Search

We present DriveGPT, a scalable behavior model for autonomous driving. We model driving as a sequential decision making task, and learn a transformer model to predict future agent states as tokens in an autoregressive fashion. We scale up our model parameters and training data by multiple orders of magnitude, enabling us to explore the scaling properties in terms of dataset size, model parameters, and compute. We evaluate DriveGPT across different scales in a planning task, through both quantitative metrics and qualitative examples including closed-loop driving in complex real-world scenarios. In a separate prediction task, DriveGPT outperforms a state-of-the-art baseline and exhibits improved performance by pretraining on a large-scale dataset, further validating the benefits of data scaling., Comment: 14 pages, 16 figures, 9 tables, and 1 video link

The strong electron-electron interaction in transition metal dichalcogenides (TMDs) gives rise to phenomena such as strong exciton and trion binding and excitonic condensation, as well as large negative exchange and correlation contributions to the electron energies, resulting in negative electronic compressibility. Here we use angle-resolved photoemission spectroscopy to demonstrate a striking effect of negative electronic compressibility in semiconducting TMD MoS2 on the charge transfer to and from a partial overlayer of monolayer semimetallic WTe2. We track the changes in binding energy of the valence bands of both WTe2 and MoS2 as a function of surface transfer doping with donor (K) and acceptor (F4-TCNQ) species. Donor doping increases the binding energy of the MoS2 valence band, as expected, while counterintuitively reducing the binding energy of the WTe2 valence bands and core levels. The inverse effect is observed for acceptor doping, where a typical reduction in the MoS2 binding energies is accopanied by an unexpected increase in those of WTe2. The observations imply a reversal of the expected charge transfer; donor (acceptor) deposition decreases (increases) the carrier density in the WTe2 adlayer. The charge transfer reversal is a direct consequence of the negative electronic compressibility of the MoS2 surface layer, for which addition (subtraction) of charge leads to attraction (repulsion) of further charge from neighbouring layers. These findings highlight the importance of many-body interactions for the electrons in transition metal dichalcogenides and underscore the potential for exploring strongly correlated quantum states in two-dimensional semiconductors., Comment: 4 pages, 5 figures + supplementary information

Diamonds with nitrogen-vacancy (NV) center ensembles are one of the most promising solid-state quantum platforms for various sensing applications. The combination of a long spin dephasing time ($T_2^*$) and a high NV center concentration is crucial for pushing the sensitivity limits. In this work, we propose a systematic measurement approach to quantify the electron spin dephasing in NV center ensembles and analyze the contributions of various sources to the dephasing time, including NV-NV interactions, strain and electric field distributions, $^{13}$C nuclear spins, and P1 electron spins. Our method is validated using a series of high-performance diamond samples, providing a comprehensive understanding of dephasing mechanisms and revealing correlations between NV concentration and different dephasing sources. Based on these insights, we further evaluate and propose strategies to improve the achievable sensitivity limits for DC magnetic field measurements.

We have characterised the submonolayer assembly of C60F48 molecular surface acceptors on the hydrogen terminated (100) diamond surface using scanning tunneling microscopy and X-ray photoelectron spectroscopy, and explored the influence this assembly has on the energy level alignment which governs surface transfer doping. Following deposition, disordered multilayered islands are observed. Annealing to 90$^{\circ} \rm{C}$ causes a transition from dewetting multi-layered islands to a single wetting layer at sufficiently high coverage, accompanied by a change in the energy alignment between the C60F48 and the diamond surface which consequently decreased the carrier density induced by transfer doping by 20%., Comment: 13 pages, 10 figures, preprint

The kagome metal FeSn, consists of alternating layers of kagome-lattice Fe3Sn and honeycomb Sn2, and exhibits great potential for applications in future low energy electronics and spintronics because of an ideal combination of novel topological phases and high-temperature magnetic ordering. Robust synthesis methods for ultra-thin FeSn films, as well as an understanding of their air stability is crucial for its development and long-term operation in future devices. In this work, we realize large area, sub-10 nm epitaxial FeSn thin films, and explore the oxidation process via synchrotron-based photoelectron spectroscopy using in-situ oxygen and water dosing, as well as ex-situ air exposure. Upon exposure to atmosphere the FeSn films are shown to be highly reactive, with a stable ~3 nm thick oxide layer forming at the surface within 10 minutes. Notably the surface Fe remains largely unoxidized when compared to Sn, which undergoes near-complete oxidation. This is further confirmed with controlled in-situ dosing of O2 and H2O where only the Sn2 (stanene) inter-layers within the FeSn lattice oxidize, suggesting the Fe3Sn kagome layers remain almost pristine. These results are in excellent agreement with first principles calculations, which show Fe-O bonds to the Fe3Sn layer are energetically unfavorable, and furthermore, a large formation energy preference of 1.37 eV for Sn-O bonds in the stanene Sn2 layer over Sn-O bonds in the kagome Fe3Sn layer. The demonstration that oxidation only occurs within the stanene layers may provide new avenues in how to engineer, handle and prepare future kagome metal devices., Comment: 21 pages, 5 figures, 4 SI figures

