ShantanuT01/DACTYL-Pretraining huggingface dataset:
Training a robotic arm to accomplish real-world tasks has been attracting increasing attention in both academia and industry. This work discusses the role of computer vision algorithms in this field. We focus on low-cost arms on which no sensors are equipped and thus all decisions are made upon visual recognition, e.g., real-time 3D pose estimation. This requires annotating a lot of training data, which is not only time-consuming but also laborious.   In this paper, we present an alternative solution, which uses a 3D model to create a large number of synthetic data, trains a vision model in this virtual domain, and applies it to real-world images after domain adaptation. To this end, we design a semi-supervised approach, which fully leverages the geometric constraints among keypoints. We apply an iterative algorithm for optimization. Without any annotations on real images, our algorithm generalizes well and produces satisfying results on 3D pose estimation, which is evaluated on two real-world datasets. We also construct a vision-based control system for task accomplishment, for which we train a reinforcement learning agent in a virtual environment and apply it to the real-world. Moreover, our approach, with merely a 3D model being required, has the potential to generalize to other types of multi-rigid-body dynamic systems.
Oxide ceramics are sensitive to slow crack growth because adsorption of water can take place at the crack tip, leading to a strong decrease of the surface energy in humid (or air) conditions. This is a major drawback concerning demanding, long-term applications such as orthopaedic implants. Here we show that a specific nanostructuration of ceramic oxides can lead to a crack resistance never reached before, similar to that of covalent ceramics.
The emergence of flat bands and correlated behaviors in 'magic angle' twisted bilayer graphene (tBLG) has sparked tremendous interest, though many aspects of the system are under intense debate. Here we report observation of both superconductivity and the Mott-like insulating state in a tBLG device with a twist angle of approximately 0.93, which is smaller than the magic angle by 15%. At an electron concentration of +/-5 electrons per moire unit cell, we observe a narrow resistance peak with an activation energy gap of approximately 0.1 meV, indicating the existence of an additional correlated insulating state. This is consistent with theory predicting the presence of a high-energy band with an energetically flat dispersion. At a doping of +/-12 electrons per moire unit cell we observe a resistance peak due to the presence of Dirac points in the spectrum. Our results reveal that the magic range of tBLG is in fact larger than what is previously expected, and provide a wealth of new information to help decipher the strongly correlated phenomena observed in tBLG.
BaCuSi$_2$O$_6$ is a quasi-two-dimensional (2D) quantum antiferromagnet containing three different types of stacked, square-lattice bilayer hosting spin-1/2 dimers. Although this compound has been studied extensively over the last two decades, the critical applied magnetic field required to close the dimer spin gap and induce magnetic order, which exceeds 23 T, has to date precluded any kind of neutron scattering investigation. However, the HFM/EXED instrument at the Helmholtz-Zentrum Berlin made this possible at magnetic fields up to 25.9 T. Thus we have used HFM/EXED to investigate the field-induced ordered phase, in particular to look for quasi-2D physics arising from the layered structure and from the different bilayer types. From neutron diffraction data, we determined the global dependence of the magnetic order parameter on both magnetic field and temperature, finding a form consistent with 3D quantum critical scaling; from this we deduce that the quasi-2D interactions and nonuniform layering of BaCuSi$_2$O$_6$ are not anisotropic enough to induce hallmarks of 2D physics. From neutron spectroscopy data, we measured the dispersion of the strongly Zeeman-split magnetic excitations, finding good agreement with the zero-field interaction parameters of BaCuSi$_2$O$_6$. We conclude that HFM/EXED allowed a significant extension in the application of neutron scattering techniques to the field range above 20 T and in particular opened new horizons in the study of field-induced magnetic quantum phase transitions.
We develop a Luttinger liquid theory of the Coulomb drag of persistent currents flowing in concentric mesoscopic rings, by incorporating non-linear corrections to the electron dispersion relation. We demonstrate that at low temperatures, interactions between electrons in different rings generate an additional phase and thus alter the period of Aharonov-Bohm oscillations. The resulting nondissipative drag depends strongly on the relative parity of the electron numbers. We also show that interactions set a new temperature scale below which the linear response theory does not apply at certain values of external flux.
