arXiv subjects

Yuki Nakamura

Publications and source records attributed to Yuki Nakamura.

At least 19 recordsLinked to original sources

arXiv2026

SHAPE: Simultaneous Water Hydraulic Actuation and Position Estimation of a Sensorless Remote Actuator through a Thin and Long Flexible Tube

Robot sensors and electronic equipment are prone to failure in harsh environments. With water hydraulic drive, thin and long tubes enable remote operation without actuator-side sensors. Furthermore, the elasticity of the tubes reduces the impedance of the joints (actuators), benefiting robot tasks involving unexpected contact with the environment or vibrations. However, owing to the low impedance and limited camera visibility, accurately positioning the joint (or end effector) to the target location under varying load conditions is challenging. This study proposes a novel method that employs water-filled flexible tubes to enable the transmission of driving power and actuator-side information to and from the actuator, respectively, without actuator-side sensors. By modeling volumetric loss during transmission based on pressure fluctuations and incorporating minor air entrapment, simultaneous power transmission and position estimation is achieved through a tube up to 50 m. Thus, it becomes possible to use a feedback control framework that was previously difficult to implement in sensorless systems. Experimental validation confirms stable position control of a sensorless water hydraulic cylinder under varying loads. Furthermore, a field parameter-identification method accounts for tube and air entrainment variability without requiring actuator-side sensors. These contributions promote reliable remote control of robots in harsh environments.

cs.RO↗

arXiv2026

Oxygen isotope fractionation in the Martian atmosphere induced by CO$_2$ photolysis and O$_3$ formation

The enrichment of heavy isotopes of volatile elements in the Martian atmosphere indicates that Mars lost a large portion of its atmosphere through escape to space. Recent atmospheric measurements by ExoMars Trace Gas Orbiter (TGO) have suggested that the vertical profiles of oxygen isotopic compositions are influenced by chemical reactions involving isotopic fractionation. However, their quantitative impacts have not yet been fully evaluated. In this study, we develop a 1D photochemical model that incorporates oxygen isotopic fractionation associated with CO$_2$ photolysis and O$_3$ formation to investigate the vertical profiles of oxygen isotopic compositions. Our calculations show that CO is depleted in heavy oxygen isotopes relative to CO$_2$, reaching $δ^{18}$O $\sim -25$ per mil and $δ^{17}$O $\sim -15$ per mil, primarily due to isotopic fractionation during CO$_2$ photolysis. The vertical profiles of oxygen and carbon isotopic compositions are in good agreement between our model and the TGO measurements. O$_3$ is strongly enriched in $^{18}$O and $^{17}$O, reaching $δ^{18}$O $\sim 100$ per mil and $δ^{17}$O $\sim 50$ per mil as a consequence of the isotopic fractionation during its formation, whereas atomic oxygen is highly depleted in the heavy oxygen isotopes with $δ^{18}$O $\lesssim -100$ per mil and $δ^{17}$O $\lesssim -50$ per mil so as to compensate for their enrichment in O$_3$. These chemical fractionation processes can deplete the heavy oxygen isotopes in species that escape from the upper atmosphere, and thereby enhance the isotopic fractionation associated with oxygen escape to space. Such fractionated isotopic compositions of escaping oxygen may be detectable by the Martian Moons eXploration (MMX) mission.

astro-ph.EP↗

arXiv2026

SoccerNet 2026 Challenges Results

The SoccerNet 2026 Challenges constitute the sixth annual edition of the SoccerNet open benchmarking effort, dedicated to advancing computer vision research in sports video understanding. This year's challenges span five vision-based tasks: (1) Ball Action Anticipation, predicting the timing and class of ball-related actions within a short future window from a preceding observation window; (2) Player-Centric Ball Action Spotting, temporally localizing and classifying ball-related actions while assigning each action to the acting player through team affiliation and jersey number; (3) Novel View Synthesis, rendering images from unobserved camera poses in multi-view football scenes; (4) Spiideo SoccerNet Synloc, localizing athletes in real-world pitch coordinates from a single calibrated static-camera image; and (5) Visual Question Answering, answering multiple-choice questions about football broadcasts across text, image, and video inputs. For each task, participants were provided with annotated data, a unified evaluation protocol, and a public baseline. This edition saw broad participation, with 427 teams submitting 1,129 entries across the five tasks and 28 teams contributing reviewed technical reports. This paper describes each task and its evaluation protocol, presents the challenge leaderboards, and summarizes the leading submissions, with the aim of documenting the current state of each task as measured on held-out challenge data.

