ShantanuT01/DACTYL-Pretraining huggingface dataset:
Learning to predict scene depth from RGB inputs is a challenging task both for indoor and outdoor robot navigation. In this work we address unsupervised learning of scene depth and robot ego-motion where supervision is provided by monocular videos, as cameras are the cheapest, least restrictive and most ubiquitous sensor for robotics.   Previous work in unsupervised image-to-depth learning has established strong baselines in the domain. We propose a novel approach which produces higher quality results, is able to model moving objects and is shown to transfer across data domains, e.g. from outdoors to indoor scenes. The main idea is to introduce geometric structure in the learning process, by modeling the scene and the individual objects; camera ego-motion and object motions are learned from monocular videos as input. Furthermore an online refinement method is introduced to adapt learning on the fly to unknown domains.   The proposed approach outperforms all state-of-the-art approaches, including those that handle motion e.g. through learned flow. Our results are comparable in quality to the ones which used stereo as supervision and significantly improve depth prediction on scenes and datasets which contain a lot of object motion. The approach is of practical relevance, as it allows transfer across environments, by transferring models trained on data collected for robot navigation in urban scenes to indoor navigation settings. The code associated with this paper can be found at https://sites.google.com/view/struct2depth.
The average flux decrement shortward the Ly$_{\alpha}$ emission, due to the well-known ``forest'' of absorptions, has been measured in the spectra of 8 quasars. Quasi-simultaneous optical and IUE observations of the two low redshift quasars PKS 0637--75 (z=0.654) and MC 1104+16 (z=0.632) have been carried out, obtaining relatively high S/N, spectrophotometrically calibrated data on their energy distribution from the rest frame H$_{\beta}$ to the Lyman continuum. Six more quasars in the redshift range 2.5-3.4 have been observed in the optical domain. For all the quasars the ``intrinsic'' continuum slope and normalization have been estimated longward the Ly$_{\alpha}$ emission and extrapolated towards the Lyman continuum to measure the average depressions, which have been compared with the model statistics of the Ly$_{\alpha}$ clouds. When all the known classes of absorbers are taken into account with plausible values for their equivalent width distribution and evolution, a good agreement is obtained with the observations. The results for the observed continuum decrement at $z \sim 0.65$ are identical to those predicted by the evolution with redshift of the number of Ly$_{\alpha}$ forest systems including the HST data and within $2\sigma$ of the predicted value using the ``standard'' Ly$_{\alpha}$ evolution (as determined only at high z).
The Uhrig dynamical decoupling sequence achieves high-order decoupling of a single system qubit from its dephasing bath through the use of bang-bang Pauli pulses at appropriately timed intervals. High-order decoupling of single and multiple qubit systems from baths causing both dephasing and relaxation can also be achieved through the nested application of Uhrig sequences, again using single-qubit Pauli pulses. For the 3-qubit decoherence free subsystem (DFS) and related subsystem encodings, Pauli pulses are not naturally available operations; instead, exchange interactions provide all required encoded operations. Here we demonstrate that exchange interactions alone can achieve high-order decoupling against general noise in the 3-qubit DFS. We present decoupling sequences for a 3-qubit DFS coupled to classical and quantum baths and evaluate the performance of the sequences through numerical simulations.
Here we use large-scale molecular dynamics (MD) simulations of the high-rate deformation of nanocrystalline tantalum to investigate the processes associated with plastic deformation for strains up to 100%. We use initial atomic configurations that were produced through simulations of solidification in the work of Streitz et al [Phys. Rev. Lett. 96, (2006) 225701]. These 3D polycrystalline systems have typical grain sizes of 10-20 nm. We also study a rapidly quenched liquid (amorphous solid) tantalum. We apply a constant volume (isochoric), constant temperature (isothermal) shear deformation over a range of strain rates, and compute the resulting stress-strain curves to large strains for both uniaxial and biaxial compression. We study the rate dependence and identify plastic deformation mechanisms. The identification of the mechanisms is facilitated through a novel technique that computes the local grain orientation, returning it as a quaternion for each atom. We find both dislocation and twinning processes are important, and they interact in the weak strain hardening in these extremely fine-grained microstructures.
