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In sufficiently clean materials where electron-electron interactions are strong compared to momentum-relaxing scattering processes, electron transport resembles the flow of a viscous fluid. We study hydrodynamic electron transport across density interfaces (n-n junctions) in a 2DEG in the Corbino geometry. From numerical simulations in COMSOL using realistic parameters, we show that we can produce tunable viscous layers at the density interface by varying the density ratio of charge carriers. We quantitatively explain this observation with simple analytic expressions together with boundary conditions at the interface. We also show signatures of these viscous layers in the magnetoresistance. Breaking down viscous and ohmic contributions, we find that when outer radial region of the Corbino has higher charge density compared to the inner region, the viscous layers at the interface serve to suppress the magneto-resistance produced by momentum-relaxing scattering. Conversely, the magneto-resistance is enhanced when the inner region has higher density than the outer. Our results add to the repertoire of techniques for engineering viscous electron flows, which hold a promise for applications in future electronic devices.

In nearly free electron theory the imposition of a periodic electrostatic potential on free electrons creates the bandstructure of a material, determined by the crystal lattice spacing and geometry. Imposing an artificially designed potential to the electrons confined in a GaAs quantum well makes it possible to engineer synthetic two-dimensional band structures, with electronic properties different from those in the host semiconductor. Here we report the fabrication and study of a tuneable triangular artificial lattice on a GaAs/AlGaAs heterostructure where it is possible to transform from the original GaAs bandstructure and Fermi surface to a new bandstructure with multiple artificial Fermi surfaces simply by altering a gate bias. For weak electrostatic potential modulation magnetotransport measurements reveal quantum oscillations from the GaAs two-dimensional Fermi surface, and classical oscillations due to these electrons scattering from the artificial lattice. Increasing the strength of the modulation reveals new quantum oscillations due to the formation of multiple artificial Fermi surfaces, and ultimately to new classical oscillations of the electrons from the artificial Fermi surface scattering from the superlattice modulation. These results show that low disorder gate-tuneable lateral superlattices can be used to form artificial two dimensional crystals with designer electronic properties., Comment: 19 pages, 6 figures

The electronic properties of solids are determined by the crystal structure and interactions between electrons, giving rise to a variety of collective phenomena including superconductivity, strange metals and correlated insulators. The mechanisms underpinning many of these collective phenomena remain unknown, driving interest in creating artificial crystals which replicate the system of interest while allowing precise control of key parameters. Cold atoms trapped in optical lattices provide great flexibility and tunability [1, 2], but cannot replicate the long range Coulomb interactions and long range hopping that drive collective phenomena in real crystals. Solid state approaches support long range hopping and interactions, but previous attempts with laterally patterned semiconductor systems were not able to create tunable low disorder artificial crystals, while approaches based on Moire superlattices in twisted two-dimensional (2D) materials [3, 4] have limited tunability and control of lattice geometry. Here we demonstrate the formation of highly tunable artificial crystals by superimposing a periodic electrostatic potential on the 2D electron gas in an ultrashallow (25 nm deep) GaAs quantum well. The 100 nm period artificial crystal is identified by the formation of a new bandstructure, different from the original cubic crystal and unique to the artificial triangular lattice: transport measurements show the Hall coefficient changing sign as the chemical potential sweeps through the artificial bands. Uniquely, the artificial bandstructure can be continuously tuned from parabolic free-electron bands into linear graphene-like and flat kagome-like bands in a single device. This approach allows the formation arbitrary geometry 2D artificial crystals, opening a new route to studying collective quantum states., Comment: 30 pages, 11 figures

We consider the hydrodynamic flow of an electron fluid in a channel formed in a two-dimensional electron gas (2DEG) with no-slip boundary conditions. To generate vorticity in the fluid the flow is influenced by an array of micromagnets on the top of 2DEG. We analyse the viscous boundary layer and demonstrate anti-Poiseuille behaviour in this region. Furthermore we predict a longitudinal voltage modulation, where a periodic magnetic field generates a voltage term periodic in the direction of transport.From the experimental point of view we propose a method for a boundary-independent measurement of the viscosity of different electron fluids. The results are applicable to graphene away from the charge neutrality point and to semiconductors., Comment: 13 pages, 7 figures. V2: Typos fixed and additional discussion added. Analysis of the bulk flow expanded to include subleading corrections to the Navier-Stokes equation. The solution for the boundary layer has been generalized to finite slip length in Appendix B

It has been established that the Coulomb interactions can transform the electron gas into a viscous fluid. This fluid is realized in a number of platforms, including graphene and two-dimensional semiconductor heterostructures. The defining characteristic of the electron fluid is the formation of layers of charge carriers that are in local thermodynamic equilibrium, as in classical fluids. In the presence of nonuniformities, whirlpools and nontrivial flow profiles are formed, which have been directly imaged in recent experiments. In this paper, we theoretically study the response of the electron fluid to localized magnetic fields. We find that the electric current is suppressed by viscous vortices in regions where magnetic field is sharply varying, causing strong transport signatures. Experimentally, our considerations are relevant since local magnetic fields can be applied to the system through implanting adatoms or embedding micromagnets in the top-gate. Our theory is essential for the characterization and future applications of electron fluids in hydrodynamic spin transport., Comment: 9 pages, 2 figures, published in the Turkish Journal of Physics

