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Because imitation learning relies on human demonstrations in hard-to-simulate settings, the inclusion of force control in this method has resulted in a shortage of training data, even with a simple change in speed. Although the field of data augmentation has addressed the lack of data, conventional methods of data augmentation for robot manipulation are limited to simulation-based methods or downsampling for position control. This paper proposes a novel method of data augmentation that is applicable to force control and preserves the advantages of real-world datasets. We applied teaching-playback at variable speeds as real-world data augmentation to increase both the quantity and quality of environmental reactions at variable speeds. An experiment was conducted on bilateral control-based imitation learning using a method of imitation learning equipped with position-force control. We evaluated the effect of real-world data augmentation on two tasks, pick-and-place and wiping, at variable speeds, each from two human demonstrations at fixed speed. The results showed a maximum 55% increase in success rate from a simple change in speed of real-world reactions and improved accuracy along the duration/frequency command by gathering environmental reactions at variable speeds., Comment: 16 pages, 12 figures, 4 tables. This is a preprint of an article submitted for consideration in ADVANCED ROBOTICS, copyright Taylor & Francis and Robotics Society of Japan; ADVANCED ROBOTICS is available online at http://www.tandfonline.com/

We present the results for the nucleon axial-vector, induced pseudoscalar and pion-nucleon couplings obtained from 2+1 flavor lattice QCD at the physical point with a large spatial extent of about 10 fm. Our calculations are performed with the PACS10 gauge configurations generated by the PACS Collaboration with the six stout-smeared $O(a)$ improved Wilson-clover quark action and Iwasaki gauge action at $\beta$ = 1.82, 2.00 and 2.20 corresponding to lattice spacings of 0.09 fm (coarse), 0.06 fm (fine) and 0.04 fm (superfine), respectively. We first evaluate the value of the nucleon axial-vector coupling. In addition, the induced pseudoscalar and pion-nucleon couplings from the induced pseudoscalar form factor are also investigated. Combining the results obtained from the all of our coarse, fine and superfine lattices, we finally discuss the systematic uncertainties in our calculation based on the comparison with both of the experimental values and lattice QCD results provided by the other collaborations., Comment: 9 pages, 2 figures, Proceedings of the 41st International Symposium on Lattice Field Theory (Lattice 2024), July 28th - August 3rd, 2024, University of Liverpool, UK

Conventional methods of imitation learning for variable-speed motion have difficulty extrapolating speeds because they rely on learning models running at a constant sampling frequency. This study proposes variable-frequency imitation learning (VFIL), a novel method for imitation learning with learning models trained to run at variable sampling frequencies along with the desired speeds of motion. The experimental results showed that the proposed method improved the velocity-wise accuracy along both the interpolated and extrapolated frequency labels, in addition to a 12.5 % increase in the overall success rate., Comment: 7 pages, 9 figures, 2 tables. Submitted to IEEE ICM 2025

In recent years, imitation learning using neural networks has enabled robots to perform flexible tasks. However, since neural networks operate in a feedforward structure, they do not possess a mechanism to compensate for output errors. To address this limitation, we developed a feedback mechanism to correct these errors. By employing a hierarchical structure for neural networks comprising lower and upper layers, the lower layer was controlled to follow the upper layer. Additionally, using a multi-layer perceptron in the lower layer, which lacks an internal state, enhanced the error feedback. In the character-writing task, this model demonstrated improved accuracy in writing previously untrained characters. In the character-writing task, this model demonstrated improved accuracy in writing previously untrained characters. Through autonomous control with error feedback, we confirmed that the lower layer could effectively track the output of the upper layer. This study represents a promising step toward integrating neural networks with control theories.

