arXiv subjects

Ryo Hanai

Publications and source records attributed to Ryo Hanai.

At least 37 records · Page 2Linked to original sources

arXiv2025

Non-reciprocal interactions drive emergent chiral crystallites

We study a new type of 2D active material that exhibits macroscopic phases with two emergent broken symmetries: self-propelled achiral particles that form dense hexatic clusters, which spontaneously rotate. We experimentally realise active colloids that self-organise into both polar and hexatic crystallites, exhibiting exotic emergent phenomena. This is accompanied by a field theory of coupled order parameters formulated on symmetry principles, including non-reciprocity, to capture the non-equilibrium dynamics. We find that the presence of two interacting broken symmetry fields leads to the emergence of novel chiral phases built from (2D) achiral active colloids (here Quincke rollers). These phases are characterised by the presence of both clockwise and counterclockwise rotating clusters. We thus show that spontaneous rotation can emerge in non-equilibrium systems, even when the building blocks are achiral, due to non-reciprocally coupled broken symmetries. This interplay leads to self-organized stirring through counter-rotating vortices in confined colloidal systems, with cluster size controlled by external electric fields.

cond-mat.soft↗

arXiv2024

SuctionPrompt: Visual-assisted Robotic Picking with a Suction Cup Using Vision-Language Models and Facile Hardware Design

The development of large language models and vision-language models (VLMs) has resulted in the increasing use of robotic systems in various fields. However, the effective integration of these models into real-world robotic tasks is a key challenge. We developed a versatile robotic system called SuctionPrompt that utilizes prompting techniques of VLMs combined with 3D detections to perform product-picking tasks in diverse and dynamic environments. Our method highlights the importance of integrating 3D spatial information with adaptive action planning to enable robots to approach and manipulate objects in novel environments. In the validation experiments, the system accurately selected suction points 75.4%, and achieved a 65.0% success rate in picking common items. This study highlights the effectiveness of VLMs in robotic manipulation tasks, even with simple 3D processing.

cs.RO↗

arXiv2024

Visual Imitation Learning of Non-Prehensile Manipulation Tasks with Dynamics-Supervised Models

Unlike quasi-static robotic manipulation tasks like pick-and-place, dynamic tasks such as non-prehensile manipulation pose greater challenges, especially for vision-based control. Successful control requires the extraction of features relevant to the target task. In visual imitation learning settings, these features can be learnt by backpropagating the policy loss through the vision backbone. Yet, this approach tends to learn task-specific features with limited generalizability. Alternatively, learning world models can realize more generalizable vision backbones. Utilizing the learnt features, task-specific policies are subsequently trained. Commonly, these models are trained solely to predict the next RGB state from the current state and action taken. But only-RGB prediction might not fully-capture the task-relevant dynamics. In this work, we hypothesize that direct supervision of target dynamic states (Dynamics Mapping) can learn better dynamics-informed world models. Beside the next RGB reconstruction, the world model is also trained to directly predict position, velocity, and acceleration of environment rigid bodies. To verify our hypothesis, we designed a non-prehensile 2D environment tailored to two tasks: "Balance-Reaching" and "Bin-Dropping". When trained on the first task, dynamics mapping enhanced the task performance under different training configurations (Decoupled, Joint, End-to-End) and policy architectures (Feedforward, Recurrent). Notably, its most significant impact was for world model pretraining boosting the success rate from 21% to 85%. Although frozen dynamics-informed world models could generalize well to a task with in-domain dynamics, but poorly to a one with out-of-domain dynamics.

cs.RO↗

arXiv2024

NeuralLabeling: A versatile toolset for labeling vision datasets using Neural Radiance Fields

