For DC -> DC converters:
efficiency = output / ( output + losses ) if there are no losses ( even in the wires carrying input and output currents ) then efficiency = 100%
this has not been observed to my knowledge, if the losses are negative, the efficiency can be > 100%, this has not been observed either - to my knowledge.
Virtually all losses in electronic devices manifest as heat - i^2R, core losses, dielectric losses, there is some radio frequency radiation too.
Most wires have resistance, so they will have some loss, this is generally true of all common conductors, there are also dielectric losses in capacitors carrying AC
and core losses in inductors with cores.
Generally the efficiency of any DC/DC converter is less than you hoped it would be at the desired operating points.