2D topological insulators promise novel approaches towards electronic, spintronic, and quantum device applications. This is owing to unique features of their electronic band structure, in which bulk-boundary correspondences enforces the existence of 1D spin-momentum locked metallic edge states - both helical and chiral - surrounding an electrically insulating bulk. Forty years since the first discoveries of topological phases in condensed matter, the abstract concept of band topology has sprung into realization with several materials now available in which sizable bulk energy gaps - up to a few hundred meV - promise to enable topology for applications even at room-temperature. Further, the possibility of combining 2D TIs in heterostructures with functional materials such as multiferroics, ferromagnets, and superconductors, vastly extends the range of applicability beyond their intrinsic properties. While 2D TIs remain a unique testbed for questions of fundamental condensed matter physics, proposals seek to control the topologically protected bulk or boundary states electrically, or even induce topological phase transitions to engender switching functionality. Induction of superconducting pairing in 2D TIs strives to realize non-Abelian quasiparticles, promising avenues towards fault-tolerant topological quantum computing. This roadmap aims to present a status update of the field, reviewing recent advances and remaining challenges in theoretical understanding, materials synthesis, physical characterization and, ultimately, device perspectives.

Topological insulators (TIs) are emergent materials with unique band structure, which allow the study of quantum effect in solids, as well as contribute to high performance quantum devices. To achieve the better performance of TI, here we present a co-doping strategy using synergistic rare-earth Sm and transition-metal Fe dopants in Bi2Se3 single crystals, which combine the advantages of both transition metal doped TI (high ferromagnetic ordering temperature and observed QAHE), and rare-earth doped TI (large magnetic moments and significant spin orbit coupling). In the as-grown single crystals, clear evidences of ferromagnetic ordering were observed. The angle resolve photoemission spectroscopy indicate the ferromagnetism opens a 44 meV band gap at surface Dirac point. Moreover, the carrier mobility at 3 K is ~ 7400 cm2/Vs, and we thus observed an ultra-strong Shubnikov-de Haas oscillation in the longitudinal resistivity, as well as the Hall steps in transverse resistivity below 14 T. Our transport and angular resolved photoemission spectroscopy results suggest that the rare-earth and transition metal co-doping in Bi2Se3 system is a promising avenue implement the quantum anomalous Hall effect, as well as harnessing the massive Dirac fermion in electrical devices., Comment: 5 figures

Moire superlattices formed in van der Waals heterostructures due to twisting, lattice mismatch and strain present an opportunity for creating novel metamaterials with unique properties not present in the individual layers themselves. Ferroelectricity for example, arises due to broken inversion symmetry in twisted and strained bilayers of 2D semiconductors with stacking domains of alternating out-of-plane polarization. However, understanding the individual contributions of twist and strain to the formation of topological polar nanostructures remains to be established and has proven to be experimentally challenging. Inversion symmetry breaking has been predicted to give rise to an in-plane component of polarization along the domain walls, leading to the formation of a network of topologically non-trivial merons (half-skyrmions) that are Bloch-type for twisted and Neel-type for strained systems. Here we utilise angle-resolved, high-resolution vector piezoresponse force microscopy (PFM) to spatially resolve polarization components and topological polar nanostructures in marginally twisted bilayer WSe2, and provide experimental proof for the existence of topologically non-trivial meron/antimeron structures. We observe both Bloch-type and Neel-type merons, allowing us to differentiate between moire superlattices formed due to twist or heterogeneous strain. This first demonstration of non-trivial real-space topology in a twisted van der Waals heterostructure opens pathways for exploring the connection between twist and topology in engineered nano-devices.

