arXiv subjects

Yun Chang

Publications and source records attributed to Yun Chang.

At least 19 recordsLinked to original sources

arXiv2026

Final assessment of radioactive impurities in the JUNO detector

The Jiangmen Underground Neutrino Observatory (JUNO) collaboration has completed the construction of the 20,000-ton liquid scintillator detector and the associated muon veto detector system. To meet the physics objectives, the materials used in the detector must exhibit low radioactive contamination. The single-event rate in the fiducial volume (R $<$ 17.2 m) of the scintillator is required to be approximately 7 Hz for energies above 0.7 MeV, resulting in an accidental coincidence background of about 1 event per day for reactor neutrino physics analyses. Since the beginning of the construction phase, we have screened the natural radioactivity content of thousands of materials, to select those that meet the design background budget. The radioactive impurity concentrations of the materials ultimately used in the JUNO detector are summarized in this paper. The construction of the entire detector and the subsequent filling of the liquid scintillator were completed in August 2025. From the initial data, the total count rate of natural radioactivity within the detector's fiducial volume has met the requirements and is sufficient to support the reactor antineutrino analysis.

physics.ins-det↗

arXiv2026

A Low-energy Threshold and Multi-messenger Trigger System for the JUNO Experiment

The Jiangmen Underground Neutrino Observatory (JUNO) is a 20-kiloton liquid scintillator neutrino detector, located 650 meters (1800 m.w.e.) underground in Jiangmen, Guangdong, China. JUNO is primarily designed for reactor neutrino measurements and has been taking data since 2025. With the largest mass of its kind and an excellent energy resolution, JUNO is a leading observatory for high-precision measurements of MeV neutrinos. The standard global trigger system serves as the primary trigger for JUNO. We present a newly developed multi-messenger trigger system that extends the capabilities of the global trigger by providing a lower energy threshold and an independent monitoring capability. During the 2025 operation, it achieved an effective energy threshold of approximately 110 +/- 10 keV, providing a lower threshold configuration suitable for low-energy event analysis. The system shows the potential to further reduce the threshold to well below 100 keV. Based on the multi-messenger trigger system, an astrophysical monitor has been developed to receive and process external alerts from other messengers, such as gravitational-wave observations. A Transient Neutrino Burst Monitor is integrated to detect short-time-scale neutrino burst events and enables real-time monitoring of transient astrophysical phenomena. The system is sensitive to neutrino bursts from core-collapse supernovae within a distance of about 250 kpc.

hep-ex↗

arXiv2026

Hydra++: Real-Time Hierarchical 3D Scene Graph Construction With Object-Level Shape Estimation

3D scene graphs provide a hierarchical abstraction of environments by encoding spatial entities, such as objects and places, and their relationships. However, existing scene graph systems model object geometry coarsely, relying on partial point clouds or class-level CAD templates, which limits instance-specific shape detail. This paper presents Hydra++, a system-level investigation into how learning-based object shape estimators can be integrated into a hierarchical 3D scene graph pipeline. Hydra++ incorporates category-agnostic shape estimation and a reprojection-mask consistency check to reject degenerate predictions from partial observations or imprecise segmentation. In its default CRISP-based configuration, Hydra++ performs online scene graph construction; slower estimators such as SAM3D are evaluated as modular alternatives to demonstrate generalization-latency trade-offs. Furthermore, to address the challenges of sparse and noisy depth measurements in outdoor environments, Hydra++ supports a hybrid LiDAR-camera configuration for large-scale operation, improving scene-level reconstruction quality. Experiments in both simulation and real-world outdoor campus scenarios demonstrate that Hydra++ improves object- and scene-level reconstruction quality. Project page is available at https://hydra-plusplus.github.io/.

cs.CV↗

arXiv2026

Embedded underwater front-end electronics for the 3-inch photomultipliers in the JUNO experiment

The Jiangmen Underground Neutrino Observatory (JUNO) is a 20-kton liquid scintillator-based, low-radioactivity, multi-purpose neutrino detector located 693 meters (1800 m.w.e.) underground in the Guangdong province, China. To detect scintillation light produced in the target, the detector is equipped with 17,612 20-inch photomultipliers (PMTs), forming the Large PMT system (LPMT). In addition, 25,600 3-inch photomultipliers (the Small Photomultiplier System or SPMT) are deployed in the gaps between the LPMTs. This paper presents the design and performance of the underwater front-end electronics developed for the SPMT system. It details the individual electronics boards and their key components, the inter-board interfaces, the system-level design, and the firmware architecture that supports data acquisition and control. It also outlines mechanical and thermal integration, board validation procedures, and system performance metrics. The readout chain includes digitization of 128 PMT channels per unit, synchronized time-stamping, charge measurement, event packaging, and bandwidth management. Comprehensive validation confirms the system's readiness to meet JUNO's stringent physics goals. The underwater electronics achieve noise levels as low as 0.04 photoelectrons with minimal crosstalk (below 0.4%) and a bandwidth of 57 MB/s, ensuring reliable single photo-electron detection and operation under high-rate conditions. The SPMT system has now been fully integrated and installed in JUNO. Its commissioning and physics performance will be reported in a future publication.

