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Topological materials, such as topological insulators or semimetals, usually not only reveal the nontrivial properties of their electronic wavefunctions through the appearance of stable boundary modes, but also through very specific electromagnetic responses. The anisotropic longitudinal magnetoresistance of Weyl semimetals, for instance, carries the signature of the chiral anomaly of Weyl fermions. However for topological nodal line semimetals -- materials where the valence and conduction bands cross each other on one-dimensional curves in the three-dimensional Brillouin zone -- such a characteristic has been lacking. Here we report the discovery of a peculiar charge transport effect generated by topological nodal lines: a dissipationless transverse signal in the presence of coplanar electric and magnetic fields, which originates from a Zeeman-induced conversion of topological nodal lines into Weyl nodes under infinitesimally small magnetic fields. We evidence this dissipationless topological response in trigonal \ce{PtBi2} persisting up to room temperature, and unveil the extensive topological nodal lines in the band structure of this non-magnetic material. These findings provide a new pathway to engineer Weyl nodes by arbitrary small magnetic fields and reveal that bulk topological nodal lines can exhibit non-dissipative transport properties.

The discovery of chiral helical magnetism (CHM) in Cr$_{1/3}$NbS$_2$ and the stabilization of a chiral soliton lattice (CSL) has attracted considerable interest in view of their potential technological applications. However, there is an ongoing debate regarding whether the sister compound, Mn$_{1/3}$NbS$_2$, which shares the same crystal structure, exhibits similar nontrivial properties which rely on the stabilization of the lack of inversion symmetry at the magnetic ion. In this study, we conduct a comprehensive investigation of the magnetically ordered states of both compounds, using $^{53}$Cr, $^{55}$Mn and $^{93}$Nb nuclear magnetic resonance. Our results, supported by density functional calculations, detect in a high-quality single crystal of Cr$_{1/3}$NbS$_2$ all the signatures of the monoaxial CHM in a magnetic field, identifying it as a textbook NMR case. The detailed understanding of this prototypic behavior provides a reference for Mn$_{1/3}$NbS$_2$. Despite the much larger density of specific defects in this second single crystal, we confirm the presence of a CHM phase in the Mn compound, characterized by a very large critical field for the forced ferromagnetic phase ($\approx 5$ T for H$\parallel\hat c$)., Comment: 10 pages, 7 figures, Supplemental MAterial

Understanding expressions is vital for deciphering human behavior, and nowadays, end-to-end trained black box models achieve high performance. Due to the black-box nature of these models, it is unclear how they behave when applied out-of-distribution. Specifically, these models show decreased performance for unilateral facial palsy patients. We hypothesize that one crucial factor guiding the internal decision rules is facial symmetry. In this work, we use insights from causal reasoning to investigate the hypothesis. After deriving a structural causal model, we develop a synthetic interventional framework. This approach allows us to analyze how facial symmetry impacts a network's output behavior while keeping other factors fixed. All 17 investigated expression classifiers significantly lower their output activations for reduced symmetry. This result is congruent with observed behavior on real-world data from healthy subjects and facial palsy patients. As such, our investigation serves as a case study for identifying causal factors that influence the behavior of black-box models., Comment: 45 pages; 26 figures; accepted at ACCV 2024

We investigated the electronic properties of the topological insulator Bi$_{2}$Te$_{3}$ by scanning tunneling microscopy and spectroscopy at low temperature. We obtained high-resolution quasiparticle interference data of the topological surface Dirac electrons at different energies. Spin-selective joint density of states calculations were performed for surface and bulk electronic states to interpret the observed quasiparticle interference data. The topological properties of our crystals are demonstrated by the absence of backscattering along with the linear energy dispersion of the dominant scattering vector. In addition, we detect non-dispersive scattering modes which we associate with bulk-surface scattering and, thus, allow an approximate identification of the bulk energy gap range based on our quasiparticle interference data. Measurements of differential conductance maps in magnetic fields up to 15 T have been carried out, but no strong modifications could be observed., Comment: 14 pages, 22 figures

Kagome materials with magnetic frustration in two-dimensional networks are known for their exotic properties, such as the anomalous Hall effect (AHE) with non-collinear spin textures. However, the effects of one-dimensional (1D) spin chains within these networks are less understood. Here, we report a distinctive AHE in the bilayer-distorted kagome material GdTi$_3$Bi$_4$, featuring 1D Gd zigzag spin chains, a one-third magnetization plateau, and two successive metamagnetic transitions. At these metamagnetic transitions, Hall resistivity shows abrupt jumps linked to the formation of stripe domain walls, while within the plateau, the absence of detectable domain walls suggests possible presence of skyrmion phase. Reducing the sample size to a few microns reveals additional Hall resistivity spikes, indicating domain wall skew scattering contributions. Magnetic atomistic spin dynamics simulations reveal that the magnetic textures at these transitions have reverse chirality, explaining the evolution of AHE and domain walls with fields. These results underscore the potential of magnetic and crystal symmetry interplay, and magnetic field-engineered spin chirality, for controlling domain walls and tuning transverse properties, advancing spintronic applications.

Physics-Informed Neural Networks (PINNs) have shown continuous and increasing promise in approximating partial differential equations (PDEs), although they remain constrained by the curse of dimensionality. In this paper, we propose a generalized PINN version of the classical variable separable method. To do this, we first show that, using the universal approximation theorem, a multivariate function can be approximated by the outer product of neural networks, whose inputs are separated variables. We leverage tensor decomposition forms to separate the variables in a PINN setting. By employing Canonic Polyadic (CP), Tensor-Train (TT), and Tucker decomposition forms within the PINN framework, we create robust architectures for learning multivariate functions from separate neural networks connected by outer products. Our methodology significantly enhances the performance of PINNs, as evidenced by improved results on complex high-dimensional PDEs, including the 3d Helmholtz and 5d Poisson equations, among others. This research underscores the potential of tensor decomposition-based variably separated PINNs to surpass the state-of-the-art, offering a compelling solution to the dimensionality challenge in PDE approximation., Comment: 15 pages, 6 figures, ICPR-accepted