We present NeuralLabeling, a labeling approach and toolset for annotating 3D scenes using either bounding boxes or meshes and generating segmentation masks, affordance maps, 2D bounding boxes, 3D bounding boxes, 6DOF object poses, depth maps, and object meshes. NeuralLabeling uses Neural Radiance Fields (NeRF) as a renderer, allowing labeling to be performed using 3D spatial tools while incorporating geometric clues such as occlusions, relying only on images captured from multiple viewpoints as input. To demonstrate the applicability of NeuralLabeling to a practical problem in robotics, we added ground truth depth maps to 30000 frames of transparent object RGB and noisy depth maps of glasses placed in a dishwasher captured using an RGBD sensor, yielding the Dishwasher30k dataset. We show that training a simple deep neural network with supervision using the annotated depth maps yields a higher reconstruction performance than training with the previously applied weakly supervised approach. We also show how instance segmentation and depth completion datasets generated using NeuralLabeling can be incorporated into a robot application for grasping transparent objects placed in a dishwasher with an accuracy of 83.3%, compared to 16.3% without depth completion.

cs.CV↗

arXiv2024

Quantum Criticality in Open Quantum Spin Chains with Nonreciprocity

We investigate the impact of nonreciprocity on universality and critical phenomena in open quantum interacting many-body systems. Nonreciprocal open quantum systems often have an exotic spectral sensitivity to boundary conditions, known as the Liouvillian skin effect (LSE). By considering an open quantum XXZ spin chain that exhibits LSE, we demonstrate the existence of a universal scaling regime that is not affected by the presence of the LSE. We resolve the critical exponents, which differ from those of free fermions, via tensor network methods and demonstrate that observables exhibit a universal scaling collapse, irrespective of the reciprocity. We find that the LSE only becomes relevant when a healing length scale $ξ_{\rm heal}$ at the system's edge (which is different to the localization length of the eigenstate of the Liouvillian) exceeds the system size, allowing edge properties to dominate the physics. We expect this result to be a generic feature of nonreciprocal models in the vicinity of a critical point. The driven-dissipative quantum criticality we observe has no classical analogue and stems from the existence of multiple dark states.

cond-mat.stat-mech↗

arXiv2023

Non-reciprocal frustration: time crystalline order-by-disorder phenomenon and a spin-glass-like state

Active systems are comprised of constituents with interactions that are generically non-reciprocal in nature. Such non-reciprocity often gives rise to situations where conflicting objectives exist, such as in the case of a predator pursuing its prey, while the prey attempts to evade capture. This situation is somewhat reminiscent of those encountered in geometrically frustrated systems where conflicting objectives also exist, which result in the absence of configurations that simultaneously minimize all interaction energies. In the latter, a rich variety of exotic phenomena are known to arise due to the presence of accidental degeneracy of ground states. In this paper, we establish a direct analogy between these two classes of systems. The analogy is based on the observation that non-reciprocally interacting systems with anti-symmetric coupling and geometrically frustrated systems have in common that they both exhibit marginal orbits, which can be regarded as a dynamical system counterpart of accidentally degenerate ground states. The former is shown by proving a Liouville-type theorem. These ''accidental degeneracies'' of orbits are shown to often get ''lifted'' by stochastic noise or weak random disorder due to the emergent ''entropic force'' to give rise to a noise-induced spontaneous symmetry breaking, in a similar manner to the order-by-disorder phenomena known to occur in geometrically frustrated systems. Furthermore, we report numerical evidence of a non-reciprocity-induced spin-glass-like state that exhibits a short-ranged spatial correlation (with stretched exponential decay) and an algebraic temporal correlation associated with the aging effect. Our work establishes an unexpected connection between the physics of complex magnetic materials and non-reciprocal matter, offering a fresh and valuable perspective for comprehending the latter.

cond-mat.dis-nn↗

arXiv2023

Exceptional points in nonlinear and stochastic dynamics

We study a class of bifurcations generically occurring in dynamical systems with non-mutual couplings ranging from models of coupled neurons to predator-prey systems and non-linear oscillators. In these bifurcations, extended attractors such as limit cycles, limit tori, and strange attractors merge and split in a similar way as fixed points in a pitchfork bifurcation. We show that this merging and splitting coincides with the coalescence of covariant Lyapunov vectors with vanishing Lyapunov exponents, generalizing the notion of exceptional points to non-linear dynamical systems. We distinguish two classes of bifurcations, corresponding respectively to continuous and discontinuous behaviors of the covariant Lyapunov vectors at the transition. We outline some physical consequences of generalized exceptional points on the dynamics of the system, including non-reciprocal responses, the destruction of isochrons, and enhanced sensitivity to noise. We illustrate our results with concrete examples from neuroscience, ecology, and physics. When applied to interpret existing experimental observations, our analysis suggests a simple explanation for the non-trivial phase delays observed in the population dynamics of plankton communities and the recently measured statistics of rotation reversals for a solid body immersed in a Rayleigh-Bénard convection cell.