Lifshitz invariant is a symmetry invariant composed of multiple order parameters that contain a single spatial derivative in a Ginzburg-Landau (GL) free energy, which may induce a nonuniform configuration of the order parameters. In multiband superconductors, we find phase transitions from a uniform superconducting state to qualitatively distinct two pair-density-wave (PDW) states with small and large momenta $\boldsymbol{q}$ based on the GL theory. The former is induced by the Lifshitz invariant, while the latter originates from the drag effect. In the PDW states, the Higgs and Leggett modes (i.e., collective amplitude and relative phase oscillations of the order parameters) are shown to couple to electromagnetic fields linearly. We construct microscopic models of multiband superconductors with Lifshitz invariant that exhibit PDW states, and calculate the linear optical conductivity using the diagrammatic approach. We find optically active Higgs and Leggett modes in the small $\boldsymbol{q}$ PDW state, indicating that the PDW state is a suitable platform to explore collective modes of multiband superconductors in the linear response regime., Comment: 20+15 pages, 16 figures

Young supernova remnants (SNRs) are believed to be the origin of energetic cosmic rays (CRs) below the "knee" of their spectrum at $\sim3$ petaelectronvolt (PeV, $10^{15}$ eV). Nevertheless, the precise location, duration, and operation of CR acceleration in young SNRs are open questions. Here, we report on multi-epoch X-ray observations of Cassiopeia A (Cas A), a 350-year-old SNR, in the 15-50 keV band that probes the most energetic CR electrons. The observed X-ray flux decrease $(15\pm1\%)$, contrary to the expected $>$90\% decrease based on previous radio, X-ray, and gamma-ray observations, provides unambiguous evidence for CR electron acceleration operating in Cas A. A temporal model for the radio and X-ray data accounting for electron cooling and continuous injection finds that the freshly injected electron spectrum is significantly harder (exponential cutoff power law index $q=2.15$), and its cutoff energy is much higher ($E_{cut}=36$ TeV) than the relic electron spectrum ($q=2.44\pm0.03$, $E_{cut}=4\pm1$ TeV). Both electron spectra are naturally explained by the recently developed modified nonlinear diffusive shock acceleration (mNLDSA) mechanism. The CR protons producing the observed gamma rays are likely accelerated at the same location by the same mechanism as those for the injected electron. The Cas A observations and spectral modeling represent the first time radio, X-ray, gamma ray and CR spectra have been self-consistently tied to a specific acceleration mechanism -- mNLDSA -- in a young SNR., Comment: Accepted for publication in ApJ. 14 pages, 4 figures, 2 tables

GRAMS (Gamma-Ray and AntiMatter Survey) is a next-generation balloon/satellite experiment utilizing a LArTPC (Liquid Argon Time Projection Chamber), to simultaneously target astrophysical observations of cosmic MeV gamma-rays and conduct an indirect dark matter search using antimatter. While LArTPCs are widely used in particle physics experiments, they have never been operated at balloon altitudes. An engineering balloon flight with a small-scale LArTPC (eGRAMS) was conducted on July 27th, 2023, to establish a system for safely operating a LArTPC at balloon altitudes and to obtain cosmic-ray data from the LArTPC. The flight was launched from the Japan Aerospace Exploration Agency's (JAXA) Taiki Aerospace Research Field in Hokkaido, Japan. The total flight duration was 3 hours and 12 minutes, including a level flight of 44 minutes at a maximum altitude of 28.9 km. The flight system was landed on the sea and successfully recovered. The LArTPC was successfully operated throughout the flight, and about 0.5 million events of the cosmic-ray data including muons, protons, and Compton scattering gamma-ray candidates, were collected. This pioneering flight demonstrates the feasibility of operating a LArTPC in high-altitude environments, paving the way for future GRAMS missions and advancing our capabilities in MeV gamma-ray astronomy and dark matter research.

