arXiv subjects

Rohit Kumar

Publications and source records attributed to Rohit Kumar.

At least 37 records · Page 2Linked to original sources

arXiv2025

Construction of PPT entangled state and its detection by using second-order moment of the partial transposition

We adopt a formalism by which we construct and detect a new family of positive partial transpose entangled states in $d_1\otimes d_2$ dimensional system. Our detection method is based on the second order moment $p_2(ρ^{T_B})$ as it is very easy to calculate and may be realizable in laboratory. We show that if the second order moment $p_2(ρ^{T_B})$ in $d_1\otimes d_2$ dimensional system satisfy $p_2(ρ^{T_B})\leq\frac{1}{d_1 d_2-1}$, then the state is a PPT state. We also derive an equivalent condition on the bloch vector. Then, we construct a quantum state by considering the mixture of a separable and an entangled state and obtain a condition on the mixing parameter for which the mixture represents a PPTES. Finally, applying our results, we have shown that the distillable key rate of the private state, prepared through our prescription, is positive. It suggests that our result also has potential applications in quantum cryptography.

quant-ph↗

arXiv2025

Global branching for semilinear fractional Laplace with sublinear nonlinearity

This article investigates the existence, nonexistence, and multiplicity of positive solutions to the sublinear fractional elliptic problem $(P_λ^s)$. We begin by establishing several a priori estimates that provide regularity results and describe the qualitative behavior of solutions. A critical threshold level for the parameter $λ$ is identified, which plays a crucial role in determining the existence or nonexistence of solutions. The sub and supersolution method is employed to obtain a weak solution. Furthermore, we establish a relation between the local minimizers of $\mathcal{D}^{s,2}(\mathbb{R}^N)$ versus $C(\mathbb{R}^N; 1+|x|^{N-2s})$. Combining these results with the Classical Linking Theorem, we demonstrate the existence of at least two distinct positive weak solutions to $(P_λ^s)$. This work extends the results of Yang, Abrantes, Ubilla, and Zhou (J. Differential Equations, 416:159-189, 2025) to the nonlocal setting, i.e., when $s \in (0,1)$. Several technical challenges arise in this framework, such as the lack of a standard comparison principle in $\mathbb{R}^N$ in the fractional setting.

math.AP↗

arXiv2025

Binary Choice under Asymmetric Loss in a Data-Rich Environment: Theory and an Application to Algorithmic Fairness

We study the binary choice problem in a data-rich environment with asymmetric loss functions. The econometrics literature covers nonparametric binary choice problems but does not offer computationally attractive solutions in data-rich environments. The machine learning literature has many algorithms but is focused mostly on loss functions that are independent of covariates. We show that theoretically valid decisions on binary outcomes with general loss functions can be achieved via a very simple loss-based reweighting of logistic regression or state-of-the-art machine learning techniques. We apply our analysis to algorithmic fairness in pretrial detentions.

econ.EM↗

arXiv2025

Observation of oscillations and near-barrier suppression in the fusion of $^{20}$O + p

Using an active target detector, the fusion excitation function for $^{20}$O + $^1$H was measured for the first time. Near the barrier, the fusion cross section manifests an oscillatory behavior with broad peaks $\sim$50-100 keV wide. The presence of these peaks likely reflects the low density of low-angular-momentum states in the quasibound regime. R-matrix coupled channel (CC) calculations that include the first excited 2$^+$ state in $^{20}$O are able to reproduce the observed oscillations. However, one channel CC calculations fail to reproduce the decrease in the sub-barrier cross section experimentally observed.

nucl-ex↗

arXiv2025

Quadrupeds for Planetary Exploration: Field Testing Control Algorithms on an Active Volcano

Missions such as the Ingenuity helicopter have shown the advantages of using novel locomotion modes to increase the scientific return of planetary exploration missions. Legged robots can further expand the reach and capability of future planetary missions by traversing more difficult terrain than wheeled rovers, such as jumping over cracks on the ground or traversing rugged terrain with boulders. To develop and test algorithms for using quadruped robots, the AAPLE project was carried out at DFKI. As part of the project, we conducted a series of field experiments on the Volcano on the Aeolian island of Vulcano, an active stratovolcano near Sicily, Italy. The experiments focused on validating newly developed state-of-the-art adaptive optimal control algorithms for quadrupedal locomotion in a high-fidelity analog environment for Lunar and Martian surfaces. This paper presents the technical approach, test plan, software architecture, field deployment strategy, and evaluation results from the Vulcano campaign.