Stimulated by recent suggestion of Cosmic Axion Spin Precession Experiment with Eu contained compound we develop a new method for accurate calculation of Schiff moments of even-odd deformed nuclei. The method is essentially based on experimental data on magnetic moments and E1,E3-amplitudes in the given even-odd nucleus and in adjacent even-even nuclei. Unfortunately such sets of data are not known yet for most of interesting nuclei. Fortunately the full set of data is available for $^{153}$Eu. Hence, we perform the calculation for $^{153}$Eu and find value of the Schiff moment. The value is about 30 times larger than a typical Schiff moment of a spherical heavy nucleus. The enhancement of the Schiff moment in $^{153}$Eu is related to the low energy octupole mode. On the other hand the value of Schiff moment we find is 30 times smaller than that obtained in the assumption of static octupole deformation.

The ability to leverage heterogeneous robotic experience from different robots and tasks to quickly master novel skills and embodiments has the potential to transform robot learning. Inspired by recent advances in foundation models for vision and language, we propose a multi-embodiment, multi-task generalist agent for robotic manipulation. This agent, named RoboCat, is a visual goal-conditioned decision transformer capable of consuming action-labelled visual experience. This data spans a large repertoire of motor control skills from simulated and real robotic arms with varying sets of observations and actions. With RoboCat, we demonstrate the ability to generalise to new tasks and robots, both zero-shot as well as through adaptation using only 100-1000 examples for the target task. We also show how a trained model itself can be used to generate data for subsequent training iterations, thus providing a basic building block for an autonomous improvement loop. We investigate the agent's capabilities, with large-scale evaluations both in simulation and on three different real robot embodiments. We find that as we grow and diversify its training data, RoboCat not only shows signs of cross-task transfer, but also becomes more efficient at adapting to new tasks., Comment: Transactions on Machine Learning Research (12/2023)

Laboratory-scale precision experiments are a promising approach to searching for physics beyond the standard model. Non-centrosymmetric solids offer favorable statistical sensitivity for efforts that search for new fields, whose interactions violate the discrete parity and time-reversal symmetries. One example is the electric Cosmic Axion Spin Precession Experiment (CASPEr-e), which is sensitive to the defining interaction of the QCD axion dark matter with gluons in atomic nuclei. The effective electric field is the parameter that quantifies the sensitivity of such experiments to new physics. We describe the theoretical approach to calculating the effective electric field for non-centrosymmetric sites in ionic insulating solids. We consider the specific example of the EuCl$_3\cdot$6H$_2$O crystal, which is a particularly promising material. The optimistic estimate of the effective electric field for the $^{153}$Eu isotope in this crystal is 10 MV/cm. The calculation uncertainty is estimated to be two orders of magnitude, dominated by the evaluation of the Europium nuclear Schiff moment.

We consider suspened bilayer graphene under applied perpendicular electric bias field that is known to generate a single particle gap $2\Delta$ and a related electric polarization ${\cal P}$. We argue that the bias also drives a quantum phase transition from band insulator to superfluid exciton condensate. The transition occurs when the exciton binding energy exceeds the band gap $2\Delta$. We predict the critical bias (converted to band gap), $\Delta_c\approx 60$ meV, below which the excitons condense. The critical temperature, $T_c(\Delta)$, is maximum at $\Delta \approx 25$ meV, $T_c^\text{max}\approx 115$ K, decreasing significantly at smaller $\Delta$ due to thermal screening. Entering the condensate phase, the superfluid transition is accompanied by a cusp in the electric polarization ${\cal P}(\Delta)$ at $\Delta\to\Delta_c$, which provides a striking testable signature. Additionally, we find that the condensate prefers to form a pair density wave.

Many modern spin-based devices rely on the spin-orbit interaction, which is highly sensitive to the host semiconductor heterostructure and varies substantially depending on crystal direction, crystal asymmetry (Dresselhaus), and quantum confinement asymmetry (Rashba). One-dimensional quantum point contacts are a powerful tool to probe both energy and directional dependence of spin-orbit interaction through the effect on the hole $g$-factor. In this work we investigate the role of cubic crystal asymmetry in driving an oscillation in the in-plane hole $g$-factor anisotropy when the quantum point contact is rotated with respect to the crystal axes, and we are able to separate contributions to the Zeeman Hamiltonian arising from Rashba and cubic crystal asymmetry spin-orbit interactions. The in-plane $g$-factor is found to be extremely sensitive to the orientation of the quantum point contact, changing by a factor of $5$ when rotated by $45^{\circ}$. This exceptionally strong crystal lattice anisotropy of the in-plane Zeeman splitting cannot be explained within axially symmetric theoretical models. Theoretical modelling based on the combined Luttinger, Rashba and Dresselhaus Hamiltonians that we use here reveals new spin-orbit contributions to the in-plane hole $g$-factor and provides an excellent agreement with our experimental data., Comment: 8 pages, 4 figures