Motivated by the barycenter problem in optimal transportation theory, Kolesnikov--Werner recently extended the notion of the Legendre duality relation for two functions to the case for multiple functions. We further generalize the duality relation and then establish the centered Gaussian saturation property for a Blaschke--Santal\'{o} type inequality associated with it. Our approach to the understanding such a generalized Legendre duality relation is based on our earlier observation that directly links Legendre duality with the inverse Brascamp--Lieb inequality. More precisely, for a large family of degenerate Brascamp--Lieb data, we prove that the centered Gaussian saturation property for the inverse Brascamp--Lieb inequality holds true when inputs are restricted to even and log-concave functions. As an application to convex geometry, we establish the most important case of a conjecture of Kolesnikov and Werner about the Blaschke--Santal\'{o} inequality for multiple even functions as well as multiple symmetric convex bodies. Furthermore, in the direction of information theory and optimal transportation theory, this provides an affirmative answer to another conjecture of Kolesnikov--Werner about a Talagrand type inequality for multiple even probability measures that involves the Wasserstein barycenter., Comment: 45 pages; We fixed some typos, and added some detailed arguments in the end of Section 5

The Increasing Population Covariance Matrix Adaptation Evolution Strategy (IPOP-CMA-ES) algorithm is a reference stochastic optimizer dedicated to blackbox optimization, where no prior knowledge about the underlying problem structure is available. This paper aims at accelerating IPOP-CMA-ES thanks to high performance computing and parallelism when solving large optimization problems. We first show how BLAS and LAPACK routines can be introduced in linear algebra operations, and we then propose two strategies for deploying IPOP-CMA-ES efficiently on large-scale parallel architectures with thousands of CPU cores. The first parallel strategy processes the multiple searches in the same ordering as the sequential IPOP-CMA-ES, while the second one processes concurrently these multiple searches. These strategies are implemented in MPI+OpenMP and compared on 6144 cores of the supercomputer Fugaku. We manage to obtain substantial speedups (up to several thousand) and even super-linear ones, and we provide an in-depth analysis of our results to understand precisely the superior performance of our second strategy.

In this paper, we provide the semi-analytical solution of the temperature and flow fields of a fluid confined in a narrow space between two parallel plates. The temperature increase is triggered by photothermal effects of fluids and/or boundaries due to the absorption of a focused Gaussian beam irradiated perpendicular to the fluid film, and then the temperature variation induces the flow fields through a buoyancy force and/or thermo-osmotic slip. The semi-analytical solution to this optothermal fluidic system is validated by comparing with the results of numerical simulation, and is applied to typical optothermal fluidic problems. In particular, the optothermal trap of nanoparticles observed in our previous experiment [T. Tsuji, et al., Electrophoresis, 42, 2401 (2021)] is investigated in terms of thermophoretic force and flow drag that are obtained semi-analytically. The semi-analytical solution can be shared through open-source codes that are available to researchers without the background of fluid mechanics., Comment: 19 figures

Many datasets of natural language processing (NLP) sometimes include annotation errors. Researchers have attempted to develop methods to reduce the adverse effect of errors in datasets automatically. However, an existing method is time-consuming because it requires many trained models to detect errors. We propose a novel method to reduce the time of error detection. Specifically, we use a tokenization technique called subword regularization to create pseudo-multiple models which are used to detect errors. Our proposed method, SubRegWeigh, can perform annotation weighting four to five times faster than the existing method. Additionally, SubRegWeigh improved performance in both document classification and named entity recognition tasks. In experiments with pseudo-incorrect labels, pseudo-incorrect labels were adequately detected., Comment: 14 pages, 1 figures, 10 tables

Recent advancements in imitation learning, particularly with the integration of LLM techniques, are set to significantly improve robots' dexterity and adaptability. This paper proposes using Mamba, a state-of-the-art architecture with potential applications in LLMs, for robotic imitation learning, highlighting its ability to function as an encoder that effectively captures contextual information. By reducing the dimensionality of the state space, Mamba operates similarly to an autoencoder. It effectively compresses the sequential information into state variables while preserving the essential temporal dynamics necessary for accurate motion prediction. Experimental results in tasks such as cup placing and case loading demonstrate that despite exhibiting higher estimation errors, Mamba achieves superior success rates compared to Transformers in practical task execution. This performance is attributed to Mamba's structure, which encompasses the state space model. Additionally, the study investigates Mamba's capacity to serve as a real-time motion generator with a limited amount of training data., Comment: 8 pages, 9 figures

