arXiv subjects

Qun Niu

Publications and source records attributed to Qun Niu.

12 recordsLinked to original sources

arXiv2026

Synergizing Efficiency and Reliability for Continuous Mobile Manipulation

Humans seamlessly fuse anticipatory planning with immediate feedback to perform successive mobile manipulation tasks without stopping, achieving both high efficiency and reliability. Replicating this fluid and reliable behavior in robots remains fundamentally challenging, not only due to conflicts between long-horizon planning and real-time reactivity, but also because excessively pursuing efficiency undermines reliability in uncertain environments: it impairs stable perception and the potential for compensation, while also increasing the risk of unintended contact. In this work, we present a unified framework that synergizes efficiency and reliability for continuous mobile manipulation. It features a reliability-aware trajectory planner that embeds essential elements for reliable execution into spatiotemporal optimization, generating efficient and reliability-promising global trajectories. It is coupled with a phase-dependent switching controller that seamlessly transitions between global trajectory tracking for efficiency and task-error compensation for reliability. We also investigate a hierarchical initialization that facilitates online replanning despite the complexity of long-horizon planning problems. Real-world evaluations demonstrate that our approach enables efficient and reliable completion of successive tasks under uncertainty (e.g., dynamic disturbances, perception and control errors). Moreover, the framework generalizes to tasks with diverse end-effector constraints. Compared with state-of-the-art baselines, our method consistently achieves the highest efficiency while improving the task success rate by 26.67\%--81.67\%. Comprehensive ablation studies further validate the contribution of each component. The source code will be released.

cs.RO↗

arXiv2025

High-Pressure Tuning of Electrical Transport in Freestanding Oxide Films

Electrical transport in oxide thin films under high pressure remains largely unexplored due to the lack of a universal experimental strategy. Here we develop an approach that enables high-pressure transport measurements in freestanding oxide films by enhancing their mechanical robustness and integrating them with nanoscale high-pressure devices. As a demonstration, we investigate the resistivity of perovskite SrIrO3 films under hydrostatic pressure and uncover a pressure-driven semimetal-insulator transition near 2.5 GPa, followed by an insulator-metal transition around 9 GPa. In the monolayer limit, SrIrO3 remains insulating and robust against pressure up to 5.5 GPa. The contrasting pressure-dependent phase diagrams of three- and two-dimensional iridates reveal a strong interplay between dimensionality and hydrostatic pressure in correlated oxides. Our work establishes a general platform for exploring pressure-driven phenomena in low-dimensional quantum materials.

cond-mat.mtrl-sci↗

arXiv2024

Robust topological interface states in a lateral magnetic-topological heterostructure

Introducing uniform magnetic order in two-dimensional topological insulators (2D TIs) by constructing heterostructures of TI and magnet is a promising way to realize the high-temperature Quantum Anomalous Hall effect. However, the topological properties of 2D materials are susceptible to several factors that make them difficult to maintain, and whether topological interfacial states (TISs) can exist at magnetic-topological heterostructure interfaces is largely unknown. Here, we experimentally show that TISs in a lateral heterostructure of CrTe_{2}/Bi(110) are robust against disorder, defects, high magnetic fields (time-reversal symmetry breaking perturbations), and elevated temperature (77 K). The lateral heterostructure is realized by lateral epitaxial growth of bilayer (BL) Bi to monolayer CrTe_{2} grown on HOPG. Scanning Tunneling Microscopy and non-contact Atomic Force Microscopy demonstrate a black phosphorus-like structure with low atomic buckling (less than 0.1 {\AA}) of the BL Bi(110), indicating the presence of its topological properties. Scanning tunneling spectroscopy and energy-dependent dI/dV mapping further confirm the existence of topologically induced one-dimensional in-gap states localized at the interface. These results demonstrate the robustness of TISs in lateral magnetic-topological heterostructures, which is competitive with those in vertically stacked magnetic-topological heterostructures, and provides a promising route for constructing planar high-density non-dissipative devices using TISs.

cond-mat.mes-hall↗

arXiv2023

The Ground State Lattice Distortion of CsV$_{3}$Sb$_{5}$ Revealed by de Haas-van Alphen Oscillations

