arXiv subjects

Lin He

Publications and source records attributed to Lin He.

At least 19 recordsLinked to original sources

arXiv2026

From Documented Strengths to Force Limits: Material-Informed Robotic Insertion for Construction Assembly

Insertion is a fundamental operation in robotic construction assembly, where variations in material properties and assembly conditions make it difficult to select contact forces that complete the task without exceeding the assembly's capacity. Although construction documents encode engineering knowledge about materials and their conditions, translating this knowledge into load limits for a specific assembly remains difficult. This paper presents SAGE (Source-grounded Assembly Gating and Execution), a system that converts documented material evidence into capacity estimates for robotic insertion. SAGE restricts a large language model (LLM) to extracting tensile and compressive strengths from retrieved passages and tables and records their sources. A response model then interpolates offline finite element (FE) solutions to convert these strengths and the assembly conditions into axial load capacity. For fits with positive clearance, the estimated capacity sets the policy's axial force limit; for interference fits, it is compared with measured support demand to determine admission. On the primary benchmark, SAGE reduces mean capacity error from 80.65\% for direct LLM estimates based on the same evidence to 10.74\%. Without refitting, the mean error remains 8.00\% on 16 additional geometries. Under the assigned support release model, SAGE correctly classifies 59 of 62 scored simulation runs, with only conservative errors. In recorded xArm6 demonstrations, SAGE takes material documents as input and completes physical insertion in 9 of 13 trials. These results show that assigning document interpretation to the LLM and force calculation to an explicit mechanical model produces accurate capacity estimates and traceable insertion decisions.

cs.RO↗

arXiv2026

Constraints on the Hot Circumgalactic Medium around Nearby L* Galaxies from SRG/eROSITA All Sky Survey

The circumgalactic medium (CGM), a multi-phase gas acting as the dynamic interface between the main body of a normal galaxy and the intergalactic medium, is a key ingredient of the galactic ecosystem and provides crucial diagnostics to a wide array of physical processes affecting galaxy evolution. However, direct evidence for a predominantly hot (at a characteristic temperature of a few million Kelvin) CGM around present-day $L^*$ galaxies remains elusive, despite extensive observational searches and strong physical reasons that it should exist. Here, we present a systematic search for the hot CGM around a representative sample of nearby $L^*$ galaxies selected from the 50 Mpc Galaxy Catalog (50MGC), by stacking their X-ray images and spectra from the SRG/eROSITA all-sky survey. Significant ($7.4σ$) diffuse X-ray emission is detected out to a galactocentric radius $\gtrsim$ 50 kpc, the cumulative spectrum of which requires a substantial thermal component, consistent with a hot plasma with log-normal temperature distribution, and thus argues against a predominantly non-thermal origin. The diffuse emission exhibits a relatively steep intensity profile ($β=0.52_{-0.06}^{+0.08}$), inferring a moderate amount ($2\times10^{10}~M_{\odot}$) of hot gas within 10--200 kpc. The radial distribution and total amount of the hot CGM gas are broadly in agreement with prediction by IllustrisTNG simulations for present-day Milky Way-like galaxies, while also showing dependencies on both star formation and nuclear activity. The constraints on the hot CGM derived in this study hold promise for calibrating key physical processes, such as stellar feedback and active galactic nucleus feedback, in next-generation cosmological simulations.

astro-ph.GA↗

arXiv2026

Constraint-Grounded Reinforcement Learning for Variable Impedance Control in Contact-Rich Robotic Insertion

In robotic insertion under uncertain contact, the axial force limit and the appropriate controller gain vary across tasks. As a result, a single fixed gain is unlikely to remain suitable across different task conditions, making conventional impedance controllers reliant on manual retuning. To eliminate manual retuning, we propose Constraint-Grounded Reinforcement Learning (CG-RL), a variable impedance framework for online gain adaptation. Conditioned on the force limit and contact feedback, the policy outputs a residual motion, an insertion rate, and a requested gain. The controller projects this gain into the admissible range without exposing the range itself to the policy. This separation allows a single policy to operate under different force limits without retraining or manual retuning. We evaluate CG-RL on simulated oblique insertion across five training seeds. CG-RL achieves an $85.8\pm7.7\%$ (mean $\pm$ SD) success rate of insertions without violating the force limit, while keeping the applied gain within the admissible range. As a comparison, a fixed-gain baseline using the midpoint gain achieves a success rate of $50.1\%$. The policy adapts its insertion rate continuously to the specified force limit and further generalizes to more permissive force limits above the training range. In contrast, the same actor without force-limit input does not exhibit this adaptation. The applied gain is guaranteed to remain within the admissible range, while force-limit satisfaction is validated empirically rather than guaranteed formally.