physics.ins-det↗

arXiv2026

Pandora: Articulated 3D Scene Graphs from Egocentric Vision

Robotic mapping systems typically approach building metric-semantic scene representations from the robot's own sensors and cameras. However, these "first person" maps inherit the robot's own limitations due to its embodiment or skillset, which may leave many aspects of the environment unexplored. For example, the robot might not be able to open drawers or access wall cabinets. In this sense, the map representation is not as complete, and requires a more capable robot to fill in the gaps. We narrow these blind spots in current methods by leveraging egocentric data captured as a human naturally explores a scene wearing Project Aria glasses, giving a way to directly transfer knowledge about articulation from the human to any deployable robot. We demonstrate that, by using simple heuristics, we can leverage egocentric data to recover models of articulate object parts, with quality comparable to those of state-of-the-art methods based on other input modalities. We also show how to integrate these models into 3D scene graph representations, leading to a better understanding of object dynamics and object-container relationships. We finally demonstrate that these articulated 3D scene graphs enhance a robot's ability to perform mobile manipulation tasks, showcasing an application where a Boston Dynamics Spot is tasked with retrieving concealed target items, given only the 3D scene graph as input.

cs.RO↗

arXiv2025

Initial performance results of the JUNO detector

The Jiangmen Underground Neutrino Observatory (JUNO) started physics data taking on 26 August 2025. JUNO consists of a 20-kton liquid scintillator central detector, surrounded by a 35 kton water pool serving as a Cherenkov veto, and almost 1000 m$^2$ of plastic scintillator veto on top. The detector is located in a shallow underground laboratory with an overburden of 1800 m.w.e. This paper presents the performance results of the detector, extensively studied during the commissioning of the water phase, the subsequent liquid scintillator filling phase, and the first physics runs. The liquid scintillator achieved an attenuation length of 20.6 m at 430 nm, while the high coverage PMT system and scintillator together yielded about 1785 photoelectrons per MeV of energy deposit at the detector centre, measured using the 2.223 MeV $\gamma$ from neutron captures on hydrogen with an Am-C calibration source. The reconstructed energy resolution is 3.4% for two 0.511 MeV $\gamma$ at the detector centre and 2.9% for the 0.93 MeV quenched Po-214 alpha decays from natural radioactive sources. The energy nonlinearity is calibrated to better than 1%. Intrinsic contaminations of U-238 and Th-232 in the liquid scintillator are below 10$^{-16}$ g/g, assuming secular equilibrium. The water Cherenkov detector achieves a muon detection efficiency better than 99.9% for muons traversing the liquid scintillator volume. During the initial science runs, the data acquisition duty cycle exceeded 97.8%, demonstrating the excellent stability and readiness of JUNO for high-precision neutrino physics.

hep-ex↗

arXiv2025

First measurement of reactor neutrino oscillations at JUNO

Neutrino oscillations, a quantum effect manifesting at macroscopic scales, are governed by lepton flavor mixing angles and neutrino mass-squared differences that are fundamental parameters of particle physics, representing phenomena beyond the Standard Model. Precision measurements of these parameters are essential for testing the completeness of the three-flavor framework, determining the mass ordering of neutrinos, and probing possible new physics. The Jiangmen Underground Neutrino Observatory (JUNO) is a 20 kton liquid-scintillator detector located 52.5 km from multiple reactor cores, designed to resolve the interference pattern of reactor neutrinos with sub-percent precision. Here we report, using the first 59.1 days of data collected since detector completion in August 2025, the first simultaneous high-precision determination of two neutrino oscillation parameters, $\sin^2 \theta_{12} = 0.3092\,\pm\,0.0087$ and $\Delta m^2_{21} = (7.50\,\pm\,0.12)\times10^{-5}\;{\rm eV}^2$ for the normal mass ordering scenario, improving the precision by a factor of 1.6 relative to the combination of all previous measurements. These results advance the basic understanding of neutrinos, validate the detector's design, and confirm JUNO's readiness for its primary goal of resolving the neutrino mass ordering with a larger dataset. The rapid achievement with a short exposure highlights JUNO's potential to push the frontiers of precision neutrino physics and paves the way for its broad scientific program.