Electron-beam-induced conversion of materials in a transmission electron microscope uses the high power density of a localized electron beam of acceleration voltages above 100 kV as an energy source to transform matter at the sub-micron scale. Here, the e-beam-induced transformation of precursor microparticles employing a low-energy e-beam with an acceleration voltage of 30 kV in a scanning electron microscope is developed to increase the versatility and efficiency of the technique. Under these conditions, the technique can be classified between e-beam lithography, where the e-beam is used to mill holes in or grow some different material onto a substrate, and e-beam welding, where matter can be welded together when overcoming the melting phase. Modifying gold microparticles on an amorphous SiOx substrate reveals the dominant role of inelastic electron-matter interaction and subsequent localized heating for the observed melting and vaporization of the precursor microparticles under the electron beam. Monte-Carlo scattering simulations and thermodynamic modeling further support the findings.

Alongside magnetic reconnection, turbulence is another fundamental nonlinear plasma phenomenon that plays a key role in energy transport and conversion in space and astrophysical plasmas. From a numerical, theoretical, and observational point of view there is a long history of exploring the interplay between these two phenomena in space plasma environments; however, recent high-resolution, multi-spacecraft observations have ushered in a new era of understanding this complex topic. The interplay between reconnection and turbulence is both complex and multifaceted, and can be viewed through a number of different interrelated lenses - including turbulence acting to generate current sheets that undergo magnetic reconnection (turbulence-driven reconnection), magnetic reconnection driving turbulent dynamics in an environment (reconnection-driven turbulence) or acting as an intermediate step in the excitation of turbulence, and the random diffusive/dispersive nature of magnetic field lines embedded in turbulent fluctuations enabling so-called stochastic reconnection. In this paper, we review the current state of knowledge on these different facets of the interplay between turbulence and reconnection in the context of collisionless plasmas, such as those found in many near-Earth astrophysical environments, from a theoretical, numerical, and observational perspective. Particular focus is given to several key regions in Earth's magnetosphere - Earth's magnetosheath, magnetotail, and Kelvin-Helmholtz vortices on the magnetopause flanks - where NASA's Magnetospheric Multiscale mission has been providing new insights on the topic., Comment: Chapter 2.2 of ISSI Book on Magnetic Reconnection, submitted to Space Science Reviews

The field of research on magnetic van der Waals compounds -- a special subclass of quasi-two-dimensional materials -- is currently rapidly expanding due to the relevance of these compounds to fundamental research where they serve as a playground for the investigation of different models of quantum magnetism and also in view of their unique magneto-electronic and magneto-optical properties pertinent to novel technological applications. The Electron Spin Resonance (ESR) spectroscopy plays an important role in the exploration of the rich magnetic behavior of van der Waals compounds due to its high sensitivity to magnetic anisotropies and unprecedentedly high energy resolution that altogether enable one to obtain thorough insights into the details of the spin structure in the magnetically ordered state and the low-energy spin dynamics in the ordered and paramagnetic phases. This article provides an overview of the recent achievements in this field made by the ESR spectroscopic techniques encompassing representatives of antiferro- and ferromagnetic van der Waals compounds of different crystal structures and chemical composition as well as of a special category of these materials termed magnetic topological insulators., Comment: This version of the article has been accepted for publication in Applied Magnetic Resonance, after peer review but is not the Version of Record and does not reflect post-acceptance improvements, or any corrections. The Version of Record is available online at: https://doi.org/10.1007/s00723-024-01671-x

Materials combining topologically non-trivial behavior and superconductivity offer a potential route for quantum computation. However, the set of available materials intrinsically realizing these properties are scarce. Recently, surface superconductivity has been reported in PtBi$_2$ in its trigonal phase and an inherent Weyl semimetal phase has been predicted. Here, based on scanning tunneling microscopy experiments, we reveal the signature of topological Fermi arcs in the normal state patterns of the quasiparticle interference. We show that the scattering between Fermi arcs dominates the interference spectra, providing conclusive evidence for the relevance of Weyl fermiology for the surface electronic properties of trigonal PtBi$_2$.

The robust and safe operation of automated vehicles underscores the critical need for detailed and accurate topological maps. At the heart of this requirement is the construction of lane graphs, which provide essential information on lane connectivity, vital for navigating complex urban environments autonomously. While transformer-based models have been effective in creating map topologies from vehicle-mounted sensor data, their potential for generating such graphs from aerial imagery remains untapped. This work introduces a novel approach to generating successor lane graphs from aerial imagery, utilizing the advanced capabilities of transformer models. We frame successor lane graphs as a collection of maximal length paths and predict them using a Detection Transformer (DETR) architecture. We demonstrate the efficacy of our method through extensive experiments on the diverse and large-scale UrbanLaneGraph dataset, illustrating its accuracy in generating successor lane graphs and highlighting its potential for enhancing autonomous vehicle navigation in complex environments.

The electron dynamics in the unoccupied states of the Weyl semimetal PtBi$_2$ is studied by time- and angle-resolved photoemission spectroscopy (TR-ARPES). The measurement's result is the photoemission intensity $I$ as a function of at least four parameters: the emission angle and kinetic energy of the photoelectrons, the time delay between pump and probe laser pulses, and the probe laser photon energy that needs to be varied to access the full three-dimensional Brillouin zone of the material. The TR-ARPES results are reported in an accompanying paper. Here we focus on the technique of using $k$-means, an unsupervised machine learning technique, in order to discover trends in the four-dimensional data sets. We study how to compare the electron dynamics across the entire data set and how to reveal subtle variations between different data sets collected in the vicinity of the bulk Weyl points.

Using time- and angle-resolved photoemission spectroscopy, we examine the unoccupied electronic structure and electron dynamics of the type-I Weyl semimetal PtBi$_2$. Using the ability to change the probe photon energy over a wide range, we identify the predicted Weyl points in the unoccupied three-dimensional band structure and we discuss the effect of $k_\perp$ broadening in the normally unoccupied states. We characterise the electron dynamics close to the Weyl point and in other parts of three-dimensional Brillouin zone using $k$-means, an unsupervised machine learning technique. This reveals distinct differences -- in particular, dynamics that are faster in the parts of the Brillouin zone that host most of the bulk Fermi surface than in parts close to the Weyl points.

