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Achieving human-level speed and performance on real world tasks is a north star for the robotics research community. This work takes a step towards that goal and presents the first learned robot agent that reaches amateur human-level performance in competitive table tennis. Table tennis is a physically demanding sport which requires human players to undergo years of training to achieve an advanced level of proficiency. In this paper, we contribute (1) a hierarchical and modular policy architecture consisting of (i) low level controllers with their detailed skill descriptors which model the agent's capabilities and help to bridge the sim-to-real gap and (ii) a high level controller that chooses the low level skills, (2) techniques for enabling zero-shot sim-to-real including an iterative approach to defining the task distribution that is grounded in the real-world and defines an automatic curriculum, and (3) real time adaptation to unseen opponents. Policy performance was assessed through 29 robot vs. human matches of which the robot won 45% (13/29). All humans were unseen players and their skill level varied from beginner to tournament level. Whilst the robot lost all matches vs. the most advanced players it won 100% matches vs. beginners and 55% matches vs. intermediate players, demonstrating solidly amateur human-level performance. Videos of the matches can be viewed at https://sites.google.com/view/competitive-robot-table-tennis, Comment: v2, 29 pages, 19 main paper, 10 references + appendix, adding an additional 9 references

Properties of the nuclear equation of state (EoS) can be probed by measuring the dynamical properties of nucleus-nucleus collisions. In this study, we present the directed flow ($v_1$), elliptic flow ($v_2$) and stopping (VarXZ) measured in fixed target Sn + Sn collisions at 270 AMeV with the S$\pi$RIT Time Projection Chamber. We perform Bayesian analyses in which EoS parameters are varied simultaneously within the Improved Quantum Molecular Dynamics-Skyrme (ImQMD-Sky) transport code to obtain a multivariate correlated constraint. The varied parameters include symmetry energy, $S_0$, and slope of the symmetry energy, $L$, at saturation density, isoscalar effective mass, $m_{s}^*/m_{N}$, isovector effective mass, $m_{v}^{*}/m_{N}$ and the in-medium cross-section enhancement factor $\eta$. We find that the flow and VarXZ observables are sensitive to the splitting of proton and neutron effective masses and the in-medium cross-section. Comparisons of ImQMD-Sky predictions to the S$\pi$RIT data suggest a narrow range of preferred values for $m_{s}^*/m_{N}$, $m_{v}^{*}/m_{N}$ and $\eta$.

We present a deep-dive into a real-world robotic learning system that, in previous work, was shown to be capable of hundreds of table tennis rallies with a human and has the ability to precisely return the ball to desired targets. This system puts together a highly optimized perception subsystem, a high-speed low-latency robot controller, a simulation paradigm that can prevent damage in the real world and also train policies for zero-shot transfer, and automated real world environment resets that enable autonomous training and evaluation on physical robots. We complement a complete system description, including numerous design decisions that are typically not widely disseminated, with a collection of studies that clarify the importance of mitigating various sources of latency, accounting for training and deployment distribution shifts, robustness of the perception system, sensitivity to policy hyper-parameters, and choice of action space. A video demonstrating the components of the system and details of experimental results can be found at https://youtu.be/uFcnWjB42I0., Comment: Published and presented at Robotics: Science and Systems (RSS2023)

Understanding the neutron background is essential for determining the neutron yield from nuclear reactions. In the analysis presented here, the shadow bars are placed in front of neutron detectors to determine the energy dependent neutron background fractions. The measurement of neutron spectra with and without shadow bars is important to determine the neutron background more accurately. The neutron background, along with its sources and systematic uncertainties, are explored with a focus on the impact of background models and their dependence on neutron energy., Comment: 7 pages, 10 figures

Experimental information on fragment emissions is important in understanding the dynamics of nuclear collisions and in the development of transport model simulating heavy-ion collisions. The composition of complex fragments emitted in the heavy-ion collisions can be explained by statistical models, which assume that thermal equilibrium is achieved at collision energies below 100 MeV/u. Our new experimental data together with theoretical analyses for light particles from Sn+Sn collisions at 270 MeV/u, suggest that the hypothesis of thermal equilibrium breaks down for particles emitted with high transfer momentum. To inspect the system's properties in such limit, the scaling features of the yield ratios of particles from two systems, a neutron-rich system of ${}^{132}\mathrm{Sn}+{}^{124}\mathrm{Sn}$ and a nearly symmetric system of ${}^{108}\mathrm{Sn}+{}^{112}\mathrm{Sn}$, are examined in the framework of the statistical multifragmentation model and the antisymmetrized molecular dynamics model. The isoscaling from low energy particles agree with both models. However the observed breakdown of isoscaling for particles with high transverse momentum cannot be explained by the antisymmetrized molecular dynamics model.