Excitonic bound states are characterised by a binding energy $\epsilon_b$ and a single-particle band gap $\Delta_b$. This work provides a theoretical description for both strong ($\epsilon_b\sim\Delta_b$) and weak ($\epsilon_b\ll\Delta_b$) excitonic bound states, with particular application to biased bilayer graphene. Standard description of excitons is based on a wave function that is determined by a Schr\"odinger-like equation with screened attractive potential. The wave function approach is valid only in the weak binding regime $\epsilon_b\ll\Delta_b$. The screening depends on frequency (dynamical screening) and this implies retardation. In the case of strong binding, $\epsilon_b\sim\Delta_b$, a wave function description is not possible due to the retardation. Instead we appeal to the Bethe-Salpeter equation, written in terms of the electron-hole Green's function, to solve the problem. So far only the weak binding regime has been achieved experimentally. Our analysis demonstrates that the strong binding regime is also possible and we specify conditions in which it can be achieved for the prototypical example of biased bilayer graphene. The conditions concern the bias, the configuration of gates, and the substrate material. To verify the accuracy of our analysis we compare with available data for the weak binding regime. We anticipate applying the developed dynamical screening Bethe-Salpeter techniques to various 2D materials with strong binding., Comment: 8 pages, 8 figures

The hydrodynamic behavior of electron fluids in a certain range of temperatures and densities is well established in graphene and in 2D semiconductor heterostructures. The hydrodynamic regime is intrinsically based on electron-electron interactions, and therefore it provides a unique opportunity to study electron correlations. Unfortunately, in all existing measurements, the relative contribution of hydrodynamic effects to transport is rather small. Viscous hydrodynamic effects are masked by impurities, interaction with phonons, uncontrolled boundaries and ballistic effects. This essentially limits the accuracy of measurements of electron viscosity. Fundamentally, what causes viscous friction in the electron fluid is the property of the flow called vorticity. In this paper, we propose to use micromagnets to increase the vorticity by orders of magnitude. Experimental realization of this proposal will bring electron hydrodynamics to a qualitatively new precision level, as well as opening a new way to characterize and externally control the electron fluid., Comment: 10 pages, 8 figure. Added references and fixed minor typos in the text to match published article

Recent experiments on kagome metals AV$_3$Sb$_5$ (A=K,Rb,Cs) [M. Kang et al., Nat. Phys. 18, 301-308 (2022)] identify twofold van Hove singularities (TvHS) with opposite concavity near the Fermi energy, generating two approximately hexagonal Fermi surfaces -- one electron-like and the other hole-like. Here we propose that a TvHS generates a novel time-reversal symmetry breaking excitonic order -- arising due to bound pairs of electrons and holes located at opposite concavity van Hove singularities. We introduce a minimal model for the TvHS and investigate interaction induced many-body instabilities via the perturbative renormalisation group technique and a free energy analysis. Specialising to parameters appropriate for the kagome metals AV$_3$Sb$_5$, we construct a phase diagram comprising chiral excitons, charge density wave and a region of coexistence. We propose this as an explanation of a diverse range of experimental observations in AV$_3$Sb$_5$. Notably, the chiral excitonic state gives rise to a quantum anomalous Hall conductance, providing an appealing interpretation of the observed anomalous Hall effect in kagome metals. Possible alternative realisations of the TvHS mechanism in bilayer materials are also discussed. We suggest that TvHS open up interesting possibilities for correlated phases, enriching the set of competing ground states to include excitonic order.

Complex sequential tasks in continuous-control settings often require agents to successfully traverse a set of "narrow passages" in their state space. Solving such tasks with a sparse reward in a sample-efficient manner poses a challenge to modern reinforcement learning (RL) due to the associated long-horizon nature of the problem and the lack of sufficient positive signal during learning. Various tools have been applied to address this challenge. When available, large sets of demonstrations can guide agent exploration. Hindsight relabelling on the other hand does not require additional sources of information. However, existing strategies explore based on task-agnostic goal distributions, which can render the solution of long-horizon tasks impractical. In this work, we extend hindsight relabelling mechanisms to guide exploration along task-specific distributions implied by a small set of successful demonstrations. We evaluate the approach on four complex, single and dual arm, robotics manipulation tasks against strong suitable baselines. The method requires far fewer demonstrations to solve all tasks and achieves a significantly higher overall performance as task complexity increases. Finally, we investigate the robustness of the proposed solution with respect to the quality of input representations and the number of demonstrations.

Reinforcement learning (RL) can in principle let robots automatically adapt to new tasks, but current RL methods require a large number of trials to accomplish this. In this paper, we tackle rapid adaptation to new tasks through the framework of meta-learning, which utilizes past tasks to learn to adapt with a specific focus on industrial insertion tasks. Fast adaptation is crucial because prohibitively large number of on-robot trials will potentially damage hardware pieces. Additionally, effective adaptation is also feasible in that experience among different insertion applications can be largely leveraged by each other. In this setting, we address two specific challenges when applying meta-learning. First, conventional meta-RL algorithms require lengthy online meta-training. We show that this can be replaced with appropriately chosen offline data, resulting in an offline meta-RL method that only requires demonstrations and trials from each of the prior tasks, without the need to run costly meta-RL procedures online. Second, meta-RL methods can fail to generalize to new tasks that are too different from those seen at meta-training time, which poses a particular challenge in industrial applications, where high success rates are critical. We address this by combining contextual meta-learning with direct online finetuning: if the new task is similar to those seen in the prior data, then the contextual meta-learner adapts immediately, and if it is too different, it gradually adapts through finetuning. We show that our approach is able to quickly adapt to a variety of different insertion tasks, with a success rate of 100% using only a fraction of the samples needed for learning the tasks from scratch. Experiment videos and details are available at https://sites.google.com/view/offline-metarl-insertion., Comment: ICRA 2022

