arXiv subjects

Takumi Kobayashi

Publications and source records attributed to Takumi Kobayashi.

At least 19 recordsLinked to original sources

arXiv2026

Improved systematic uncertainty evaluation of the $^{171}$Yb optical lattice clock NMIJ-Yb1 with uncertainty of $2.6\times10^{-17}$

We report a systematic uncertainty evaluation of the $^{171}$Yb optical lattice clock NMIJ-Yb1 (NMIJ: National Metrology Institute of Japan) with a fractional frequency uncertainty of $2.6\times10^{-17}$, improved by a factor of 3.8 compared with our previous uncertainty. The uncertainty of the lattice light shift is reduced to $1.6\times10^{-17}$ by preparing axially sideband-cooled atoms in a shallow optical lattice. Different models to calculate the lattice light shift are compared, taking account of possible model-dependent biases due to the treatment of the radial motion of atoms trapped in the optical lattice. The uncertainty of the blackbody radiation shift reaches $7.0\times10^{-18}$ by measuring the radiative temperature at the position of atoms with an in-vacuum temperature sensor. We also demonstrate the nearly continuous operation of NMIJ-Yb1 with an uptime of 91.3 $\%$ for 10 days, showing the potential for future improvement of the calibration uncertainty of International Atomic Time.

physics.atom-ph↗

arXiv2026

Bi-MoDe: Bilateral Control-based Imitation Learning via Modifier-Conditioned Decoding for Modulation of Execution Speed and Contact Intensity

Bilateral control-based imitation learning captures both position and force information, making it well suited to contact-rich manipulation. However, existing approaches provide limited means for an operator to specify how a learned task should be executed at inference time, such as slowly or quickly, gently or firmly. We propose Bi-MoDe, a modifier-conditioned decoding framework that injects a constrained latent into every layer of the Transformer action decoder via adaLN-Zero, allowing behavioral directives to directly influence action-chunk generation. We evaluate the method on a real-world whiteboard wiping task with combinations of temporal and physical modifiers. Bi-MoDe improves physical directive following over the action-chunking baseline while maintaining comparable temporal control. An ablation further shows that decoder conditioning and latent-space composition interact, and that their combination is important for accurate physical directive following. Additional material is available at the https://mertcookimg.github.io/bi-mode/

cs.RO↗

arXiv2025

Bi-LAT: Bilateral Control-Based Imitation Learning via Natural Language and Action Chunking with Transformers

We present Bi-LAT, a novel imitation learning framework that unifies bilateral control with natural language processing to achieve precise force modulation in robotic manipulation. Bi-LAT leverages joint position, velocity, and torque data from leader-follower teleoperation while also integrating visual and linguistic cues to dynamically adjust applied force. By encoding human instructions such as "softly grasp the cup" or "strongly twist the sponge" through a multimodal Transformer-based model, Bi-LAT learns to distinguish nuanced force requirements in real-world tasks. We demonstrate Bi-LAT's performance in (1) unimanual cup-stacking scenario where the robot accurately modulates grasp force based on language commands, and (2) bimanual sponge-twisting task that requires coordinated force control. Experimental results show that Bi-LAT effectively reproduces the instructed force levels, particularly when incorporating SigLIP among tested language encoders. Our findings demonstrate the potential of integrating natural language cues into imitation learning, paving the way for more intuitive and adaptive human-robot interaction. For additional material, please visit: https://mertcookimg.github.io/bi-lat/

cs.RO↗

arXiv2025

Cryogenic Optical Lattice Clock with $1.7\times 10^{-20}$ Blackbody Radiation Stark Uncertainty