Context: By providing information about the location of scattering material along the line of sight (LoS) to pulsars, scintillation arcs are a powerful tool for exploring the distribution of ionized material in the interstellar medium. Here, we present observations that probe the ionized ISM on scales of $\sim$~0.001 -- 30~au. Aims: We have surveyed pulsars for scintillation arcs in a relatively unbiased sample with DM < 100 pc cm-3. We present multi-frequency observations of 22 low to moderate DM pulsars. Many of the 54 observations were also observed at another frequency within a few days. Methods: For all observations we present dynamic spectra, autocorrelation functions, and secondary spectra. We analyze these data products to obtain scintillation bandwidths, pulse broadening times, and arc curvatures. Results: We detect definite or probable scintillation arcs in 19 of the 22 pulsars and 34 of the 54 observations, showing that scintillation arcs are a prevalent phenomenon. The arcs are better defined in low DM pulsars. We show that well-defined arcs do not directly imply anisotropy of scattering. Only the presence of reverse arclets and a deep valley along the delay axis, which occurs in about 20\% of the pulsars in the sample, indicates substantial anisotropy of scattering. Conclusions: The survey demonstrates substantial patchiness of the ionized ISM on both au size scales transverse to the line of sight and on $\sim$~100~pc scales along it. We see little evidence for distributed scattering along most lines of sight in the survey., Comment: 34 pages, 5 tables, 12 figures. In addition, there are two figure sets, one with 54 .png files in it and one with 22 .png files in it. These are included in the /anc directory

A challenge preventing successful inverse kinematics measurements with heavy nuclei that are not fully stripped is identifying and tagging the beam particles. For this purpose, the HEavy ISotope Tagger (HEIST) has been developed. HEIST utilizes two micro-channel plate timing detectors to measure time of flight, a multi-sampling ion chamber to measure energy loss, and a high purity Ge detector to identify isomer decays and calibrate the isotope identification system. HEIST has successfully identified $^{198}$Pb and other nearby nuclei at energies of about 75 MeV/A. In the experiment discussed, a typical cut containing 89\% of all $^{198}$Pb$^{+80}$ in the beam had a purity of 86\%. We examine the issues of charge state contamination. The observed charge state populations of these ions are presented and are moderately well described by the charge state model GLOBAL., Comment: The following article has been submitted to Review of Scientific Instruments

Many neutron star (NS) properties, such as the proton fraction within a NS, reflect the symmetry energy contributions to the Equation of State that dominate when neutron and proton densities differ strongly. To constrain these contributions at supra-saturation densities, we measure the spectra of charged pions produced by colliding rare isotope tin (Sn) beams with isotopically enriched Sn targets. Using ratios of the charged pion spectra measured at high transverse momenta, we deduce the slope of the symmetry energy to be $42 < L < 117$ MeV. This value is slightly lower but consistent with the $L$ values deduced from a recent measurement of the neutron skin thickness of $^{208}$Pb.

In the past two decades, pions created in the high density regions of heavy ion collisions have been predicted to be sensitive at high densities to the symmetry energy term in the nuclear equation of state, a property that is key to our understanding of neutron stars. In a new experiment designed to study the symmetry energy, the multiplicities of negatively and positively charged pions have been measured with high accuracy for central $^{132}$Sn+$^{124}$Sn, $^{112}$Sn+$^{124}$Sn, and $^{108}$Sn+$^{112}$Sn collisions at $E/A=270~\mathrm{MeV}$ with the S$\pi$RIT Time Projection Chamber. While the uncertainties of individual pion multiplicities are measured to 4\%, those of the charged pion multiplicity ratios are measured to 2\%. We compare these data to predictions from seven major transport models. The calculations reproduce qualitatively the dependence of the multiplicities and their ratios on the total neutron to proton number in the colliding systems. However, the predictions of the transport models from different codes differ too much to allow extraction of reliable constraints on the symmetry energy from the data. This finding may explain previous contradictory conclusions on symmetry energy constraints obtained from pion data in Au+Au system. These new results call for better understanding of the differences among transport codes, and new observables that are more sensitive to the density dependence of the symmetry energy., Comment: 8 pages, 4 figures, 1 table (accepted for publication in PLB)

