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Bilateral teleoperation of low-speed Unmanned Ground Vehicles (UGVs) on soft terrains is crucial for applications like lunar exploration, offering effective control of terrain-induced longitudinal slippage. However, latency arising from transmission delays over a network presents a challenge in maintaining high-fidelity closed-loop integration, potentially hindering UGV controls and leading to poor command-tracking performance. To address this challenge, this paper proposes a novel predictor framework that employs a Physics-informed Long Short-Term Memory (PiLSTM) network for designing bilateral teleoperator controls that effectively compensate for large delays. Contrasting with conventional model-free predictor frameworks, which are limited by their linear nature in capturing nonlinear and temporal dynamic behaviors, our approach integrates the LSTM structure with physical constraints for enhanced performance and better generalization across varied scenarios. Specifically, four distinct predictors were employed in the framework: two compensate for forward delays, while the other two compensate for backward delays. Due to their effectiveness in learning from temporal data, the proposed PiLSTM framework demonstrates a 26.1\ improvement in delay compensation over the conventional model-free predictors for large delays in open-loop case studies. Subsequently, experiments were conducted to validate the efficacy of the framework in close-loop scenarios, particularly to compensate for the real-network delays experienced by teleoperated UGVs coupled with longitudinal slippage. The results confirm the proposed framework is effective in restoring the fidelity of the closed-loop integration. This improvement is showcased through improved performance and transparency, which leads to excellent command-tracking performance.

Size-driven transition of an antiferroelectric into a polar ferroelectric or ferrielectric state is a strongly debated issue from both experimental and theoretical perspectives. While critical thickness limits for such transitions have been explored, a bottom-up approach in the ultrathin limit considering few atomic layers could provide insight into the mechanism of stabilization of the polar phases over the antipolar phase seen in bulk PbZrO$_3$. Here, we use first-principles density functional theory to predict the stability of polar phases in Pt/PbZrO$_3$/Pt nanocapacitors. In a few atomic layer thick slabs of PbZrO$_3$ sandwiched between Pt electrodes, we find that the polar phase originating from the well established R3c phase of bulk PbZrO$_3$ is energetically favorable over the antipolar phase originating from the Pbam phase of bulk PbZrO$_3$. The famous triple-well potential of antiferroelectric PbZrO$_3$ is modified in the nanocapacitor limit in such a way as to swap the positions of the global and local minima, stabilizing the polar phase relative to the antipolar one. The size effect is decomposed into the contributions from dimensionality reduction, surface charge screening, and interfacial relaxation, which reveals that it is the creation of well-compensated interfaces that stabilizes the polar phases over the antipolar ones in nanoscale PbZrO$_3$.

The photoelectric effect is not truly instantaneous, but exhibits attosecond delays that can reveal complex molecular dynamics. Sub-femtosecond duration light pulses provide the requisite tools to resolve the dynamics of photoionization. Accordingly, the past decade has produced a large volume of work on photoionization delays following single photon absorption of an extreme ultraviolet (XUV) photon. However, the measurement of time-resolved core-level photoionization remained out of reach. The required x-ray photon energies needed for core-level photoionization were not available with attosecond tabletop sources. We have now measured the x-ray photoemission delay of core-level electrons, and here report unexpectedly large delays, ranging up to 700 attoseconds in NO near the oxygen K-shell threshold. These measurements exploit attosecond soft x-ray pulses from a free-electron laser (XFEL) to scan across the entire region near the K-shell threshold. Furthermore, we find the delay spectrum is richly modulated, suggesting several contributions including transient trapping of the photoelectron due to shape resonances, collisions with the Auger-Meitner electron that is emitted in the rapid non-radiative relaxation of the molecule, and multi-electron scattering effects. The results demonstrate how x-ray attosecond experiments, supported by comprehensive theoretical modelling, can unravel the complex correlated dynamics of core-level photoionization.

Deploying large language models (LLMs) of several billion parameters can be impractical in most industrial use cases due to constraints such as cost, latency limitations, and hardware accessibility. Knowledge distillation (KD) offers a solution by compressing knowledge from resource-intensive large models to smaller ones. Various strategies exist, some relying on the text generated by the teacher model and optionally utilizing his logits to enhance learning. However, these methods based on logits often require both teacher and student models to share the same tokenizer, limiting their applicability across different LLM families. In this paper, we introduce Universal Logit Distillation (ULD) loss, grounded in optimal transport, to address this limitation. Our experimental results demonstrate the effectiveness of ULD loss in enabling distillation across models with different architectures and tokenizers, paving the way to a more widespread use of distillation techniques., Comment: 9 pages, 5 figures