cs.RO↗

arXiv2026

Geometry Conditioning in an Embodied SLM: Training Controls and Robustness Diagnostics in a 0.8B Hybrid Model

We study how physical-state inputs affect a 0.8B hybrid language model adapted for manipulation with 6.2M trainable parameters. Six conditions are trained on three LIBERO-Spatial tasks and evaluated over three seeds and 540 held-out rollouts. Conditioning recurrent decay gates on geometric increments yields 28.9% success, compared with 36.7% when those increments are shuffled during training and 24.4% without explicit object/goal geometry. Both geometry policies receive correct inputs at evaluation. A token adapter using the same increments scores 27.8%; differences vary across seeds and remain inconclusive. Token-clock conditioning scores 11.1%, including one seed that fails to converge. In separate robustness tests, a state-only relative-coordinate policy retains 7/10 success under frame relabeling, whereas all four tested visual policies fall to at most 3/20 after a 5 cm object displacement. These results show no reliable advantage from training-time geometric alignment under this recipe and illustrate the gap between coordinate invariance and physical-layout generalization. Episode records, seed-level analyses, and figure-generation code accompany the paper.

cs.RO↗

arXiv2026

When Memory Updates but Behavior Does Not: Repairing Implicit Stale Dependencies in Personalized Agent Responses

Memory-augmented agents can know that a user's stored state is outdated and still plan around the old value. The STALE benchmark calls this the implicit policy adaptation (IPA) gap. We identify one structural contributor: draft-anchored verification checks what a response says, and in an open-ended response the stale dependency is usually unsaid. StateAuditor therefore audits in the opposite direction, from stored state to draft. An LLM proposes candidate old-to-new transitions from timestamped evidence; deterministic code pins each quotation to a single entry, checks that the new evidence really is newer, and lets only these verified transitions trigger repair. What is verified is provenance and chronology - not semantic supersession. On STALE's full protocol (400 scenarios, 50-session histories, one independent response per query), strict single-query VTA scores .736 against .686 for our locked predecessor under the same judge: a +5.0-point paired gain (95% CI [+2.9, +7.2]) coming almost entirely from IPA and premise resistance (PR). The benchmark's own judge, from a third model family, reproduces the gain (.738 vs. .680). On an independent cross-family preference-evolution benchmark (HorizonBench), the full draft-audit-repair pipeline over a gold-derived structured store raises current-preference accuracy (user-clustered p<.01), though a matched control shows most of this external gain is the draft-side audit itself; a harder authored lifecycle set gives no gain, bounding the claim while false invalidation stays controlled. On STALE, by contrast, a matched control (same evidence, adapter, and call budget) scores only .692 (+0.6 over the predecessor, n.s.), attributing the STALE gain to the transition machinery rather than added context or calls. We make no claim about general-purpose agent memory.