The recently discovered AV$_{3}$Sb$_{5}$ (A = K, Rb, Cs) compounds have garnered intense attention in the scientific community due to their unique characteristics as kagome superconductors coexisting with a charge density wave (CDW) order. To comprehend the electronic properties of this system, it is essential to understand the lattice distortions associated with the CDW order and the ground state electronic behavior. Here, we comprehensively examine the Fermi surface by a combination of angle-dependent torque magnetometry and density functional theory calculations. We observe magnetic breakdown in the de Haas-van Alphen oscillations under high magnetic fields. Additionally, by examining the angular and temperature variations in quantum oscillation frequencies, we gain insight into the evolution of the three-dimensional like Fermi surfaces and the cyclotron masses of the orbits, which are consistent with weak electron-phonon coupling. Notably, further comparisons indicate that the 2$\times$2$\times$2 Star-of-David (SoD) distortion is more compatible with both high frequency data above 1000\,T and low frequency data below 500\,T, while the 2$\times$2$\times$2 Tri-Hexagonal (TrH) distortion aligns well with experimental data at mid frequencies. This finding implies the inherent coexistence of both TrH and SoD 2$\times$2$\times$2 patterns within the CDW order. These observations provide key insights into the interplay among effective electronic dimensionality, CDW state, and superconductivity.

cond-mat.supr-con↗

arXiv2023

Field-induced tuning of the pairing state in a superconductor

The recently discovered superconductor UTe$_2$, with a T$_c$ between 1.5~K and 2~K, is attracting much attention due to strong suspicion of spin-triplet and topological superconductivity. Its properties under magnetic field are also remarkable, with field-reinforced and field-induced superconducting phases. Here, we report the first complete thermodynamic determination of the phase diagram for fields applied along the three crystallographic directions. Measurements were performed up to 36~T along the hard magnetisation $b$~axis in order to follow the superconducting transition up to the metamagnetic transition at $H_{m} = 34.75$~T. They reveal the existence of a phase transition line within the superconducting phase, and drastic differences occurring between these two phases. Detailed analysis supports a different spin state between the two phases, implying a low-field spin-triplet to high-field spin-singlet transition, a unique case among superconductors, giving insight on the mechanisms leading to spin-triplet superconductivity.

cond-mat.supr-con↗

arXiv2021

Unusual Magnetic Properties in Layered Magnetic Topological Insulator EuSn2As2

EuSn2As2 with layered rhombohedral crystal structure is proposed to be a candidate of intrinsic antiferromagnetic (AFM) topological insulator. Here, we have investigated systematic magnetoresistance (MR) and magnetization measurements on the high quality EuSn2As2 single crystal with the magnetic field both parallel and perpendicular to (00l) plane. Both the kink of magnetic susceptibility and longitudinal resistivity reveal that EuSn2An2 undergoes an AFM transition at TN = 21 K. At T = 2 K, the magnetization exhibits two successive plateaus of ~ 5.6 μB/Eu and ~ 6.6 μB/Eu at the corresponding critical magnetic fields. Combined with the negative longitudinal MR and abnormal Hall resistance, we demonstrate that EuSn2An2 undergoes complicated magnetic transitions from an AFM state to a canted ferromagnetic (FM) state at Hc and then to a polarized FM state at Hs as the magnetic field increase.

cond-mat.mtrl-sci↗

arXiv2020

Evidence of Fermi-Surface Reconstruction at the Metamagnetic Transition of the Strongly Correlated Superconductor UTe2

Thermoelectric power ($S$) and Hall effect ($R_\mathrm{H}$) measurements on the paramagnetic superconductor UTe$_2$ with magnetic field applied along the hard magnetization $b$-axis are reported. The first order nature of the metamagnetic transition at $H_\mathrm{m}=H^b_\mathrm{c2}=35$~T leads to drastic consequences on $S$ and $R_\mathrm{H}$. In contrast to the field dependence of the specific heat in the normal state through $H_\mathrm{m}$, $S(H)$ is not symmetric with respect to $H_\mathrm{m}$. This implies a strong interplay between ferromagnetic (FM) fluctuations and a Fermi-surface reconstruction at $H_\mathrm{m}$. $R_\mathrm{H}$ is very well described by incoherent skew scattering above the coherence temperature $T_\mathrm{m}$ corresponding roughly to the temperature of the maximum in the susceptibility $T_{χ_\mathrm{max}}$ and coherent skew scattering at lower temperatures. The discontinuous field dependence of both, $S(H)$ and the ordinary Hall coefficient $R_0$, at $H_\mathrm{m}$ and at low temperature, provides evidence of a change in the band structure at the Fermi level.

cond-mat.str-el↗

arXiv2020

Spin-Triplet Superconductivity in UTe2 and Ferromagnetic Superconductors

The spin-triplet state is most likely realized in uranium ferromagnetic superconductors, UGe2, URhGe, UCoGe. The microscopic coexistence of ferromagnetism and superconductivity means that the Cooper pair should be realized under the strong internal field due the ferromagnetism, leading to the spin-triplet state with equal spin pairing. The field-reinforced superconductivity, which is observed in all three materials when the ferromagnetic fluctuations are enhanced, is one of the strong evidences for the spin-triplet superconductivity. We present here the results of a newly discovered spin-triplet superconductor, UTe2, and compare those with the results of ferromagnetic superconductors. Although no magnetic order is found in UTe2, there are similarities between UTe2 and ferromagnetic superconductors. For example, the huge upper critical field exceeding the Pauli limit and the field-reentrant superconductivity for H || b-axis are observed in UTe2, URhGe and UCoGe. We also show the specific heat results on UTe2 in different quality samples, focusing on the residual density of states in the superconducting phase.

