arXiv subjects

Anthony Francis

Publications and source records attributed to Anthony Francis.

At least 37 records · Page 2Linked to original sources

arXiv2023

Gauge generation and dissemination in OpenLat

In this contribution we report the status and plans of the open lattice initiative to generate and share new gauge ensembles using the stabilised Wilson fermion framework. The production strategy is presented in terms of a three stage plan alongside summaries of the data management as well as access policies. Current progress in completing the first stage of generating ensembles at four lattice spacings at the flavor symmetric point is given.

hep-lat↗

arXiv2023

Benchmark Continuum Limit Results for Spectroscopy with Stabilized Wilson Fermions

The OpenLat initiative presents its results of lattice QCD simulations using Stabilized Wilson Fermions (SWF) using 2+1 quark flavors. Focusing on the $\mathrm{SU}(3)$ flavor symmetric point $m_π=m_K=412$ MeV, four different lattice spacings ($a=0.064,0.077,0.094,0.12$ fm) are used to perform the continuum limit to study cutoff effects. We present results on light hadron masses; for the determination we use a Bayesian analysis framework with constraints and model averaging to minimize the bias in the analysis.

hep-lat↗

arXiv2023

Hadronic observables from master-field simulations

Substantial progress has been made recently in the generation of master-field ensembles. This has to be paired with efficient techniques to compute observables on gauge field configurations with a large volume. Here we present the results of the computation of hadronic observables, including hadron masses and meson decay constants, on large-volume and master-field ensembles with physical volumes of up to $(18\,\mathrm{fm})^4$ and $m_πL$ up to $25$, simulated using $N_{\mathrm{f}}=2+1$ stabilized Wilson fermions. We obtain sub-percent determinations from single gauge configurations with the combined use of position-space techniques, volume averages and master-field error estimation.

hep-lat↗

arXiv2022

Lattice gauge ensembles and data management

The generation of ensembles of gauge configurations is a considerable expense. The preservation and curation of these ensembles constitutes a valuable shared resource for the lattice field theory community. The organizers of Lattice 2022 dedicated a parallel session to the presentation of gauge ensembles and their generation, plans for ensemble publication and data management/storage activities of different collaborations. A summary of the twelve contributions is presented here.

hep-lat↗

arXiv2022

Translating topological benefits in very cold lattice simulations

Master-field simulations offer an approach to lattice QCD in which calculations are performed on a small number of large-volume gauge-field configurations. The latter is advantageous for simulations in which the global topological charge is frozen due to a very fine lattice spacing, as the effect of this on observables is suppressed by the spacetime volume. Here we make use of the recently developed Stabilised Wilson Fermions to investigate a variation of this approach in which only the temporal direction ($T$) is taken larger than in traditional calculations. As compared to a hyper-cubic lattice geometry, this has the advantage that finite-$L$ effects can be useful, e.g. for multi-hadron observables, while compared to open boundary conditions, time-translation invariance is not lost. In this proof-of-concept contribution, we study the idea of using very cold (i.e. long-$T$) lattices to topologically "defrost" observables at fine lattice spacing. We identify the scalar-scalar meson two-point correlation function as a useful probe and present first results from $N_f=3$ ensembles with time extents up to $T=2304$ and a lattice spacing of $a=0.055\,\rm{fm}$.

hep-lat↗

arXiv2022

QCD thermodynamics with stabilized Wilson fermions

Stabilized Wilson fermions are a reformulation of Wilson clover fermions that incorporates several numerical stabilizing techniques, but also a local change of the fermion action - the original clover term being replaced with an exponentiated version of it. We intend to apply the stabilized Wilson fermions toolbox to the thermodynamics of QCD, starting on the $N_f=3$ symmetric line on the Columbia plot, and to compare the results with those obtained with other fermion discretizations.

hep-lat↗

arXiv2022

Quantum computing for data analysis in high energy physics

Some of the biggest achievements of the modern era of particle physics, such as the discovery of the Higgs boson, have been made possible by the tremendous effort in building and operating large-scale experiments like the Large Hadron Collider or the Tevatron. In these facilities, the ultimate theory to describe matter at the most fundamental level is constantly probed and verified. These experiments often produce large amounts of data that require storing, processing, and analysis techniques that often push the limits of traditional information processing schemes. Thus, the High-Energy Physics (HEP) field has benefited from advancements in information processing and the development of algorithms and tools for large datasets. More recently, quantum computing applications have been investigated in an effort to understand how the community can benefit from the advantages of quantum information science. In this manuscript, we provide an overview of the state-of-the-art applications of quantum computing to data analysis in HEP, discuss the challenges and opportunities in integrating these novel analysis techniques into a day-to-day analysis workflow, and whether there is potential for a quantum advantage.