cs.AI↗

arXiv2026

Controlled chemical vapor deposition for synthesis of emerging Mo(W)Te2 systems

The Group-VI transition metal ditellurides offer a rich platform for correlated and topological phenomena, yet their structural polymorphism and instability complicate the creation of single crystals and heterointerfaces. Here, we introduce a confined-space chemical vapor deposition (CVD) strategy that lowers the growth temperature window and, when combined with tailored precursor configurations and stepwise thermal ramps, enables the deterministic synthesis of high-quality single crystals, alloys, and lateral/vertical heterostructures. High-resolution aberration-corrected STEM provides atomic characterization of lattice-matched Mo(W)Te2 lateral heterostructure, revealing nearly atomically sharp, compositionally well-defined seamless boundaries. This approach avoids the thickness nonuniformity and structural limitations commonly associated with exfoliated samples, enabling reproducible fabrication of clean heterointerfaces and establishing a nearly ideal in-situ experimental system. Furthermore, scanning tunneling microscopy and spectroscopy (STM and STS) enable direct imaging of the seamless boundaries in Mo(W)Te2 lateral heterostructures, while uncovering their distinct real-space distributions of the local density of states. Our results establish a scalable pathway for engineering crystalline Te-based structures with controlled geometry and stacking, providing an essential step toward quantum and topological device platforms based on the transition metal ditellurides family.

cond-mat.mtrl-sci↗

arXiv2026

A systematic study of AGN feedback in a disk galaxy using MACER II: predictions of X-ray surface brightness profiles and comparison with eROSITA observations

Recently, we have performed a systematic study of AGN feedback in a disk galaxy within the MACER framework. Various model predictions, including the AGN duty cycle, the correlation between black hole accretion rates and star formation rates, and the (cold) gas fraction, have been compared with observations and will be presented in a series of papers. As the second paper in this series, without adjusting any model parameters, we directly use the simulation data introduced in Paper I to compute the predicted X-ray surface brightness profile and compare it with eROSITA observations of circumgalactic medium (CGM) emission around galaxies, which provide important constraints on AGN feedback models. For this comparison, we adopt two stacked eROSITA radial profiles of X-ray surface brightness: (1) distant galaxies with log(M*/M_sun) = 10.5-11.0 at z ~ 0.02-0.10 from Y. Zhang et al. (2024), and (2) nearby L* galaxies within 50 Mpc from L. He and Z. Li (2026). We find that the average simulated profile over time is in good agreement with the stacked measurements of Y. Zhang et al. (2024) over a broad radial range (out to ~100 kpc). Our model predictions also match the results of L. He and Z. Li (2026) at projected radii from ~20 kpc to 120 kpc. While our simulations, which predict only thermal emission, are consistent with these recent X-ray observations, the limitations in our current model mean that this agreement does not preclude a potential contribution from non-thermal emission, for example, from an extended halo of cosmic rays.

astro-ph.GA↗

arXiv2026

EdgeNeRF: Edge-Guided Regularization for Neural Radiance Fields from Sparse Views

Neural Radiance Fields (NeRF) achieve remarkable performance in dense multi-view scenarios, but their reconstruction quality degrades significantly under sparse inputs due to geometric artifacts. Existing methods utilize global depth regularization to mitigate artifacts, leading to the loss of geometric boundary details. To address this problem, we propose EdgeNeRF, an edge-guided sparse-view 3D reconstruction algorithm. Our method leverages the prior that abrupt changes in depth and normals generate edges. Specifically, we first extract edges from input images, then apply depth and normal regularization constraints to non-edge regions, enhancing geometric consistency while preserving high-frequency details at boundaries. Experiments on LLFF and DTU datasets demonstrate EdgeNeRF's superior performance, particularly in retaining sharp geometric boundaries and suppressing artifacts. Additionally, the proposed edge-guided depth regularization module can be seamlessly integrated into other methods in a plug-and-play manner, significantly improving their performance without substantially increasing training time. Code is available at https://github.com/skyhigh404/edgenerf.

cs.CV↗

arXiv2025

Microscopic signatures of Chern number sign reversal in twisted bilayer WSe2

The discovery of quantized Chern numbers in twisted transition metal dichalcogenide (TMD) homobilayers,including 3.7{deg} twisted MoTe2 and 1.23{deg} twisted WSe2,has emerged as a defining breakthrough in physics. A striking and unresolved puzzle from these studies is the unexpected opposite sign of the observed Chern numbers between the two systems. Recent theory has proposed a twist-angle-dependent Chern number sign reversal in both twisted MoTe2 and WSe2, offering a potential explanation for the disparate experimental observations6. However, a direct experimental verification of the twist-angle-dependent Chern number sign reversal in a specific twisted TMD homobilayer is still elusive. Here, we report the first experimental demonstration that the Chern numbers of the moire frontier bands undergo sign reversal at a critical twist angle 1.42{deg} in twisted WSe2 bilayers (tWSe2). Using scanning tunnelling microscopy and spectroscopy, we direct measure layer-pseudospin skyrmion textures of tWSe2 and our results reveal that tWSe2 in the vicinity of the 1.42{deg} exhibits a twist-angle-dependent layer-pseudospin polarization, an effect that serves as the fundamental origin of the observed Chern number sigh reversal6-12.