cs.RO↗

arXiv2025

An adaptive hierarchical control framework for quadrupedal robots in planetary exploration

Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially quadrupeds, can overcome these limitations by handling uneven, obstacle-rich, and deformable terrains. However, deploying such robots in unknown conditions is challenging due to the need for environment-specific control, which is infeasible when terrain and robot parameters are uncertain. This work presents a modular control framework that combines model-based dynamic control with online model adaptation and adaptive footstep planning to address uncertainties in both robot and terrain properties. The framework includes state estimation for quadrupeds with and without contact sensing, supports runtime reconfiguration, and is integrated into ROS 2 with open-source availability. Its performance was validated on two quadruped platforms, multiple hardware architectures, and in a volcano field test, where the robot walked over 700 m.

cs.RO↗

arXiv2025

Plasma Position Constrained Free-Boundary MHD Equilibrium in Tokamaks using pyIPREQ

A free-boundary, axisymmetric magnetohydrodynamic (MHD) equilibrium code, pyIPREQ, has been developed for Tokamak plasmas using finite difference and Green's function approach. The code builds upon the foundational frameworks of the PEST and IPREQ codes, introducing several enhancements and new capabilities. Notably, pyIPREQ supports the specification of limiter boundaries and enables the computation of key physical quantities. The code has also been extended to compute equilibria constrained by a prescribed magnetic axis position, which is particularly useful when such information can be inferred from the diagnostics data. In addition, pyIPREQ includes functionality to address vertical instabilities, a requirement for accurately modeling elongated plasma configurations. Benchmarking has been carried out against published results and the original IPREQ code. Applications are demonstrated for ADITYA-U Tokamak experiments, where magnetic axis measurements are available, and predictions are also made for SST-1 and ADITYA-U Tokamaks under various operational scenarios.

physics.plasm-ph↗

arXiv2025

Evolutionary Continuous Adaptive RL-Powered Co-Design for Humanoid Chin-Up Performance

Humanoid robots have seen significant advancements in both design and control, with a growing emphasis on integrating these aspects to enhance overall performance. Traditionally, robot design has followed a sequential process, where control algorithms are developed after the hardware is finalized. However, this can be myopic and prevent robots to fully exploit their hardware capabilities. Recent approaches advocate for co-design, optimizing both design and control in parallel to maximize robotic capabilities. This paper presents the Evolutionary Continuous Adaptive RL-based Co-Design (EA-CoRL) framework, which combines reinforcement learning (RL) with evolutionary strategies to enable continuous adaptation of the control policy to the hardware. EA-CoRL comprises two key components: Design Evolution, which explores the hardware choices using an evolutionary algorithm to identify efficient configurations, and Policy Continuous Adaptation, which fine-tunes a task-specific control policy across evolving designs to maximize performance rewards. We evaluate EA-CoRL by co-designing the actuators (gear ratios) and control policy of the RH5 humanoid for a highly dynamic chin-up task, previously unfeasible due to actuator limitations. Comparative results against state-of-the-art RL-based co-design methods show that EA-CoRL achieves higher fitness score and broader design space exploration, highlighting the critical role of continuous policy adaptation in robot co-design.

cs.RO↗

arXiv2025

Stabilization of sawteeth instability by short gas pulse injection in ADITYA-U tokamak

Experiments on ADITYA-U tokamak show a marked enhancement in the sawtooth period by application of short gas puffs of fuel that cause a modification of the radial density profile. A consequent suppression of the trapped electron modes (TEMs) then leads to an increase in the core electron temperature. This slows down the heat propagation following a sawtooth crash, causing a delay in achieving the critical temperature gradient inside the q = 1 surface required for the next sawtooth crash to happen. The overall scenario has strong similarities with the behavior of sawtooth under electron cyclotron resonance heating (ECRH). Our findings suggest an alternate, simpler technique for sawtooth control that may be usefully employed in small/medium-sized tokamaks that do not have an ECRH or any other auxiliary heating facility.

physics.plasm-ph↗

arXiv2025

Favorable modifications of Scrape-Off Layer (SOL) heat flux width through pulsed fuelling in ADITYA-U Tokamak