nlin.CD↗

arXiv2023

Force Map: Learning to Predict Contact Force Distribution from Vision

When humans see a scene, they can roughly imagine the forces applied to objects based on their experience and use them to handle the objects properly. This paper considers transferring this "force-visualization" ability to robots. We hypothesize that a rough force distribution (named "force map") can be utilized for object manipulation strategies even if accurate force estimation is impossible. Based on this hypothesis, we propose a training method to predict the force map from vision. To investigate this hypothesis, we generated scenes where objects were stacked in bulk through simulation and trained a model to predict the contact force from a single image. We further applied domain randomization to make the trained model function on real images. The experimental results showed that the model trained using only synthetic images could predict approximate patterns representing the contact areas of the objects even for real images. Then, we designed a simple algorithm to plan a lifting direction using the predicted force distribution. We confirmed that using the predicted force distribution contributes to finding natural lifting directions for typical real-world scenes. Furthermore, the evaluation through simulations showed that the disturbance caused to surrounding objects was reduced by 26 % (translation displacement) and by 39 % (angular displacement) for scenes where objects were overlapping.

cs.RO↗

arXiv2022

Squeezing stationary distributions of stochastic chemical reaction systems

Stochastic modeling of chemical reaction systems based on master equations has been an indispensable tool in physical sciences. In the long-time limit, the properties of these systems are characterized by stationary distributions of chemical master equations. In this paper, we describe a novel method for computing stationary distributions analytically, based on a parallel formalism between stochastic chemical reaction systems and second quantization. Anderson, Craciun, and Kurtz showed that, when the rate equation for a reaction network admits a complex-balanced steady-state solution, the corresponding stochastic reaction system has a stationary distribution of a product form of Poisson distributions. In a formulation of stochastic reaction systems using the language of second quantization initiated by Doi, product-form Poisson distributions correspond to coherent states. Pursuing this analogy further, we study the counterpart of squeezed states in stochastic reaction systems. Under the action of a squeeze operator, the time-evolution operator of the chemical master equation is transformed, and the resulting system describes a different reaction network, which does not admit a complex-balanced steady state. A squeezed coherent state gives the stationary distribution of the transformed network, for which analytic expression is obtained.

cond-mat.stat-mech↗

arXiv2022

Proposed Fermi-surface reservoir-engineering and application to realizing unconventional Fermi superfluids in a driven-dissipative non-equilibrium Fermi gas

We develop a theory to describe the dynamics of a driven-dissipative many-body Fermi system, to pursue our proposal to realize exotic quantum states based on reservoir engineering. Our idea is to design the shape of a Fermi surface so as to have multiple Fermi edges, by properly attaching multiple reservoirs with different chemical potentials to a fermionic system. These emerged edges give rise to additional scattering channels that can destabilize the system into unconventional states, which is exemplified in this work by considering a driven-dissipative attractively interacting Fermi gas. By formulating a quantum kinetic equation using the Nambu-Keldysh Green's function technique, we explore nonequilibrium steady states in this system and assess their stability. We find that, in addition to the BCS-type isotropic pairing state, a Fulde-Ferrell-type anisotropic superfluid state being accompanied by Cooper pairs with non-zero center-of-mass momentum exists as a stable solution, even in the absence of a magnetic Zeeman field. Our result implies a great potential of realizing quantum matter beyond the equilibrium paradigm, by engineering the shape and topology of Fermi surfaces in both electronic and atomic systems.