Van der Waals electrode integration is a promising strategy to create near-perfect interfaces between metals and two-dimensional materials, with advantages such as eliminating Fermi-level pinning and reducing contact resistance. However, the lack of a simple, generalizable pick-and-place transfer technology has greatly hampered the wide use of this technique. We demonstrate the pick-and-place transfer of pre-fabricated electrodes from reusable polished hydrogenated diamond substrates without the use of any surface treatments or sacrificial layers. The technique enables transfer of large-scale arbitrary metal electrodes, as demonstrated by successful transfer of eight different elemental metals with work functions ranging from 4.22 to 5.65 eV. The mechanical transfer of metal electrodes from diamond onto van der Waals materials creates atomically smooth interfaces with no interstitial impurities or disorder, as observed with cross-sectional high-resolution transmission electron microscopy and energy-dispersive X-ray spectroscopy. As a demonstration of its device application, we use the diamond-transfer technique to create metal contacts to monolayer transition metal dichalcogenide semiconductors with high-work-function Pd, low-work-function Ti, and semi metal Bi to create n- and p-type field-effect transistors with low Schottky barrier heights. We also extend this technology to other applications such as ambipolar transistor and optoelectronics, paving the way for new device architectures and high-performance devices.

Observations of velocity dispersions of galactic structures over a wide range of scales point to the existence of a universal acceleration scale $a_0\sim 10^{-10}$ m/s$^2$. Focusing on the fuzzy dark matter paradigm, which proposes ultralight dark matter with mass around $10^{-22}$ eV and de Broglie wavelength $\lambda\sim {\rm few}\times10^{2}$ parsecs, we highlight the emergence of the observed acceleration scale from quantum effects in a fluid-like description of the dark matter dynamics. We then suggest the possibility of a natural connection between the acceleration scale and dark energy within the same paradigm., Comment: This paper has been awarded 3rd Prize in the Gravity Research Foundation 2024 Awards for Essays on Gravitation, and is to be published in a special issue of the International Journal of Modern Physics D (IJMPD)

Nanoscale detection and control of the magnetic order underpins a broad spectrum of fundamental research and practical device applications. The key principle involved is the breaking of time-reversal ($\cal{T}$) symmetry, which in ferromagnets is generated by an internal magnetization. However, the presence of a net-magnetization also imposes severe limitations on compatibility with other prominent phases ranging from superconductors to topological insulators, as well as on spintronic device scalability. Recently, altermagnetism has been proposed as a solution to this restriction, since it shares the enabling $\cal{T}$-symmetry breaking characteristic of ferromagnetism, combined with the antiferromagnetic-like vanishing net-magnetization. To date, altermagnetic ordering has been inferred from spatially averaged probes. Here, we demonstrate nanoscale imaging and control of altermagnetic ordering ranging from nanoscale vortices to domain walls to microscale single-domain states in MnTe. We combine the $\cal{T}$-symmetry breaking sensitivity of X-ray magnetic circular dichroism with magnetic linear dichroism and photoemission electron microscopy, to achieve detailed imaging of the local altermagnetic ordering vector. A rich variety of spin configurations can be imposed using microstructure patterning or thermal cycling in magnetic fields. The demonstrated detection and control of altermagnetism paves the way for future research ranging from ultra-scalable digital and neuromorphic spintronic devices, to the interplay of altermagnetism with non-dissipative superconducting or topological phases., Comment: 17 pages, 3 figures

We present simultaneous Chandra X-ray Observatory and Hubble Space Telescope observations of three certain (X5, X7, W37) and two likely (X4, W17) quiescent neutron-star low-mass X-ray binaries (qLMXBs) in the globular cluster 47 Tuc. We study these systems in the X-ray, optical and near-ultraviolet (NUV) using the simultaneous data and additional non-contemporaneous HST data. We have discovered a blue and variable NUV counterpart to W17. We have not securely identified the eclipsing qLMXB W37 in the optical or NUV. Deeper high-resolution imaging is needed to further investigate the faint NUV excess near the centre of the W37 error circle. We suggest that a previously identified optical astrometric match to X7 is likely the true counterpart. The Halpha emission and the location of the counterpart in the colour-magnitude diagram, indicate that the secondary is probably a non-degenerate, H-rich star. This is consistent with previous results from fitting X7's X-ray spectrum. In X4, the simultaneous X-ray and optical behaviour supports the earlier suggestion that the X-ray variability is driven by changes in accretion rate. The X-ray eclipses in X5 coincide with minima in the optical/NUV light curves. Comparison of the 47 Tuc qLMXBs with the cataclysmic variables (CVs) in the cluster confirms that overall the qLMXBs have larger X-ray-to-optical flux ratios. Based on their optical/NUV colors, we conclude that the accretion disks in the qLMXBs are less prominent than in CVs. This makes the ratio of X-ray flux to excess blue optical flux a powerful discriminator between CVs and qLMXBs., Comment: accepted by MNRAS