The SAMURAI Pion Reconstruction and Ion-Tracker Time Projection Chamber (S$\pi$RIT TPC) was designed to enable measurements of heavy ion collisions with the SAMURAI spectrometer at the RIKEN Radioactive Isotope Beam Factory and provide constraints on the Equation of State of neutron-rich nuclear matter. The S$\pi$RIT TPC has a 50.5 cm drift length and an 86.4 cm $\times$ 134.4 cm pad plane with 12,096 pads that are equipped with the Generic Electronics for TPCs readout electronics. The S$\pi$RIT TPC allows excellent reconstruction of particles and provides isotopic resolution for pions and other light charged particles across a wide range of energy losses and momenta. Details of the S$\pi$RIT TPC are presented, along with discussion of the TPC performance based on cosmic ray and experimental data., Comment: 12 pages, 20 figures

Using the waveforms from a digital electronic system, an offline analysis technique on pulse shape discrimination (PSD) has been developed to improve the neutron-gamma separation in a bar-shaped NE-213 scintillator that couples to a photomultiplier tube (PMT) at each end. The new improved method, called the ``valued-assigned PSD'' (VPSD), assigns a normalized fitting residual to every waveform as the PSD value. This procedure then facilitates the incorporation of longitudinal position dependence of the scintillator, which further enhances the PSD capability of the detector system. In this paper, we use radiation emitted from an AmBe neutron source to demonstrate that the resulting neutron-gamma identification has been much improved when compared to the traditional technique that uses the geometric mean of light outputs from both PMTs. The new method has also been modified and applied to a recent experiment at the National Superconducting Cyclotron Laboratory (NSCL) that uses an analog electronic system., Comment: 8 pages, 8 figures

In this paper, we present a software framework, S$\pi$RITROOT, which is capable of track reconstruction and analysis of heavy-ion collision events recorded with the S$\pi$RIT time projection chamber. The track-fitting toolkit GENFIT and the vertex reconstruction toolkit RAVE are applied to a box-type detector system. A pattern recognition algorithm which performs helix track finding and handles overlapping pulses is described. The performance of the software is investigated using experimental data obtained at the Radioactive Isotope Beam Facility (RIBF) at RIKEN. This work focuses on data from $^{132}$Sn + $^{124}$Sn collision events with beam energy of 270 AMeV. Particle identification is established using $\left$ and magnetic rigidity, with pions, hydrogen isotopes, and helium isotopes., Comment: 10 pages, 17 figures

Time projection chambers (TPCs) are widely used in nuclear and particle physics. They are particularly useful when measuring reaction products from heavy ion collisions. Most nuclear experiments at low energy are performed in a fixed target configuration, in which the unreacted beam will pass through the detection volume. As the beam intensity increases, the buildup of positive ions created from the ionization of the detector gas by the beam creates the main source of space charge, distorting the nominal electric field of the TPC. This has a profound effect on the accuracy of the measured momenta of the emitted particles. In this paper we will discuss the magnitude of the effects and construct an observable more appropriate for fixed target experiments to study the effects. We also will present an algorithm for correcting the space charge and some of the implications it has on the momentum determination., Comment: 9 pages, 10 figures

Particle-decaying states of the light nuclei $^{11,12}$N and $^{12}$O were studied using the invariant-mass method. The decay energies and intrinsic widths of a number of states were measured, and the momentum correlations of three-body decaying states were considered. A second 2$p$-decaying 2$^+$ state of $^{12}$O was observed for the first time, and a higher energy $^{12}$O state was observed in the 4$p$+2$\alpha$ decay channel. This 4$p$+2$\alpha$ channel also contains contributions from fission-like decay paths, including $^6$Be$_{g.s.}$+$^{6}$Be$_{g.s.}$. Analogs to these states in $^{12}$O were found in $^{12}$N in the 2$p$+$^{10}$B and 2$p$+$\alpha$+$^6$Li channels. The momentum correlations for the prompt 2$p$ decay of $^{12}$O$_{g.s.}$ were found to be nearly identical to those of $^{16}$Ne$_{g.s.}$, and the correlations for the new 2$^+$ state were found to be consistent with sequential decay through excited states in $^{11}$N. The momentum correlations for the 2$^+_1$ state in $^{12}$O provide a new value for the $^{11}$N ground-state energy. The states in $^{12}$N/$^{12}$O that belong to the $A$=12 isobaric sextet do not deviate from the quadratic isobaric multiplet mass equation (IMME) form., Comment: 16 pages, 16 figures, 7 tables, tables corrected

After a decade of great progress in understanding gas flow into, out of, and through the Milky Way, we are poised to merge observations with simulations to build a comprehensive picture of the multi-scale magnetized interstellar medium (ISM). These insights will also be crucial to four bold initiatives in the 2020s: detecting nanohertz gravitational waves with pulsar timing arrays (PTAs), decoding fast radio bursts (FRBs), cosmic B-mode detection, and imaging the Milky Way's black hole with the Event Horizon Telescope (EHT)., Comment: 11 page, 6 figures, 47 references. Submitted as an Astro2020 science white paper on March 11, 2019