hep-ex↗

arXiv2025

Prospects for geoneutrino detection with JUNO

Geoneutrinos, which are antineutrinos emitted during the decay of long-lived radioactive elements inside Earth, serve as a unique tool for studying the composition and heat budget of our planet. The Jiangmen Underground Neutrino Observatory (JUNO) experiment in China, which has recently completed construction, is expected to collect a sample comparable in size to the entire existing world geoneutrino dataset in less than a year. This paper presents an updated estimation of sensitivity to geoneutrinos of JUNO using the best knowledge available to date about the experimental site, the surrounding nuclear reactors, the detector response uncertainties, and the constraints expected from the TAO satellite detector. To facilitate comparison with present and future geological models, our results cover a wide range of predicted signal strengths. Despite the significant background from reactor antineutrinos, the experiment will measure the total geoneutrino flux with a precision comparable to that of existing experiments within its first few years, ultimately achieving a world-leading precision of about 8% over ten years. The large statistics of JUNO will also allow separation of the Uranium-238 and Thorium-232 contributions with unprecedented precision, providing crucial constraints on models of formation and composition of Earth. Observation of the mantle signal above the lithospheric flux will be possible but challenging. For models with the highest predicted mantle concentrations of heat-producing elements, a 3-sigma detection over six years requires knowledge of the lithospheric flux to within 15%. Together with complementary measurements from other locations, the geoneutrino results of JUNO will offer cutting-edge, high-precision insights into the interior of Earth, of fundamental importance to both the geoscience and neutrino physics communities.

hep-ex↗

arXiv2025

Design, waterproofing, and mass production of the 3-inch PMT frontend system of JUNO

Over 25,600 3-inch photomultiplier tubes (PMTs) have been instrumented for the central detector of the Jiangmen Underground Neutrino Observatory. Each PMT is equipped with a high-voltage divider and a frontend cable with waterproof sealing. Groups of sixteen PMTs are connected to the underwater frontend readout electronics via specialized multi-channel waterproof connectors. This paper outlines the design and mass production processes for the high-voltage divider, the cable and connector, as well as the waterproof potting of the PMT bases. The results of the acceptance tests of all the integrated PMTs are also presented.

physics.ins-det↗

arXiv2025

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs

In this paper, we introduce a multi-robot system that integrates mapping, localization, and task and motion planning (TAMP) enabled by 3D scene graphs to execute complex instructions expressed in natural language. Our system builds a shared 3D scene graph incorporating an open-set object-based map, which is leveraged for multi-robot 3D scene graph fusion. This representation supports real-time, view-invariant relocalization (via the object-based map) and planning (via the 3D scene graph), allowing a team of robots to reason about their surroundings and execute complex tasks. Additionally, we introduce a planning approach that translates operator intent into Planning Domain Definition Language (PDDL) goals using a Large Language Model (LLM) by leveraging context from the shared 3D scene graph and robot capabilities. We provide an experimental assessment of the performance of our system on real-world tasks in large-scale, outdoor environments. A supplementary video is available at https://youtu.be/8xbGGOLfLAY.

cs.RO↗

arXiv2025

An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments

This paper presents an appendix to the original NeBula autonomy solution developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), participating in the DARPA Subterranean Challenge. Specifically, this paper presents extensions to NeBula's hardware, software, and algorithmic components that focus on increasing the range and scale of the exploration environment. From the algorithmic perspective, we discuss the following extensions to the original NeBula framework: (i) large-scale geometric and semantic environment mapping; (ii) an adaptive positioning system; (iii) probabilistic traversability analysis and local planning; (iv) large-scale POMDP-based global motion planning and exploration behavior; (v) large-scale networking and decentralized reasoning; (vi) communication-aware mission planning; and (vii) multi-modal ground-aerial exploration solutions. We demonstrate the application and deployment of the presented systems and solutions in various large-scale underground environments, including limestone mine exploration scenarios as well as deployment in the DARPA Subterranean challenge.