Simulations have played a critical role in the advancement of our knowledge of magnetic reconnection. However, due to the inherently multiscale nature of reconnection, it is impossible to simulate all physics at all scales. For this reason, a wide range of simulation methods have been crafted to study particular aspects and consequences of magnetic reconnection. This chapter reviews many of these methods, laying out critical assumptions, numerical techniques, and giving examples of scientific results. Plasma models described include magnetohydrodynamics (MHD), Hall MHD, Hybrid, kinetic particle-in-cell (PIC), kinetic Vlasov, Fluid models with embedded PIC, Fluid models with direct feedback from energetic populations, and the Rice Convection Model (RCM)., Comment: Chapter 5.2 of ISSI Book on Magnetic Reconnection, submitted to Space Science Reviews

Pair cascades in polar cap regions of neutron stars are considered to be an essential process in various models of coherent radio emissions of pulsars. The cascades produce pair plasma bunch discharges in quasi-periodic spark events. The cascade properties, and therefore also the coherent radiation, depend strongly on the magnetospheric plasma properties and vary significantly across and along the polar cap. It is furthermore still uncertain from where the radio emission emanates in polar cap region. We investigate the generation of electromagnetic waves by pair cascades and their propagation in the polar cap for three representative inclination angles of a magnetic dipole, $0^\circ$, $45^\circ$, and $90^\circ$. 2D particle-in-cell simulations that include quantum-electrodynamic pair cascades are used in a charge limited flow from the star surface. We found that the discharge properties are strongly dependent on the magnetospheric current profile in the polar cap and that transport channels for high intensity Poynting flux are formed along magnetic field lines where the magnetospheric currents approach zero and where the plasma cannot carry the magnetospheric currents. There, the parallel Poynting flux component is efficiently transported away from the star and may eventually escape the magnetosphere as coherent radio waves. The Poynting flux decreases faster with the distance from the star in regions of high magnetospheric currents. Our model shows that no process of energy conversion from particles to waves is necessary for the coherent radio wave emission. Moreover, the pulsar radio beam does not have a cone structure, but rather the radiation generated by the oscillating electric gap fields directly escapes along open magnetic field lines in which no pair creation occurs., Comment: Submitted to Astronomy & Astrophysics

Recently, MnTe was established as an altermagnetic material that hosts spin-polarized electronic bands as well as anomalous transport effects like the anomalous Hall effect. In addition to these effects arising from altermagnetism, MnTe also hosts other magnetoresistance effects. Here, we study the manipulation of the magnetic order by an applied magnetic field and its impact on the electrical resistivity. In particular, we establish which components of anisotropic magnetoresistance are present when the magnetic order is rotated within the hexagonal basal plane. Our experimental results, which are in agreement with our symmetry analysis of the magnetotransport components, showcase the existence of an anisotropic magnetoresistance linked to both the relative orientation of current and magnetic order, as well as crystal and magnetic order.

VS2 and VSe2 have attracted particular attention among the transition metals dichalcogenides because of their promising physical properties concerning magnetic ordering, charge density wave (CDW), emergent superconductivity, etc., which are very sensitive to stoichiometry and dimensionality reduction. Yanson point contact (PC) spectroscopic study reveals metallic and nonmetallic states in VS2 PCs, as well as a magnetic phase transition was detected below 25 K. Analysis of PC spectra of VS2 testifies the realization of the thermal regime in PCs. At the same time, rare PC spectra, where the magnetic phase transition was not visible, shows a broad maximum of around 20 mV, likely connected with electron-phonon interaction (EPI). On the other hand, PC spectra of VSe2 demonstrate metallic behavior, which allowed us to detect features associated with EPI and CDW transition. The Kondo effect appeared for both compounds, apparently due to interlayer vanadium ions. Besides, the resistive switching was observed in PCs on VSe2 between a low resistive, mainly metallic-type state, and a high resistive nonmetallic-type state by applying bias voltage (about 0.4V). In contrast, reverse switching occurs by applying a voltage of opposite polarity (about 0.4V). The reason may be the alteration of stoichiometry in the PC core due to the displacement of V ions to interlayer under a high electric field. The observed resistive switching characterize VSe2 as a potential material, e.g., for non-volatile resistive RAM, neuromorphic engineering, and for other nanoelectronic applications. At the same time, VSe2 attracts attention as a rare layered van der Waals compound with magnetic transition., Comment: 12 pages, 6 figs. Presented on IV International Workshop on Point-Contact Spectroscopy: http://www.ilt.kharkov.ua/pcs2024/

Facial expression-based human emotion recognition is a critical research area in psychology and medicine. State-of-the-art classification performance is only reached by end-to-end trained neural networks. Nevertheless, such black-box models lack transparency in their decision-making processes, prompting efforts to ascertain the rules that underlie classifiers' decisions. Analyzing single inputs alone fails to expose systematic learned biases. These biases can be characterized as facial properties summarizing abstract information like age or medical conditions. Therefore, understanding a model's prediction behavior requires an analysis rooted in causality along such selected properties. We demonstrate that up to 91.25% of classifier output behavior changes are statistically significant concerning basic properties. Among those are age, gender, and facial symmetry. Furthermore, the medical usage of surface electromyography significantly influences emotion prediction. We introduce a workflow to evaluate explicit properties and their impact. These insights might help medical professionals select and apply classifiers regarding their specialized data and properties., Comment: 8 pages, 3 tables, 1 figure, accepted at ICPRAI 2024

