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We aim to constrain the equation of state of nuclear matter by comparing calculations with the SMASH transport model to directed and elliptic flow measurements for protons and deuterons performed by the HADES collaboration in a systematic way. A momentum-dependent term is included in the potential for which we show that it is needed to describe flow data. We further incorporate a simple symmetry potential in the transport model and present constraints on the stiffness of the equation of state of nuclear matter at saturation density and on the symmetry potential. The constraints are obtained by performing a Bayesian analysis such that we can also provide an uncertainty for the estimated parameters. The posterior distribution is obtained by Markov chain Monte Carlo sampling for which we emulate the transport model with a Gaussian process to lower computational costs. We find that a relatively stiff equation of state is favoured in our analysis with a small uncertainty whereas the constraints obtained for the symmetry potential are rather loose., Comment: 11 pages, 11 figures

Robot manipulation relying on learned object-centric descriptors became popular in recent years. Visual descriptors can easily describe manipulation task objectives, they can be learned efficiently using self-supervision, and they can encode actuated and even non-rigid objects. However, learning robust, view-invariant keypoints in a self-supervised approach requires a meticulous data collection approach involving precise calibration and expert supervision. In this paper we introduce Cycle-Correspondence Loss (CCL) for view-invariant dense descriptor learning, which adopts the concept of cycle-consistency, enabling a simple data collection pipeline and training on unpaired RGB camera views. The key idea is to autonomously detect valid pixel correspondences by attempting to use a prediction over a new image to predict the original pixel in the original image, while scaling error terms based on the estimated confidence. Our evaluation shows that we outperform other self-supervised RGB-only methods, and approach performance of supervised methods, both with respect to keypoint tracking as well as for a robot grasping downstream task., Comment: 8 pages, 4 figures, 2 tables

We use the Heisenberg picture of Everettian quantum mechanics to work out the relative descriptors for the Frauchiger-Renner thought experiment. While Everettian mechanics reveals no paradox within the thought experiment, the decoherence-free setup offers an instructive branching tree. Traditionally, branching structures derived from the Schr\"odinger picture suggest that foliations are always sharply defined. However, the Heisenberg picture demonstrates that the tree contains regions with inherently non-sharp foliations, leading to the conclusion that, in Everettian mechanics, quantum agents possess a blurry memory. This analysis helps resolve several misconceptions stemming from the Schr\"odinger picture., Comment: 10 pages, 2 figures

Bin picking is an important building block for many robotic systems, in logistics, production or in household use-cases. In recent years, machine learning methods for the prediction of 6-DoF grasps on diverse and unknown objects have shown promising progress. However, existing approaches only consider a single ground truth grasp orientation at a grasp location during training and therefore can only predict limited grasp orientations which leads to a reduced number of feasible grasps in bin picking with restricted reachability. In this paper, we propose a novel approach for learning dense and diverse 6-DoF grasps for parallel-jaw grippers in robotic bin picking. We introduce a parameterized grasp distribution model based on Power-Spherical distributions that enables a training based on all possible ground truth samples. Thereby, we also consider the grasp uncertainty enhancing the model's robustness to noisy inputs. As a result, given a single top-down view depth image, our model can generate diverse grasps with multiple collision-free grasp orientations. Experimental evaluations in simulation and on a real robotic bin picking setup demonstrate the model's ability to generalize across various object categories achieving an object clearing rate of around $90 \%$ in simulation and real-world experiments. We also outperform state of the art approaches. Moreover, the proposed approach exhibits its usability in real robot experiments without any refinement steps, even when only trained on a synthetic dataset, due to the probabilistic grasp distribution modeling.