cs.RO↗

arXiv2025

ASHiTA: Automatic Scene-grounded HIerarchical Task Analysis

While recent work in scene reconstruction and understanding has made strides in grounding natural language to physical 3D environments, it is still challenging to ground abstract, high-level instructions to a 3D scene. High-level instructions might not explicitly invoke semantic elements in the scene, and even the process of breaking a high-level task into a set of more concrete subtasks, a process called hierarchical task analysis, is environment-dependent. In this work, we propose ASHiTA, the first framework that generates a task hierarchy grounded to a 3D scene graph by breaking down high-level tasks into grounded subtasks. ASHiTA alternates LLM-assisted hierarchical task analysis, to generate the task breakdown, with task-driven 3D scene graph construction to generate a suitable representation of the environment. Our experiments show that ASHiTA performs significantly better than LLM baselines in breaking down high-level tasks into environment-dependent subtasks and is additionally able to achieve grounding performance comparable to state-of-the-art methods.

cs.RO↗

arXiv2025

Simulation of the Background from $^{13}$C$(\alpha, n)^{16}$O Reaction in the JUNO Scintillator

Large-scale organic liquid scintillator detectors are highly efficient in the detection of MeV-scale electron antineutrinos. These signal events can be detected through inverse beta decay on protons, which produce a positron accompanied by a neutron. A noteworthy background for antineutrinos coming from nuclear power reactors and from the depths of the Earth (geoneutrinos) is generated by ($\alpha, n$) reactions. In organic liquid scintillator detectors, $\alpha$ particles emitted from intrinsic contaminants such as $^{238}$U, $^{232}$Th, and $^{210}$Pb/$^{210}$Po, can be captured on $^{13}$C nuclei, followed by the emission of a MeV-scale neutron. Three distinct interaction mechanisms can produce prompt energy depositions preceding the delayed neutron capture, leading to a pair of events correlated in space and time within the detector. Thus, ($\alpha, n$) reactions represent an indistinguishable background in liquid scintillator-based antineutrino detectors, where their expected rate and energy spectrum are typically evaluated via Monte Carlo simulations. This work presents results from the open-source SaG4n software, used to calculate the expected energy depositions from the neutron and any associated de-excitation products. Also simulated is a detailed detector response to these interactions, using a dedicated Geant4-based simulation software from the JUNO experiment. An expected measurable $^{13}$C$(\alpha, n)^{16}$O event rate and reconstructed prompt energy spectrum with associated uncertainties, are presented in the context of JUNO, however, the methods and results are applicable and relevant to other organic liquid scintillator neutrino detectors.

physics.ins-det↗

arXiv2024

JUNO Sensitivity to Invisible Decay Modes of Neutrons

We explore the decay of bound neutrons into invisible particles (e.g., $n\rightarrow 3 \nu$ or $nn \rightarrow 2 \nu$) in the JUNO liquid scintillator detector, which do not produce an observable signal. The invisible decay includes two decay modes: $ n \rightarrow { inv} $ and $ nn \rightarrow { inv} $. The invisible decays of $s$-shell neutrons in $^{12}{\rm C}$ will leave a highly excited residual nucleus. Subsequently, some de-excitation modes of the excited residual nuclei can produce a time- and space-correlated triple coincidence signal in the JUNO detector. Based on a full Monte Carlo simulation informed with the latest available data, we estimate all backgrounds, including inverse beta decay events of the reactor antineutrino $\bar{\nu}_e$, natural radioactivity, cosmogenic isotopes and neutral current interactions of atmospheric neutrinos. Pulse shape discrimination and multivariate analysis techniques are employed to further suppress backgrounds. With two years of exposure, JUNO is expected to give an order of magnitude improvement compared to the current best limits. After 10 years of data taking, the JUNO expected sensitivities at a 90% confidence level are $\tau/B( n \rightarrow { inv} ) > 5.0 \times 10^{31} \, {\rm yr}$ and $\tau/B( nn \rightarrow { inv} ) > 1.4 \times 10^{32} \, {\rm yr}$.

hep-ex↗

arXiv2024

Potential to identify neutrino mass ordering with reactor antineutrinos at JUNO

The Jiangmen Underground Neutrino Observatory (JUNO) is a multi-purpose neutrino experiment under construction in South China. This paper presents an updated estimate of JUNO's sensitivity to neutrino mass ordering using the reactor antineutrinos emitted from eight nuclear reactor cores in the Taishan and Yangjiang nuclear power plants. This measurement is planned by studying the fine interference pattern caused by quasi-vacuum oscillations in the oscillated antineutrino spectrum at a baseline of 52.5~km and is completely independent of the CP violating phase and neutrino mixing angle $\theta_{23}$. The sensitivity is obtained through a joint analysis of JUNO and Taishan Antineutrino Observatory (TAO) detectors utilizing the best available knowledge to date about the location and overburden of the JUNO experimental site, local and global nuclear reactors, JUNO and TAO detector responses, expected event rates and spectra of signals and backgrounds, and systematic uncertainties of analysis inputs. We find that a 3$\sigma$ median sensitivity to reject the wrong mass ordering hypothesis can be reached with an exposure to approximately 6.5 years $\times$ 26.6 GW thermal power.