Recent open-vocabulary robot mapping methods enrich dense geometric maps with pre-trained visual-language features. While these maps allow for the prediction of point-wise saliency maps when queried for a certain language concept, large-scale environments and abstract queries beyond the object level still pose a considerable hurdle, ultimately limiting language-grounded robotic navigation. In this work, we present HOV-SG, a hierarchical open-vocabulary 3D scene graph mapping approach for language-grounded robot navigation. Leveraging open-vocabulary vision foundation models, we first obtain state-of-the-art open-vocabulary segment-level maps in 3D and subsequently construct a 3D scene graph hierarchy consisting of floor, room, and object concepts, each enriched with open-vocabulary features. Our approach is able to represent multi-story buildings and allows robotic traversal of those using a cross-floor Voronoi graph. HOV-SG is evaluated on three distinct datasets and surpasses previous baselines in open-vocabulary semantic accuracy on the object, room, and floor level while producing a 75% reduction in representation size compared to dense open-vocabulary maps. In order to prove the efficacy and generalization capabilities of HOV-SG, we showcase successful long-horizon language-conditioned robot navigation within real-world multi-storage environments. We provide code and trial video data at http://hovsg.github.io/., Comment: Code and video are available at http://hovsg.github.io/

To fully leverage the capabilities of mobile manipulation robots, it is imperative that they are able to autonomously execute long-horizon tasks in large unexplored environments. While large language models (LLMs) have shown emergent reasoning skills on arbitrary tasks, existing work primarily concentrates on explored environments, typically focusing on either navigation or manipulation tasks in isolation. In this work, we propose MoMa-LLM, a novel approach that grounds language models within structured representations derived from open-vocabulary scene graphs, dynamically updated as the environment is explored. We tightly interleave these representations with an object-centric action space. Given object detections, the resulting approach is zero-shot, open-vocabulary, and readily extendable to a spectrum of mobile manipulation and household robotic tasks. We demonstrate the effectiveness of MoMa-LLM in a novel semantic interactive search task in large realistic indoor environments. In extensive experiments in both simulation and the real world, we show substantially improved search efficiency compared to conventional baselines and state-of-the-art approaches, as well as its applicability to more abstract tasks. We make the code publicly available at http://moma-llm.cs.uni-freiburg.de., Comment: Project website: http://moma-llm.cs.uni-freiburg.de, accepted at RA-L

Resonant Inelastic X-ray Scattering (RIXS) is an ideal X-ray spectroscopy method to push the combination of energy and time resolutions to the Fourier transform ultimate limit, because it is unaffected by the core-hole lifetime energy broadening. And in pump-probe experiments the interaction time is made very short by the same core-hole lifetime. RIXS is very photon hungry so it takes great advantage from high repetition rate pulsed X-ray sources like the European XFEL. The hRIXS instrument is designed for RIXS experiments in the soft X-ray range with energy resolution approaching the Fourier and the Heisenberg limits. It is based on a spherical grating with variable line spacing (VLS) and a position-sensitive 2D detector. Initially, two gratings are installed to adequately cover the whole photon energy range. With optimized spot size on the sample and small pixel detector the energy resolution can be better than 40 meV at any photon energy below 1000 eV. At the SCS instrument of the European XFEL the spectrometer can be easily positioned thanks to air-pads on a high-quality floor, allowing the scattering angle to be continuously adjusted over the 65-145 deg range. It can be coupled to two different sample interaction chamber, one for liquid jets and one for solids, each equipped at the state-of-the-art and compatible for optical laser pumping in collinear geometry. The measured performances, in terms of energy resolution and count rate on the detector, closely match design expectations. hRIXS is open to public users since the summer of 2022., Comment: 43 pages, 12 figures, Supplemental Material

Analyzing facial features and expressions is a complex task in computer vision. The human face is intricate, with significant shape, texture, and appearance variations. In medical contexts, facial structures and movements that differ from the norm are particularly important to study and require precise analysis to understand the underlying conditions. Given that solely the facial muscles, innervated by the facial nerve, are responsible for facial expressions, facial palsy can lead to severe impairments in facial movements. One affected area of interest is the subtle movements involved in blinking. It is an intricate spontaneous process that is not yet fully understood and needs high-resolution, time-specific analysis for detailed understanding. However, a significant challenge is that many computer vision techniques demand programming skills for automated extraction and analysis, making them less accessible to medical professionals who may not have these skills. The Jena Facial Palsy Toolbox (JeFaPaTo) has been developed to bridge this gap. It utilizes cutting-edge computer vision algorithms and offers a user-friendly interface for those without programming expertise. This toolbox makes advanced facial analysis more accessible to medical experts, simplifying integration into their workflow., Comment: A Preprint - Submitted to the Journal of Open Source Software; 7 pages, 3 figures, 3 tables

Magnetic topological insulators (TIs) herald a wealth of applications in spin-based technologies, relying on the novel quantum phenomena provided by their topological properties. Particularly promising is the (MnBi$_2$Te$_4$)(Bi$_2$Te$_3$)$_n$ layered family of established intrinsic magnetic TIs that can flexibly realize various magnetic orders and topological states. High tunability of this material platform is enabled by manganese-pnictogen intermixing, whose amounts and distribution patterns are controlled by synthetic conditions. Positive implication of the strong intermixing in MnSb$_2$Te$_4$ is the interlayer exchange coupling switching from antiferromagnetic to ferromagnetic, and the increasing magnetic critical temperature. On the other side, intermixing also implies atomic disorder which may be detrimental for applications. Here, we employ nuclear magnetic resonance and muon spin spectroscopy, sensitive local probe techniques, to scrutinize the impact of the intermixing on the magnetic properties of (MnBi$_2$Te$_4$)(Bi$_2$Te$_3$)$_n$ and MnSb$_2$Te$_4$. Our measurements not only confirm the opposite alignment between the Mn magnetic moments on native sites and antisites in the ground state of MnSb$_2$Te$_4$, but for the first time directly show the same alignment in (MnBi$_2$Te$_4$)(Bi$_2$Te$_3$)$_n$ with n = 0, 1 and 2. Moreover, for all compounds, we find the static magnetic moment of the Mn antisite sublattice to disappear well below the intrinsic magnetic transition temperature, leaving a homogeneous magnetic structure undisturbed by the intermixing. Our findings provide a microscopic understanding of the crucial role played by Mn-Bi intermixing in (MnBi$_2$Te$_4$)(Bi$_2$Te$_3$)$_n$ and offer pathways to optimizing the magnetic gap in its surface states., Comment: 13 pages, 4 figures (Main) and 8 pages, 10 figures (Supplemental)