cs.CV↗

arXiv2026

The Privacy Subsidy in Market Microstructure

Privacy-preserving exchange designs price on a coarsened view of order flow. We show that a market maker committed to informationally efficient (posterior-mean) pricing on a signal strictly coarser than the flow it settles necessarily cedes a closed-form welfare transfer to traders -- the privacy subsidy -- and that no rule restricted to the coarse signal is simultaneously efficient and zero-profit against the settled flow. We establish this impossibility for a general coarsening, then characterise the subsidy in closed form across three canonical microstructure models: single-period Kyle with Gaussian flow noise, Glosten-Milgrom with a binary direction channel, and continuous-time Kyle-Back with a Brownian channel. The subsidy obeys a structural correspondence with Loss-Versus-Rebalancing, both welfare rates factorising as a squared noise driver times a committed-object factor. Gross of fees the subsidy is a pure transfer recovered by a break-even fee; once levied, that fee distorts volume, and the resulting deadweight -- under an explicit allocative value of trade -- is fourth-order in the noise scale while the gross subsidy is second-order, so privacy is welfare-neutral to leading order with a strictly smaller irrecoverable loss. Endogenising the privacy level, a protocol trading a differential-privacy benefit against this deadweight chooses an interior noise scale in closed form; doing so leaves the half-revealing product of price impact and informed intensity intact while unpinning the volatility-elasticity of price impact from its textbook value of one.

cs.GT↗

arXiv2026

The Privacy Subsidy: Kyle's $λ$ under Noise-Perturbed Order-Flow Observation

Privacy-preserving cryptocurrency exchanges alter what the pricing mechanism observes about order flow. We derive the unique linear Kyle equilibrium when a committed Bayesian market maker observes order flow perturbed by independent Gaussian privacy noise. The price-impact coefficient and informed-trader strategy rescale by reciprocal factors of the privacy parameter (one down, one up), so their product is invariant. A welfare decomposition then identifies a closed-form per-period transfer from the protocol's LP pool to traders -- the "privacy subsidy", the break-even fee any privacy-aggregated exchange must charge. The result is the single-period closed-form privacy-noise analog of Loss-Versus-Rebalancing (Milionis et al. 2022). The primary application is shielded AMMs with explicit additive-noise injection (e.g., differential privacy); related designs (batched swaps, sealed-bid auctions, oracle-pegged crossings) require separate frameworks that we leave to future work.

cs.GT↗

arXiv2026

The Privacy Subsidy in Glosten-Milgrom: Bid-Ask Spread and Welfare under Flip-Noise Direction Observation

We derive a closed-form bid-ask spread and welfare decomposition for the Glosten-Milgrom 1985 sequential-trading model when the market maker observes the trade direction perturbed by a binary flip channel of probability $η$ -- a natural information-theoretic model of privacy mechanisms acting on the direction signal. Under a committed Bayesian market-maker pricing rule, the equilibrium spread is $μ(1-2η)Δ$, where $μ$ is the informed-trader fraction and $Δ= v_H - v_L$ the value range. The welfare decomposition identifies a per-trade transfer $μηΔ$ from the protocol's liquidity pool to traders -- the "privacy subsidy", mirroring the Gaussian-Kyle analog established in prior work. The result extends the privacy-subsidy concept from continuous Gaussian to discrete two-state microstructure, demonstrating robustness across both classical models. Primary application: MPC-based matching engines with $\varepsilon$-differentially-private direction disclosure, where the engine prices on a noisy direction signal.

cs.GT↗

arXiv2026

Measuring Alignment-Induced Activation Shifts Correctly: A Template-Controlled Difference-in-Differences Protocol

Comparing a model's internal activations before and after alignment is a natural way to ask what safety training changes: one forms the matrix of paired aligned-minus-base activations on safety-relevant inputs and reads off its effective rank or top direction. We show the obvious way to form this matrix is confounded. The aligned model is evaluated under a chat template the base model never saw, so the naive difference conflates the alignment shift with chat formatting. We introduce a four-variant decomposition of the modification matrix (naive, template-controlled, within-aligned, and difference-in-differences, DiD) that separates the two effects. Template control alone removes a 2.0-3.9x inflation of the measured effective rank across Llama-3.1-8B, Gemma-2-9B, and Qwen-2.5-7B; the DiD contrast is what recovers the refusal direction of Arditi et al. (2024), lifting its cosine alignment from 0.18-0.39 to 0.50-0.86. Projection-ablation across the three families confirms the recovered subspace is behaviorally active and that singular-value order is not causal order. We validate the protocol on a controlled testbed and distill it into measurement recommendations for activation-difference studies of alignment.