The light output produced by light ions (Z<=4) in CsI(Tl) crystals is studied over a wide range of detected energies (E<=300 MeV). Energy-light calibration data sets are obtained with the 10 cm crystals in the recently upgraded High-Resolution Array (HiRA10). We use proton recoil data from 40,48Ca + CH2 at 28 MeV/u, 56.6 MeV/u, 39 MeV/u and 139.8 MeV/u and data from a dedicated experiment with direct low-energy beams. We also use the punch through points of p, d, and t particles from 40,48Ca + 58,64Ni, 112,124Sn collisions reactions at 139.8 MeV/u. Non-linearities, arising in particular from Tl doping and light collection efficiency in the CsI crystals, are found to significantly affect the light output and therefore the calibration of the detector response for light charged particles, especially the hydrogen isotopes. A new empirical parametrization of the hydrogen light output, L(E,Z=1,A), is proposed to account for the observed effects. Results are found to be consistent for all 48 CsI(Tl) crystals in a cluster of 12 HiRA10 telescopes.

The structure of the extremely proton-rich nucleus $^{11}_{~8}$O$_3$, the mirror of the two-neutron halo nucleus $^{11}_{~3}$Li$_8$, has been studied experimentally for the first time. Following two-neutron knockout reactions with a $^{13}$O beam, the $^{11}$O decay products were detected after two-proton emission and used to construct an invariant-mass spectrum. A broad peak of width $\sim$3\,MeV was observed. Within the Gamow coupled-channel approach, it was concluded that this peak is a multiplet with contributions from the four-lowest $^{11}$O resonant states: $J^{\pi}$=3/2$^-_1$, 3/2$^-_2$, 5/2$^+_1$, and 5/2$^+_2$. The widths and configurations of these states show strong, non-monotonic dependencies on the depth of the $p$-$^9$C potential. This unusual behavior is due to the presence of a broad threshold resonant state in $^{10}$N, which is an analog of the virtual state in $^{10}$Li in the presence of the Coulomb potential. After optimizing the model to the data, only a moderate isospin asymmetry between ground states of $^{11}$O and $^{11}$Li was found., Comment: 6 pages, three figures

Scintillation arcs have become a powerful tool for exploring scattering in the ionized interstellar medium. There is accumulating evidence that the scattering from many pulsars is extremely anisotropic resulting in highly elongated, linear brightness functions. We present a three-frequency (327~MHz, 432~MHz, 1450~MHz) Arecibo study of scintillation arcs from one nearby, bright, high-velocity pulsar, PSR~B1133+16. We show that a one-dimensional (1D), linear brightness function is in good agreement with the data at all three observing frequencies. We use two methods to explore the broadening of the 1D brightness function $B(\theta)$ as a function of frequency: 1) crosscuts of the forward arc at constant delay and 2) a 1D modeling of $B(\theta)$ using a comparison between model and observed secondary spectrum as a goodness-of-fit metric. Both methods show that the half-power width of $B(\theta)$ deviates from the expected dependence $\propto \nu^{-a}$, where $\nu$ is the observing frequency . Our estimates of $a$ have moderately large uncertainties but imply $a \lesssim1.8$, and so are inconsistent with the expected $a = 2.0$ for plasma refraction or $a = 2.2$ for Kolmogorov turbulence. In addition the shape of $B(\theta)$ cuts off more steeply than predicted for Kolmogorov turbulence. Ultimately, we conclude that the underlying physics of the broadening mechanism remains unexplained. Our results place the scattering screen at a distance that is broadly consistent with an origin at the boundary of the Local Bubble., Comment: 10 pages, 4 multi-panel figures (18 separate panels)

In this work, two particular properties of the position-sensitive, thick silicon detectors (known as the "E" detectors) in the High Resolution Array (HiRA) are investigated: the thickness of the dead layer on the front of the detector, and the overall thickness of the detector itself. The dead layer thickness for each E detector in HiRA is extracted using a measurement of alpha particles emitted from a $^{212}$Pb pin source placed close to the detector surface. This procedure also allows for energy calibrations of the E detectors, which are otherwise inaccessible for alpha source calibration as each one is sandwiched between two other detectors. The E detector thickness is obtained from a combination of elastically scattered protons and an energy-loss calculation method. Results from these analyses agree with values provided by the manufacturer., Comment: Accepted for publication in Nuclear Instruments and Methods in Physics Research

Pion energy spectra are presented for central collisions of neutron-rich 132Sn+124Sn and neutron-deficient 108Sn+112Sn systems using simulations with Boltzmann-Uehling-Uhlenbeck transport model. These calculations, which incorporate isospin-dependent mean field potentials for relevant baryons and mesons, display a sensitivity to the pion spectra that could allow significant constraints on the density dependence of the symmetry energy and its mean field potential at supra-saturation densities. The predicted sensitivity increases with the isospin asymmetry of the total system and decreases with incident energy.

