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Refrigeration limits are of fundamental and practical importance. We here show that quantum systems can be cooled below existing incoherent cooling bounds by employing coherent virtual qubits, even if the amount of coherence is incompletely known. Virtual subsystems, that do not necessarily correspond to a natural eigensubspace of a system, are a key conceptual tool in quantum information science and quantum thermodynamics. We derive universal coherent cooling limits and introduce specific protocols to reach them. As an illustration, we propose a generalized algorithmic cooling protocol that outperforms its current incoherent counterpart. Our results provide a general framework to investigate the performance of coherent refrigeration processes., Comment: 6+8 pages, 3+6 figures

In recent years roboticists have achieved remarkable progress in solving increasingly general tasks on dexterous robotic hardware by leveraging high capacity Transformer network architectures and generative diffusion models. Unfortunately, combining these two orthogonal improvements has proven surprisingly difficult, since there is no clear and well-understood process for making important design choices. In this paper, we identify, study and improve key architectural design decisions for high-capacity diffusion transformer policies. The resulting models can efficiently solve diverse tasks on multiple robot embodiments, without the excruciating pain of per-setup hyper-parameter tuning. By combining the results of our investigation with our improved model components, we are able to present a novel architecture, named \method, that significantly outperforms the state of the art in solving long-horizon ($1500+$ time-steps) dexterous tasks on a bi-manual ALOHA robot. In addition, we find that our policies show improved scaling performance when trained on 10 hours of highly multi-modal, language annotated ALOHA demonstration data. We hope this work will open the door for future robot learning techniques that leverage the efficiency of generative diffusion modeling with the scalability of large scale transformer architectures. Code, robot dataset, and videos are available at: https://dit-policy.github.io

Solid-state spin systems hold great promise for quantum information processing and the construction of quantum networks. However, the considerable inhomogeneity of spins in solids poses a significant challenge to the scaling of solid-state quantum systems. A practical protocol to individually control and entangle spins remains elusive. To this end, we propose a hybrid spin-phonon architecture based on spin-embedded SiC optomechanical crystal (OMC) cavities, which integrates photonic and phononic channels allowing for interactions between multiple spins. With a Raman-facilitated process, the OMC cavities support coupling between the spin and the zero-point motion of the OMC cavity mode reaching 0.57 MHz, facilitating phonon preparation and spin Rabi swap processes. Based on this, we develop a spin-phonon interface that achieves a two-qubit controlled-Z gate with a simulated fidelity of $96.80\%$ and efficiently generates highly entangled Dicke states with over $99\%$ fidelity, by engineering the strongly coupled spin-phonon dark state which is robust against loss from excited state relaxation as well as spectral inhomogeneity of the defect centers. This provides a hybrid platform for exploring spin entanglement with potential scalability and full connectivity in addition to an optical link, and offers a pathway to investigate quantum acoustics in solid-state systems.

Two-dimensional van der Waals semiconductors are promising for future nanoelectronics. However, integrating high-k gate dielectrics for device applications is challenging as the inert van der Waals material surfaces hinder uniform dielectric growth. Here, we report a liquid metal oxide-assisted approach to integrate ultrathin, high-k HfO2 dielectric on 2D semiconductors with atomically smooth interfaces. Using this approach, we fabricated 2D WS2 top-gated transistors with subthreshold swings down to 74.5 mV/dec, gate leakage current density below 10-6 A/cm2, and negligible hysteresis. We further demonstrate a one-step van der Waals integration of contacts and dielectrics on graphene. This can offer a scalable approach toward integrating entire prefabricated device stack arrays with 2D materials. Our work provides a scalable solution to address the crucial dielectric engineering challenge for 2D semiconductors, paving the way for high-performance 2D electronics.

Future electronics require aggressive scaling of channel material thickness while maintaining device performance. Two-dimensional (2D) semiconductors are promising candidates, but despite over two decades of research, experimental performance still lags theoretical expectations. Here, we develop an oxygen-free approach to push the electrical transport of 2D field-effect transistors toward the theoretical phonon-limited intrinsic mobility. We achieve record carrier mobilities of 91 (132) cm2V-1s-1 for mono- (bi-) layer MoS2 transistors on SiO2 substrate. Statistics from over 60 devices confirm that oxygen-free fabrication enhances key figures of merit by more than an order of magnitude. While previous studies suggest that 2D transition metal dichalcogenides such as MoS2 and WS2 are stable in air, we show that short-term ambient exposure can degrade their device performance through irreversible oxygen chemisorption. This study emphasizes the criticality of avoiding oxygen exposure, offering guidance for device manufacturing for fundamental research and practical applications of 2D materials.