We obtain an existence result for a Measure Differential Equation with an additional nonlinear growth/decay term that may change the sign. The proof requires a modification of approximating schemes proposed by Piccoli and Rossi. The new scheme combines model discretisation with the exponential solution of the nonlinear growth/decay and hence preserves nonnegativity of the measure. Furthermore, we formulate a simpler analytic condition on the Measure Vector Field which substantially simplifies the previous proof of continuity of solutions with respect to initial data.
The determination of the LSR is still a matter of debate. The classical value of the tangential peculiar motion of the Sun with respect to the LSR was challenged in recent years, claiming a significantly larger value. We show that the RAdial Velocity Experiment (RAVE) sample of dwarf stars is an excellent data set to derive tighter boundary conditions to chemodynamical evolution models of the extended solar neighbourhood. We present an improved Jeans analysis, which allows a better interpretation of the measured kinematics of stellar populations in the Milky Way disc. We propose an improved version of the Str\"omberg relation with the radial scalelengths as the only unknown. Binning RAVE stars in metallicity reveals a bigger asymmetric drift (corresponding to a smaller radial scalelength) for more metal-rich populations. With the standard assumption of velocity-dispersion independent radial scalelengths in each metallicity bin, we redetermine the LSR. The new Str\"omberg equation yields a joint LSR value of V_\sun=3.06 \pm 0.68 km/s, which is even smaller than the classical value based on Hipparcos data. The corresponding radial scalelength increases from 1.6 kpc for the metal-rich bin to 2.9 kpc for the metal-poor bin, with a trend of an even larger scalelength for young metal-poor stars. When adopting the recent Sch\"onrich value of V_\sun=12.24 km/s for the LSR, the new Str\"omberg equation yields much larger individual radial scalelengths of the RAVE subpopulations, which seem unphysical in part. The new Str\"omberg equation allows a cleaner interpretation of the kinematic data of disc stars in terms of radial scalelengths. Lifting the LSR value by a few km/s compared to the classical value results in strongly increased radial scalelengths with a trend of smaller values for larger velocity dispersions.
We introduce an invariant of varieties in positive characteristic which generalizes the a-number of an abelian variety. We calculate it in some examples and discuss its meaning for moduli.
This article describes nonequilibrium techniques for the calculation of free energies of solids using molecular dynamics (MD) simulations. These methods provide an alternative to standard equilibrium thermodynamic integration methods and often present superior efficiency. Here we describe the implementation in the LAMMPS (Large-scale Atomic/Molecular Massively Parallel Simulator) code of two specific nonequilibrium processes that allow the calculation of the free-energy difference between two different system Hamiltonians as well as the free-energy temperature dependence of a given Hamiltonian, respectively. The theory behind the methods is summarized, and we describe (including fragments of LAMMPS scripts) how the process parameters should be selected to obtain the best-possible efficiency in the calculations of free energies using nonequilibrium MD simulations. As an example of the application of the methods we present results related to polymorphic transitions for a classical potential model of iron.
For the Schr\"odinger map problem from 2+1 dimensions into the 2-sphere we prove the existence of equivariant finite time blow up solutions that are close to a dynamically rescaled lowest energy harmonic map, the scaling parameter being given by $t^{-\nu}$ with $\nu>3/2$.
We present further evidence for the coherent RDDI phase postulated in our earlier paper and clarify the reasons why the intersite tunnelling amplitude is increased by many orders of magnitude when a mesoscopic domain undergoes such a transition.