We propose a robust scheme involving atoms fixed in an optical cavity to directly implement the universal controlled-unitary gate. The present technique based on adiabatic passage uses novel dark states well suited for the controlled-rotation operation. We show that these dark states allow the robust implementation of a gate that is a generalisation of the controlled-unitary gate to the case where the control qubit can be selected to be an arbitrary state. This gate has potential applications to the rapid implementation of quantum algorithms such as of the projective measurement algorithm. This process is decoherence-free since excited atomic states and cavity modes are not populated during the dynamics.
In this paper we prove a general theorem concerning the number of translation classes of curves of genus $g$ belonging to a fixed cohomology class in a polarized abelian variety of dimension $g$. For $g = 2$ we recover results of G\"ottsche and Bryan-Leung. For $g = 3$ we deduce explicit numbers for these classes.
Considering the nucleon as a system of confined valence quarks surrounded by pions we derive a Galster-like parameterization of the neutron electric form factor $G_E^n$. Furthermore, we show that the proposed parameterization can be linked to properties of the pion cloud. By this, the high quality data for the pion form factor can be used in predictions of $G_E^n$ in the low $Q^2$ region, where the direct double polarization measurements are not available.
Erythrosiderites with the formula A2FeX5H2O, where A = Rb, K, and (NH4) and X = Cl and Br are intriguing systems that possess various magnetic and electric phases, as well as multiferroic phases in which magnetism and ferroelectricity are coupled. In this report, we study the magnetic phase diagram of erythrosiderites as a function of superexchange interactions. To this end, we perform classical Monte Carlo simulations on magnetic Hamiltonians that contain five different superexchange interactions with single-ion anisotropies. Our phase diagram contains all magnetic ground states that have been experimentally observed in these materials. We argue that the ground states can be explained by varying the ratio of J4/J2. For J4/J2 > 0.95 a cycloidal spins structure is stabilized as observed in (NH4)2FeCl5H2O and otherwise, a collinear spin structure is stabilized as observed in (K,Rb)2FeCl5H2O. We also show that the difference in the single-ion anisotropy along a- and c- axes is essential to stabilize the intermediate state observed in (NH)2FeCl5H2O.
We show that two initially weakly coupled chaotic systems can achieve self-organized synchronization by adaptively reducing their speed and/or enhancing the coupling strength. Explicit adaptive algorithms for speed-reduction and coupling-enhancement are provided. We apply these algorithms to the self-organized synchronization of two coupled Lorenz systems. It is found that after a long-time self-organized process, the two coupled chaotic systems can achieve synchronization with almost minimum required coupling-speed ratio.
Cold hydrogen gas is the raw fuel for star formation in galaxies, and its partition into atomic and molecular phases is a key quantity for galaxy evolution. In this Letter, we combine Atacama Large Millimeter/submillimeter Array and Arecibo single-dish observations to estimate the molecular-to-atomic hydrogen mass ratio for massive star-forming galaxies at $z\sim$ 0.2 extracted from the HIGHz survey, i.e., some of the most massive gas-rich systems currently known. We show that the balance between atomic and molecular hydrogen in these galaxies is similar to that of local main-sequence disks, implying that atomic hydrogen has been dominating the cold gas mass budget of star-forming galaxies for at least the past three billion years. In addition, despite harboring gas reservoirs that are more typical of objects at the cosmic noon, HIGHz galaxies host regular rotating disks with low gas velocity dispersions suggesting that high total gas fractions do not necessarily drive high turbulence in the interstellar medium.