Partial solvability plays an important role in the context of statistical mechanics, since it has turned out to be closely related to the emergence of quantum many-body scar states, i.e., exceptional energy eigenstates which do not obey the strong version of the eigenstate themalization hypothesis. We show that partial solvability of a quantum many-body system can be maintained even when the system is coupled to boundary dissipators under certain conditions. We propose two mechanisms that support partially solvable structures in boundary dissipative systems: The first one is based on the restricted spectrum generating algebra, while the second one is based on the Hilbert space fragmentation. From these structures, we derive exact eigenmodes of the Gorini-Kossakowski-Sudarshan-Lindblad equation for a family of quantum spin chain models with boundary dissipators, where we find various intriguing phenomena arising from the partial solvability of the open quantum systems, including persistent oscillations (quantum synchronization) and the existence of the matrix product operator symmetry. We discuss how the presence of solvable eigenmodes affects long-time behaviors of observables in boundary dissipative spin chains based on numerical simulations using the quantum trajectory method., Comment: 30 pages, 7 figures, 2 tables

This study explores the stabilization mechanisms of concentrated emulsions with tunable morphology using amphiphilic polymer-grafted nanoparticles (PGNPs). We employ coarse-grained molecular simulations to investigate concentrated oil-in-water emulsions stabilized by partially hydrolyzed poly(vinyl alcohol)-grafted poly(methyl methacrylate) (PMMA) particles. Two grafting architectures were examined: hydrophilic-hydrophobic (AB-type) diblock PGNPs and reverse BA-type diblock PGNPs. Our findings reveal that AB-type diblock PGNPs tend to aggregate, leading to droplet-droplet coalescence. In contrast, BA-type diblock PGNPs disperse effectively in the water phase, stabilizing robust emulsion through a space-filling mechanism. The study further demonstrates that the stability and morphology of the emulsions can be tuned by varying the number of PGNPs. Our results suggest that BA-type diblock PGNPs are more effective in stabilizing concentrated emulsions, offering insights for the design of novel emulsifiers in industrial applications., Comment: 6 pages, 4 figures

Relying substantially on work of Garg, Gurvits, Oliveira and Wigderson, it is shown that geometric Brascamp--Lieb data are, in a certain sense, ubiquitous. This addresses a question raised by Bennett and Tao in their recent work on the adjoint Brascamp--Lieb inequality., Comment: 0 figure, comments are welcome !

GroundBIRD is a ground-based cosmic microwave background (CMB) experiment for observing the polarization pattern imprinted on large angular scales ($\ell > 6$ ) from the Teide Observatory in Tenerife, Spain. Our primary scientific objective is a precise measurement of the optical depth $\tau$ ($\sigma(\tau) \sim 0.01$) to the reionization epoch of the Universe to cross-check systematic effects in the measurements made by previous experiments. GroundBIRD observes a wide sky area in the Northern Hemisphere ($\sim 40\%$ of the full sky) while continuously rotating the telescope at a high speed of up to 20 rotations per minute (rpm) to overcome the fluctuations of atmospheric radiation. We have adopted the NbTiN/Al hybrid microwave kinetic inductance detectors (MKIDs) as focal plane detectors. We observe two frequency bands centered at 145 GHz and 220 GHz. The 145 GHz band picks up the peak frequency of the CMB spectrum. The 220 GHz band helps accurate removal of the contamination of thermal emission from the Galactic interstellar dust. The MKID arrays (138 MKIDs for 145GHz and 23 MKIDs for 220GHz) were designed and optimized so as to minimize the contamination of the two-level-system noise and maximize the sensitivity. The MKID arrays were successfully installed in May 2023 after the performance verification tests were performed at a laboratory. GroundBIRD has been upgraded to use the full MKID arrays, and scientific observations are now underway. The telescope is automated, so that all observations are performed remotely. Initial validations, including polarization response tests and observations of Jupiter and the moon, have been completed successfully. We are now running scientific observations., Comment: Event: SPIE Astronomical Telescopes + Instrumentation, 2024, Yokohama, Japan; paper number 13102-7, Millimeter, Submillimeter, and Far-Infrared Detectors and Instrumentation for Astronomy XII