In recent years, solvers for finite-element discretizations of linear or linearized saddle-point problems, like the Stokes and Oseen equations, have become well established. There are two main classes of preconditioners for such systems: those based on block-factorization approach and those based on monolithic multigrid. Both classes of preconditioners have several critical choices to be made in their composition, such as the selection of a suitable relaxation scheme for monolithic multigrid. From existing studies, some insight can be gained as to what options are preferable in low-performance computing settings, but there are very few fair comparisons of these approaches in the literature, particularly for modern architectures, such as GPUs. In this paper, we perform a comparison between a block-triangular preconditioner and a monolithic multigrid method with the three most common choices of relaxation scheme - Braess-Sarazin, Vanka, and Schur-Uzawa. We develop a performant Vanka relaxation algorithm for structured-grid discretizations, which takes advantage of memory efficiencies in this setting. We detail the behavior of the various CUDA kernels for the multigrid relaxation schemes and evaluate their individual arithmetic intensity, performance, and runtime. Running a preconditioned FGMRES solver for the Stokes equations with these preconditioners allows us to compare their efficiency in a practical setting. We show monolithic multigrid can outperform block-triangular preconditioning, and that using Vanka or Braess-Sarazin relaxation is most efficient. Even though multigrid with Vanka relaxation exhibits reduced performance on the CPU (up to $100\%$ slower than Braess-Sarazin), it is able to outperform Braess-Sarazin by more than $20\%$ on the GPU, making it a competitive algorithm, especially given the high amount of algorithmic tuning needed for effective Braess-Sarazin relaxation., Comment: submitted to IJHPCA

Transformer models underpin many recent advances in practical machine learning applications, yet understanding their internal behavior continues to elude researchers. Given the size and complexity of these models, forming a comprehensive picture of their inner workings remains a significant challenge. To this end, we set out to understand small transformer models in a more tractable setting: that of solving mazes. In this work, we focus on the abstractions formed by these models and find evidence for the consistent emergence of structured internal representations of maze topology and valid paths. We demonstrate this by showing that the residual stream of only a single token can be linearly decoded to faithfully reconstruct the entire maze. We also find that the learned embeddings of individual tokens have spatial structure. Furthermore, we take steps towards deciphering the circuity of path-following by identifying attention heads (dubbed $\textit{adjacency heads}$), which are implicated in finding valid subsequent tokens., Comment: 15 pages, 18 figures, 15 tables. Corresponding author: Michael Ivanitskiy (mivanits@mines.edu). Code available at https://github.com/understanding-search/structured-representations-maze-transformers

Heat engines are key devices that convert thermal energy into usable energy. Strong thermoelectricity, at the basis of electrical heat engines, is present in superconducting spin tunnel barriers at cryogenic temperatures where conventional semiconducting or metallic technologies cease to work. Here we realize a superconducting spintronic heat engine consisting of a ferromagnetic insulator/superconductor/insulator/ferromagnet tunnel junction (EuS/Al/AlO$_x$/Co). The efficiency of the engine is quantified for bath temperatures ranging from 25 mK up to 800 mK, and at different load resistances. Moreover, we show that the sign of the generated thermoelectric voltage can be inverted according to the parallel or anti-parallel orientation of the two ferromagnetic layers, EuS and Co. This realizes a thermoelectric spin valve controlling the sign and strength of the Seebeck coefficient, thereby implementing a thermoelectric memory cell. We propose a theoretical model that allows describing the experimental data and predicts the engine efficiency for different device parameters., Comment: 12 pages, 7 figures

Inclusive e$^+$e$^-$ production has been studied with HADES in $\pi^-$ + p, $\pi^-$ + C and $\pi^- + \mathrm{CH}_2$ reactions, using the GSI pion beam at $\sqrt{s_{\pi p}}$ = 1.49 GeV. Invariant mass and transverse momentum distributions have been measured and reveal contributions from Dalitz decays of $\pi^0$, $\eta$ mesons and baryon resonances. The transverse momentum distributions are very sensitive to the underlying kinematics of the various processes. The baryon contribution exhibits a deviation up to a factor seven from the QED reference expected for the dielectron decay of a hypothetical point-like baryon with the production cross section constrained from the inverse $\gamma$ n$\rightarrow \pi^-$ p reaction. The enhancement is attributed to a strong four-momentum squared dependence of the time-like electromagnetic transition form factors as suggested by Vector Meson Dominance (VMD). Two versions of the VMD, that differ in the photon-baryon coupling, have been applied in simulations and compared to data. VMD1 (or two-component VMD) assumes a coupling via the $\rho$ meson and a direct coupling of the photon, while in VMD2 (or strict VMD) the coupling is only mediated via the $\rho$ meson. The VMD2 model, frequently used in transport calculations for dilepton decays, is found to overestimate the measured dielectron yields, while a good description of the data can be obtained with the VMD1 model assuming no phase difference between the two amplitudes. Similar descriptions have also been obtained using a time-like baryon transition form factor model where the pion cloud plays the major role., Comment: (HADES collaboration)