We use momentum-dependent electron energy-loss spectroscopy in transmission to study collective charge excitations in the layer metal Sr$_2$RuO$_4$. This metal has a transition from a perfect Fermi liquid below $T\approx30\,$K into a "strange" metal phase above $T\approx800\,$K. We cover a complete range between in-phase and out-of-phase oscillations. Outside the classical range of electron-hole excitations, leading to a Landau damping, we observe well-defined plasmons. The optical (acoustic) plasmon due to an in-phase (out-of-phase) charge oscillation of neighbouring layers exhibits a quadratic (linear) positive dispersion. Using a model for the Coulomb interaction of the charges in a layered system, it is possible to describe the range of optical plasmon excitations at high energies in a mean-field random phase approximation without taking correlation effects into account. In contrast, RIXS data show at low energies an enhancement of the acoustic plasmon velocity due to correlation effects. This difference can be explained by an energy dependent effective mass which changes from $\approx$ 4 at low energy to 1 at high energy near the optical plasmon energy. There are no signs of over-damped plasmons predicted by holographic theories.

The so-called Transport of Intensity Equation (TIE) phase retrieval technique is widely applied in light, x-ray and electron optics to reconstruct, e.g., refractive indices, electric and magnetic fields in solids. Here, we present a largely improved TIE reconstruction algorithm, which properly considers intensity variations as well as unknown boundary conditions in a finite difference implementation of the Transport of Intensity partial differential equation. That largely removes reconstruction artifacts encountered in state-of-the-art Poisson solvers of the TIE, and hence significantly increases the applicability of the technique.

Mermin-Wagner theorem forbid spontaneous symmetry breaking of spins in one/two-dimensional systems at finite temperature and rules out the stabilization of this ordered state. However, it does not apply to all types of phase transitions in low dimensions such as topologically ordered phase rigorously shown by Berezinskii-Kosterlitz-Thouless (BKT) and experimentally realized in very limited systems such as superfluids, superconducting thin films. Quasi 2D van der Waals magnets provide an ideal platform to investigate the fundamentals of low-dimensional magnetism. We explored the 2D honeycomb antiferromagnetic single crystals of (NixFe1-x)2P2S6 with varying spins ( ) using in depth temperature dependent Raman measurements supported by first-principles calculations of the phonon frequencies. As a function of doping, a tunable transition from paramagnetic to antiferromagnetic ordering is shown via phonons reflected in the strong renormalization of the self-energy parameters of the Raman active phonon modes. An anomalously broad magnetic continuum attributed to two-magnon excitations is observed and its coupling with the phonons is revealed in the observation a Fano line asymmetry. Interestingly, the two-magnon continuum is observed only for the finite doping understood invoking underlying nature of insulator these materials belongs to, i.e. exchange interaction between transition metals via surrounding ligands (sulphur) and the resonance involving phonon modes associated with the (P2S6) cage. Quite surprisingly, we also observed renormalization of the phonon modes much below the long-range magnetic ordered temperature attributed to the topological ordered state, namely the BKT phase, which is also found to change as a function of doping. The extracted critical exponent of the order-parameter evince the signature of topologically active state driven by vortex-antivortex excitations.

Quantum spin liquids (QSL) are novel phases of matter which remain quantum disordered even at the lowest temperature. They are characterized by emergent gauge fields and fractionalized quasiparticles. Here we show that the sub-Kelvin thermal transport of the three-dimensional $S=1/2$ hyper-hyperkagome quantum magnet PbCuTe$_2$O$_6$ is governed by a sizeable charge-neutral fermionic contribution which is compatible with the itinerant fractionalized excitations of a spinon Fermi surface. We demonstrate that this hallmark feature of the QSL state is remarkably robust against sample crystallinity, large magnetic field, and field-induced magnetic order, ruling out the imitation of QSL features by extrinsic effects. Our findings thus reveal the characteristic low-energy features of PbCuTe$_2$O$_6$ which qualify this compound as a true QSL material.

The human face is one of the most crucial parts in interhuman communication. Even when parts of the face are hidden or obstructed the underlying facial movements can be understood. Machine learning approaches often fail in that regard due to the complexity of the facial structures. To alleviate this problem a common approach is to fine-tune a model for such a specific application. However, this is computational intensive and might have to be repeated for each desired analysis task. In this paper, we propose to reconstruct obstructed facial parts to avoid the task of repeated fine-tuning. As a result, existing facial analysis methods can be used without further changes with respect to the data. In our approach, the restoration of facial features is interpreted as a style transfer task between different recording setups. By using the CycleGAN architecture the requirement of matched pairs, which is often hard to fullfill, can be eliminated. To proof the viability of our approach, we compare our reconstructions with real unobstructed recordings. We created a novel data set in which 36 test subjects were recorded both with and without 62 surface electromyography sensors attached to their faces. In our evaluation, we feature typical facial analysis tasks, like the computation of Facial Action Units and the detection of emotions. To further assess the quality of the restoration, we also compare perceptional distances. We can show, that scores similar to the videos without obstructing sensors can be achieved., Comment: VISAPP 2023 paper

Learning-based manipulation policies from image inputs often show weak task transfer capabilities. In contrast, visual servoing methods allow efficient task transfer in high-precision scenarios while requiring only a few demonstrations. In this work, we present a framework that formulates the visual servoing task as graph traversal. Our method not only extends the robustness of visual servoing, but also enables multitask capability based on a few task-specific demonstrations. We construct demonstration graphs by splitting existing demonstrations and recombining them. In order to traverse the demonstration graph in the inference case, we utilize a similarity function that helps select the best demonstration for a specific task. This enables us to compute the shortest path through the graph. Ultimately, we show that recombining demonstrations leads to higher task-respective success. We present extensive simulation and real-world experimental results that demonstrate the efficacy of our approach., Comment: http://compservo.cs.uni-freiburg.de