physics.data-an↗

arXiv2022

Retrospectives on the Embodied AI Workshop

We present a retrospective on the state of Embodied AI research. Our analysis focuses on 13 challenges presented at the Embodied AI Workshop at CVPR. These challenges are grouped into three themes: (1) visual navigation, (2) rearrangement, and (3) embodied vision-and-language. We discuss the dominant datasets within each theme, evaluation metrics for the challenges, and the performance of state-of-the-art models. We highlight commonalities between top approaches to the challenges and identify potential future directions for Embodied AI research.

cs.CV↗

arXiv2022

Learning Model Predictive Controllers with Real-Time Attention for Real-World Navigation

Despite decades of research, existing navigation systems still face real-world challenges when deployed in the wild, e.g., in cluttered home environments or in human-occupied public spaces. To address this, we present a new class of implicit control policies combining the benefits of imitation learning with the robust handling of system constraints from Model Predictive Control (MPC). Our approach, called Performer-MPC, uses a learned cost function parameterized by vision context embeddings provided by Performers -- a low-rank implicit-attention Transformer. We jointly train the cost function and construct the controller relying on it, effectively solving end-to-end the corresponding bi-level optimization problem. We show that the resulting policy improves standard MPC performance by leveraging a few expert demonstrations of the desired navigation behavior in different challenging real-world scenarios. Compared with a standard MPC policy, Performer-MPC achieves >40% better goal reached in cluttered environments and >65% better on social metrics when navigating around humans.

cs.RO↗

arXiv2022

Gesture2Path: Imitation Learning for Gesture-aware Navigation

As robots increasingly enter human-centered environments, they must not only be able to navigate safely around humans, but also adhere to complex social norms. Humans often rely on non-verbal communication through gestures and facial expressions when navigating around other people, especially in densely occupied spaces. Consequently, robots also need to be able to interpret gestures as part of solving social navigation tasks. To this end, we present Gesture2Path, a novel social navigation approach that combines image-based imitation learning with model-predictive control. Gestures are interpreted based on a neural network that operates on streams of images, while we use a state-of-the-art model predictive control algorithm to solve point-to-point navigation tasks. We deploy our method on real robots and showcase the effectiveness of our approach for the four gestures-navigation scenarios: left/right, follow me, and make a circle. Our experiments indicate that our method is able to successfully interpret complex human gestures and to use them as a signal to generate socially compliant trajectories for navigation tasks. We validated our method based on in-situ ratings of participants interacting with the robots.

cs.RO↗

arXiv2022

Style-based quantum generative adversarial networks for Monte Carlo events

We propose and assess an alternative quantum generator architecture in the context of generative adversarial learning for Monte Carlo event generation, used to simulate particle physics processes at the Large Hadron Collider (LHC). We validate this methodology by implementing the quantum network on artificial data generated from known underlying distributions. The network is then applied to Monte Carlo-generated datasets of specific LHC scattering processes. The new quantum generator architecture leads to a generalization of the state-of-the-art implementations, achieving smaller Kullback-Leibler divergences even with shallow-depth networks. Moreover, the quantum generator successfully learns the underlying distribution functions even if trained with small training sample sets; this is particularly interesting for data augmentation applications. We deploy this novel methodology on two different quantum hardware architectures, trapped-ion and superconducting technologies, to test its hardware-independent viability.

quant-ph↗

arXiv2022

Diquark properties from full QCD lattice simulations

We study diquarks on the lattice in the background of a static quark, in a gauge-invariant formalism with quark masses down to almost physical $m_π$. We determine mass differences between diquark channels as well as diquark-quark mass differences. The lightest and next-to-lightest diquarks have "good" scalar, $\bar{3}_F$, $\bar{3}_c$, $J^P=0^+$, and "bad" axial vector, $6_F$, $\bar{3}_c$, $J^P=1^+$, quantum numbers, and a bad-good mass difference for $ud$ flavors, $198(4)~\rm{MeV}$, in excellent agreement with phenomenological determinations. Quark-quark attraction is found only in the "good" diquark channel. We extract a corresponding diquark size of $\sim 0.6~\rm{fm}$ and perform a first exploration of the "good" diquark shape, which is shown to be spherical. Our results provide quantitative support for modeling the low-lying baryon spectrum using good light diquark effective degrees of freedom.

hep-lat↗

arXiv2022

A Protocol for Validating Social Navigation Policies

Enabling socially acceptable behavior for situated agents is a major goal of recent robotics research. Robots should not only operate safely around humans, but also abide by complex social norms. A key challenge for developing socially-compliant policies is measuring the quality of their behavior. Social behavior is enormously complex, making it difficult to create reliable metrics to gauge the performance of algorithms. In this paper, we propose a protocol for social navigation benchmarking that defines a set of canonical social navigation scenarios and an in-situ metric for evaluating performance on these scenarios using questionnaires. Our experiments show this protocol is realistic, scalable, and repeatable across runs and physical spaces. Our protocol can be replicated verbatim or it can be used to define a social navigation benchmark for novel scenarios. Our goal is to introduce a protocol for benchmarking social scenarios that is homogeneous and comparable.