cond-mat.mes-hall↗

arXiv2025

Local-Antisymmetric Flat Band and Coexisting Correlated stripe charge orders in WSe2-Modulated Twisted Bilayer Graphene

Insulating, atomically flat transition metal dichalcogenides (TMDs) like WSe2 are ideal substrates for probing intrinsic graphene properties. Conventionally, their influence on graphene's band structure is assumed negligible, particularly when small moire patterns form. Combining scanning tunneling microscopy/spectroscopy and theoretical analysis, we reveal that the atomic registry in graphene/WSe2 heterostructures profoundly modulates the electronic structure of magic-angle twisted bilayer graphene (MATBG). At special graphene/WSe2 twist angles, an incommensurate moire superlattice hosts three distinct atomic stacking configurations (A, B, X types). These induce position-dependent potentials that asymmetrically shift MATBG's flat bands, transforming them from hole-side to electron-side asymmetric within a single AA-stacked region. This symmetry breaking enables the unprecedented coexistence of orthogonal stripe charge orders in the correlated regime-a phenomenon previously considered mutually exclusive due to Coulomb repulsion. This band modulation arises from the synergistic effects of the graphene/WSe2 interfacial atomic registry and heterostrain within the MATBG, exhibiting multi-field tunability. Our work establishes interfacial atomic registry as a critical, previously overlooked tuning parameter for flat-band physics, opening avenues to engineer correlated quantum states in van der Waals heterostructures.

cond-mat.mes-hall↗

arXiv2025

Discovery of giant bubbles in the hot gaseous halo of the massive disk galaxy NGC 6286

Based on archival Chandra X-ray observation, optical integral-field spectroscopic data and radio interferometric data, we report the discovery of a pair of giant bubbles (with a projected radius ~ 5 kpc) of ionized gas emerging from a highly inclined starburst galaxy NGC 6286, which is undergoing strong tidal interactions with its close neighbor NGC 6285. The bubbles are manifested by extraplanar soft X-ray emission with an X-shaped morphology, which is tightly co-spatial with $\rm Hα$ line emission and partially coincident with radio continuum. Low surface brightness diffuse X-ray emission can be traced out to ~ 90 kpc from the galactic center, revealing the presence of an extended hot gaseous halo. X-ray spectral analysis of the bubbles yields a gas temperature of $0.70^{+0.16}_{-0.18}$ keV, a relatively high value among known galactic-scale bubbles in the local universe. An average energy injection rate of ~ $10^{43}$ erg $\rm s^{-1}$ is required to inflate the bubbles within an estimated dynamical age of ~ 6.4 Myr. The multi-wavelength properties of the bubbles can be understood with the conventional superwind scenario, in which disk/halo gas is swept up into an expanding, cooling shell by a hot tenuous wind. The current starburst in NGC 6286 is energetically sufficient to launch the superwind, although we cannot rule out the possibility of a more violent AGN in the recent past as the driving source. Future high-resolution spectroscopic observations will help to shed light on the origin of the superwind and its role as an important galactic feedback process.

astro-ph.GA↗

arXiv2025

Orbital hybridization in graphene-based artificial atoms

Intraatomic orbital hybridization and interatomic bond formation are the two fundamental processes when real atoms are condensed to form matter. Artificial atoms mimic real atoms by demonstrating discrete energy levels attributable to quantum confinement. As such, they offer a solid-state analogue for simulating intraatomic orbital hybridization and interatomic bond formation. Signatures of interatomic bond formation has been extensively observed in various artificial atoms. However, direct evidence of the intraatomic orbital hybridization in the artificial atoms remains to be experimentally demonstrated. Here we, for the first time, realize the orbital hybridization in artificial atoms by altering the shape of the artificial atoms. The anisotropy of the confining potential gives rise to the hybridization between quasibound states with different orbital quantum numbers within the artificial atom. These hybridized orbits are directly visualized in real space in our experiment and are well reproduced by both numerical calculations and analytical derivations. Our study opens an avenue for designing artificial matter that cannot be accessed on real atoms through experiments. Moreover, the results obtained inspire the progressive control of quantum states in diverse systems.