cs.LG↗

arXiv2026

The Privacy Subsidy in Continuous-Time Kyle: Cumulative Welfare under Noise-Perturbed Order-Flow Observation

We extend the closed-form privacy-subsidy result of Nakamura~(2026, arXiv:2605.15746) from the single-period Kyle model to continuous-time. A committed Bayesian automated market maker observes the aggregate order flow perturbed by an independent Brownian privacy channel of diffusion intensity $σ_\varepsilon$. Under the Markovian linear equilibrium, the price-impact coefficient is $λ= σ_v / \sqrt{σ_u^2 + σ_\varepsilon^2}$ -- constant in time -- and the cumulative expected transfer from the protocol's liquidity pool to traders over $[0,1]$ is $|Π_M| = σ_v σ_\varepsilon^2 / \sqrt{σ_u^2 + σ_\varepsilon^2}$. We then establish a structural correspondence between this cumulative privacy subsidy and Loss-Versus-Rebalancing (Milionis et al.~2022), identifying privacy-noise welfare as the order-flow observation analog of LVR's price observation gap. The result completes the continuous-time Kyle leg of the program of quantifying break-even fees for committed-AMM exchanges under privacy-aggregated information environments.

cs.GT↗

arXiv2026

Bennett's Conjecture in Lean 4: Counter-Models for the PSR-Reducibility of Spinoza's Propositions V and XIV

In A Study of Spinoza's Ethics (1984, §17), Jonathan Bennett argues that the demonstration of Proposition V of Spinoza's Ethica contains identifiable invalid moves and that, even granted those moves, "cannot yield more than the conclusion that two substances could not have all their attributes in common" -- while Spinoza concludes that they cannot share any. Bennett doubts that any valid reconstruction is available from Spinoza's stated resources without importing further commitments. Michael Della Rocca (Spinoza, 2008, ch. 2) responds that the proposition can be derived if the Principle of Sufficient Reason (PSR) is committed substantively. The debate has remained at the level of prose argument for forty years. This paper provides the first machine-checked evidence in the debate. We formalise Ethica Pars I in Lean 4, encoding Bennett's reading of Spinoza's stated axioms as a typeclass and Della Rocca's substantive PSR as an extension class. The derivation attempt yields a partial result -- substances sharing all attributes are identical -- but cannot reach the full "sharing-any-attribute -> identity" content of Proposition V, mechanically tracking Bennett's own all-attributes ceiling. A four-element counter-model satisfying both axiom sets while falsifying Proposition V's content establishes the irreducibility against this specific augmentation. A second counter-model establishes the analogous result for axiom A15, a load-bearing universality clause for Spinoza's Proposition XIV. Bennett's diagnosis receives its first kernel-checked counter-model against the Della-Rocca PSR-substance reconstruction (the non-derivability claim itself a meta-logical consequence of kernel consistency); stronger PSR variants and the broader narrative claim against the full Section I + II + A1--A7 register remain open as future mechanical projects.

cs.LO↗

arXiv2026

Spin-coherence characterization of boron vacancy defects in hexagonal boron nitride with broadband microwave pulses

Negatively charged boron vacancy (VB-) defects in hexagonal boron nitride (hBN) are promising for nanoscale-proximity quantum sensing. To evaluate their performance, it is important to characterize the spin coherence times T2* and T2. In this study, we realized sub-GHz Rabi oscillations of VB- using an isotopically enriched hBN thin film directly stamped onto a narrow gold wire. Using these strong microwave pulses, we performed Ramsey interference and Hahn echo measurements. The Ramsey interference signal showed Gaussian-like decay, yielding T2* = 13.8 ns. The Hahn echo measurement gave T2 = 108.7 ns and a stretch factor of α= 1.25. These results experimentally clarify the spin coherence properties of VB- and provide an effective method for evaluating the coherence of spin defects in van der Waals thin films with broad resonance linewidths.

cond-mat.mes-hall↗

arXiv2026

Body-Reservoir Governance in Repeated Games: Embodied Decision-Making, Dynamic Sentinel Adaptation, and Complexity-Regularized Optimization