Coherent radiation of pulsars, magnetars, and fast radio bursts could, in theory, be interpreted as radiation from solitons and soliton-like waves. The solitons are meant to contain a large number of electric charges confined on long time-scales and may radiate strongly by coherent curvature emission. However, solitons are also known to undergo a wave collapse, which may cast doubts on the correctness of the soliton radio emission models of neutron stars. We investigate the evolution of the caviton type of solitons self-consistently formed by the relativistic streaming instability and compare their apparent stability in 1D calculations with more generic 2D cases, in which the solitons are seen to collapse. Three representative cases of beam Lorentz factors and plasma temperatures are studied to obtain soliton dispersion properties. We utilized 1D electrostatic and 2D electromagnetic relativistic particle-in-cell simulations at kinetic microscales. We found that no solitons are generated by the streaming instability in the 2D simulations. Only superluminal L-mode (relativistic Langmuir) waves are produced during the saturation of the instability, but these waves have smaller amplitudes than the waves in the 1D simulations. The amplitudes tend to decrease after the instability has saturated, and only waves close to the light line, $\omega = c k$, remain. Solitons in the 1D approach are stable for $\gamma_\mathrm{b} \gtrsim 60$, but they disappear for low beam Lorentz factor $\gamma_\mathrm{b} < 6$. Our examples show that the superluminal soliton branch that is formed in 1D simulations will not be generated by the relativistic streaming instability when more dimensional degrees of freedom are present - unless one can show that there are alternative plasma mechanisms for the soliton generation., Comment: Astronomy & Astrophysics, 12 pages, 6 figures

Here we report the first time- and angle-resolved photoemission spectroscopy (TR-ARPES) with the new Fermiologics "FeSuMa" analyzer. The new experimental setup has been commissioned at the Artemis laboratory of the UK Central Laser Facility. We explain here some of the advantages of the FeSuMa for TR-ARPES and discuss how its capabilities relate to those of hemispherical analyzers and momentum microscopes. We have integrated the FeSuMa into an optimized pump-probe beamline that permits photon-energy- (i.e., kz-) dependent scanning, using probe energies generated from high harmonics in a gas jet. The advantages of using the FeSuMa in this situation include the possibility of taking advantage of its "fisheye" mode of operation., Comment: Submitted to the Review of Scientific Instruments

PrRhC2 belongs to the rare-earth carbides family whose properties are of special interest among topological semimetals due to the simultaneous breaking of both inversion and time-reversal symmetry. The concomitant absence of both symmetries grants the possibility to tune the Weyl nodes chirality and to enhance topological effects like the chiral anomaly. In this work, we report on the synthesis and compare the magnetotransport measurements of a poly- and single crystalline PrRhC2 sample. Using a remarkable and sophisticated technique, the PrRhC2 single crystal is prepared via focused ion beam cutting from the polycrystalline material. Our magnetometric and specific heat analyses reveal a non-collinear antiferromagnetic state below 20K, as well as short-range magnetic correlations and/or magnetic fluctuations well above the onset of the magnetic transition. The transport measurements on the PrRhC2 single crystal display an electrical resistivity peak at 3K and an anomalous Hall effect below 6K indicative of a net magnetization component in the ordered state. Furthermore, we study the angular variation of magnetoresistivities as a function of the angle between the in-plane magnetic field and the injected electrical current. We find that both the transverse and the longitudinal resistivities exhibit fourfold angular dependencies due to higher-order terms in the resistivity tensor, consistent with the orthorhombic crystal symmetry of PrRhC2. Our experimental results may be interpreted as features of topological Weyl semimetallic behavior in the magnetotransport properties.

Kagome magnets provide a fascinating platform for the realization of correlated topological quantum phases under various magnetic ground states. However, the effect of the magnetic spin configurations on the characteristic electronic structure of the kagome lattice layer remains elusive. Here, utilizing angle-resolved photoemission spectroscopy and density functional theory calculations, we report the spectroscopic evidence for the spin-reorientation effect of a kagome ferromagnet Fe$_3$Ge, which is composed solely of kagome planes. As the Fe moments cant from the $c$ axis into the $ab$ plane upon cooling, the two kinds of kagome-derived Dirac fermions respond quite differently. The one with less-dispersive bands ($k_z$ $\sim$ 0) containing the $3d_{z^2}$ orbitals evolves from gapped into nearly gapless, while the other with linear dispersions ($k_z$ $\sim$ $\pi$) embracing the $3d_{xz}$/$3d_{yz}$ components remains intact, suggesting that the effect of spin reorientation on the Dirac fermions has an orbital selectivity. Moreover, we demonstrate that there is no signature of charge order formation in Fe$_3$Ge, contrasting with its sibling compound FeGe, a newly established charge-density-wave kagome magnet., Comment: 40 pages, 5 figures

Maps have played an indispensable role in enabling safe and automated driving. Although there have been many advances on different fronts ranging from SLAM to semantics, building an actionable hierarchical semantic representation of urban dynamic scenes and processing information from multiple agents are still challenging problems. In this work, we present Collaborative URBan Scene Graphs (CURB-SG) that enable higher-order reasoning and efficient querying for many functions of automated driving. CURB-SG leverages panoptic LiDAR data from multiple agents to build large-scale maps using an effective graph-based collaborative SLAM approach that detects inter-agent loop closures. To semantically decompose the obtained 3D map, we build a lane graph from the paths of ego agents and their panoptic observations of other vehicles. Based on the connectivity of the lane graph, we segregate the environment into intersecting and non-intersecting road areas. Subsequently, we construct a multi-layered scene graph that includes lane information, the position of static landmarks and their assignment to certain map sections, other vehicles observed by the ego agents, and the pose graph from SLAM including 3D panoptic point clouds. We extensively evaluate CURB-SG in urban scenarios using a photorealistic simulator. We release our code at http://curb.cs.uni-freiburg.de., Comment: Accepted for "IEEE International Conference on Robotics and Automation (ICRA) 2024"