Humans comprehend a natural scene at a single glance; painters and other visual artists, through their abstract representations, stressed this capacity to the limit. The performance of computer vision solutions matched that of humans in many problems of visual recognition. In this paper we address the problem of recognizing the genre (subject) in digitized paintings using Convolutional Neural Networks (CNN) as part of the more general dealing with abstract and/or artistic representation of scenes. Initially we establish the state of the art performance by training a CNN from scratch. In the next level of evaluation, we identify aspects that hinder the CNNs' recognition, such as artistic abstraction. Further, we test various domain adaptation methods that could enhance the subject recognition capabilities of the CNNs. The evaluation is performed on a database of 80,000 annotated digitized paintings, which is tentatively extended with artistic photographs, either original or stylized, in order to emulate artistic representations. Surprisingly, the most efficient domain adaptation is not the neural style transfer. Finally, the paper provides an experiment-based assessment of the abstraction level that CNNs are able to achieve.
A nonequilibrium distribution function of microscopic thermal current is studied by a direct numerical simulation in a thermal conducting steady state of particle systems. Two characteristic temperatures of the thermal current are investigated on the basis of the distribution. It is confirmed that the temperature depends on the current direction; Parallel temperature to the heat-flux is higher than antiparallel one. The difference between the parallel temperature and the antiparallel one is proportional to a macroscopic temperature gradient.
In this study, we systematically investigate 3D momentum($\hbar k$)-resolved electronic structures of Ruddlesden-Popper-type iridium oxides Sr$_{n+1}$Ir$_n$O$_{3n+1}$ using soft-x-ray (SX) angle-resolved photoemission spectroscopy (ARPES). Our results provide direct evidence of an insulator-to-metal transition that occurs upon increasing the dimensionality of the IrO$_2$-plane structure. This transition occurs when the spin-orbit-coupled $j_{\rm eff}$=1/2 band changes its behavior in the dispersion relation and moves across the Fermi energy. In addition, an emerging band along the $\Gamma$(0,0,0)-R($\pi$,$\pi$,$\pi$) direction is found to play a crucial role in the metallic characteristics of SrIrO$_3$. By scanning the photon energy over 350 eV, we reveal the 3D Fermi surface in SrIrO$_3$ and $k_z$-dependent oscillations of photoelectron intensity in Sr$_3$Ir$_2$O$_7$. In contrast to previously reported results obtained using low-energy photons, folded bands derived from lattice distortions and/or magnetic ordering make significantly weak (but finite) contributions to the $k$-resolved photoemission spectrum. At the first glance, this leads to the ambiguous result that the observed $k$-space topology is consistent with the unfolded Brillouin zone (BZ) picture derived from a non-realistic simple square or cubic Ir lattice. Through careful analysis, we determine that a superposition of the folded and unfolded band structures has been observed in the ARPES spectra obtained using photons in both ultraviolet and SX regions. To corroborate the physics deduced using low-energy ARPES studies, we propose to utilize SX-ARPES as a powerful complementary technique, as this method surveys more than one whole BZ and provides a panoramic view of electronic structures.
I briefly review the theory and phenomenology of bottom production at colliders. When all theoretical uncertainties are taken into proper account, and modern measurements are considered, no significant discrepancy is seen between data and QCD predictions
We propose a systematic way of constructing $N=2, d=4$ superfield Born-Infeld action with a second nonlinearly realized N=2 supersymmetry. The latter, together with the manifest N=2 supersymmetry, form a central-charge extended $N=4, d=4$ supersymmetry. We embed the Goldstone-Maxwell N=2 multiplet into an infinite-dimensional off-shell supermultiplet of this N=4 supersymmetry and impose an infinite set of covariant constraints which eliminate all extra N=2 superfields through the Goldstone-Maxwell one. The Born-Infeld superfield Lagrangian density is one of these composite superfields. The constraints can be solved by iterations to any order in the fields. We present the sought N=2 Born-Infeld action up to the 10th order. It encompasses the action found earlier by Kuzenko and Theisen to the 8th order from a self-duality requirement. This is a strong indication that the complete N=2 Born-Infeld action with partially broken N=4 supersymmetry is also self-dual.