cond-mat.quant-gas↗

arXiv2022

Non-equilibrium stationary states of quantum non-Hermitian lattice models

We show how generic non-Hermitian tight-binding lattice models can be realized in an unconditional, quantum-mechanically consistent manner by constructing an appropriate open quantum system. We focus on the quantum steady states of such models for both fermionic and bosonic systems. Surprisingly, key features and spatial structures in the steady state cannot be simply understood from the non-Hermitian Hamiltonian alone. Using the 1D Hatano-Nelson model as a paradigmatic example, we show that the steady state has a marked sensitivity to boundary conditions. This dependence however is qualitatively and quantitatively distinct from the non-Hermitian skin effect, and has no simple connection to non-Hermitian topology. Further, particle statistics play an unexpected role: the steady-state density profile is dramatically different for fermions versus bosons. Our work highlights the key role of fluctuations in quantum realizations of non-Hermitian dynamics, and provides a starting point for future work on engineered steady states of open quantum systems.

quant-ph↗

arXiv2021

Intrinsic mechanisms for drive-dependent Purcell decay in superconducting quantum circuits

We develop a new approach to understanding intrinsic mechanisms that cause the $T_1$-decay rate of a multi-level superconducting qubit to depend on the photonic population of a coupled, detuned cavity. Our method yields simple analytic expressions for both the coherently driven or thermally excited cases which are in good agreement with full master equation numerics, and also facilitates direct physical intuition. It also predicts several new phenomena. In particular, we find that in a wide range of settings, the cavity-qubit detuning controls whether a non-zero photonic population increases or decreases qubit Purcell decay. Our method combines insights from a Keldysh treatment of the system, and Lindblad perturbation theory.

quant-ph↗

arXiv2021

Proposed Fermi-surface reservoir-engineering and application to realizing unconventional Fermi superfluids

We theoretically propose an idea based on reservoir engineering to process the structure of a Fermi edge to split into multiple Fermi edges, so as to be suitable for the state which we want to realize. When one appropriately tunes the chemical-potential difference between two reservoirs being coupled with the system, the system is shown to be in the non-equilibrium steady state with the momentum distribution having a two-edge structure. We argue that these edges play similar roles to two Fermi surfaces, which can be designed to realize exotic quantum many-body states. To demonstrate this, we consider a model driven-dissipative two-component Fermi gas with an attractive interaction as a paradigmatic example and show that it exhibits an unconventional Fermi superfluid. While the superfluid order parameter of this state has the same form as that in the Fulde-Ferrell state discussed in metallic superconductivity under an external magnetic field, the former non-equilibrium pairing state is not accompanied by any spin imbalance. Our proposed reservoir engineering to process the Fermi momentum distribution would provide further possibilities of many-body quantum phenomena beyond the thermal equilibrium case.

cond-mat.quant-gas↗

arXiv2021

Non-reciprocal phase transitions

Out of equilibrium, the lack of reciprocity is the rule rather than the exception. Non-reciprocal interactions occur, for instance, in networks of neurons, directional growth of interfaces, and synthetic active materials. While wave propagation in non-reciprocal media has recently been under intense study, less is known about the consequences of non-reciprocity on the collective behavior of many-body systems. Here, we show that non-reciprocity leads to time-dependent phases where spontaneously broken symmetries are dynamically restored. The resulting phase transitions are controlled by spectral singularities called exceptional points. We describe the emergence of these phases using insights from bifurcation theory and non-Hermitian quantum mechanics. Our approach captures non-reciprocal generalizations of three archetypal classes of self-organization out of equilibrium: synchronization, flocking and pattern formation. Collective phenomena in these non-reciprocal systems range from active time-(quasi)crystals to exceptional-point enforced pattern-formation and hysteresis. Our work paves the way towards a general theory of critical phenomena in non-reciprocal matter.