hep-ex↗

arXiv2024

Prediction of Energy Resolution in the JUNO Experiment

This paper presents an energy resolution study of the JUNO experiment, incorporating the latest knowledge acquired during the detector construction phase. The determination of neutrino mass ordering in JUNO requires an exceptional energy resolution better than 3\% at 1~MeV. To achieve this ambitious goal, significant efforts have been undertaken in the design and production of the key components of the JUNO detector. Various factors affecting the detection of inverse beta decay signals have an impact on the energy resolution, extending beyond the statistical fluctuations of the detected number of photons, such as the properties of the liquid scintillator, performance of photomultiplier tubes, and the energy reconstruction algorithm. To account for these effects, a full JUNO simulation and reconstruction approach is employed. This enables the modeling of all relevant effects and the evaluation of associated inputs to accurately estimate the energy resolution. The results of study reveal an energy resolution of 2.95\% at 1~MeV. Furthermore, this study assesses the contribution of major effects to the overall energy resolution budget. This analysis serves as a reference for interpreting future measurements of energy resolution during JUNO data collection. Moreover, it provides a guideline for comprehending the energy resolution characteristics of liquid scintillator-based detectors.

hep-ex↗

arXiv2024

Clio: Real-time Task-Driven Open-Set 3D Scene Graphs

Modern tools for class-agnostic image segmentation (e.g., SegmentAnything) and open-set semantic understanding (e.g., CLIP) provide unprecedented opportunities for robot perception and mapping. While traditional closed-set metric-semantic maps were restricted to tens or hundreds of semantic classes, we can now build maps with a plethora of objects and countless semantic variations. This leaves us with a fundamental question: what is the right granularity for the objects (and, more generally, for the semantic concepts) the robot has to include in its map representation? While related work implicitly chooses a level of granularity by tuning thresholds for object detection, we argue that such a choice is intrinsically task-dependent. The first contribution of this paper is to propose a task-driven 3D scene understanding problem, where the robot is given a list of tasks in natural language and has to select the granularity and the subset of objects and scene structure to retain in its map that is sufficient to complete the tasks. We show that this problem can be naturally formulated using the Information Bottleneck (IB), an established information-theoretic framework. The second contribution is an algorithm for task-driven 3D scene understanding based on an Agglomerative IB approach, that is able to cluster 3D primitives in the environment into task-relevant objects and regions and executes incrementally. The third contribution is to integrate our task-driven clustering algorithm into a real-time pipeline, named Clio, that constructs a hierarchical 3D scene graph of the environment online using only onboard compute, as the robot explores it. Our final contribution is an extensive experimental campaign showing that Clio not only allows real-time construction of compact open-set 3D scene graphs, but also improves the accuracy of task execution by limiting the map to relevant semantic concepts.

cs.RO↗

arXiv2024

Khronos: A Unified Approach for Spatio-Temporal Metric-Semantic SLAM in Dynamic Environments

Perceiving and understanding highly dynamic and changing environments is a crucial capability for robot autonomy. While large strides have been made towards developing dynamic SLAM approaches that estimate the robot pose accurately, a lesser emphasis has been put on the construction of dense spatio-temporal representations of the robot environment. A detailed understanding of the scene and its evolution through time is crucial for long-term robot autonomy and essential to tasks that require long-term reasoning, such as operating effectively in environments shared with humans and other agents and thus are subject to short and long-term dynamics. To address this challenge, this work defines the Spatio-temporal Metric-semantic SLAM (SMS) problem, and presents a framework to factorize and solve it efficiently. We show that the proposed factorization suggests a natural organization of a spatio-temporal perception system, where a fast process tracks short-term dynamics in an active temporal window, while a slower process reasons over long-term changes in the environment using a factor graph formulation. We provide an efficient implementation of the proposed spatio-temporal perception approach, that we call Khronos, and show that it unifies exiting interpretations of short-term and long-term dynamics and is able to construct a dense spatio-temporal map in real-time. We provide simulated and real results, showing that the spatio-temporal maps built by Khronos are an accurate reflection of a 3D scene over time and that Khronos outperforms baselines across multiple metrics. We further validate our approach on two heterogeneous robots in challenging, large-scale real-world environments.

cs.RO↗