We found that the current-voltage characteristics of the single-layer graphene field-effect transistors exhibit an intriguing feature - an abrupt change of the current near zero gate bias at elevated temperatures T > 500 K. The strength of the effect - referred to as the "memory step" by analogy with the "memory dips" - known phenomenon in electron glasses - depends on the rate of the voltage sweep. The slower the sweep - the more pronounced is the step in the current. Despite differences in examined graphene transistor characteristics, the "memory step" always appears near zero gate bias. The effect is reproducible and preserved after device aging. A similar feature has been previously observed in electronic glasses albeit at cryogenic temperatures and with opposite dependence on the rate of the voltage sweep. The observed "memory step" can be related to the slow relaxation processes in graphene. This new characteristic of electron transport in graphene can be used for applications in high-temperature sensors and switches.
In the context of the seesaw mechanism, it is natural that the large solar and atmospheric neutrino mixing angles originate separately from large 2 by 2 mixings in the neutrino and charged-lepton sectors, respectively, and large mixing in the neutrino couplings is in turn more plausible if two of the heavy singlet neutrinos are nearly degenerate. We study the phenomenology of this scenario, calculating leptogenesis by solving numerically the set of coupled Boltzmann equations for out-of-equilibrium heavy singlet neutrino decays in the minimal supersymmetric seesaw model. The near-degenerate neutrinos may weigh < 10^8 GeV, avoiding the cosmological gravitino problem. This scenario predicts that Br(mu to e gamma) should be strongly suppressed, because of the small singlet neutrino masses, whilst Br(tau to mu gamma) may be large enough to be observable in B-factory or LHC experiments. If the light neutrino masses are hierarchical, we predict that the neutrinoless double-beta decay parameter m_{ee} is approximately sqrt{Delta m_{sol}^2} times sin^2 theta_{12}.
In this paper we study the geometric structure of affine Deligne-Lusztig varieties for $GL_3$ and $b$ basic. We completely determine the irreducible components of the affine Deligne-Lusztig variety. In particular, we classify the cases where all of the irreducible components are classical Deligne-Lusztig varieties times finite-dimensional affine spaces. If this is the case, then the irreducible components are pairwise disjoint.
We explore the effects of noncommuting applied fields on the ground-state ordering of the quasi-one-dimensional spin-1/2 XY-like antiferromagnet Cs2CoCl4 using single-crystal neutron diffraction. In zero field interchain couplings cause long-range order below T_N=217(5) mK with chains ordered antiferromagnetically along their length and moments confined to the (b,c) plane. Magnetic fields applied at an angle to the XY planes are found to initially stabilize the order by promoting a spin-flop phase with an increased perpendicular antiferromagnetic moment. In higher fields the antiferromagnetic order becomes unstable and a transition occurs to a phase with no long-range order in the (b,c) plane, proposed to be a spin liquid phase that arises when the quantum fluctuations induced by the noncommuting field become strong enough to overcome ordering tendencies. Magnetization measurements confirm that saturation occurs at much higher fields and that the proposed spin-liquid state exists in the region 2.10 < H_SL < 2.52 T || a. The observed phase diagram is discussed in terms of known results on XY-like chains in coexisting longitudinal and transverse fields.
The two-dimensional steady-state Boltzmann equation for hard-disk molecules in the presence of a temperature gradient has been solved explicitly to second order in density and the temperature gradient. The two-dimensional equation of state and some physical quantities are calculated from it and compared with those for the two-dimensional steady-state Bhatnagar-Gross-Krook(BGK) equation and information theory. We have found that the same kind of qualitative differences as the three-dimensional case among these theories still appear in the two-dimensional case.
It is found the exact solution of the Poisson equation for the multidimensional space with topology $M_{3+d}=\mathbb{R}^3\times T^d$. This solution describes smooth transition from the newtonian behavior $1/r_3$ for distances bigger than periods of tori (the extra dimension sizes) to multidimensional behavior $1/r^{1+d}_{3+d}$ in opposite limit. In the case of one extra dimension $d=1$, the gravitational potential is expressed via compact and elegant formula. These exact solutions are applied to some practical problems to get the gravitational potentials for considered configurations. Found potentials are used to calculate the acceleration for point masses and gravitational self-energy.It is proposed models where the test masses are smeared over some (or all) extra dimensions. In 10-dimensional spacetime with 3 smeared extra dimensions, it is shown that the size of 3 rest extra dimensions can be enlarged up to submillimeter for the case of 1TeV fundamental Planck scale $M_{Pl(10)}$. In the models where all extra dimensions are smeared, the gravitational potential exactly coincides with the newtonian one regardless of size of the extra dimensions. Nevertheless, the hierarchy problem can be solved in these models.