cond-mat.str-el↗

arXiv2019

Fermi-Surface Instabilities in the Heavy-Fermion Superconductor UTe2

We present different transport measurements up to fields of 29~T in the recently discovered heavy-fermion superconductor UTe$_{2}$ with magnetic field $H$ applied along the easy magnetization a-axis of the body-centered orthorhombic structure. The thermoelectric power varies linearly with temperature above the superconducting transition, $T_{SC}= 1.5$ K, indicating that superconductivity develops in a Fermi liquid regime. As a function of field the thermolelectric power shows successive anomalies which are attributed to field-induced Fermi surface instabilities. These Fermi-surface instabilities appear at critical values of the magnetic polarization. Remarkably, the lowest magnetic field instability for $H\parallel a$ occurs for the same critical value of the magnetization (0.4 $μ_B$) than the first order metamagnetic transition at 35~T for field applied along the $b$-axis. The estimated number of charge carriers at low temperature reveals a metallic ground state distinct from LDA calculations indicating that strong electronic correlations are a major issue in this compound.

cond-mat.str-el↗

arXiv2019

Field-reentrant superconductivity close to a metamagnetic transition in the heavy-fermion superconductor UTe$_2$

We present a study of the upper critical field of the newly discovered heavy fermion superconductor UTe$_2$ by magnetoresistivity measurements in pulsed magnetic fields up to 60~T and static magnetic fields up to 35~T. We show that superconductivity survives up to the metamagnetic transition at $H_{\rm m} \approx 35$~T at low temperature. Above $H_{\rm m}$ superconductivity is suppressed. At higher temperature superconductivity is enhanced under magnetic field leading to reentrance of superconductivity or an almost temperature independent increase of $H_{\rm c2}$. By studying the angular dependence of the upper critical field close to the $b$ axis (hard magnetization axis) we show that the maximum of the reentrant superconductivity temperature is depinned from the metamagnetic field. A key ingredient for the field-reinforcement of superconductivity on approaching $H_{\rm m}$ appears to be an immediate interplay with magnetic fluctuations and a possible Fermi-surface reconstruction.

cond-mat.str-el↗

arXiv2019

ADCrowdNet: An Attention-injective Deformable Convolutional Network for Crowd Understanding

We propose an attention-injective deformable convolutional network called ADCrowdNet for crowd understanding that can address the accuracy degradation problem of highly congested noisy scenes. ADCrowdNet contains two concatenated networks. An attention-aware network called Attention Map Generator (AMG) first detects crowd regions in images and computes the congestion degree of these regions. Based on detected crowd regions and congestion priors, a multi-scale deformable network called Density Map Estimator (DME) then generates high-quality density maps. With the attention-aware training scheme and multi-scale deformable convolutional scheme, the proposed ADCrowdNet achieves the capability of being more effective to capture the crowd features and more resistant to various noises. We have evaluated our method on four popular crowd counting datasets (ShanghaiTech, UCF_CC_50, WorldEXPO'10, and UCSD) and an extra vehicle counting dataset TRANCOS, and our approach beats existing state-of-the-art approaches on all of these datasets.

cs.CV↗

arXiv2019

Unconventional Superconductivity in Heavy Fermion UTe2

We grew single crystals of the recently discovered heavy fermion superconductor UTe2, and measured the resistivity, specific heat and magnetoresistance. Superconductivity (SC) was clearly detected at Tsc=1.65K as sharp drop of the resistivity in a high quality sample of RRR=35. The specific heat shows a large jump at Tsc indicating strong coupling. The large Sommerfeld coefficient, 117mJ K-2mol-1 extrapolated in the normal state and the temperature dependence of C/T below Tsc are the signature of unconventional SC. The discrepancy in the entropy balance at Tsc between SC and normal states points out that hidden features must occur. Surprisingly, a large residual value of the Sommerfeld coefficient seems quite robust (gamma_0/gamma ~ 0.5). The large upper critical field Hc2 along the three principal axes favors spin-triplet SC. For H // b-axis, our experiments do not reproduce the huge upturn of Hc2 reported previously. This discrepancy may reflect that Hc2 is very sensitive to the sample quality. A new perspective in UTe2 is the proximity of a Kondo semiconducting phase predicted by the LDA band structure calculations.

cond-mat.str-el↗