The Tarantula Nebula in the Large Magellanic Cloud is known for its high star formation activity. At its center lies the young massive star cluster R136, providing a significant amount of the energy that makes the nebula shine so brightly at many wavelengths. Recently, young massive star clusters have been suggested to also efficiently produce high-energy cosmic rays, potentially beyond PeV energies. Here, we report the detection of very-high-energy $\gamma$-ray emission from the direction of R136 with the High Energy Stereoscopic System, achieved through a multicomponent, likelihood-based modeling of the data. This supports the hypothesis that R136 is indeed a very powerful cosmic-ray accelerator. Moreover, from the same analysis, we provide an updated measurement of the $\gamma$-ray emission from 30 Dor C, the only superbubble detected at TeV energies presently. The $\gamma$-ray luminosity above $0.5\,\mathrm{TeV}$ of both sources is $(2-3)\times 10^{35}\,\mathrm{erg}\,\mathrm{s}^{-1}$. This exceeds by more than a factor of 2 the luminosity of HESS J1646$-$458, which is associated with the most massive young star cluster in the Milky Way, Westerlund 1. Furthermore, the $\gamma$-ray emission from each source is extended with a significance of $>3\sigma$ and a Gaussian width of about $30\,\mathrm{pc}$. For 30 Dor C, a connection between the $\gamma$-ray emission and the nonthermal X-ray emission appears likely. Different interpretations of the $\gamma$-ray signal from R136 are discussed., Comment: 10+11 pages, 4+6 figures. Corresponding authors: L. Mohrmann, N. Komin

The PHENIX experiment measured the centrality dependence of two-pion Bose-Einstein correlation functions in $\sqrt{s_{_{NN}}}=200$~GeV Au$+$Au collisions at the Relativistic Heavy Ion Collider at Brookhaven National Laboratory. The data are well represented by L\'evy-stable source distributions. The extracted source parameters are the correlation-strength parameter $\lambda$, the L\'evy index of stability $\alpha$, and the L\'evy-scale parameter $R$ as a function of transverse mass $m_T$ and centrality. The $\lambda(m_T)$ parameter is constant at larger values of $m_T$, but decreases as $m_T$ decreases. The L\'evy scale parameter $R(m_T)$ decreases with $m_T$ and exhibits proportionality to the length scale of the nuclear overlap region. The L\'evy exponent $\alpha(m_T)$ is independent of $m_T$ within uncertainties in each investigated centrality bin, but shows a clear centrality dependence. At all centralities, the L\'evy exponent $\alpha$ is significantly different from that of Gaussian ($\alpha=2$) or Cauchy ($\alpha=1$) source distributions. Comparisons to the predictions of Monte-Carlo simulations of resonance-decay chains show that in all but the most peripheral centrality class (50%-60%), the obtained results are inconsistent with the measurements, unless a significant reduction of the in-medium mass of the $\eta'$ meson is included. In each centrality class, the best value of the in-medium $\eta'$ mass is compared to the mass of the $\eta$ meson, as well as to several theoretical predictions that consider restoration of $U_A(1)$ symmetry in hot hadronic matter., Comment: 401 authors from 75 institutions, 20 pages, 15 figures, 2 tables. v1 is version submitted to Physical Review C. HEPdata tables for the points plotted in figures for this and previous PHENIX publications are (or will be) publicly available at http://www.phenix.bnl.gov/papers.html

To achieve state-of-the-art jet energy resolution for Particle Flow, sophisticated energy clustering algorithms must be developed that can fully exploit available information to separate energy deposits from charged and neutral particles. Three published neural network-based shower separation models were applied to simulation and experimental data to measure the performance of the highly granular CALICE Analogue Hadronic Calorimeter (AHCAL) technological prototype in distinguishing the energy deposited by a single charged and single neutral hadron for Particle Flow. The performance of models trained using only standard spatial and energy and charged track position information from an event was compared to models trained using timing information available from AHCAL, which is expected to improve sensitivity to shower development and, therefore, aid in clustering. Both simulation and experimental data were used to train and test the models and their performances were compared. The best-performing neural network achieved significantly superior event reconstruction when timing information was utilised in training for the case where the charged hadron had more energy than the neutral one, motivating temporally sensitive calorimeters. All models under test were observed to tend to allocate energy deposited by the more energetic of the two showers to the less energetic one. Similar shower reconstruction performance was observed for a model trained on simulation and applied to data and a model trained and applied to data.