A simple but novel driver system has been developed to operate the wire gating grid of a Time Projection Chamber (TPC). This system connects the wires of the gating grid to its driver via low impedance transmission lines. When the gating grid is open, all wires have the same voltage allowing drift electrons, produced by the ionization of the detector gas molecules, to pass through to the anode wires. When the grid is closed, the wires have alternating higher and lower voltages causing the drift electrons to terminate at the more positive wires. Rapid opening of the gating grid with low pickup noise is achieved by quickly shorting the positive and negative wires to attain the average bias potential with N-type and P-type MOSFET switches. The circuit analysis and simulation software SPICE shows that the driver restores the gating grid voltage to 90% of the opening voltage in less than 0.20 $\mu$s. When tested in the experimental environment of a time projection chamber larger termination resistors were chosen so that the driver opens the gating grid in 0.35 $\mu$s. In each case, opening time is basically characterized by the RC constant given by the resistance of the switches and terminating resistors and the capacitance of the gating grid and its transmission line. By adding a second pair of N-type and P-type MOSFET switches, the gating grid is closed by restoring 99% of the original charges to the wires within 3 $\mu$s., Comment: 18 pages, 10 figures, 2 tables. Submitted to Nuclear Instruments & Methods in Physics Resarch A

KATANA - the Krakow Array for Triggering with Amplitude discrimiNAtion - has been built and used as a trigger and veto detector for the S$\pi$RIT TPC at RIKEN. Its construction allows operating in magnetic field and providing fast response for ionizing particles, giving the approximate forward multiplicity and charge information. Depending on this information, trigger and veto signals are generated. The article presents performance of the detector and details of its construction. A simple phenomenological parametrization of the number of emitted scintillation photons in plastic scintillator is proposed. The effect of the light output deterioration in the plastic scintillator due to the in-beam irradiation is discussed., Comment: 14 pages, 11 figures

A Time-Projection Chamber (TPC) called the SAMURAI Pion-Reconstruction and Ion-Tracker (S$\pi$RIT) has recently been constructed at Michigan State University as part of an international effort to constrain the symmetry-energy term in the nuclear Equation of State (EoS). The S$\pi$RIT TPC will be used in conjunction with the SAMURAI spectrometer at the Radioactive Isotope Beam Factory (RIBF) at RIKEN to measure yield ratios for pions and other light isospin multiplets produced in central collisions of neutron-rich heavy ions, such as $^{132}$Sn + $^{124}$Sn. The S$\pi$RIT TPC can function both as a TPC detector and as an active target. It has a vertical drift length of 50 cm, parallel to the magnetic field. Gas multiplication is achieved through the use of a multi-wire anode. Image charges are produced in the 12096 pads, and are read out with the recently developed Generic Electronics for TPCs., Comment: 7 pages, 3 figures, 2 tables. Submitted to NIM A Proceedings

Intraday variability (IDV) of the radio emission from active galactic nuclei is now known to be predominantly due to interstellar scintillation (ISS). The MASIV (The Micro-Arcsecond Scintillation-Induced Variability) survey of 443 flat spectrum sources revealed that the IDV is related to the radio flux density and redshift. A study of the physical properties of these sources has been severely handicapped by the absence of reliable redshift measurements for many of these objects. This paper presents 79 new redshifts and a critical evaluation of 233 redshifts obtained from the literature. We classify spectroscopic identifications based on emission line properties, finding that 78% of the sources have broad emission lines and are mainly FSRQs. About 16% are weak lined objects, chiefly BL Lacs, and the remaining 6% are narrow line objects. The gross properties (redshift, spectroscopic class) of the MASIV sample are similar to those of other blazar surveys. However, the extreme compactness implied by ISS favors FSRQs and BL Lacs in the MASIV sample as these are the most compact object classes. We confirm that the level of IDV depends on the 5\,GHz flux density for all optical spectral types. We find that BL Lac objects tend to be more variable than broad line quasars. The level of ISS decreases substantially above a redshift of about two. The decrease is found to be generally consistent with ISS expected for beamed emission from a jet that is limited to a fixed maximum brightness temperature in the source rest frame., Comment: Accepted for publication by the Astrophysical Journal