In this paper, motivated by the experimental evidence of rapidly rotating $C_{60}$ molecules in fullerite, we study the low-energy electronic states of rotating fullerene within a continuum model. In this model, the low-energy spectrum is obtained from an effective Dirac equation including non-Abelian gauge fields that simulate the pentagonal rings of the molecule. Rotation is incorporated into the model by solving the effective Dirac equation in the rotating referential frame. The exact analytical solution for the eigenfunctions and energy spectrum is obtained, yielding the previously known static results in the no rotation limit. Due to the coupling between rotation and total angular momentum, that appears naturally in the rotating frame, the zero modes of static $C_{60}$ are shifted and also suffer a Zeeman splitting whithout the presence of a magnetic field.
For $n\geq 3$, let $r=r(n)\geq 3$ be an integer. A hypergraph is $r$-uniform if each edge is a set of $r$ vertices, and is said to be linear if two edges intersect in at most one vertex. In this paper, the number of linear $r$-uniform hypergraphs on $n\to\infty$ vertices is determined asymptotically when the number of edges is $m(n)=o(r^{-3}n^{ \frac32})$. As one application, we find the probability of linearity for the independent-edge model of random $r$-uniform hypergraph when the expected number of edges is $o(r^{-3}n^{ \frac32})$. We also find the probability that a random $r$-uniform linear hypergraph with a given number of edges contains a given subhypergraph.
The Drell-Hearn-Gerasimov sum-rule is really two sum-rules: one for each of the valence and the sea/glue contributions to the nucleon wavefunction. The convergence of these sum-rules follows from the Froissart bound for spin dependent processes in QCD and is necessary for the consistency of the constituent quark model of low energy QCD. Some challenges for future polarised photoproduction experiments, for example at ELFE, are discussed.
In the N=4 super Yang-Mills theory, we consider the higher order anomalous dimensions gamma_L(g) of purely gluonic operators Tr(F^L) where F is a component of the self-dual field strength. We propose compact closed expressions depending parametrically on L that reproduce the prediction of Bethe Ansatz equations up to five loop order, including transcendental dressing corrections. The size dependence follows a simple pattern as the perturbative order is increased and suggests hidden relations for these special operators.
Quantum error correction is important to quantum information processing, which allows us to reliably process information encoded in quantum error correction codes. Efficient quantum error correction benefits from the knowledge of error rates. We propose a protocol for monitoring error rates in real time without interrupting the quantum error correction. Any adaptation of the quantum error correction code or its implementation circuit is not required. The protocol can be directly applied to the most advanced quantum error correction techniques, e.g. surface code. A Gaussian processes algorithm is used to estimate and predict error rates based on error correction data in the past. We find that using these estimated error rates, the probability of error correction failures can be significantly reduced by a factor increasing with the code distance.
We report heating rate measurements in a microfabricated gold-on-sapphire surface electrode ion trap with trapping height of approximately 240 micron. Using the Doppler recooling method, we characterize the trap heating rates over an extended region of the trap. The noise spectral density of the trap falls in the range of noise spectra reported in ion traps at room temperature. We find that during the first months of operation the heating rates increase by approximately one order of magnitude. The increase in heating rates is largest in the ion loading region of the trap, providing a strong hint that surface contamination plays a major role for excessive heating rates. We discuss data found in the literature and possible relation of anomalous heating to sources of noise and dissipation in other systems, namely impurity atoms adsorbed on metal surfaces and amorphous dielectrics.
Strong spin-orbit semiconductor nanowires coupled to a superconductor are predicted to host Majorana zero modes. Exchange (braiding) operations of Majorana modes form the logical gates of a topological quantum computer and require a network of nanowires. Here, we develop an in-plane selective-area growth technique for InSb-Al semiconductor-superconductor nanowire networks with excellent quantum transport properties. Defect-free transport channels in InSb nanowire networks are realized on insulating, but heavily mismatched InP substrates by 1) full relaxation of the lattice mismatch at the nanowire/substrate interface on a (111)B substrate orientation, 2) nucleation of a complete network from a single nucleation site, which is accomplished by optimizing the surface diffusion length of the adatoms. Essential quantum transport phenomena for topological quantum computing are demonstrated in these structures including phase-coherent transport up to 10 $\mu$m and a hard superconducting gap accompanied by 2$e$-periodic Coulomb oscillations with an Al-based Cooper pair island integrated in the nanowire network.