cs.RO↗

arXiv2022

Google Scanned Objects: A High-Quality Dataset of 3D Scanned Household Items

Interactive 3D simulations have enabled breakthroughs in robotics and computer vision, but simulating the broad diversity of environments needed for deep learning requires large corpora of photo-realistic 3D object models. To address this need, we present Google Scanned Objects, an open-source collection of over one thousand 3D-scanned household items released under a Creative Commons license; these models are preprocessed for use in Ignition Gazebo and the Bullet simulation platforms, but are easily adaptable to other simulators. We describe our object scanning and curation pipeline, then provide statistics about the contents of the dataset and its usage. We hope that the diversity, quality, and flexibility of Google Scanned Objects will lead to advances in interactive simulation, synthetic perception, and robotic learning.

cs.RO↗

arXiv2022

Substructure of Multiquark Hadrons (Snowmass 2021 White Paper)

In recent years there has been a rapidly growing body of experimental evidence for existence of exotic, multiquark hadrons, i.e. mesons which contain additional quarks, beyond the usual quark-antiquark pair and baryons which consist of more than three quarks. In all cases with robust evidence they contain at least one heavy quark Q=c or b, the majority including two heavy quarks. Two key theoretical questions have been triggered by these discoveries: (a) how are quarks organized inside these multiquark states -- as compact objects with all quarks within one confinement volume, interacting via color forces, perhaps with an important role played by diquarks, or as deuteron-like hadronic molecules, bound by light-meson exchange? (b) what other multiquark states should we expect? The two questions are tightly intertwined. Each of the interpretations provides a natural explanation of parts of the data, but neither explains all of the data. It is quite possible that both kinds of structures appear in Nature. It may also be the case that certain states are superpositions of the compact and molecular configurations. This Whitepaper brings together contributions from many leading practitioners in the field, representing a wide spectrum of theoretical interpretations. We discuss the importance of future experimental and phenomenological work, which will lead to better understandingof multiquark phenomena in QCD.

hep-ph↗

arXiv2022

Hadron Spectroscopy with Lattice QCD

The status and prospects for investigations of exotic and conventional hadrons with lattice QCD are discussed. The majority of hadrons decay strongly via one or multiple decay-channels, including most of the experimentally discovered exotic hadrons. Despite this difficult challenge, the properties of several hadronic resonances have been determined within lattice QCD. To further discern the spectroscopic properties of various hadrons and to help resolve their nature we present our suggestions for future analytic and lattice studies.

hep-lat↗

arXiv2022

Properties, ensembles and hadron spectra with Stabilised Wilson Fermions

In this joint contribution we announce the formation of the "OPEN LATtice initiative", https://openlat1.gitlab.io, to study Stabilised Wilson Fermions (SWF). They are a new avenue for QCD calculations with Wilson-type fermions and we report results on our continued study of this framework: Tuning the clover improvement coefficient, and extending the reach of lattice spacings to $a=0.12$ fm. We fix the flavor symmetric points $m_π=m_K=412$ MeV at $a=0.055,0.064, 0.077, 0.094, 0.12$ fm and define the trajectories to the physical point by fixing the trace of the quark mass matrix. Currently our pion mass range extends down to $m_π\sim200$ MeV. We outline our tuning goals and strategy as well as our future planned ensembles. First scaling studies are performed on $f_π$ and $m_π$. Additionally results of a preliminary continuum extrapolation of $m_N$ at the flavor symmetric point are presented. Going further a first determination of the light and strange hadron spectrum chiral dependence is shown, which serves to check the quality of the action for precision measurements. We also investigate other quantities such as flowed gauge observables to study how the continuum limit is approached. Taken together we observe the SWF enable us to perform stable lattice simulations across a large range of parameters in mass, volume and lattice spacing. Pooling resources our new initiative has made our reported progress possible and through it we will share generated gauge ensembles under an open science philosophy.

hep-lat↗

arXiv2022

Good and bad diquark properties and spatial correlations in lattice QCD

We study good, bad and not-even-bad diquarks on the lattice in a gauge-invariant formalism in full QCD. We establish their spectral masses with short extrapolations to the physical point, observing agreement with phenomenological expectations. We find that only the good diquark has attractive quark-quark spatial correlations, with spherical shape and size $\sim0.6$ fm. Our results provide quantitative support for modelling the low-lying baryon spectrum using good light diquark effective degrees of freedom.

hep-lat↗