New computational strategies, such as molecular docking, are emerging to speed up the drug discovery process. This method predicts the activity of molecules at the binding site of proteins, helping to select the ones that exhibit desirable behavior and rejecting the rest. However, for large chemical libraries, it is essential to search and score configurations using fewer computational resources while maintaining high precision. In this work, we map the molecular docking problem to a graph problem, a maximum-weight independent set problem on a unit-disk graph in a physical neutral atom quantum processor. Here, each vertex represents an atom trapped by optical tweezers. The Variational Quantum Adiabatic Algorithm (VQAA) approach is used to solve the generic graph problem with two optimization methods, Scipy and Hyperopt. Additionally, a machine learning method is explored using the adiabatic algorithm. Results for multiple graphs are presented, and a small instance of the molecular docking problem is solved, demonstrating the potential for near-term quantum applications., Comment: arXiv admin note: text overlap with arXiv:2209.03965 by other authors

Tight relationships exist in the local universe between the central stellar properties of galaxies and the mass of their supermassive black hole. These suggest galaxies and black holes co-evolve, with the main regulation mechanism being energetic feedback from accretion onto the black hole during its quasar phase. A crucial question is how the relationship between black holes and galaxies evolves with time; a key epoch to probe this relationship is at the peaks of star formation and black hole growth 8-12 billion years ago (redshifts 1-3). Here we report a dynamical measurement of the mass of the black hole in a luminous quasar at a redshift of 2, with a look back time of 11 billion years, by spatially resolving the broad line region. We detect a 40 micro-arcsecond (0.31 pc) spatial offset between the red and blue photocenters of the H$\alpha$ line that traces the velocity gradient of a rotating broad line region. The flux and differential phase spectra are well reproduced by a thick, moderately inclined disk of gas clouds within the sphere of influence of a central black hole with a mass of 3.2x10$^{8}$ solar masses. Molecular gas data reveal a dynamical mass for the host galaxy of 6x10$^{11}$ solar masses, which indicates an under-massive black hole accreting at a super-Eddington rate. This suggests a host galaxy that grew faster than the supermassive black hole, indicating a delay between galaxy and black hole formation for some systems., Comment: 5 pages Main text, 8 figures, 2 tables, to be published in Nature, under embargo until 29 January 2024 16:00 (London)

Time crystals (TCs) are many-body systems displaying spontaneous breaking of time translation symmetry. Here, we demonstrate a TC using driven-dissipative condensates of microcavity exciton-polaritons, spontaneously formed from an incoherent particle bath. In contrast to other realizations, the TC phases can be controlled by the power of continuous-wave non-resonant optical drive exciting the condensate and optomechanical interactions with phonons. Those phases are for increasing power: (i) Larmor precession of pseudo-spins - a signature of continuous TC, (ii) locking of the frequency of precession to self-sustained coherent phonons - stabilized TC, (iii) doubling of TC frequency by phonons - a discrete TC with continuous excitation. These results establish microcavity polaritons as a platform for the investigation of time-broken symmetry in non-hermitian systems., Comment: 25 pages; 15 figures

Generalizing the slicing inequality for functions on convex bodies from [11], it was proved in [4] that there exists an absolute constant $c$ so that for any $n\in \mathbb N$, any $q\in [0,n-1)$ which is not an odd integer, any origin-symmetric convex body $K$ of volume one in $\mathbb R^n$ and any infinitely smooth probability density $f$ on $K$ we have $$\max_{\xi \in S^{n-1}} {\frac 1{\cos(\pi q/2)}\mathcal R f(\xi, \cdot)_t^{(q)}(0)} \ge \left( \frac {c(q+1)}{n}\right)^{\frac{q+1}2}.$$ Here $\mathcal R f(\xi,t)$ is the Radon transform of $f$, and the fractional derivative of the order $q$ is taken with respect to the variable $t\in \mathbb R$ with fixed $\xi\in S^{n-1}.$ In this note we show that there exist an origin-symmetric convex body $K$ of volume 1 in $\mathbb R^n$ and a continuous probability density $g$ on $K$ so that $$\max_{\xi\in S^{n-1}} {\frac 1{\cos(\pi q/2)}\mathcal R g(\xi, \cdot)_t^{(q)}(0)} \leq \frac 1{\sqrt n} (c(q+1))^{\frac{q+1}2}.$$ In the case $q=0$ this was proved in [5,6], and it was used there to obtain a lower estimate for the maximal outer volume ratio distance from an arbitrary origin-symmetric convex body $K$ to the class of intersection bodies. We extend the latter result to the class $L_{-1-q}^n$ of bodies in $\mathbb R^n$ that embed in $L_{-1-q}.$ Namely, for every $q\in [0,n)$ there exists an origin-symmetric convex body $K$ in $\mathbb R^n$ so that ${d_{\operatorname{ovr}}}(K, L_{-1-q}^n) \ge c n^{\frac 1{2(q+1)}}.$