Controlling the Stark perturbation from ambient thermal radiation is key to advancing the performance of many atomic frequency standards, including state-of-the-art optical lattice clocks (OLCs). We demonstrate a cryogenic OLC that utilizes a dynamically actuated radiation shield to control the perturbation at $1.7\times10^{-20}$ fractional frequency, a factor of $\sim$40 beyond the best OLC to date. Our shield furnishes the atoms with a near-ideal cryogenic blackbody radiation (BBR) environment by rejecting external thermal radiation at the part-per-million level during clock spectroscopy, overcoming a key limitation with previous cryogenic BBR control solutions in OLCs. While the lowest BBR shift uncertainty is realized with cryogenic operation, we further exploit the radiation control that the shield offers over a wide range of temperatures to directly measure and verify the leading BBR Stark dynamic correction coefficient for ytterbium. This independent measurement reduces the literature-combined uncertainty of this coefficient by 30%, thus benefiting state-of-the-art Yb OLCs operated at room temperature. We verify the static BBR coefficient for Yb at the low $10^{-18}$ level.

physics.atom-ph↗

arXiv2025

Coordinated international comparisons between optical clocks connected via fiber and satellite links

Optical clocks provide ultra-precise frequency references that are vital for international metrology as well as for tests of fundamental physics. To investigate the level of agreement between different clocks, we simultaneously measured the frequency ratios between ten optical clocks in six different countries, using fiber and satellite links. This is the largest coordinated comparison to date, from which we present a subset of 38 optical frequency ratios and an evaluation of the correlations between them. Four ratios were measured directly for the first time, while others had significantly lower uncertainties than previously achieved, supporting the advance towards a redefinition of the second and the use of optical standards for international time scales.

physics.atom-ph↗

arXiv2025

Improved absolute frequency measurement of $^{171}$Yb at NMIJ with uncertainty below $2\times10^{-16}$

We report improved absolute frequency measurement of the $^{1}$S$_{0}-^{3}$P$_{0}$ transition of $^{171}$Yb at National Metrology Institute of Japan (NMIJ) by comparing the $^{171}$Yb optical lattice clock NMIJ-Yb1 with 13 Cs primary frequency standards via International Atomic Time from August 2021 to May 2023. The measured absolute frequency is 518 295 836 590 863.62(10) Hz with a fractional uncertainty of $1.9\times10^{-16}$, in good agreement with the recommended frequency of $^{171}$Yb as a secondary representation of the second. This uncertainty is 2.6 times lower than our previous measurement uncertainty, and slightly lower than any uncertainties of the absolute frequency measurements of $^{171}$Yb that have so far been reported by other institutes. We also estimate correlation coefficients between our present and previous measurements, which is important for updating the recommended frequency.

physics.atom-ph↗

arXiv2025

Geometric Mean Improves Loss For Few-Shot Learning

Few-shot learning (FSL) is a challenging task in machine learning, demanding a model to render discriminative classification by using only a few labeled samples. In the literature of FSL, deep models are trained in a manner of metric learning to provide metric in a feature space which is well generalizable to classify samples of novel classes; in the space, even a few amount of labeled training examples can construct an effective classifier. In this paper, we propose a novel FSL loss based on \emph{geometric mean} to embed discriminative metric into deep features. In contrast to the other losses such as utilizing arithmetic mean in softmax-based formulation, the proposed method leverages geometric mean to aggregate pair-wise relationships among samples for enhancing discriminative metric across class categories. The proposed loss is not only formulated in a simple form but also is thoroughly analyzed in theoretical ways to reveal its favorable characteristics which are favorable for learning feature metric in FSL. In the experiments on few-shot image classification tasks, the method produces competitive performance in comparison to the other losses.

cs.CV↗

arXiv2024

ALPHA-$α$ and Bi-ACT Are All You Need: Importance of Position and Force Information/Control for Imitation Learning of Unimanual and Bimanual Robotic Manipulation with Low-Cost System