Modern machine learning systems rely on large datasets to attain broad generalization, and this often poses a challenge in robot learning, where each robotic platform and task might have only a small dataset. By training a single policy across many different kinds of robots, a robot learning method can leverage much broader and more diverse datasets, which in turn can lead to better generalization and robustness. However, training a single policy on multi-robot data is challenging because robots can have widely varying sensors, actuators, and control frequencies. We propose CrossFormer, a scalable and flexible transformer-based policy that can consume data from any embodiment. We train CrossFormer on the largest and most diverse dataset to date, 900K trajectories across 20 different robot embodiments. We demonstrate that the same network weights can control vastly different robots, including single and dual arm manipulation systems, wheeled robots, quadcopters, and quadrupeds. Unlike prior work, our model does not require manual alignment of the observation or action spaces. Extensive experiments in the real world show that our method matches the performance of specialist policies tailored for each embodiment, while also significantly outperforming the prior state of the art in cross-embodiment learning., Comment: Project website at https://crossformer-model.github.io/

In order to *generalize* to various tasks in the wild, robotic agents will need a suitable representation (i.e., vision network) that enables the robot to predict optimal actions given high dimensional vision inputs. However, learning such a representation requires an extreme amount of diverse training data, which is prohibitively expensive to collect on a real robot. How can we overcome this problem? Instead of collecting more robot data, this paper proposes using internet-scale, human videos to extract "affordances," both at the environment and agent level, and distill them into a pre-trained representation. We present a simple framework for pre-training representations on hand, object, and contact "affordance labels" that highlight relevant objects in images and how to interact with them. These affordances are automatically extracted from human video data (with the help of off-the-shelf computer vision modules) and used to fine-tune existing representations. Our approach can efficiently fine-tune *any* existing representation, and results in models with stronger downstream robotic performance across the board. We experimentally demonstrate (using 3000+ robot trials) that this affordance pre-training scheme boosts performance by a minimum of 15% on 5 real-world tasks, which consider three diverse robot morphologies (including a dexterous hand). Unlike prior works in the space, these representations improve performance across 3 different camera views. Quantitatively, we find that our approach leads to higher levels of generalization in out-of-distribution settings. For code, weights, and data check: https://hrp-robot.github.io, Comment: Accepted to Robotics Science and Systems 2024

Time-Varying meshes (TVMs), characterized by their varying connectivity and number of vertices, hold significant potential in immersive media and other various applications. However, their practical utilization is challenging due to their time-varying features and large file sizes. Creating a reference mesh that contains the most essential information is a promising approach to utilizing shared information within TVMs to reduce storage and transmission costs. We propose a novel method that employs volume tracking to extract reference meshes. First, we adopt as-rigid-as-possible (ARAP) volume tracking on TVMs to get the volume centers for each mesh. Then, we use multidimensional scaling (MDS) to get reference centers that ensure the reference mesh avoids self-contact regions. Finally, we map the vertices of the meshes to reference centers and extract the reference mesh. Our approach offers a feasible solution for extracting reference meshes that can serve multiple purposes such as establishing surface correspondence, deforming the reference mesh to different shapes for I-frame based mesh compression, or defining the global shape of the TVMs., Comment: 6 pages

Large policies pretrained on diverse robot datasets have the potential to transform robotic learning: instead of training new policies from scratch, such generalist robot policies may be finetuned with only a little in-domain data, yet generalize broadly. However, to be widely applicable across a range of robotic learning scenarios, environments, and tasks, such policies need to handle diverse sensors and action spaces, accommodate a variety of commonly used robotic platforms, and finetune readily and efficiently to new domains. In this work, we aim to lay the groundwork for developing open-source, widely applicable, generalist policies for robotic manipulation. As a first step, we introduce Octo, a large transformer-based policy trained on 800k trajectories from the Open X-Embodiment dataset, the largest robot manipulation dataset to date. It can be instructed via language commands or goal images and can be effectively finetuned to robot setups with new sensory inputs and action spaces within a few hours on standard consumer GPUs. In experiments across 9 robotic platforms, we demonstrate that Octo serves as a versatile policy initialization that can be effectively finetuned to new observation and action spaces. We also perform detailed ablations of design decisions for the Octo model, from architecture to training data, to guide future research on building generalist robot models., Comment: Project website: https://octo-models.github.io