Enhancement of the scrape-off layer (SOL) heat flux width has been observed in the ADITYA-U Tokamak following the injection of short fuel gas pulses. A notable reduction in parallel heat flux near the last closed flux surface (LCFS) is observed after each pulse. Comparative analysis indicates that pulsed fuelling is more effective in mitigating heat flux with improved core confinement than continuous gas feeding via real-time density control. Analytical and simulation works are also carried out for validation of experimental results. The analytical model shows that SOL width modification cannot be attributed solely to the decrease of temperature due to gas pulse injection; cross-field plasma diffusion also needs to increase. Simulations with the UEDGE code suggest that an increase in both the cross-field diffusion coefficient and inward pinch velocity is necessary to replicate the experimentally observed broadening of the heat flux SOL width. These findings provide insights into efficient SOL heat flux control strategies for future fusion devices.

physics.plasm-ph↗

arXiv2025

Identification and Characterization of a New Disruption Regime in ADITYA-U Tokamak

Disruptions continue to pose a significant challenge to the stable operation and future design of tokamak reactors. A comprehensive statistical investigation carried out on the ADITYA-U tokamak has led to the observation and characterization of a novel disruption regime. In contrast to the conventional Locked Mode Disruption (LMD), the newly identified disruption exhibits a distinctive two-phase evolution: an initial phase characterized by a steady rise in mode frequency with a nonlinearly saturated amplitude, followed by a sudden frequency collapse accompanied by a pronounced increase in amplitude. This behaviour signifies the onset of the precursor phase on a significantly shorter timescale. Clear empirical thresholds have been identified to distinguish this disruption type from conventional LMD events, including edge safety factor, current decay coefficient, current quench (CQ) time, and CQ rate. The newly identified disruption regime is predominantly governed by the (m/n = 2/1) drift-tearing mode (DTM), which, in contrast to typical disruptions in the ADITYA-U tokamak that involve both m/n = 2/1 and 3/1 modes, consistently manifests as the sole dominant instability. Initiated by core temperature hollowing, the growth of this mode is significantly enhanced by a synergistic interplay between a strongly localized pressure gradient and the pronounced steepening of the current density profile in the vicinity of the mode rational surface.

physics.plasm-ph↗

arXiv2025

UNITYAI-GUARD: Pioneering Toxicity Detection Across Low-Resource Indian Languages

This work introduces UnityAI-Guard, a framework for binary toxicity classification targeting low-resource Indian languages. While existing systems predominantly cater to high-resource languages, UnityAI-Guard addresses this critical gap by developing state-of-the-art models for identifying toxic content across diverse Brahmic/Indic scripts. Our approach achieves an impressive average F1-score of 84.23% across seven languages, leveraging a dataset of 567k training instances and 30k manually verified test instances. By advancing multilingual content moderation for linguistically diverse regions, UnityAI-Guard also provides public API access to foster broader adoption and application.

cs.CL↗

arXiv2025

Parallel Transmission Aware Co-Design: Enhancing Manipulator Performance Through Actuation-Space Optimization

In robotics, structural design and behavior optimization have long been considered separate processes, resulting in the development of systems with limited capabilities. Recently, co-design methods have gained popularity, where bi-level formulations are used to simultaneously optimize the robot design and behavior for specific tasks. However, most implementations assume a serial or tree-type model of the robot, overlooking the fact that many robot platforms incorporate parallel mechanisms. In this paper, we present a novel co-design approach that explicitly incorporates parallel coupling constraints into the dynamic model of the robot. In this framework, an outer optimization loop focuses on the design parameters, in our case the transmission ratios of a parallel belt-driven manipulator, which map the desired torques from the joint space to the actuation space. An inner loop performs trajectory optimization in the actuation space, thus exploiting the entire dynamic range of the manipulator. We compare the proposed method with a conventional co-design approach based on a simplified tree-type model. By taking advantage of the actuation space representation, our approach leads to a significant increase in dynamic payload capacity compared to the conventional co-design implementation.

cs.RO↗

arXiv2025

On semipositone problems over $\mathbb{R}^N$ for the fractional $p$-Laplace operator