Autonomous manipulation in everyday tasks requires flexible action generation to handle complex, diverse real-world environments, such as objects with varying hardness and softness. Imitation Learning (IL) enables robots to learn complex tasks from expert demonstrations. However, a lot of existing methods rely on position/unilateral control, leaving challenges in tasks that require force information/control, like carefully grasping fragile or varying-hardness objects. As the need for diverse controls increases, there are demand for low-cost bimanual robots that consider various motor inputs. To address these challenges, we introduce Bilateral Control-Based Imitation Learning via Action Chunking with Transformers(Bi-ACT) and"A" "L"ow-cost "P"hysical "Ha"rdware Considering Diverse Motor Control Modes for Research in Everyday Bimanual Robotic Manipulation (ALPHA-$α$). Bi-ACT leverages bilateral control to utilize both position and force information, enhancing the robot's adaptability to object characteristics such as hardness, shape, and weight. The concept of ALPHA-$α$ is affordability, ease of use, repairability, ease of assembly, and diverse control modes (position, velocity, torque), allowing researchers/developers to freely build control systems using ALPHA-$α$. In our experiments, we conducted a detailed analysis of Bi-ACT in unimanual manipulation tasks, confirming its superior performance and adaptability compared to Bi-ACT without force control. Based on these results, we applied Bi-ACT to bimanual manipulation tasks. Experimental results demonstrated high success rates in coordinated bimanual operations across multiple tasks. The effectiveness of the Bi-ACT and ALPHA-$α$ can be seen through comprehensive real-world experiments. Video available at: https://mertcookimg.github.io/alpha-biact/

cs.RO↗

arXiv2024

Measurement of transition frequencies and hyperfine constants of molecular iodine at 520.2 nm

We measured the transition frequencies of the hyperfine components in the four lines (P(34) 39-0, R(36) 39-0, P(33) 39-0, and R(35) 39-0) of the B-X transitions of molecular iodine at 520.2 nm. The 520.2 nm laser was generated by wavelength-converting the output of a 1560.6 nm external-cavity diode laser using a dual-pitch periodically poled lithium niobate (PPLN) waveguide. The frequencies were measured by counting the heterodyne beats between the laser stabilized at the frequencies of the hyperfine components and a frequency comb synchronized with a hydrogen maser. We determined the transition frequencies of the a1 components with relative uncertainties of 1*10-11; the uncertainty was limited by the impurity of the molecular iodine in the cell. From the measured hyperfine splitting frequencies, we calculated the hyperfine constants of these four transitions to obtain the rotational dependence of the excited-state hyperfine constants.

physics.chem-ph↗

arXiv2024

Lattice Light Shift Evaluations In a Dual-Ensemble Yb Optical Lattice Clock

In state-of-the-art optical lattice clocks, beyond-electric-dipole polarizability terms lead to a break-down of magic wavelength trapping. In this Letter, we report a novel approach to evaluate lattice light shifts, specifically addressing recent discrepancies in the atomic multipolarizability term between experimental techniques and theoretical calculations. We combine imaging and multi-ensemble techniques to evaluate lattice light shift atomic coefficients, leveraging comparisons in a dual-ensemble lattice clock to rapidly evaluate differential frequency shifts. Further, we demonstrate application of a running wave field to probe both the multipolarizability and hyperpolarizability coefficients, establishing a new technique for future lattice light shift evaluations.

physics.atom-ph↗

arXiv2024

Second-order difference subspace

Subspace representation is a fundamental technique in various fields of machine learning. Analyzing a geometrical relationship among multiple subspaces is essential for understanding subspace series' temporal and/or spatial dynamics. This paper proposes the second-order difference subspace, a higher-order extension of the first-order difference subspace between two subspaces that can analyze the geometrical difference between them. As a preliminary for that, we extend the definition of the first-order difference subspace to the more general setting that two subspaces with different dimensions have an intersection. We then define the second-order difference subspace by combining the concept of first-order difference subspace and principal component subspace (Karcher mean) between two subspaces, motivated by the second-order central difference method. We can understand that the first/second-order difference subspaces correspond to the velocity and acceleration of subspace dynamics from the viewpoint of a geodesic on a Grassmann manifold. We demonstrate the validity and naturalness of our second-order difference subspace by showing numerical results on two applications: temporal shape analysis of a 3D object and time series analysis of a biometric signal.