Quantum formalism of Fraunhofer diffraction is obtained. The state of the diffraction optical field is connected with the state of the incident optical field by a diffraction factor. Based on this formalism, correlations of the diffraction modes are calculated with different kinds of incident optical fields. Influence of correlations of the incident modes on the diffraction pattern is analyzed and an explanation of the ''ghost'' diffraction is proposed.
The phase of a single quantum state is undefined unless the history of its creation provides a reference point. Thus quantum interference may seem hardly relevant for the design of deterministic single-electron sources which strive to isolate individual charge carriers quickly and completely. We provide a counterexample by analyzing the non-adiabatic separation of a localized quantum state from a Fermi sea due to a closing tunnel barrier. We identify the relevant energy scales and suggest ways to separate the contributions of quantum non-adiabatic excitation and backtunneling to the rare non-capture events. In the optimal regime of balanced decay and non-adiabaticity, our simple electron trap turns into a single-lead Landau-Zener-backtunneling interferometer, revealing the dynamical phase accumulated between the particle capture and leakage. The predicted "quantum beats in backtunneling" may turn the error of a single-electron source into a valuable signal revealing essentially non-adiabatic energy scales of a dynamic quantum dot.
A recent renormalization group analysis of the effective light-cone Hamiltonian yields 5 flavor masses and 2 mass shifts as free parameters. These are determined in the present note and used to calculate the masses of all 30 physical mesons (The topped mesons have been omitted). The agreement between experiment and theoretical estimate is quite satisfactory over the whole dynamical range, from the lightest pseudo-scalar mesons like the pion up to the heaviest vector mesons like the upsilon. Evidence for an additive quark model is given and for how the concept of isospin is realized in a gauge field theory such as QCD.
A brief summary of the status of neutrino masses, mixing and oscillations is presented. Neutrinoless double $\beta$-decay is considered. Predictions for the effective Majorana mass are reviewed. A possible test of the calculations of nuclear matrix elements of the $0\nu\beta\beta$-decay is proposed.
Ongoing all-sky surveys by the the eROSITA and the Mikhail Pavlinsky ART-XC telescopes on-board the Spectrum Roentgen Gamma (SRG) mission have already revealed over a million of X-ray sources. One of them, SRGA J124404.1-632232/SRGU J124403.8-632231, was detected as a new source in the third (of the planned eight) consecutive X-ray surveys by ART-XC. Based on the properties of the identified optical counterpart it was classified as a candidate X-ray binary (XRB). We report on the follow-up observations of this source with Nuclear Spectroscopic Telescope Array (NuSTAR), Neil Gehrels Swift Observatory (Swift), and the Southern African Large Telescope (SALT), which allowed us to unambiguously confirm the initial identification and establish SRGU J124403.8-632231 as a new X-ray pulsar with a spin period of ~538 s and a Be-star companion, making it one of the first Galactic X-ray pulsars discovered by SRG.
For i.i.d. random vectors $(M_{1},Q_{1}),(M_{2},Q_{2}),\ldots$ such that $M>0$ a.s., $Q\geq 0$ a.s. and $\mathbb{P}(Q=0)<1$, the random difference equation $X_{n}=M_{n}X_{n-1}+Q_{n}$, $n=1,2,\ldots$, is studied in the critical case when the random walk with increments $\log M_{1},\log M_{2}$ is oscillating. We provide conditions for the null-recurrence and transience of the Markov chain $(X_{n})_{n\ge 0}$ by inter alia drawing on techniques developed in the related article Alsmeyer et al (2017) for another case exhibiting the null-recurrence/transience dichotomy.