Over the past several years there has been a considerable research investment into learning-based approaches to industrial assembly, but despite significant progress these techniques have yet to be adopted by industry. We argue that it is the prohibitively large design space for Deep Reinforcement Learning (DRL), rather than algorithmic limitations per se, that are truly responsible for this lack of adoption. Pushing these techniques into the industrial mainstream requires an industry-oriented paradigm which differs significantly from the academic mindset. In this paper we define criteria for industry-oriented DRL, and perform a thorough comparison according to these criteria of one family of learning approaches, DRL from demonstration, against a professional industrial integrator on the recently established NIST assembly benchmark. We explain the design choices, representing several years of investigation, which enabled our DRL system to consistently outperform the integrator baseline in terms of both speed and reliability. Finally, we conclude with a competition between our DRL system and a human on a challenge task of insertion into a randomly moving target. This study suggests that DRL is capable of outperforming not only established engineered approaches, but the human motor system as well, and that there remains significant room for improvement. Videos can be found on our project website: https://sites.google.com/view/shield-nist., Comment: RSS 2021

Fluid dynamics is one of the cornerstones of modern physics and has recently found applications in the transport of electrons in solids. In most solids electron transport is dominated by extrinsic factors, such as sample geometry and scattering from impurities. However in the hydrodynamic regime Coulomb interactions transform the electron motion from independent particles to the collective motion of a viscous `electron fluid'. The fluid viscosity is an intrinsic property of the electron system, determined solely by the electron-electron interactions. Resolving the universal intrinsic viscosity is challenging, as it only affects the resistance through interactions with the sample boundaries, whose roughness is not only unknown but also varies from device to device. Here we eliminate all unknown parameters by fabricating samples with smooth sidewalls to achieve the perfect slip boundary condition, which has been elusive both in molecular fluids and electronic systems. We engineer the device geometry to create viscous dissipation and reveal the true intrinsic hydrodynamic properties of a 2D system. We observe a clear transition from ballistic to hydrodynamic electron motion, driven by both temperature and magnetic field. We directly measure the viscosity and electron-electron scattering lifetime (the Fermi quasiparticle lifetime) over a wide temperature range without fitting parameters, and show they have a strong dependence on electron density that cannot be explained by conventional theories based on the Random Phase Approximation.

Classical electromagnetism is linear. However, fields can polarize the vacuum Dirac sea, causing quantum nonlinear electromagnetic phenomena, e.g., scattering and splitting of photons, that occur only in very strong fields found in neutron stars or heavy ion colliders.We show that strong nonlinearity arises in Dirac materials at much lower fields $\sim 1\:\text{T}$, allowing us to explore the nonperturbative, extremely high field limit of quantum electrodynamics in solids. We explain recent experiments in a unified framework and predict a new class of nonlinear magneto-electric effects, including a magnetic enhancement of dielectric constant of insulators and a strong electric modulation of magnetization. We propose experiments and discuss the applications in novel materials., Comment: 6+12 pages, 2+1 figures, 1 Supplement, prepared by using revtex 4.1

A robot's ability to act is fundamentally constrained by what it can perceive. Many existing approaches to visual representation learning utilize general-purpose training criteria, e.g. image reconstruction, smoothness in latent space, or usefulness for control, or else make use of large datasets annotated with specific features (bounding boxes, segmentations, etc.). However, both approaches often struggle to capture the fine-detail required for precision tasks on specific objects, e.g. grasping and mating a plug and socket. We argue that these difficulties arise from a lack of geometric structure in these models. In this work we advocate semantic 3D keypoints as a visual representation, and present a semi-supervised training objective that can allow instance or category-level keypoints to be trained to 1-5 millimeter-accuracy with minimal supervision. Furthermore, unlike local texture-based approaches, our model integrates contextual information from a large area and is therefore robust to occlusion, noise, and lack of discernible texture. We demonstrate that this ability to locate semantic keypoints enables high level scripting of human understandable behaviours. Finally we show that these keypoints provide a good way to define reward functions for reinforcement learning and are a good representation for training agents., Comment: 11 pages, supplementary material available at: https://sites.google.com/view/2020-s3k/home

We aim to understand how the spectrum of semi-Dirac fermions is renormalized due to long-range Coulomb electron-electron interactions at a topological Lifshitz transition, where two Dirac cones merge. At the transition, the electronic spectrum is characterized by massive quadratic dispersion in one direction, while it remains linear in the other. We have found that, to lowest order, the unconventional log squared (double logarithmic) correction to the quasiparticle mass in bare perturbation theory leads to resummation into strong mass renormalization in the exact full solution of the perturbative renormalization group equations. This behavior effectively wipes out the curvature of the dispersion and leads to Dirac cone restoration at low energy: the system flows towards Dirac dispersion which is anisotropic but linear in momentum, with interaction-depended logarithmic modulation. The Berry phase associated with the restored critical Dirac spectrum is zero - a property guaranteed by time-reversal symmetry and unchanged by renormalization. Our results are in contrast with the behavior that has been found within the large-$N$ approach., Comment: 10 pages, 5 figures