The phase-field method has become a useful tool for the simulation of classical metallurgical phase transformations as well as other phenomena related to materials science. The thermodynamic consistency that forms the basis of these formulations lends to its strong predictive capabilities and utility. However, a strong impediment to the usage of the method for typical applied problems of industrial and academic relevance is the significant overhead with regard to the code development and know-how required for quantitative model formulations. In this paper, we report the development of an open-source phase-field software stack that contains generic formulations for the simulation of multi-phase and multi-component phase transformations. The solvers incorporate thermodynamic coupling that allows the realization of simulations with real alloys in scenarios directly relevant to the materials industry. Further, the solvers utilize parallelization strategies using either multiple CPUs or GPUs to provide cross-platform portability and usability on available supercomputing machines. Finally, the solver stack also contains a graphical user interface to gradually introduce the usage of the software. The user interface also provides a collection of post-processing tools that allow the estimation of useful metrics related to microstructural evolution.

We present a protocol for the ground-state cooling of a tripartite hybrid quantum system, in which a macroscopic oscillator acts as a mediator between a single probe spin and a remote spin ensemble. In the presence of weak dispersive coupling between the spins and the oscillator, cooling of the oscillator and the ensemble spins can be achieved by exploiting the feedback from frequent measurements of the single probe spin. We explore the parameter regimes necessary to cool the ensemble, the oscillator, or both to their thermal ground states. This novel cooling protocol shows that, even with only weak dispersive coupling, energy transfer-like effects can be obtained by simply manipulating the probe spin. These results not only contribute to the development of a practical solution for cooling/polarizing large spin ensembles, but also provide a relatively simple means of tuning the dynamics of a hybrid system. The proposed cooling protocol thus has broader implications for advancing various quantum technology applications, such as macroscopic quantum state generation and remote sensing.

The creation of large, diverse, high-quality robot manipulation datasets is an important stepping stone on the path toward more capable and robust robotic manipulation policies. However, creating such datasets is challenging: collecting robot manipulation data in diverse environments poses logistical and safety challenges and requires substantial investments in hardware and human labour. As a result, even the most general robot manipulation policies today are mostly trained on data collected in a small number of environments with limited scene and task diversity. In this work, we introduce DROID (Distributed Robot Interaction Dataset), a diverse robot manipulation dataset with 76k demonstration trajectories or 350 hours of interaction data, collected across 564 scenes and 84 tasks by 50 data collectors in North America, Asia, and Europe over the course of 12 months. We demonstrate that training with DROID leads to policies with higher performance and improved generalization ability. We open source the full dataset, policy learning code, and a detailed guide for reproducing our robot hardware setup., Comment: Project website: https://droid-dataset.github.io/

Despite over a decade of intense research efforts, the full potential of two-dimensional transition metal dichalcogenides continues to be limited by major challenges. The lack of compatible and scalable dielectric materials and integration techniques restrict device performances and their commercial applications Conventional dielectric integration techniques for bulk semiconductors are difficult to adapt for atomically thin two-dimensional materials. This review provides a brief introduction into various common and emerging dielectric synthesis and integration techniques and discusses their applicability for 2D transition metal dichalcogenides. Dielectric integration for various applications is reviewed in subsequent sections including nanoelectronics, optoelectronics, flexible electronics, valleytronics, biosensing, quantum information processing, and quantum sensing. For each application, we introduce basic device working principles, discuss the specific dielectric requirements, review current progress, present key challenges, and offer insights into future prospects and opportunities.

Assembling two-dimensional van der Waals layered materials into heterostructures is an exciting development that sparked the discovery of rich correlated electronic phenomena and offers possibilities for designer device applications. However, resist residue from fabrication processes is a major limitation. Resulting disordered interfaces degrade device performance and mask underlying transport physics. Conventional cleaning processes are inefficient and can cause material and device damage. Here, we show that thermal scanning probe based cleaning can effectively eliminate resist residue to recover pristine material surfaces. Our technique is compatible at both the material- and device-level, and we demonstrate the significant improvement in the electrical performance of 2D WS2 transistors. We also demonstrate the cleaning of van der Waals heterostructures to achieve interfaces with low disorder. This enables the electrical formation and control of quantum dots that can be tuned from macroscopic current flow to the single-electron tunnelling regime. Such material processing advances are crucial for constructing high-quality vdW heterostructures that are important platforms for fundamental studies and building blocks for quantum and nano-electronics applications., Comment: 4 Figures