cs.LG↗

arXiv2024

Isotope-shift analysis with the $4f^{14}6s^{2}~^1S_0- 4f^{13}5d6s^{2}(J=2)$ transition in ytterbium

Measurements of isotope shifts have recently been attracting considerable attention due to their potentials in searching for new forces. We report on the isotope shifts of the $4f^{14}6s^{2}~^1S_0- 4f^{13}5d6s^{2}(J=2)$ transition at 431 nm in Yb, based on absolute frequency measurements with an accuracy of $\sim10$ kHz. With these data, the hyperfine constants for $^{173}$Yb are determined. To analyze these data further, electronic structure of ytterbium is theoretically calculated. The nuclear charge radii are estimated together with some previously reported isotope-shift data for other transitions. An analysis of the King plot for the $4f^{14}6s^{2}~^1S_0- 4f^{13}5d6s^{2}(J=2)$ transition shows a good consistency with other transitions, resulting in a constraint on the existence of new bosons mediating the force between an electron and a neutron. The analysis motivates further precision measurements on isotope shifts of the narrow-linewidth transitions in ytterbium, not only for the even-mass isotopes but also for the odd-mass isotopes.

physics.atom-ph↗

arXiv2024

Ratchet Loading and Multi-Ensemble Operation in an Optical Lattice Clock

We demonstrate programmable control over the spatial distribution of ultra-cold atoms confined in an optical lattice. The control is facilitated through a combination of spatial manipulation of the magneto-optical trap and atomic population shelving to a metastable state. We first employ the technique to load an extended (5 mm) atomic sample with uniform density in an optical lattice clock, reducing atomic interactions and realizing remarkable frequency homogeneity across the atomic cloud. We also prepare multiple spatially separated atomic ensembles and realize multi-ensemble clock operation within the standard one-dimensional (1D) optical lattice clock architecture. Leveraging this technique, we prepare two oppositely spin-polarized ensembles that are independently addressable, offering a platform for implementing spectroscopic protocols for enhanced tracking of local oscillator phase. Finally, we demonstrate a relative fractional frequency instability at one second of $2.4(1) \times10^{-17}$ between two ensembles, useful for characterization of intra-lattice differential systematics.

physics.atom-ph↗

arXiv2024

Generation of a precise time scale assisted by a near-continuously operating optical lattice clock

We report on a reduced time variation of a time scale with respect to Coordinated Universal Time (UTC) by steering a hydrogen-maser-based time scale with a near-continuously operating optical lattice clock. The time scale is generated in a post-processing analysis for 230 days with a hydrogen maser with its fractional frequency stability limited by a flicker floor of $2\times10^{-15}$ and an Yb optical lattice clock operated with an uptime of 81.6 $\%$. During the 230-day period, the root mean square time variation of our time scale with respect to UTC is 0.52 ns, which is a better performance compared with those of time scales steered by microwave fountain clocks that exhibit root mean square variations from 0.99 ns to 1.6 ns. With the high uptime achieved by the Yb optical lattice clock, our simulation implies the potential of generating a state-of-the-art time scale with a time variation of $<0.1$ ns over a month using a better hydrogen maser reaching the mid $10^{-16}$ level. This work demonstrates that a use of an optical clock with a high uptime enhances the stability of a time scale.

physics.atom-ph↗

arXiv2024

Observation of the $4f^{14}6s^{2}~^1S_0- 4f^{13}5d6s^{2}(J=2)$ clock transition at 431 nm in $^{171}$Yb