Understanding how machine learning models respond to distributional shifts is a key research challenge. Mazes serve as an excellent testbed due to varied generation algorithms offering a nuanced platform to simulate both subtle and pronounced distributional shifts. To enable systematic investigations of model behavior on out-of-distribution data, we present $\texttt{maze-dataset}$, a comprehensive library for generating, processing, and visualizing datasets consisting of maze-solving tasks. With this library, researchers can easily create datasets, having extensive control over the generation algorithm used, the parameters fed to the algorithm of choice, and the filters that generated mazes must satisfy. Furthermore, it supports multiple output formats, including rasterized and text-based, catering to convolutional neural networks and autoregressive transformer models. These formats, along with tools for visualizing and converting between them, ensure versatility and adaptability in research applications., Comment: 9 pages, 5 figures, 1 table. Corresponding author: Michael Ivanitskiy (mivanits@umich.edu). Code available at https://github.com/understanding-search/maze-dataset

Solid-state high harmonic generation spectroscopy (sHHG) is a promising technique for studying electronic structure, symmetry, and dynamics in condensed matter systems. Here, we report on the implementation of an advanced sHHG spectrometer based on a vacuum chamber and closed-cycle helium cryostat. Using an in situ temperature probe, it is demonstrated that the sample interaction region retains cryogenic temperature during the application of high-intensity femtosecond laser pulses that generate high harmonics. The presented implementation opens the door for temperature-dependent sHHG measurements down to few Kelvin, which makes sHHG spectroscopy a new tool for studying phases of matter that emerge at low temperatures, which is particularly interesting for highly correlated materials.

While the evolution of the Internet was driven by the end-to-end model, it has been challenged by many flavors of middleboxes over the decades. Yet, the basic idea is still fundamental: reliability and security are usually realized end-to-end, where the strong trend towards ubiquitous traffic protection supports this notion. However, reasons to break up, or redefine the ends of, end-to-end connections have always been put forward in order to improve transport layer performance. Yet, the consolidation of the transport layer with the end-to-end security model as introduced by QUIC protects most protocol information from the network, thereby eliminating the ability to modify protocol exchanges. In this paper, we enhance QUIC to selectively expose information to intermediaries, thereby enabling endpoints to consciously insert middleboxes into an end-to-end encrypted QUIC connection while preserving its privacy, integrity, and authenticity. We evaluate our design in a distributed Performance Enhancing Proxy environment over satellite networks, finding that the performance improvements are dependent on the path and application layer properties: the higher the round-trip time and loss, and the more data is transferred over a connection, the higher the benefits of Secure Middlebox-Assisted QUIC.

As recent trends in manufacturing engineering disciplines show a clear development in the sustainable as well as economically efficient design of forming processes, monitoring techniques have been gaining in relevance. In terms of monitoring of product properties, most processes are currently open-loop controlled, entailing that the microstructure evolution, which determines the final product properties, is not considered. However, a closed-loop control that can adjust and manipulate the process actuators according to the required product properties of the component will lead to a considerable increase in efficiency of the processes regarding resources and will decrease postproduction of the component. For most forming processes, one set of component dimensions will result in a certain set of product properties. However, to successfully establish closed-loop property controls for the processes, a systematic understanding of the reciprocity of the dimensions after forming and final product properties must be established. This work investigates the evolution of dimensional accuracy as well as product properties for a series of forming processes that utilize different degrees of freedom for process control.