions of the objects observed by each robot over time and provides uncertainties in object localization. Moreover, we propose a novel method for integrated learning and model-based state estimation, which fuses asynchronous observations obtained from an arbitrary number of robots for collaborative localization. We evaluate our approach in two collaborative object localization scenarios in simulations and on real robots. Experimental results show that our approach outperforms previous methods and achieves state-of-the-art performance on asynchronous collaborative localization.

cs.RO↗

arXiv2021

Suppressing Andreev bound state zero bias peaks using a strongly dissipative lead

Hybrid semiconductor-superconductor nanowires are predicted to host Majorana zero modes, manifested as zero-bias peaks (ZBPs) in tunneling conductance. ZBPs alone, however, are not sufficient evidence due to the ubiquitous presence of Andreev bound states in the same system. Here, we implement a strongly resistive normal lead in our InAs-Al nanowire devices and show that most of the expected ZBPs, corresponding to zero-energy Andreev bound states, can be suppressed, a phenomenon known as environmental Coulomb blockade. Our result is the first experimental demonstration of this dissipative interaction effect on Andreev bound states and can serve as a possible filter to narrow down ZBP phase diagram in future Majorana searches.

cond-mat.mes-hall↗

arXiv2021

Clinical Evidence Engine: Proof-of-Concept For A Clinical-Domain-Agnostic Decision Support Infrastructure

Abstruse learning algorithms and complex datasets increasingly characterize modern clinical decision support systems (CDSS). As a result, clinicians cannot easily or rapidly scrutinize the CDSS recommendation when facing a difficult diagnosis or treatment decision in practice. Over-trust or under-trust are frequent. Prior research has explored supporting such assessments by explaining DST data inputs and algorithmic mechanisms. This paper explores a different approach: Providing precisely relevant, scientific evidence from biomedical literature. We present a proof-of-concept system, Clinical Evidence Engine, to demonstrate the technical and design feasibility of this approach across three domains (cardiovascular diseases, autism, cancer). Leveraging Clinical BioBERT, the system can effectively identify clinical trial reports based on lengthy clinical questions (e.g., "risks of catheter infection among adult patients in intensive care unit who require arterial catheters, if treated with povidone iodine-alcohol"). This capability enables the system to identify clinical trials relevant to diagnostic/treatment hypotheses -- a clinician's or a CDSS's. Further, Clinical Evidence Engine can identify key parts of a clinical trial abstract, including patient population (e.g., adult patients in intensive care unit who require arterial catheters), intervention (povidone iodine-alcohol), and outcome (risks of catheter infection). This capability opens up the possibility of enabling clinicians to 1) rapidly determine the match between a clinical trial and a clinical question, and 2) understand the result and contexts of the trial without extensive reading. We demonstrate this potential by illustrating two example use scenarios of the system. We discuss the idea of designing DST explanations not as specific to a DST or an algorithm, but as a domain-agnostic decision support infrastructure.

cs.AI↗

arXiv2021

The Initiation of Shear Band Formation in Deformed Metallic Glasses from Soft Localized Domains

It has long been thought that shear band (SB) formation in amorphous solids initiates from relatively 'soft' regions in the material in which large-scale non-affine deformations become localized. The test of this hypothesis requires an effective means of identifying 'soft' regions and their evolution as the material is deformed to varying degrees, where the metric of 'softness' must also account for the effect of temperature on local material stiffness. We show that the mean square atomic displacement on a caging timescale , the 'Debye-Waller factor', provides a useful method for estimating the shear modulus of the entire material and, by extension, the material stiffness at an atomic scale. Based on this 'softness' metrology, we observe that SB formation indeed occurs through the strain-induced formation of localized soft regions in our deformed metallic glass free-standing films. Unexpectedly, the critical strain condition of SB formation occurs when the softness ( ) distribution within the emerging soft regions approaches that of the interfacial region in its undeformed state, initiating an instability with similarities to the transition to turbulence. Correspondingly, no SBs arise when the material is so thin that the entire material can be approximately described as being 'interfacial' in nature. We also quantify relaxation in the glass and the nature and origin of highly non-Gaussian particle displacements in the dynamically heterogeneous SB regions at times longer than the caging time.