Oceanic atmospheric oscillations and climate variability are tightly linked and both exhibit broad band spectral content that ranges, with roughly equal strength, from annual to centennial periodicity. The explanation for variability based on the integration of weather noise leads to a spectral content heavily weighted to low frequencies; explaining the variability as resulting from solar forcing leads to a narrow band, approximately eleven year period, spectral content. In both cases the spectral content is incompatible with the observed spectrum. It is known that the Southern Oscillation is frequency modulated, i.e. the time interval between successive events varies on an approximately centenary scale. In this paper we develop a model of the Southern Oscillation responding to the slowly changing frequency of the solar cycle. This results in a frequency modulated oscillation, the spectrum of which is intrinsically broad and flat and therefore compatible with the observed spectrum. Fortunately, the change in frequency of the solar cycle with time has been reconstructed from tree ring data for the last millennium. It is possible to identify time intervals when the frequency was dominated by a single frequency in which case the model oscillation is relatively simple. The 11 year period component of the model time variation was shown to correlate closely with the 11 year period components of observed Southern Oscillation and climate variability. A characteristic of a frequency modulated variable, the equal spacing of spectral peaks, was utilized via a double Fourier transform method to recover solar cycle periodicity from instrumental and reconstructed climate records, with the recovered periodicity and the known periodicity of the solar cycle in good agreement. The concept outlined provides a new way of viewing and assessing the Sun climate connection., Comment: 35 pages, 17 figures

A key challenge towards future quantum internet technology is connecting quantum processors at metropolitan scale. Here, we report on heralded entanglement between two independently operated quantum network nodes separated by 10km. The two nodes hosting diamond spin qubits are linked with a midpoint station via 25km of deployed optical fiber. We minimize the effects of fiber photon loss by quantum frequency conversion of the qubit-native photons to the telecom L-band and by embedding the link in an extensible phase-stabilized architecture enabling the use of the loss-resilient single-photon entangling protocol. By capitalizing on the full heralding capabilities of the network link in combination with real-time feedback logic on the long-lived qubits, we demonstrate the delivery of a predefined entangled state on the nodes irrespective of the heralding detection pattern. Addressing key scaling challenges and being compatible with different qubit systems, our architecture establishes a generic platform for exploring metropolitan-scale quantum networks., Comment: 10 pages, 4 figures, supplementary materials

The design, manufacture and characterisation of an inexpensive, temperature controlled vacuum chamber with millikelvin stability for electrical transport measurements at and near room temperature is reported. A commercially available Peltier device and high-precision temperature controller are used to actively heat and cool the sample space. The system was designed to minimise thermal fluctuations in spintronic and semiconductor transport measurements but the general principle is relevant to a wide range of electrical measurement applications. The main issues overcome are the mounting of a sample with a path of high thermal conductivity through to the Peltier device and the heat-sinking of said Peltier device inside of a vacuum. A copper slug is used as the mount for a sample and a large copper block is used as a thermal feedthrough before a passive heatsink is used to cool this block. The Peltier device provides 20 W of heating and cooling power achieving a maximum range of 30 K below and 40 K above the ambient temperature. The temperature stability is within 5 mK at all set points with even better performance above ambient temperature. A vacuum pressure of 1e-8 hPa is achievable. As a demonstration, we present experimental results from current-induced electrical switching of a CuMnAs thin film. Transport measurements with and without the Peltier control emphasise the importance of a constant temperature in these applications. The thermal lag between the sample space measurement and the sample itself is observed through magnetoresistance values measured during a temperature sweep.

We present details on a new measurement of the muon magnetic anomaly, $a_\mu = (g_\mu -2)/2$. The result is based on positive muon data taken at Fermilab's Muon Campus during the 2019 and 2020 accelerator runs. The measurement uses $3.1$ GeV$/c$ polarized muons stored in a $7.1$-m-radius storage ring with a $1.45$ T uniform magnetic field. The value of $ a_{\mu}$ is determined from the measured difference between the muon spin precession frequency and its cyclotron frequency. This difference is normalized to the strength of the magnetic field, measured using Nuclear Magnetic Resonance (NMR). The ratio is then corrected for small contributions from beam motion, beam dispersion, and transient magnetic fields. We measure $a_\mu = 116 592 057 (25) \times 10^{-11}$ (0.21 ppm). This is the world's most precise measurement of this quantity and represents a factor of $2.2$ improvement over our previous result based on the 2018 dataset. In combination, the two datasets yield $a_\mu(\text{FNAL}) = 116 592 055 (24) \times 10^{-11}$ (0.20 ppm). Combining this with the measurements from Brookhaven National Laboratory for both positive and negative muons, the new world average is $a_\mu$(exp) $ = 116 592 059 (22) \times 10^{-11}$ (0.19 ppm)., Comment: 48 pages, 29 figures; 4 pages of Supplement Material; version accepted for publication in Physical Review D