Two-dimensional Heisenberg antiferromagnets play a central role in quantum magnetism, yet the nature of dynamic correlations in these systems at finite temperature has remained poorly understood for decades. We solve this long-standing problem by using a novel quantum-classical duality to calculate the dynamic structure factor analytically and, paradoxically, find a broad frequency spectrum despite the very long quasiparticle lifetime. The solution reveals new multi-scale physics whereby an external probe creates a classical radiation field containing infinitely-many quanta. Crucially, it is the multi-scale nature of this phenomenon which prevents a conventional renormalization group approach. We also challenge the common wisdom on static correlations and perform Monte Carlo simulations which demonstrate excellent agreement with our theory., Comment: 13 pages, 7 figures, 1 table

Strong quantum fluctuations in magnetic systems can create disordered quantum spin liquid phases of matter which are not predicted by classical physics. The complexity of the exotic phenomena on display in spin liquids has led to a great deal of theoretical and experimental interest. However, understanding the fundamental nature of the excitations in these systems remains challenging. In this work, we consider the Lifshitz quantum critical point in a two-dimensional frustrated $XY$ antiferromagnet. At this point, quantum fluctuations destroy long range order, leading to the formation of an algebraic Lifshitz spin liquid. We demonstrate that the bosonic magnon excitations are long-lived and well-defined in the Lifshitz spin liquid phase, though paradoxically, the dynamic structure factor has a broad non-Lorentzian frequency distribution with no single-particle weight. We resolve this apparent contradiction by showing that the Lifshitz spin liquid suffers from an infrared catastrophe: An external physical probe always excites an infinite number of arbitrarily low energy quasiparticles, which leads to significant radiative broadening of the spectrum., Comment: 10 pages, 4 figures

We present calculations of the equilibrium current density and Chern numbers for a 2DEG in a periodic potential with infinite strip geometry and a perpendicular magnetic field. We consider a triangular lattice of anti-dots with large (a = 120 nm) lattice spacing. Such a system is known as artificial graphene (AG). To compute the current density we numerically diagonalise the AG Hamiltonian over a set of Landau level basis states, this takes into account coupling between different Landau levels. Our calculations show that, at magnetic fields typical for quantum Hall measurements, extended streams of current are present in the bulk of the sample. We investigate the scaling of these streams with potential strength. Knowledge of the AG energy levels allows us to compute the Chern number associated with each energy gap. We demonstrate that in tuning the height of the potential modulation the Chern number can undergo a transition between two different values., Comment: 10 pages , 7 figures. Typos corrected

The nature of quasiparticles in 2D quantum antiferromagnets at finite temperature remains an open question despite decades of theoretical work. In particular, it is not fully understood how long wavelength excitations contribute to significant broadening of the experimentally observable spectrum. Motivated by this problem, we consider the $XY$ model of easy-plane antiferromagnets, and compute the dynamic structure factor by direct summation of diagrams. In doing so, we find that non-interacting quasiparticles with infinite lifetimes can still lead to a broad response. This forms the basis for a new paradigm describing the interaction of experimental probes with a physical system, where broadening is due neither to the lifetime, nor to the emergence of fractional quasiparticles. Instead, strong fluctuations drive the probe to absorb and radiate an infinite number of arbitrarily low energy quasiparticles, leading us to draw parallels with the infrared catastrophe in quantum electrodynamics., Comment: 10 pages, 4 figures

We show that the magnetic response of atomically thin materials with Dirac spectrum and spin-orbit interactions can exhibit strong dependence on electron-electron interactions. While graphene itself has a very small spin-orbit coupling, various two-dimensional (2D) compounds "beyond graphene" are good candidates to exhibit the strong interplay between spin-orbit and Coulomb interactions. Materials in this class include dichalcogenides (such as MoS$_2$ and WSe$_2$), silicene, germanene, as well as 2D topological insulators described by the Kane-Mele model. We present a unified theory for their in-plane magnetic field response leading to "anomalous", i.e. electron interaction dependent transition moments. Our predictions can be potentially used to construct unique magnetic probes with high sensitivity to electron correlations., Comment: 9 pages, 6 figures

Antiferromagnetic quantum spin systems can exhibit a transition between collinear and spiral ground states, driven by frustration. Classically this is a smooth crossover and the crossover point is termed a Lifshitz point. Quantum fluctuations change the nature of the transition. In particular it has been argued previously that in the two-dimensional (2D) case a spin liquid (SL) state is developed in the vicinity of the Lifshitz point, termed a Lifshitz SL. In the present work, using a field theory approach, we solve the Lifshitz quantum phase transition problem for the 2D frustrated XY-model. Specifically, we show that, unlike the SU(2) symmetric Lifshitz case, in the XY-model the SL exists only at the critical point. At zero temperature we calculate nonuniversal critical exponents in the Neel and in the spin spiral state and relate these to properties of the SL. We also solve the transition problem at a finite temperature and discuss the role of topological excitations.