Observations of the anomalous Hall effect in RuO$_2$ and MnTe have demonstrated unconventional time-reversal symmetry breaking in the electronic structure of a recently identified new class of compensated collinear magnets, dubbed altermagnets. While in MnTe the unconventional anomalous Hall signal accompanied by a vanishing magnetization is observable at remanence, the anomalous Hall effect in RuO$_2$ is excluded by symmetry for the N\'eel vector pointing along the zero-field [001] easy-axis. Guided by a symmetry analysis and ab initio calculations, a field-induced reorientation of the N\'eel vector from the easy-axis towards the [110] hard-axis was used to demonstrate the anomalous Hall signal in this altermagnet. We confirm the existence of an anomalous Hall effect in our RuO$_2$ thin-film samples whose set of magnetic and magneto-transport characteristics is consistent with the earlier report. By performing our measurements at extreme magnetic fields up to 68 T, we reach saturation of the anomalous Hall signal at a field $H_{\rm c} \simeq$ 55 T that was inaccessible in earlier studies, but is consistent with the expected N\'eel-vector reorientation field., Comment: 4 figures

Nanophotonic devices excel at confining light into intense hot spots of the electromagnetic near fields, creating unprecedented opportunities for light-matter coupling and surface-enhanced sensing. Recently, all-dielectric metasurfaces with ultrasharp resonances enabled by photonic bound states in the continuum have unlocked new functionalities for surface-enhanced biospectroscopy by precisely targeting and reading out molecular absorption signatures of diverse molecular systems. However, BIC-driven molecular spectroscopy has so far focused on endpoint measurements in dry conditions, neglecting the crucial interaction dynamics of biological systems. Here, we combine the advantages of pixelated all-dielectric metasurfaces with deep learning-enabled feature extraction and prediction to realize an integrated optofluidic platform for time-resolved in-situ biospectroscopy. Our approach harnesses high-Q metasurfaces specifically designed for operation in a lossy aqueous environment together with advanced spectral sampling techniques to temporally resolve the dynamic behavior of photoswitchable lipid membranes. Enabled by a software convolutional neural network, we further demonstrate the real-time classification of the characteristic cis and trans membrane conformations with 98% accuracy. Our synergistic sensing platform incorporating metasurfaces, optofluidics, and deep learning opens exciting possibilities for studying multi-molecular biological systems, ranging from the behavior of transmembrane proteins to the dynamic processes associated with cellular communication., Comment: 22 pages, 5 Figures

Solar energetic particles (SEPs) in the energy range 10s KeV/nucleon - 100s MeV/nucleon originate from Sun. Their high flux near Earth may damage the space borne electronics and generate secondary radiations harmful for the life on Earth and thus understanding their energization on Sun is important for space weather prediction. Impulsive (or ${}^{3}$He-rich) SEP events are associated with the acceleration of charge particles in solar flares by magnetic reconnection and related processes. The preferential acceleration of heavy ions and the extra-ordinary abundance enhancement of ${}^3$He in the impulsive SEP events are not understood yet. In this paper, we study ion acceleration in magnetic reconnection by two dimensional hybrid-kinetic plasma simulations (kinetic ions and inertial electron fluid). All the ions species are treated self-consistently in our simulations. We find that heavy ions are preferentially accelerated to energies many times larger than their initial thermal energies by a variety of acceleration mechanisms operating in reconnection. Most efficient acceleration takes place in the flux pileup regions of magnetic reconnection. Heavy ions with sufficiently small values of charge to mass ratio ($Q/M$) can be accelerated by pickup mechanism in outflow regions even before any magnetic flux is piled up. The energy spectra of heavy ions develop a shoulder like region, a non-thermal feature, as a result of the acceleration. The spectral index of the power law fit to the shoulder region of the spectra varies approximately as $(Q/M)^{-0.64}$. Abundance enhancement factor, defined as number of particles above a threshold energy normalized to total number of particles, scales as $(Q/M)^{-\alpha}$ where $\alpha$ increases with the energy threshold. We discuss our simulation results in the light of the SEP observations., Comment: Submitted

The recent report of a half-quantized thermal Hall effect in the Kitaev material $\alpha$-RuCl$_3$ has sparked a strong debate on whether it is generated by Majorana fermion edge currents or whether other more conventional mechanisms involving magnons or phonons are at its origin. A more direct evidence for Majorana fermions which could be expected to arise from a contribution to the longitudinal heat conductivity $\kappa_{xx}$ at $T\rightarrow0$ is elusive due to a very complex magnetic field dependence of $\kappa_{xx}$. Here, we report very low temperature (below 1~K) thermal conductivity ($\kappa$) of another candidate Kitaev material, Na$_2$Co$_2$TeO$_6$. The application of a magnetic field along different principal axes of the crystal reveals a strong directional-dependent magnetic-field ($\bf B$) impact on $\kappa$. We show that no evidence for mobile quasiparticles except phonons can be concluded at any field from 0~T to the field polarized state. In particular, severely scattered phonon transport is observed across the $B-T$ phase diagram, which is attributed to prominent magnetic fluctuations. Cascades of phase transitions are uncovered for all $\bf B$ directions by probing the strength of magnetic fluctuations via a precise record of $\kappa$($B$). Our results thus rule out recent proposals for itinerant magnetic excitations in Na$_2$Co$_2$TeO$_6$, and emphasise the importance of discriminating true spin liquid transport properties from scattered phonons in candidate materials.