Nitrogen vacancy centres in diamond can be used for vector magnetometry. In this work we present a portable vector diamond magnetometer. Its vector capability, combined with feedback control and robust structure enables operation on moving platforms. While placed on a trolley, magnetic mapping of a room is demonstrated and the magnetometer is also shown to be operational in a moving van with the measured magnetic field shifts for the x, y, and z axes being tagged with GPS coordinates. These magnetic field measurements are in agreement with measurements taken simultaneously with a fluxgate magnetometer., Comment: 25 pages, 32 figures

We study quasi-freestanding bilayer graphene on silicon carbide intercalated by calcium. The intercalation, and subsequent changes to the system, were investigated by low-energy electron diffraction, angle-resolved photoemission spectroscopy (ARPES) and density-functional theory (DFT). Calcium is found to intercalate only at the graphene-SiC interface, completely displacing the hydrogen terminating SiC. As a consequence, the system becomes highly n-doped. Comparison to DFT calculations shows that the band dispersion, as determined by ARPES, deviates from the band structure expected for Bernal-stacked bilayer graphene. Instead, the electronic structure closely matches AA-stacked bilayer graphene on Ca-terminated SiC, indicating a spontaneous transition from AB- to AA-stacked bilayer graphene following calcium intercalation of the underlying graphene-SiC interface., Comment: 14 pages, 3 figures

Floquet engineering provides an optical means to manipulate electronic bandstructures, however, carriers excited by the pump field can lead to an effective heating, and can obscure measurement of the band changes. A recent demonstration of the effects of Floquet engineering on a coherent ensemble of excitons in monolayer WS$_2$ proved particularly sensitive to non-adiabatic effects, while still being able to accurately resolve bandstructure changes. Here, we drive an AC-Stark effect in monolayer WS$_2$ using pulses with constant fluence but varying pulse duration (from 25-235~fs). With shorter pump pulses, the corresponding increase in peak intensity introduces additional carriers via two-photon absorption, leading to additional decoherence and peak broadening (which makes it difficult to resolve the AC-Stark shift). We use multidimensional coherent spectroscopy to create a coherent ensemble of excitons in monolayer WS$_2$ and measure the evolution of the coherence throughout the duration of the Floquet pump pulse. Changes to the amplitude of the macroscopic coherence quantifies the additional broadening. At the same time, the evolution of the average phase allows the instantaneous changes to the bandstructure to be quantified, and is not impacted by the additional broadening. This approach to measuring the evolution of Floquet-Bloch states demonstrates a means to quantify effective heating and non-adiabaticity caused by excited carriers, while at the same time resolving the coherent evolution of the bandstructure.

Formalised libraries of combinatorial mathematics have rapidly expanded over the last five years, but few use one of the most important tools: probability. How can often intuitive probabilistic arguments on the existence of combinatorial structures, such as hypergraphs, be translated into a formal text? We present a modular framework using locales in Isabelle/HOL to formalise such probabilistic proofs, including the basic existence method and first formalisation of the Lov\'asz local lemma, a fundamental result in probability. The formalisation focuses on general, reusable formal probabilistic lemmas for combinatorial structures, and highlights several notable gaps in typical intuitive probabilistic reasoning on paper. The applicability of the techniques is demonstrated through the formalisation of several classic lemmas on the existence of hypergraphs with certain colourings., Comment: v2: updated to reflect anonymous reviewer feedback. Accepted to CPP2024

Magnetoelastic effects in antiferromagnetic CuMnAs are investigated by applying dynamic strain in the 0.01% range through surface acoustic waves in the GaAs substrate. The magnetic state of the CuMnAs/GaAs is characterized by a multitude of submicron-sized domains which we image by x-ray magnetic linear dichroism combined with photoemission electron microscopy. Within the explored strain range, CuMnAs shows magnetoelastic effects in the form of N\'eel vector waves with micrometer wavelength, which corresponds to an averaged overall spin-axis rotation up to 2.4 deg driven by the time-dependent strain from the surface acoustic wave. Measurements at different temperatures indicate a reduction of the wave amplitude when lowering the temperature. However, no domain wall motion has been detected on the nanosecond timescale