The ancient problem of the saturation of symmetric nuclear matter is reviewed with an update on the status of the crises that were identified at an early stage by John Clark. We discuss how the initial problem with variational calculations providing more binding than the two hole-line contribution for the same interaction was overcome by calculations including three hole-line contributions without however reproducing the empirical nuclear saturation properties. It is argued that this remaining problem is still open because many solutions have been proposed or ad hoc adjustments implemented without generating universal agreement on the proper interpretation of the physics. The problem of nuclear saturation therefore persists leading to the necessity of an analysis of the way the nuclear saturation properties are obtained from experimental data. We clarify the role of short-range correlations and review results for nuclear saturation when such ingredients are completely taken into account using the Green's function method. The role of long-range correlations is then analyzed with special emphasis on the importance of attractive pion-dominated excitation modes which inevitably lead to higher saturation densities than observed. Because such modes have no counterpart in finite nuclear systems, it is therefore argued that they should not be considered when calculating nuclear matter properties. The remaining open question is then whether long-range correlations in finite nuclei which in turn have no counterpart in infinite matter, represent the remaining missing ingredient in this analysis.
In antiferromagnets, the interplay of spin frustration and spin-lattice coupling has been extensively studied as the source of complex spin patterns and exotic magnetism. Here, we demonstrate that, although neglected in the past, the spin-lattice coupling is essential to ferrimagnetic spinels as well. We performed ultrahigh-field magnetization measurements up to 110 T on a Yafet-Kittel ferrimagnetic spinel, MnCr$_2$S$_4$, which was complemented by measurements of magnetostriction and sound velocities up to 60 T. Classical Monte Carlo calculations were performed to identify the complex high-field spin structures. Our minimal model incorporating spin-lattice coupling accounts for the experimental results and corroborates the complete phase diagram, including two new high-field phase transitions at 75 and 85 T. Magnetoelastic coupling induces striking effects: An extremely robust magnetization plateau is embedded between two unconventional spin-asymmetric phases. Ferrimagnetic spinels provide a new platform to study asymmetric and multiferroic phases stabilized by spin-lattice coupling.
Symbiotic stars are eccellent laboratories to study a broad range of poorly understood physical processes, such as mass loss of red giants, accretion onto compact objects, and evolution of nova-like outbursts. As their evolution is strongly influenced by the mass transfer episodes, understanding the history of these systems requires foremost to determine which process is at play: Roche lobe overflow, stellar wind accretion, or some more complex mixture of both. We report here an interferometric study of the symbiotic system SS Leporis, performed with the unique PIONIER instrument. By determining the binary orbit and revisiting the parameters of the two stars, we show that the giant does not fill its Roche lobe, and that the mass transfer most likely occurs via the accretion of an important part of the giant's wind.
Recent observations have revealed the existence of an abundant population of faint, low surface brightness (SB) galaxies, which appear to be numerous and ubiquitous in nearby galaxy clusters, including the Virgo, Coma and Fornax clusters. With median stellar masses of dwarf galaxies, these ultra-diffuse galaxies (UDGs) have unexpectedly large sizes, corresponding to a mean SB of $24\lesssim\langle\mu_e\rangle_r\ {\rm mag}^{-1} {\rm arcsec}^2\lesssim27$ within the effective radius. We show that the UDG population represents the tail of galaxies formed in dwarf-sized haloes with higher-than-average angular momentum. By adopting the standard model of disk formation -- in which the size of galaxies is set by the spin of the halo -- we recover both the abundance of UDGs as a function of the host cluster mass and the distribution of sizes within the UDG population. According to this model, UDGs are not failed $L_*$ galaxies, but genuine dwarfs, and their low SB is not uniquely connected to the harsh cluster environment. We therefore expect a correspondingly abundant population of UDGs in the field, with likely different morphologies and colours.