We present a framework for data-driven robotics that makes use of a large dataset of recorded robot experience and scales to several tasks using learned reward functions. We show how to apply this framework to accomplish three different object manipulation tasks on a real robot platform. Given demonstrations of a task together with task-agnostic recorded experience, we use a special form of human annotation as supervision to learn a reward function, which enables us to deal with real-world tasks where the reward signal cannot be acquired directly. Learned rewards are used in combination with a large dataset of experience from different tasks to learn a robot policy offline using batch RL. We show that using our approach it is possible to train agents to perform a variety of challenging manipulation tasks including stacking rigid objects and handling cloth., Comment: Project website: https://sites.google.com/view/data-driven-robotics/

A purely electronic mechanism is proposed for the unconventional superconductivity recently observed in twisted bilayer graphene (tBG) close to the magic angle. Using the Migdal-Eliashberg framework on a one parameter effective lattice model for tBG we show that a superconducting state can be achieved by means of collective electronic modes in tBG. We posit robust features of the theory, including an asymmetrical superconducting dome and the magnitude of the critical temperature that are in agreement with experiments., Comment: 5 pages, 3 figures

The transition between the N\'{e}el antiferromagnet and the valence-bond solid state in two dimensions has become a paradigmatic example of deconfined quantum criticality, a non-Landau transition characterized by fractionalized excitations (spinons). We consider an extension of this scenario whereby the deconfined spinons are subject to a magnetic field. The primary purpose is to identify the exotic scenario of a Bose-Einstein condensate of spinons. We employ quantum Monte Carlo simulations of the \mbox{$J$-$Q$} model with a magnetic field and perform a quantum field theoretic analysis of the magnetic field and temperature dependence of thermodynamic quantities. The combined analysis provides compelling evidence for the Bose-Einstein condensation of spinons and also demonstrates an extended temperature regime in which the system is best described as a gas of spinons interacting with an emergent gauge field., Comment: Published in Phys. Rev. B March 11, 2020

Recent theoretical and experimental results from quasi-one dimensional heavy hole systems have suggested that heavy hole gases have a strongly anisotropic g factor. In this theoretical paper, we propose a method for measuring this anisotropy using transverse magnetic focusing (TMF). We demonstrate that for experimentally accessible fields, the g factor anisotropy leads to a relative variation in the characteristic of spin-splitting of the TMF spectrum which allows for the measurement of the anisotropy of the g factor. We show that this variation is insensitive to additional spin-orbit interactions, and is resolvable with current devices., Comment: 4 Pages

Insertion is a challenging haptic and visual control problem with significant practical value for manufacturing. Existing approaches in the model-based robotics community can be highly effective when task geometry is known, but are complex and cumbersome to implement, and must be tailored to each individual problem by a qualified engineer. Within the learning community there is a long history of insertion research, but existing approaches are typically either too sample-inefficient to run on real robots, or assume access to high-level object features, e.g. socket pose. In this paper we show that relatively minor modifications to an off-the-shelf Deep-RL algorithm (DDPG), combined with a small number of human demonstrations, allows the robot to quickly learn to solve these tasks efficiently and robustly. Our approach requires no modeling or simulation, no parameterized search or alignment behaviors, no vision system aside from raw images, and no reward shaping. We evaluate our approach on a narrow-clearance peg-insertion task and a deformable clip-insertion task, both of which include variability in the socket position. Our results show that these tasks can be solved reliably on the real robot in less than 10 minutes of interaction time, and that the resulting policies are robust to variance in the socket position and orientation.

Semiconductor holes with strong spin-orbit coupling allow all-electrical spin control, with broad applications ranging from spintronics to quantum computation. Using a two-dimensional hole system in a GaAs quantum well, we demonstrate a new mechanism of electrically controlling the Zeeman splitting, which is achieved through altering the hole wave vector $k$. We find a threefold enhancement of the in-plane $g-$factor $g_{\parallel}(k)$. We introduce a new method for quantifying the Zeeman splitting from magnetoresistance measurements, since the conventional tilted field approach fails for two-dimensional systems with strong spin-orbit coupling. Finally, we show that the Rashba spin-orbit interaction suppresses the in-plane Zeeman interaction at low magnetic fields. The ability to control the Zeeman splitting with electric fields opens up new possibilities for future quantum spin-based devices, manipulating non-Abelian geometric phases, and realising Majorana systems in $p-$type superconductor systems.

Three decades ago Ioffe and Larkin pointed out a generic mechanism for the formation of a gapped spin liquid. In the case when a classical two-dimensional (2D) frustrated Heisenberg magnet undergoes a Lifshitz transition between a collinear N\'eel phase and a spin spiral phase, quantum effects usually lead to the development of a spin-liquid phase sandwiched between the N\'eel and spin spiral phases. In the present work, using field theory techniques, we study properties of this universal spin liquid phase. We examine the phase diagram near the Lifshitz point and calculate the positions of critical points, excitation spectra, and spin-spin correlations functions. We argue that the spin liquid in the vicinity of 2D Lifshitz point (LP) is similar to the gapped Haldane phase in integer-spin 1D chains. We also consider a specific example of a frustrated system with the spiral-N\'eel LP, the $J_1-J_3$ antiferromagnet on the square lattice that manifests the spin liquid behavior. We present numerical series expansion calculations for this model and compare results of the calculations with predictions of the developed field theory., Comment: 11 pages, 7 figures