cond-mat.mtrl-sci↗

arXiv2021

RaidaR: A Rich Annotated Image Dataset of Rainy Street Scenes

We introduce RaidaR, a rich annotated image dataset of rainy street scenes, to support autonomous driving research. The new dataset contains the largest number of rainy images (58,542) to date, 5,000 of which provide semantic segmentations and 3,658 provide object instance segmentations. The RaidaR images cover a wide range of realistic rain-induced artifacts, including fog, droplets, and road reflections, which can effectively augment existing street scene datasets to improve data-driven machine perception during rainy weather. To facilitate efficient annotation of a large volume of images, we develop a semi-automatic scheme combining manual segmentation and an automated processing akin to cross validation, resulting in 10-20 fold reduction on annotation time. We demonstrate the utility of our new dataset by showing how data augmentation with RaidaR can elevate the accuracy of existing segmentation algorithms. We also present a novel unpaired image-to-image translation algorithm for adding/removing rain artifacts, which directly benefits from RaidaR.

cs.CV↗

arXiv2021

Selective area epitaxy of PbTe-Pb hybrid nanowires on a lattice-matched substrate

Topological quantum computing is based on braiding of Majorana zero modes encoding topological qubits. A promising candidate platform for Majorana zero modes is semiconductor-superconductor hybrid nanowires. The realization of topological qubits and braiding operations requires scalable and disorder-free nanowire networks. Selective area growth of in-plane InAs and InSb nanowires, together with shadow-wall growth of superconductor structures, have demonstrated this scalability by achieving various network structures. However, the noticeable lattice mismatch at the nanowire-substrate interface, acting as a disorder source, imposes a serious obstacle along with this roadmap. Here, combining selective area and shadow-wall growth, we demonstrate the fabrication of PbTe-Pb hybrid nanowires - another potentially promising Majorana system - on a nearly perfectly lattice-matched substrate CdTe, all done in one molecular beam epitaxy chamber. Transmission electron microscopy shows the single-crystal nature of the PbTe nanowire and its atomically sharp and clean interfaces to the CdTe substrate and the Pb overlayer, without noticeable inter-diffusion or strain. The nearly ideal interface condition, together with the strong screening of charge impurities due to the large dielectric constant of PbTe, hold promise towards a clean nanowire system to study Majorana zero modes and topological quantum computing.

cond-mat.mes-hall↗

arXiv2021

A Prototype-Oriented Framework for Unsupervised Domain Adaptation

Existing methods for unsupervised domain adaptation often rely on minimizing some statistical distance between the source and target samples in the latent space. To avoid the sampling variability, class imbalance, and data-privacy concerns that often plague these methods, we instead provide a memory and computation-efficient probabilistic framework to extract class prototypes and align the target features with them. We demonstrate the general applicability of our method on a wide range of scenarios, including single-source, multi-source, class-imbalance, and source-private domain adaptation. Requiring no additional model parameters and having a moderate increase in computation over the source model alone, the proposed method achieves competitive performance with state-of-the-art methods.

cs.LG↗

arXiv2021

TeraPipe: Token-Level Pipeline Parallelism for Training Large-Scale Language Models

Model parallelism has become a necessity for training modern large-scale deep language models. In this work, we identify a new and orthogonal dimension from existing model parallel approaches: it is possible to perform pipeline parallelism within a single training sequence for Transformer-based language models thanks to its autoregressive property. This enables a more fine-grained pipeline compared with previous work. With this key idea, we design TeraPipe, a high-performance token-level pipeline parallel algorithm for synchronous model-parallel training of Transformer-based language models. We develop a novel dynamic programming-based algorithm to calculate the optimal pipelining execution scheme given a specific model and cluster configuration. We show that TeraPipe can speed up the training by 5.0x for the largest GPT-3 model with 175 billion parameters on an AWS cluster with 48 p3.16xlarge instances compared with state-of-the-art model-parallel methods. The code for reproduction can be found at https://github.com/zhuohan123/terapipe

cs.LG↗

arXiv2021

Decentralized and Communication-Free Multi-Robot Navigation through Distributed Games

Effective multi-robot teams require the ability to move to goals in complex environments in order to address real-world applications such as search and rescue. Multi-robot teams should be able to operate in a completely decentralized manner, with individual robot team members being capable of acting without explicit communication between neighbors. In this paper, we propose a novel game theoretic model that enables decentralized and communication-free navigation to a goal position. Robots each play their own distributed game by estimating the behavior of their local teammates in order to identify behaviors that move them in the direction of the goal, while also avoiding obstacles and maintaining team cohesion without collisions. We prove theoretically that generated actions approach a Nash equilibrium, which also corresponds to an optimal strategy identified for each robot. We show through extensive simulations that our approach enables decentralized and communication-free navigation by a multi-robot system to a goal position, and is able to avoid obstacles and collisions, maintain connectivity, and respond robustly to sensor noise.