The Black Hole Explorer (BHEX) is a next-generation space very long baseline interferometry (VLBI) mission concept that will extend the ground-based millimeter/submillimeter arrays into space. The mission, closely aligned with the science priorities of the Japanese VLBI community, involves an active engagement of this community in the development of the mission, resulting in the formation of the Black Hole Explorer Japan Consortium. Here we present the current Japanese vision for the mission, ranging from scientific objectives to instrumentation. The Consortium anticipates a wide range of scientific investigations, from diverse black hole physics and astrophysics studied through the primary VLBI mode, to the molecular universe explored via a potential single-dish observation mode in the previously unexplored 50-70\,GHz band that would make BHEX the highest-sensitivity explorer ever of molecular oxygen. A potential major contribution for the onboard instrument involves supplying essential elements for its high-sensitivity dual-band receiving system, which includes a broadband 300\,GHz SIS mixer and a space-certified multi-stage 4.5K cryocooler akin to those used in the Hitomi and XRISM satellites by the Japan Aerospace Exploration Agency. Additionally, the Consortium explores enhancing and supporting BHEX operations through the use of millimeter/submillimeter facilities developed by the National Astronomical Observatory of Japan, coupled with a network of laser communication stations operated by the National Institute of Information and Communication Technology., Comment: Submitted to SPIE Conference Series, 17 pages for the main text, 33 pages for the references, 4 figures, SPIE Astronomical Telescopes + Instrumentation 2024

Satellite constellation systems are becoming more attractive to provide communication services worldwide, especially in areas without network connectivity. While optimizing satellite gateway placement is crucial for operators to minimize deployment and operating costs, reducing the number of gateways may require more inter-satellite link hops to reach the ground network, thereby increasing latency. Therefore, it is of significant importance to develop a framework that optimizes gateway placement, dynamic routing, and flow management in inter-satellite links to enhance network performance. To this end, we model an optimization problem as a mixed-integer problem with a cost function combining the number of gateways, flow allocation, and traffic latency, allowing satellite operators to set priorities based on their policies. Our simulation results indicate that the proposed approach effectively reduces the number of active gateways by selecting their most appropriate locations while balancing the trade-off between the number of gateways and traffic latency. Furthermore, we demonstrate the impact of different weights in the cost function on performance through comparative analysis.

HESS J1641-463 is an unidentified gamma-ray source with a hard TeV gamma-ray spectrum, and thus it has been proposed to be a possible candidate for cosmic ray (CR) accelerators up to PeV energies (a PeVatron candidate). The source spatially coincides with the radio supernova remnant (SNR) G338.5+0.1, but has not yet been fully explored in the X-ray band. We analyzed newly taken NuSTAR data, pointing at HESS J1641-463, with 82 ks effective exposure time. There is no apparent X-ray counterpart of HESS J1641-463, while nearby stellar cluster, Mercer 81, and stray-light X-rays are detected. Combined with the archival Chandra data, partially covering the source, we derived an upper limit of $\sim 6\times 10^{-13}$ erg cm$^{-2}$ s$^{-1}$ in 2-10 keV ($\sim 3\times 10^{-13}$ erg cm$^{-2}$ s$^{-1}$ in 10-20 keV). If the gamma-ray emission is originated from decay of $\pi^0$ mesons produced in interactions between CR protons and ambient materials, secondary electrons in the proton-proton interactions can potentially emit synchrotron photons in the X-ray band, which can be tested by our X-ray observations. Although the obtained X-ray upper limits cannot place a constraint on the primary proton spectrum, it will be possible with a future hard X-ray mission., Comment: 15 pages, 8 figures, 4 tables, accepted for publication in ApJ