We report on the observation of the $4f^{14}6s^{2}~^1S_0- 4f^{13}5d6s^{2}(J=2)$ transition at 431 nm in $^{171}$Yb by depleting atoms in a magneto-optical trap formed by the $6s^{2}~^1S_0-6s6p~^3P_1$ intercombination transition. The absolute frequency of the transition to the $F=3/2$ state is determined to be $695~171~054~858.1(8.2)$~kHz against physical realization of Coordinated Universal Time maintained by the National Metrology Institute of Japan with a frequency comb. The $g$ factor of the transition to the $F=3/2$ state and the A hyperfine constant are measured to be $g_J=1.54(13)$ and 1123.354(13)~MHz, respectively. More precise spectroscopy of this transition can lead to searches for time variation of the fine structure constant and searches for new physics with isotope shift measurements.

physics.atom-ph↗

arXiv2022

Search for ultralight dark matter from long-term frequency comparisons of optical and microwave atomic clocks

We search for ultralight scalar dark matter candidates that induce oscillations of the fine structure constant, the electron and quark masses, and the quantum chromodynamics energy scale with frequency comparison data between an $^{171}$Yb optical lattice clock and a $^{133}$Cs fountain microwave clock that span 298 days with an uptime of 15.4 $\%$. New limits on the couplings of the scalar dark matter to electrons and gluons in the mass range from $10^{-22}$ eV/$c^{2}$ to $10^{-20}$ eV/$c^{2}$ are set, assuming that each of these couplings is the dominant source of the modulation in the frequency ratio. The absolute frequency of the $^{171}$Yb clock transition is also determined as $518\,295\,836\,590\,863.69(28)$ Hz, which is one of the important contributions towards a redefinition of the SI second.

physics.atom-ph↗

arXiv2022

Enhancement of charge-neutral fermionic excitation near spin-flop transition\\ in magnetic Kondo material YbIr$_3$Si$_7$

The new Kondo material YbIr$_3$Si$_7$, similar to other Kondo insulators, has been reported to exhibit charge-neutral fermionic excitations through measurements of specific heat and thermal conductivity at low temperatures. We performed $^{29}$Si-NMR on YbIr$_3$Si$_7$ to investigate the magnetic response of charge-neutral fermions from a microscopic perspective. In low magnetic fields parallel to the $c$ axis, a single NMR peak in the paramagnetic state splits into three peaks below $T_{\rm N}$. In contrast, only a slight shift of the single NMR peak was observed in high magnetic fields. This spectral change as a function of the $c$-axis magnetic field is interpreted as spin-flop transition, at which the magnetic moments oriented along the $c$ axis (AF-I phase) are rotated to the $ab$ plane with ferromagnetic component along the $c$-axis (AF-II phase). In the vicinity of the spin-flop magnetic field $H_{\rm M}$, nuclear spin-lattice relaxation rate $1/T_1$ was found to be proportional to temperature at low temperatures, indicating the existence of charge-neutral fermions. Furthermore, a peak of $1/T_1$ vs. the $c$-axis magnetic field suggests that the charge-neutral fermions in YbIr$_3$Si$_7$ are closely related to its magnetic properties. Our findings shed light on the origin of charge-neutral fermions in insulators.

cond-mat.str-el↗

arXiv2021

Grassmannian learning mutual subspace method for image set recognition

This paper addresses the problem of object recognition given a set of images as input (e.g., multiple camera sources and video frames). Convolutional neural network (CNN)-based frameworks do not exploit these sets effectively, processing a pattern as observed, not capturing the underlying feature distribution as it does not consider the variance of images in the set. To address this issue, we propose the Grassmannian learning mutual subspace method (G-LMSM), a NN layer embedded on top of CNNs as a classifier, that can process image sets more effectively and can be trained in an end-to-end manner. The image set is represented by a low-dimensional input subspace; and this input subspace is matched with reference subspaces by a similarity of their canonical angles, an interpretable and easy to compute metric. The key idea of G-LMSM is that the reference subspaces are learned as points on the Grassmann manifold, optimized with Riemannian stochastic gradient descent. This learning is stable, efficient and theoretically well-grounded. We demonstrate the effectiveness of our proposed method on hand shape recognition, face identification, and facial emotion recognition.

cs.CV↗