For $N \geq 1, s\in (0,1)$, and $p \in (1, \frac{N}{s})$ we find a positive solution to the following class of semipositone problems associated with the fractional $p$-Laplace operator: \begin{equation}\tag{SP} (-Δ)_{p}^{s}u = g(x)f_a(u) \text{ in } \mathbb{R}^N, \end{equation} where $g \in L^1(\mathbb{R}^N) \cap L^{\infty}(\mathbb{R}^N)$ is a positive function, $a>0$ is a parameter and $f_a \in \mathcal{C}(\mathbb{R})$ is defined as $f_a(t) = f(t)-a$ for $t \ge 0$, $f_a(t) = -a(t+1)$ for $t \in [-1, 0]$, and $f_a(t) = 0$ for $t \le -1$, where $f$ is a non-negative continuous function on $[0,\infty)$ satisfies $f(0)=0$ with subcritical and Ambrosetti-Rabinowitz type growth. Depending on the range of $a$, we obtain the existence of a mountain pass solution to (SP) in $\mathcal{D}^{s,p}(\mathbb{R}^N)$. Then, we prove mountain pass solutions are uniformly bounded with respect to $a$, over $L^r(\mathbb{R}^N)$ for every $r \in \left[\frac{Np}{N-sp}, \infty\right]$. In addition, if $p>\frac{2N}{N+2s}$, we establish that (SP) admits a non-negative mountain pass solution for each $a$ near zero. Finally, under the assumption $g(x) \leq \frac{B}{|x|^{β(p-1)+sp}}$ for $B>0, x \neq 0$, and $ β\in \left(\frac{N-sp}{p-1}, \frac{N}{p-1}\right)$, we derive an explicit positive radial subsolution to (SP) and show that the non-negative solution is positive a.e. in $\mathbb{R}^N$.

math.AP↗

arXiv2025

Ensemble based approach to quantifying uncertainty of LLM based classifications

The output of Large Language Models (LLMs) are a function of the internal model's parameters and the input provided into the context window. The hypothesis presented here is that under a greedy sampling strategy the variance in the LLM's output is a function of the conceptual certainty embedded in the model's parametric knowledge, as well as the lexical variance in the input. Finetuning the model results in reducing the sensitivity of the model output to the lexical input variations. This is then applied to a classification problem and a probabilistic method is proposed for estimating the certainties of the predicted classes.

cs.AI↗

arXiv2025

Resonant suppression of the above-barrier fusion cross-section in $^{19}$O + $^{12}$C

Fusion excitation functions for $^{19}$O and $^{19}$F + $^{12}$C were simultaneously measured along with $^{20}$O + $^{12}$C using the active-target detector MuSIC@Indiana. Examination of the cross-section just above the barrier reveals a significant suppression of fusion for the $^{19}$O + $^{12}$C system at E$_{c.m.}$~12 MeV. This suppression may be due to the formation of a transient $^{18}$O-n-$^{12}$C molecule-like complex favored at a particular angular momentum. Mean-field level models are used as a reference to understand the measured fusion excitation functions.

nucl-ex↗

arXiv2025

A multi-purpose reciprocating probe drive system for studying the effect of gas-puffs on edge plasma dynamics in the ADITYA-U tokamak

This article reports the development of a versatile high-speed reciprocating drive system (HRDS) with interchangeable probe heads to characterize the edge plasma region of ADITYA-U tokamak. This reciprocating probe drive system consisting of Langmuir and magnetic probe heads, is designed, fabricated, installed, and operated for studying the extent of fuel/impurity gas propagation and its influence on plasma dynamics in the far-edge region inside the last closed magnetic flux surface (LCFS). The HRDS is driven by a highly accurate, easy-to-control, dynamic, brushless, permanently excited synchronous servo motor operated by a PXI-commanded controller. The system is remotely operated and allows for precise control of the speed, acceleration, and distance traveled of the probe head on a shot-to-shot basis, facilitating seamless control of operations according to experimental requirements. Using this system, consisting of a linear array of Langmuir probes, measurements of plasma density, temperature, potential, and their fluctuations revealed that the fuel gas-puff impact these mean and fluctuating parameters up to three to four cm inside the LCFS. Attaching an array of magnetic probes to this system led to measurements of magnetic fluctuations inside the LCFS. The HRDS system is fully operational and serves as an important diagnostic tool for ADITYA-U tokamak.

physics.plasm-ph↗

arXiv2025

Deconstructing the emission order of protons, neutrons and $α$-particles following fusion in $^{28,30,32}$Si + $^{28}$Si

A high-quality measurement of proton and $α$-particle emission associated with fusion of $^{28,30,32}$Si with a $^{28}$Si target is described. Evaporation residues produced by de-excitation of the compound nucleus were identified by an energy time-of-flight (ETOF) measurement while emitted light-charged particles were identified using the $Δ$E-E technique. Comparison of the experimentally measured charged particle multiplicities and energy spectra with the predictions of the statistical decay model code, GEMINI++, allows one to deduce interesting details of the de-excitation cascade and its dependence on neutron-excess. The impact of modifying the sequence of particle emissions on the average energy and multiplicity is examined.

nucl-ex↗