cond-mat.soft↗

arXiv2020

Critical fluctuations at a many-body exceptional point

Critical phenomena arise ubiquitously in various context of physics, from condensed matter, high energy physics, cosmology, to biological systems, and consist of slow and long-distance fluctuations near a phase transition or critical point. Usually, these phenomena are associated with the softening of a massive mode. Here we show that a novel, non-Hermitian-induced mechanism of critical phenomena that do not fall into this class can arise in the steady state of generic driven-dissipative many-body systems with coupled binary order parameters such as exciton-polariton condensates and driven-dissipative Bose-Einstein condensates in a double-well potential. The criticality of this ``critical exceptional point'' is attributed to the coalescence of the collective eigenmodes that convert all the thermal-and-dissipative-noise activated fluctuations to the Goldstone mode, leading to anomalously giant phase fluctuations that diverge at spatial dimensions $d\le 4$. Our dynamic renormalization group analysis shows that this gives rise to a strong-coupling fixed point at dimensions as high as $d<8$ associated with a new universality class beyond the classification by Hohenberg and Halperin, indicating how anomalously strong the many-body corrections are at this point. We find that this anomalous enhancement of many-body correlation is due to the appearance of a sound mode at the critical exceptional point despite the system's dissipative character.

cond-mat.stat-mech↗

arXiv2019

Direct observation of the quantum-fluctuation driven amplitude mode in a microcavity polariton condensate

The Higgs amplitude mode is a collective excitation studied and observed in a broad class of matter, including superconductors, charge density waves, antiferromagnets, 3He p-wave superfluid, and ultracold atomic condensates. In all the observations reported thus far, the amplitude mode was excited by perturbing the condensate out of equilibrium. Studying an exciton-polariton condensate, here we report the first observation of this mode purely driven by intrinsic quantum fluctuations without such perturbations. By using an ultrahigh quality microcavity and a Raman spectrometer to maximally reject photoluminescence from the condensate, we observe weak but distinct photoluminescence at energies below the condensate emission. We identify this as the so-called ghost branches of the amplitude mode arising from quantum depletion of the condensate into this mode. These energies, as well as the overall structure of the photoluminescence spectra, are in good agreement with our theoretical analysis.

cond-mat.quant-gas↗

arXiv2019

Non-equilibrium strong-coupling theory for a driven-dissipative ultracold Fermi gas in the BCS-BEC crossover region

We theoretically investigate strong-coupling properties of an ultracold Fermi gas in the BCS-BEC crossover regime in the non-equilibrium steady state, being coupled with two fermion baths. By developing a non-equilibrium strong-coupling theory based on the combined $T$-matrix approximation with the Keldysh Green's function technique, we show that the chemical potential bias applied by the two baths gives rise to the anomalous enhancement of Fulde-Ferrell-Larkin-Ovchinnikov (FFLO) type pairing fluctuations (although the system has no spin imbalance), resulting in the re-entrant behavior of the non-equilibrium superfluid phase transition in the BCS-unitary regime. These pairing fluctuations are also found to anomalously enhance the pseudogap phenomenon. Since various non-equilibrium phenomena have recently been measured in ultracold Fermi gases, our non-equilibrium strong-coupling theory would be useful to catch up this experimental development in this research field.

cond-mat.quant-gas↗

arXiv2019

Non-Hermitian phase transition from a polariton Bose-Einstein condensate to a photon laser

We propose a novel mechanism for a nonequilibrium phase transition in a $U(1)$-broken phase of an electron-hole-photon system, from a Bose-Einstein condensate of polaritons to a photon laser, induced by the non-Hermitian nature of the condensate. We show that a (uniform) steady state of the condensate can always be classified into two types, namely, arising either from lower or upper-branch polaritons. We prove (for a general model) and demonstrate (for a particular model of polaritons) that an exceptional point where the two types coalesce marks the endpoint of a first-order-like phase boundary between the two types, similar to a critical point in a liquid-gas phase transition. Since the phase transition found in this paper is not in general triggered by population inversion, our result implies that the second threshold observed in experiments is not necessarily a strong-to-weak-coupling transition, contrary to the widely-believed understanding. Although our calculation mainly aims to clarify polariton physics, our discussion is applicable to general driven-dissipative condensates composed of two complex fields.

cond-mat.mes-hall↗