Autonomous driving involves complex decision-making in highly interactive environments, requiring thoughtful negotiation with other traffic participants. While reinforcement learning provides a way to learn such interaction behavior, efficient learning critically depends on scalable state representations. Contrary to imitation learning methods, high-dimensional state representations still constitute a major bottleneck for deep reinforcement learning methods in autonomous driving. In this paper, we study the challenges of constructing bird's-eye-view representations for autonomous driving and propose a recurrent learning architecture for long-horizon driving. Our PPO-based approach, called RecurrDriveNet, is demonstrated on a simulated autonomous driving task in CARLA, where it outperforms traditional frame-stacking methods while only requiring one million experiences for efficient training. RecurrDriveNet causes less than one infraction per driven kilometer by interacting safely with other road users., Comment: IEEE International Conference on Intelligent Transportation Systems 2023

Quantum devices characterized by non-Hermitian topology are predicted to show highly robust and potentially useful properties, but realizing them has remained a daunting experimental task. This is because non-Hermiticity is often associated with gain and loss, which would require precise tailoring to produce the signatures of nontrivial topology. Here, instead of gain/loss, we use the nonreciprocity of the quantum Hall edge states to directly observe non-Hermitian topology in a multi-terminal quantum Hall ring. Our transport measurements evidence a robust, non-Hermitian skin effect: currents and voltages show an exponential profile, which persists also across Hall plateau transitions away from the regime of maximum non-reciprocity. Our observation of non-Hermitian topology in a quantum device introduces a scalable experimental approach to construct and investigate generic non-Hermitian systems.

Single-crystal growth, magnetic properties, and magnetocaloric effect of the $S = 3/2$ kagome ferromagnet Li$_9$Cr$_3$(P$_2$O$_7$)$_3$(PO$_4$)$_2$ (trigonal, space group: $P\bar{3}c1$) are reported. Magnetization data suggest dominant ferromagnetic intra-plane coupling with a weak anisotropy and the onset of ferromagnetic ordering at $T_{\rm C} \simeq 2.6$ K. Microscopic analysis reveals a very small ratio of interlayer to intralayer ferromagnetic couplings ($J_{\perp}/J \simeq 0.02$). Electron spin resonance data suggest the presence of short-range correlations above $T_{\rm C}$ and confirms quasi-two-dimensional character of the spin system. A large magnetocaloric effect characterized by isothermal entropy change of $-\Delta S_{\rm m}\simeq 31$ J kg$^{-1}$ K$^{-1}$ and adiabatic temperature change of $-\Delta T_{\rm ad}\simeq 9$ K upon a field sweep of 7 T is observed around $T_{\rm C}$. This leads to a large relative cooling power of $RCP \simeq 284$ J kg$^{-1}$. The large magnetocaloric effect, together with negligible hysteresis render Li$_9$Cr$_3$(P$_2$O$_7$)$_3$(PO$_4$)$_2$ a promising material for magnetic refrigeration at low temperatures. The magnetocrystalline anisotropy constant $K \simeq -7.42 \times 10^4$ erg cm$^{-3}$ implies that the compound is an easy-plane type ferromagnet with the hard axis normal to the $ab$-plane, consistent with the magnetization data., Comment: 13 pages, 14 figures

An essential ingredient for the production of Majorana fermions that can be used for quantum computing is the presence of topological superconductivity. As bulk topological superconductors remain elusive, the most promising approaches exploit proximity-induced superconductivity making systems fragile and difficult to realize. Weyl semimetals due to their intrinsic topology belong to potential candidates too, but search for Majorana fermions has always been connected with the superconductivity in the bulk, leaving the possibility of intrinsic superconductivity of the Fermi surface arcs themselves practically without attention, even from the theory side.Here, by means of angle-resolved photoemission spectroscopy and ab-initio calculations, we unambiguously identify topological Fermi arcs on two opposing surfaces of the non-centrosymmetric Weyl material PtBi2. We show that these states become superconducting at different temperatures around 10K. Remarkably, the corresponding coherencepeaks appear as the strongest and sharpest excitations ever detected by photoemission from solids, suggesting significant technological relevance. Our findings indicate that topological superconductivity in PtBi2 occurs exclusively at the surface, which not only makes it an ideal platform to host Majorana fermions, but may also lead to a unique quantum phase - an intrinsic topological SNS Josephson junction., Comment: 8 pages, 4 figures and Supplementary Information

BaFe$_2$As$_2$ is the parent compound for a family of iron-based high-temperature superconductors as well as a prototypical example of the spin-density wave (SDW) system. In this study, we perform an optical pump-probe study of this compound to systematically investigate the SDW order across the pressure-temperature phase diagram. The suppression of the SDW order by pressure manifests itself by the increase of relaxation time together with the decrease of the pump-probe signal and the pump energy necessary for complete vaporization of the SDW condensate. We have found that the pressure-driven suppression of the SDW order at low temperature occurs gradually in contrast to the thermally-induced SDW transition. Our results suggest that the pressure-driven quantum phase transition in BaFe$_2$As$_2$ (and probably other iron pnictides) is continuous and it is caused by the gradual worsening of the Fermi-surface nesting conditions.

Majorana fermions as emergent excitations of the Kitaev quantum spin liquid ground state constitute a promising concept in fault tolerant quantum computation. Experimentally, the recently reported topological half-quantized thermal Hall effect in the Kitaev material $\alpha$-RuCl$_3$ seems to confirm the Majorana nature of the material's magnetic excitations. It has been argued, however, that the thermal Hall signal in $\alpha$-RuCl$_3$ rather stems from phonons or topological magnons than from Majorana fermions. Here we investigate the thermal Hall effect of the closely related Kitaev quantum material Na$_2$Co$_2$TeO$_6$, and we show that the thermal Hall signal emerges from at least two components, phonons and magnetic excitations. This dichotomy results from our discovery that the transversal heat conductivity $\kappa_{xy}$ carries clear signatures of the phononic $\kappa_{xx}$, but changes sign upon entering the low-temperature, magnetically ordered phase. We systematically resolve the two components by considering the detailed temperature and field dependence of both $\kappa_{xy}$ and $\kappa_{xx}$. Our results demonstrate that uncovering a genuinely quantized magnetic thermal Hall effect in a Kitaev topological quantum spin liquid requires to disentangle phonon vs. magnetic contributions where the latter include potentially fractionalized excitations such as the expected Majorana fermions.