cond-mat.mes-hall↗

arXiv2025

Probing the Hot Gaseous Halo of the Low-mass Disk Galaxy NGC 7793 with eROSITA and Chandra

Galaxy formation models predict that local galaxies are surrounded by hot X-ray-emitting halos, which are technically difficult to detect due to their extended and low surface brightness nature. Previous X-ray studies have mostly focused on disk galaxies more massive than the Milky Way, with essentially no consensus on the halo X-ray properties at the lower mass end. We utilize the early-released eROSITA and archival Chandra observations to analyze the diffuse X-ray emission of NGC7793, a nearby spiral galaxy with an estimated stellar mass of only $3.2\times 10^9$ $M_{\odot}$. We find evidence for extraplanar hot gas emission from both the radial and vertical soft X-ray intensity profiles, which spreads up to a galactocentric distance of $\sim$ 6 kpc, nearly 30 $\%$ more extended than its stellar disk. Analysis of the eROSITA spectra indicates that the hot gas can be characterized by a temperature of $0.18^{+0.02}_{-0.03}$ keV, with 0.5--2 keV unabsorbed luminosity of $1.3\times 10^{38}$ erg $s^{-1}$. We compare our results with the IllustrisTNG simulations and find overall consistence on the disk scale, whereas excessive emission at large radii is predicted by TNG50. This work provides the latest detection of hot corona around a low-mass galaxy, putting new constrains on state-of-the-art cosmological simulations. We also verify the detectability of hot circumgalactic medium around even low-mass spirals with future high-resolution X-ray spectrometer such as the Hot Universe Baryon Surveyor.

astro-ph.GA↗

arXiv2024

Robust detection of hot intragroup medium in optically selected, poor galaxy groups by eROSITA

Over the last several decades, extensive research has been conducted on the baryon cycles within cosmic structures, encompassing a broad mass range from dwarf galaxies to galaxy clusters. However, a notable gap in understanding the cosmic baryon cycle is the poor galaxy groups with halo masses around $10^{13}\ M_{\odot}$ (e.g., McGaugh et al. 2010). Poor galaxy groups, like our own Local Group, are prevalent throughout the universe, yet robust detection of their hot, X-ray emitting intragroup medium (IGrM) has remained elusive. The presence of this hot IGrM is crucial for addressing the long-standing "missing baryons" problem. Previous ROSAT-based studies were limited by a small number of X-ray bright samples, thus restricting the scope of their findings. Here we show a robust detection of this hot IGrM in a large, optically selected poor groups sample, based on the stacked X-ray images from the eROSITA Final Equatorial Depth Survey. These groups are identified in DESI LS with a mass range of log($M_\mathrm{halo}/h^{-1}M_{\odot}$) = 11.5-13.5 and a redshift range of z = 0.1-0.5. Additionally, our results indicate that despite its presence in virtually groups at all sizes, this gas component is still not sufficient to recover the universal baryon fraction, and hence the "missing baryons" problem still persists in poor galaxy groups.

astro-ph.GA↗

arXiv2024

Strong Inter-valley Electron-Phonon Coupling in Magic-Angle Twisted Bilayer Graphene