This paper is concerned with supersolutions to parabolic equations of the form \begin{equation} \partial_t U (x,t)-D(x)\Delta U(x,t)=0, \quad (x,t)\in \mathbb{R}^N \times (0,\infty), \end{equation} where $D\in C(\mathbb{R}^N)$ is positive. Under the behavior of the diffusion coefficient $D$ with polynomial order at spatial infinity, a family of supersolutions with slowly decaying property at spatial infinity is provided. As a first application, weighted $L^2$ type decay estimates for the initial-boundary value problem of the corresponding parabolic equation are proved. The second application is the study of the exterior problem of wave equations with space-dependent damping terms. By using supersolutions provided above, energy estimates with polynomial weight and diffusion phenomena are shown.
We consider a single Brownian particle in a spatially symmetric, periodic system far from thermal equilibrium. This setup can be readily realized experimentally. Upon application of an external static force F, the average particle velocity is negative for F>0 and positive for F<0 (absolute negative mobility).
Over the past decade, extensive studies have been undertaken to search for photon signals from dark matter annihilation or decay for dark matter particle masses above $\sim1$ GeV. However, due to the lacking sensitivity of current experiments at MeV-GeV energies, sometimes dubbed the 'MeV gap', dark matter models with MeV to sub-GeV particle masses have received little attention so far. Various proposed MeV missions (like, e.g., e-ASTROGAM or AMEGO) are aimed at closing this gap in the mid- or long-term future. This, and the absence of clear dark matter signals in the GeV-TeV range, makes it relevant to carefully reconsider the expected experimental instrumental sensitivities in this mass range. The most common two-body annihilation channels for sub-GeV dark matter are to neutrinos, electrons, pions or directly to photons. Among these, only the electron channel has been extensively studied, and almost exclusively in the context of the 511 keV line. In this work, we study the prospects for detecting MeV dark matter annihilation in general in future MeV missions, using e-ASTROGAM as reference, and focusing on dark matter masses in the range 1 MeV-3 GeV. In the case of leptonic annihilation, we emphasise the importance of the often overlooked bremsstrahlung and in-flight annihilation spectral features, which in many cases provide the dominant gamma-ray signal in this regime.
We present the Living Swift-XRT Point Source catalogue (LSXPS) and real-time transient detector. This system allows us for the first time to carry out low-latency searches for new transient X-ray events fainter than those available to the current generation of wide-field imagers, and report their detection in near real-time. Previously, such events could only be found in delayed searches, e.g. of archival data; our low-latency analysis now enables rapid and ongoing follow up of these events, enabling the probing of timescales previously inaccessible. The LSXPS is, uniquely among X-ray catalogues, updated in near real-time, making this the first up-to-date record of the point sources detected by a sensitive X-ray telescope: the Swift-X-ray Telescope (XRT). The associated upper limit calculator likewise makes use of all available data allowing contemporary upper limits to be rapidly produced on-demand. These facilities, which enable the low-latency transient system are also fully available to the community, providing a powerful resource for time-domain and multi-messenger astrophysics.
The binormal flow is a model for the dynamics of a vortex filament in a 3-D inviscid incompressible fluid. The flow is also related with the classical continuous Heisenberg model in ferromagnetism, and the 1-D cubic Schr\"odinger equation. We consider a class of solutions at the critical level of regularity that generate singularities in finite time. One of our main results is to prove the existence of a natural energy associated to these solutions. This energy remains constant except at the time of the formation of the singularity when it has a jump discontinuity. When interpreting this conservation law in the framework of fluid mechanics, it involves the amplitude of the Fourier modes of the variation of the direction of the vorticity.
The Horton-Strahler analysis is a graph-theoretic method to measure the bifurcation complexity of branching patterns, by defining a number called the order to each branch. The main result of this paper is a large deviation theorem for the number of branches of each order in a random binary tree. The rate function associated with a large deviation cannot be derived in a closed form; instead, asymptotic forms of the rate function are given.