Spin-orbit (SO) interactions in two dimensional systems split the Fermi surface, and allow for the spatial separation of spin-states via transverse magnetic focusing (TMF). In this work, we consider the case of combined Rashba and Zeeman interactions, which leads to a Fermi surface without cylindrical symmetry. While the classical trajectories are effectively unchanged, we predict an additional contribution to the phase, linear in the applied in-plane magnetic field. We show that this term is unique to TMF, and vanishes for magnetic (Shubnikov de Haas) oscillations. Finally we propose some experimental signatures of this phase., Comment: 6 pages, 5 figures

Interference effects form a fundamental pillar of quantum mechanics. In this paper, we examine the interference in spin-orbit coupled transverse magnetic focusing, where a weak magnetic field is used to focus charge carries over mesoscopic scales. We determine a semi-classical form for the Green's function in a weak magnetic field, for the case of both spin-less and spin-orbit coupled charge carriers. The obtained forms for the Greens' function are independent of particle dispersion and are thus applicable to a wide variety of systems., Comment: 7 Pages

We propose the creation of a two-dimensional topological semimetal in a semiconductor artificial lattice with triangular symmetry. An in-plane magnetic field drives a quantum phase transition between the topological insulating and topological semimetal phases. The topological semimetal is characterized by robust band touching points which carry quantized Berry flux and edge states which terminate at the band touching points. The topological phase transition is predicted to occur at magnetic fields $\sim 4\text{T}$ in high mobility GaAs artificial lattices, and can be detected via the anomalous behaviour of the edge conductance., Comment: 5 pages, 3 figures

Hexagonally patterned two-dimensional $p$-type semiconductor systems are quantum simulators of graphene with strong and highly tunable spin-orbit interactions. We show that application of purely in-plane magnetic fields, in combination with the crystallographic anisotropy present in low-symmetry semiconductor interfaces, allows Chern insulating phases to emerge from an originally topologically insulating state after a quantum phase transition. These phases are characterized by pairs of co-propagating edge modes and Hall conductivities $\sigma_{xy} = +\frac{2 e^2}{h}, -\frac{2 e^2}{h}$ in the absence of Landau levels or cyclotron motion. With current lithographic technology, the Chern insulating transitions are predicted to occur in GaAs heterostructures at magnetic fields of $\sim 5\text{T}$.

We find unknown $s$- and $d$-wave amplitudes of the recently discovered charge density wave (CDW) in underdoped cuprates. To do so we perform a combined analysis of experimental data for ortho-II YBa$_2$Cu$_3$O$_{y}$. The analysis includes data on nuclear magnetic resonance, resonant inelastic X-ray scattering, and hard X-ray diffraction. The amplitude of doping modulation found in our analysis is $3.5\cdot 10^{-3}$ in a low magnetic field and $T=60$K, the amplitude is $6.5\cdot 10^{-3}$ in a magnetic field of 30T and $T=1.3$K. The values are in units of elementary charge per unit cell of a CuO$_2$ plane. We show that the data rule out a checkerboard pattern, and we also show that the data might rule out mechanisms of the CDW which do not include phonons., Comment: Final version accepted to Scientific Reports

A semiclassical quantization condition is derived for Landau levels in general spin-orbit coupled systems. This generalizes the Onsager quantization condition via a matrix-valued phase which describes spin dynamics along the classical cyclotron trajectory. We discuss measurement of the matrix phase via magnetic oscillations and electron spin resonance, which may be used to probe the spin structure of the precessing wavefunction. We compare the resulting semiclassical spectrum with exact results which are obtained for a variety of spin-orbit interactions in 2D systems.

The electron g-factor measured in a quantum point contact by source-drain bias spectroscopy is significantly larger than its value in a two-dimensional electron gas. This enhancement, established experimentally in numerous studies, is an outstanding puzzle. In the present work we explain the mechanism of this enhancement in a theory accounting for the electron-electron interactions. We show that the effect relies crucially on the non-equilibrium nature of the spectroscopy at finite bias., Comment: v1: 5 pages, 4 figures; v2: supplementary information added, minor changes to match the PRL version, 10 pages, 10 figures

In this work we theoretically investigate transverse magnetic focussing in two dimensional electron and hole gasses with strong spin orbit interactions. We present a general result for spin orbit interaction with singular winding numbers in the adiabatic limit. We then present results for systems with two spin orbit interactions of different winding number appear, using the concrete and experimentally relevant case of an applied in-plane magnetic field in hole systems with Rashba type interactions. We predict that the application of a large in-plane field is found to have a strong effect on the magnetic focussing spectrum., Comment: 8 pages

We consider a single impurity with spin $S$ embedded in a three-dimensional antiferromagnetic system which is close to the quantum critical point (QCP), separating magnetically ordered and disordered phases. Approaching the QCP from the disordered phase we study the spatial distribution of spin density and staggered magnetization induced by the impurity. Using two methods (self-consistent Born approximation and renormalization group) we found a power law decay of the spin density $\propto 1/r^3$, and of the staggered magnetization $\propto 1/r$ with relevant logarithmic corrections. We demonstrate that the local spin at the impurity site $r=0$ approaches to zero at the QCP. We show that in the semiclassical limit of large $S$ the problem is equivalent to the exactly solvable independent boson model. Our results demonstrate existence of spin-charge separation in the three dimensional systems in the vicinity of the QCP., Comment: 11 pages, 11 figures