While altermagnetic materials are characterized by a vanishing net magnetic moment, their symmetry in principle allows for the existence of an anomalous Hall effect (AHE). Here we introduce a model with altermagnetism in which the emergence of an AHE is driven by interactions. This model is grounded in a modified Kane-Mele framework with antiferromagnetic (AFM) spin-spin correlations. Quantum Monte Carlo simulations show that the system undergoes a finite temperature phase transition governed by a primary AFM order parameter accompanied by a secondary one of Haldane type. The emergence of both orders turns the metallic state of the system, away from half-filling, to an altermagnet with a finite anomalous Hall conductivity. A mean field ansatz corroborates these results, which pave the way into the study of correlation induced altermagnets with finite Berry curvature., Comment: 5 pages, 3 figures

The ubiquitous phenomenon of synchronization is inherently characteristic of dynamical dissipative non-linear systems. In particular, synchronization has been theoretically and experimentally demonstrated for exciton-polariton condensates with time-independent coupling. Unlike that case, we theoretically investigate the effects of a fixed mechanical harmonic driving, i.e., a coherent phonon population, that induces time modulation in the coupling of two coupled condensates. Our model applies both to electrically generated modulation, through coherent bulk acoustic waves, and to self-induced optomechanical vibrations. We consider linear as well as quadratic phonon-displacement-induced modulations of the polariton coupling. Peculiar asynchronously locked phases are found and analyzed in the context of synchronization and Josephson-type oscillations phenomena that appear in the non-driven case. Notably, Arnold tongues corresponding to the asynchronously locked phases emerge at condensate detunings that correspond to integer numbers of the mechanical frequency and also to rational fractions of it. Unlocked quasiperiodic and chaotic regimes can also be reached. In particular, the phonon-induced fractional locking frequencies arrange in a Farey sequence that produces a devil's staircase of the steady-state dressed detuning between the condensates. Importantly, both polariton-polariton and reservoir-polariton interactions facilitate the realization of coherent phonon-induced asynchronously locked phases. The relation to recent experiments on optomechanically driven condensates in arrays of polariton traps is discussed., Comment: 18 pages, 9 figures

Coronal mass ejections (CMEs) are large-scale eruptions with a typical radial size at 1 au of 0.21 au but their angular width in interplanetary space is still mostly unknown, especially for the magnetic ejecta (ME) part of the CME. We take advantage of STEREO-A angular separation of 20$^\circ$-60$^\circ$ from the Sun-Earth line from October 2020 to August 2022, and perform a two-part study to constrain the angular width of MEs in the ecliptic plane: a) we study all CMEs that are observed remotely to propagate between the Sun-STEREO-A and the Sun-Earth lines and determine how many impact one or both spacecraft in situ, and b) we investigate all in situ measurements at STEREO-A or at L1 of CMEs during the same time period to quantify how many are measured by the two spacecraft. A key finding is that, out of 21 CMEs propagating within 30$^\circ$ of either spacecraft, only four impacted both spacecraft and none provided clean magnetic cloud-like signatures at both spacecraft. Combining the two approaches, we conclude that the typical angular width of a ME at 1 au is $\sim$ 20$^\circ$-30$^\circ$, or 2-3 times less than often assumed and consistent with a 2:1 elliptical cross-section of an ellipsoidal ME. We discuss the consequences of this finding for future multi-spacecraft mission designs and for the coherence of CMEs., Comment: 21 pages, revision submitted to ApJ

Chiral edge states are the fingerprint of the bulk-edge correspondence in a Chern insulator. Co-propagating edge modes, known as antichiral edge states, have been predicted to occur in the so-called modified Haldane model describing a two-dimensional semi-metal with broken time reversal symmetry. These counterintuitive edge modes are argued to be immune to backscattering and extremely robust against disorder. Here, we investigate the robustness of the antichiral edge states in the presence of Anderson disorder. By analysing different localization parameters, we show that, contrary to the general belief, these edge modes are fragile against disorder, and can be easily localized. Our work provides insights to improve the transport efficiency in the burgeoning fields of antichiral topological photonics and acoustics., Comment: 9 pages, 6 figures