The unusual properties of superconductivity in magic-angle twisted bilayer graphene (MATBG) have sparked enormous research interest. However, despite the dedication of intensive experimental efforts and the proposal of several possible pairing mechanisms, the origin of its superconductivity remains elusive. Here, utilizing angle-resolved photoemission spectroscopy with micrometer spatial resolution, we have revealed flat band replicas in superconducting MATBG, where MATBG is unaligned with its hexagonal boron nitride (hBN) substrate11. These replicas exhibit uniform energy spacing, approximately 150 +- 15 meV apart, indicative of strong electron-boson coupling. Strikingly, these replicas are absent in non-superconducting twisted bilayer graphene (TBG) systems, either when MATBG is aligned to hBN or when TBG deviates from the magic angle. Calculations suggest that the formation of these flat band replicas in superconducting MATBG are attributed to the strong coupling between flat band electrons and an optical phonon mode at the graphene K point, facilitated by inter-valley scattering. These findings, although do not necessarily put electron phonon coupling as the main driving force for the superconductivity in MATBG, unravel the unique electronic structure inherent in superconducting MATBG, thereby providing crucial information for understanding the unusual electronic landscape from which the superconductivity is derived.

cond-mat.mes-hall↗

arXiv2024

Layer-dependent evolution of electronic structures and correlations in rhombohedral multilayer graphene

The recent discovery of superconductivity and magnetism in trilayer rhombohedral graphene (RG) establishes an ideal, untwisted platform to study strong correlation electronic phenomena. However, the correlated effects in multilayer RG have received limited attention, and, particularly, the evolution of the correlations with increasing layer number remains an unresolved question. Here, we show the observation of layer-dependent electronic structures and correlations, under surprising liquid nitrogen temperature, in RG multilayers from 3 to 9 layers by using scanning tunneling microscopy and spectroscopy. We explicitly determine layer-enhanced low-energy flat bands and interlayer coupling strengths. The former directly demonstrates the further flattening of low-energy bands in thicker RG, and the latter indicates the presence of varying interlayer interactions in RG multilayers. Moreover, we find significant splittings of the flat bands, ranging from ~50-80 meV, at 77 K when they are partially filled, indicating the emergence of interaction-induced strongly correlated states. Particularly, the strength of the correlated states is notably enhanced in thicker RG and reaches its maximum in the six-layer, validating directly theoretical predictions and establishing abundant new candidates for strongly correlated systems. Our results provide valuable insights into the layer dependence of the electronic properties in RG and demonstrate it as a suitable system for investigating robust and highly accessible correlated phases.

cond-mat.mes-hall↗

arXiv2024

Realization of 2/3-layer transition metal dichalcogenides

Layered van der Waals transition metal dichalcogenides (TMDCs), generally composed of three atomic X-M-X planes in each layer (M = transition metal, X = chalcogen), provide versatile platforms for exploring diverse quantum phenomena. In each MX2 layer, the M-X bonds are predominantly covalent in nature, as a result, the cleavage of TMDC crystals always occurring between the layers. Here we report the controllable realization of fractional-layer WTe2 via an in-situ scanning tunnelling microscopy (STM) tip manipulation technique. By applying STM tip pulses, hundreds of the topmost Te atoms are removed to form a nanoscale monolayer Te pit in the 1T'-WTe2, thus realizing a brand-new 2/3-layer WTe2. Such a unique configuration undergoes a spontaneous atomic reconstruction, yielding an energy-dependent unidirectional charge-density-wave state with the wavevector and geometry quite distinct from that of pristine 1T'-WTe2. Our results expand the conventional understanding of the TMDCs and are expected to stimulate the research on extraordinary structures and properties based on fractional-layer TMDCs.

cond-mat.mes-hall↗

arXiv2024

Visualizing orbital angular momentum induced single wavefront dislocation in graphene

Phase singularities are phase-indeterminate points where wave amplitudes are zero, which manifest as phase vertices or wavefront dislocations. In the realm of optical and electron beams, the phase singularity has been extensively explored, demonstrating a profound connection to orbital angular momentum. Direct local imaging of the impact of orbital angular momentum on phase singularities at the nanoscale, however, remains a challenge and has yet to be achieved. Here, we study the role of orbital angular momentum in phase singularities in graphene, particularly at the atomic level, through scanning tunneling microscopy and spectroscopy. Our experiments demonstrate that the scatterings between different orbital angular momentum states, which are induced by local rotational symmetry-breaking potentials, can generate additional phase singularity, and result in robust single wavefront dislocation in real space. Our results pave the way for exploring the effects of orbital degree of freedom on quantum phases in quasiparticle interference processes.

cond-mat.mes-hall↗