Phase transitions in isotropic quantum antiferromagnets are described by an O(3) nonlinear quantum field theory. In three dimensions, the fundamental property of this theory is logarithmic scaling of the coupling constant. At the quantum critical point the coupling asymptotically vanishes and the quasiparticles become free. This logarithmic decay of the coupling constant has never been ob- served. In this paper, we derive finite temperature properties of the field theory and use our results to analyze the existing data on the real antiferromagnet TlCuCl3. Including finite temperatures into the theory, we find that agreement between theory and experiment is sufficiently sensitive to unambiguously identify the asymptotic decay of the coupling constant. We also comment on the unique possibility to study Landau pole-physics in quantum magnets.

We consider two immobile spin $1/2$ fermions in a two-dimensional magnetic system that is close to the $ O(3)$ magnetic quantum critical point (QCP) which separates magnetically ordered and disordered phases. Focusing on the disordered phase in the vicinity of the QCP, we demonstrate that the criticality results in a strong long range attraction between the fermions, with potential $V(r) \propto -1/r^{\nu}$, $\nu \approx 0.75$, where $r$ is separation between the fermions. The mechanism of the enhanced attraction is similar to Casimir effect and corresponds to multi-magnon exchange processes between the fermions. While we consider a model system, the problem is originally motivated by recent establishment of magnetic QCP in hole doped cuprates under the superconducting dome at doping of about 10\%. We suggest the mechanism of magnetic critical enhancement of pairing in cuprates., Comment: 11 pages, 14 figures

We calculate spectra of magnetic excitations in the spin-spiral state of perovskite manganates. The spectra consist of several branches corresponding to different polarizations and different ways of diffraction from the static magnetic order. Goldstone modes and opening of gaps at zero and non-zero energies due to the crystal field and the Dzyaloshinski-Moriya anisotropies are discussed. Comparing results of the calculation with available experimental data we determine values of effective exchange parameters and anisotropies. To simplify the spin-wave calculation and to get a more clear physical insight in the structure of excitations we use the {\sigma}-model-like effective field theory to analyze the Heisenberg Hamiltonian and to derive the spectra., Comment: 8 pages, 8 figures

The distribution of electrons and holes in the CuO$_2$ plane of the high-temperature superconducting cuprates is determined with nuclear magnetic resonance through the quadrupole splittings of $^{17}$O and $^{63}$Cu. Based on new data for single crystals of electron-doped Pr$_{2-x}$Ce$_x$CuO$_4$(x=0, 0.05, 0.10, 0.15) as well as Nd$_{2-x}$Ce$_x$CuO$_4$ (x=0, 0.13) the changes in hole contents $n_d$ of Cu 3d$(x^2-y^2)$ and $n_p$ of O 2$p_\sigma$ orbitals are determined and they account for the stoichiometrically doped charges, similar to hole-doped \lsco. It emerges that while $n_d+2n_p=1$ in all parent materials as expected, $n_d$ and $n_p$ vary substantially between different groups of materials. Doping holes increases predominantly $n_p$, but also $n_d$. To the contrary, doping electrons predominantly decreases $n_d$ and only slightly $n_p$. However, $n_p$ for the electron doped systems is higher than that in hole doped La$_{1.85}$Sr$_{0.15}$CuO$_4$. Cuprates with the highest maximum $T_{\rm c}$s appear to have a comparably low $n_d$ while, at the same time, $n_p$ is very high. The rather high oxygen hole content of the Pr$_2$CuO$_4$ and Nd$_2$CuO$_4$ with the low $n_d$ seems to make them ideal candidates for hole doping to obtain the highest $T_{\rm c}$., Comment: 5 pages, 5 figures

For the first time we calculate the electron transmission phase through a quantum point contact (QPC). The QPC is considered in the saddle point approximation in the single-electron picture. We show that when the electron energy is close to the height of the potential barrier the transmission-phase depends linearly on the energy. The coefficient in the linear dependence is logarithmically enhanced by the ratio of the height over the curvature of the barrier potential. We compare the calculated transmission phase with the first experimental measurements of the phase., Comment: 4 pages, 3 figures

There are two commonly discussed points of view in theoretical description of cuprate superconductors, (i) Cuprates can be described by the modified t-J model. (ii) Overdoped cuprates are close to the regime of normal Fermi liquid (NFL). We argue that recent resonant inelastic X-ray scattering data challenge both points. While the modified t-J model describes well the strongly underdoped regime, it fails to describe high energy magnetic excitations when approaching optimal doping. This probably indicates failure of the Zhang-Rice singlet picture. In the overdoped regime the momentum-integrated spin structure factor S(\omega) has the same intensity and energy distribution as that in an undoped parent compound. This implies that the entire spin spectral sum rule is saturated at \omega ~ 2J, while in a NFL the spectral weight should saturate only at the total bandwidth which is much larger than 2J., Comment: 10 pages, 9 figures