cs.RO↗

arXiv2021

Coexistence of resistance oscillations and the anomalous metal phase in a lithium intercalated TiSe$_2$ superconductor

Superconductivity and charge density wave (CDW) appear in the phase diagram of a variety of materials including the high - $T$$_c$ cuprate family and many transition metal dichalcogenides (TMDs). Their interplay may give rise to exotic quantum phenomena. Here, we show that superconducting arrays can spontaneously form in TiSe$_2$ - a TMD with coexisting superconductivity and CDW - after lithium ion intercalation. We induce a superconducting dome in the phase diagram of Li$_x$TiSe$_2$ by using the ionic solid-state gating technique. Around optimal doping, we observe magnetoresistance oscillations, indicating the emergence of periodically arranged domains. In the same temperature, magnetic field and carrier density regime where the resistance oscillations occur, we observe signatures for the anomalous metal - a state with a resistance plateau across a wide temperature range below the superconducting transition. Our study not only sheds further insight into the mechanism for the periodic electronic structure, but also reveals the interplay between the anomalous metal and superconducting fluctuations.

cond-mat.supr-con↗

arXiv2021

Neural Marching Cubes

We introduce Neural Marching Cubes (NMC), a data-driven approach for extracting a triangle mesh from a discretized implicit field. Classical MC is defined by coarse tessellation templates isolated to individual cubes. While more refined tessellations have been proposed, they all make heuristic assumptions, such as trilinearity, when determining the vertex positions and local mesh topologies in each cube. In principle, none of these approaches can reconstruct geometric features that reveal coherence or dependencies between nearby cubes (e.g., a sharp edge), as such information is unaccounted for, resulting in poor estimates of the true underlying implicit field. To tackle these challenges, we re-cast MC from a deep learning perspective, by designing tessellation templates more apt at preserving geometric features, and learning the vertex positions and mesh topologies from training meshes, to account for contextual information from nearby cubes. We develop a compact per-cube parameterization to represent the output triangle mesh, while being compatible with neural processing, so that a simple 3D convolutional network can be employed for the training. We show that all topological cases in each cube that are applicable to our design can be easily derived using our representation, and the resulting tessellations can also be obtained naturally and efficiently by following a few design guidelines. In addition, our network learns local features with limited receptive fields, hence it generalizes well to new shapes and new datasets. We evaluate our neural MC approach by quantitative and qualitative comparisons to all well-known MC variants. In particular, we demonstrate the ability of our network to recover sharp features such as edges and corners, a long-standing issue of MC and its variants. Our network also reconstructs local mesh topologies more accurately than previous approaches.

cs.GR↗

arXiv2021

Position-Invariant Truecasing with a Word-and-Character Hierarchical Recurrent Neural Network

Truecasing is the task of restoring the correct case (uppercase or lowercase) of noisy text generated either by an automatic system for speech recognition or machine translation or by humans. It improves the performance of downstream NLP tasks such as named entity recognition and language modeling. We propose a fast, accurate and compact two-level hierarchical word-and-character-based recurrent neural network model, the first of its kind for this problem. Using sequence distillation, we also address the problem of truecasing while ignoring token positions in the sentence, i.e. in a position-invariant manner.

cs.CL↗

arXiv2021

Generic Newton polygons for $L$-functions of $(A,B)$-exponential sums

In this paper, we consider the following $(A, B)$-polynomial $f$ over finite field: $$f(x_0,x_1,\cdots,x_n)=x_0^Ah(x_1,\cdots,x_n)+g(x_1,\cdots,x_n)+P_B(1/x_0),$$ where $h$ is a Deligne polynomial of degree $d$, $g$ is an arbitrary polynomial of degree $< dB/(A+B)$ and $P_B(y)$ is a one-variable polynomial of degree $\le B$. Let $Δ$ be the Newton polyhedron of $f$ at infinity. We show that $Δ$ is generically ordinary if $p\equiv 1 \mod D$, where $D$ is a constant only determined by $Δ$. In other words, we prove that the Adolphson--Sperber conjecture is true for $Δ$.

math.NT↗