Standard game theory explains cooperation in repeated games through conditional strategies such as Tit-for-Tat (TfT), but these require continuous computation that imposes physical costs on embodied agents. We propose a three-layer Body-Reservoir Governance (BRG) architecture: (1) a body reservoir (echo state network) whose $d$-dimensional state performs implicit inference over interaction history, serving as both decision-maker and anomaly detector, (2) a cognitive filter providing costly strategic tools activated on demand, and (3) a metacognitive governance layer with receptivity parameter $α\in [0,1]$. At full body governance ($α=1$), closed-loop dynamics satisfy a self-consistency equation: cooperation is expressed as the reservoir's fixed point, not computed. Strategy complexity cost is defined as the KL divergence between the reservoir's state distribution and its habituated baseline. Body governance reduces this cost, with action variance decreasing up to $1600\times$ with dimension $d$. A dynamic sentinel generates a composite discomfort signal from the reservoir's own state, driving adaptive $α(t)$: near baseline during cooperation, rapidly dropping upon defection to activate cognitive retaliation. Overriding the body incurs thermodynamic cost proportional to internal state distortion. The sentinel achieves the highest payoff across all conditions, outperforming static body governance, TfT, and EMA baselines. A dimension sweep ($d \in \{5,\ldots,100\}$) shows implicit inference scales with bodily richness ($23\times$ to $1600\times$ variance reduction), attributable to reservoir dynamics. A phase diagram in $(d, τ_{\mathrm{env}})$ space reveals governance regime transitions near $d \approx 20$. The framework reinterprets cooperation as the minimum-dissipation response of an adapted dynamical system -- emergent from embodied dynamics rather than computed.

cs.GT↗

arXiv2026

LLM-Assisted Replication for Quantitative Social Science

The replication crisis, the failure of scientific claims to be validated by further research, is one of the most pressing issues for empirical research. This is partly an incentive problem: replication is costly and less well rewarded than original research. Large language models (LLMs) have accelerated scientific production by streamlining writing, coding, and reviewing, yet this acceleration risks outpacing verification. To address this, we present an LLM-based system that replicates statistical analyses from social science papers and flags potential problems. Quantitative social science is particularly well-suited to automation because it relies on standard statistical models, shared public datasets, and uniform reporting formats such as regression tables and summary statistics. We present a prototype that iterates LLM-based text interpretation, code generation, execution, and discrepancy analysis, demonstrating its capabilities by reproducing key results from a seminal sociology paper. We also outline application scenarios including pre-submission checks, peer-review support, and meta-scientific audits, positioning AI verification as assistive infrastructure that strengthens research integrity.

cs.CY↗

arXiv2026

Comprehensive Robust Dynamic Mode Decomposition from Mode Extraction to Dimensional Reduction

We propose Comprehensive Robust Dynamic Mode Decomposition (CR-DMD), a novel framework that robustifies the entire DMD process - from mode extraction to dimensional reduction - against mixed noise. Although standard DMD widely used for uncovering spatio-temporal patterns and constructing low-dimensional models of dynamical systems, it suffers from significant performance degradation under noise due to its reliance on least-squares estimation for computing the linear time evolution operator. Existing robust variants typically modify the least-squares formulation, but they remain unstable and fail to ensure faithful low-dimensional representations. First, we introduce a convex optimization-based preprocessing method designed to effectively remove mixed noise, achieving accurate and stable mode extraction. Second, we propose a new convex formulation for dimensional reduction that explicitly links the robustly extracted modes to the original noisy observations, constructing a faithful representation of the original data via a sparse weighted sum of the modes. Both stages are efficiently solved by a preconditioned primal-dual splitting method. Experiments on fluid dynamics datasets demonstrate that CR-DMD consistently outperforms state-of-the-art robust DMD methods in terms of mode accuracy and fidelity of low-dimensional representations under noisy conditions.

eess.SP↗

arXiv2025

Beyond ensemble averaging: Parallelized single-shot readout of hole capture in diamond

Understanding the generation, transport and capture of charge carriers in semiconductors is of fundamental technological importance. However, the ensemble measurement techniques ubiquitous in electronics offer limited insight into the nanoscale environment that is crucial to the operation of modern quantum-electronic devices. Here, we combine widefield optical microscopy with precision spectroscopy to examine the capture of photogenerated holes by negatively charged nitrogen vacancy (NV-) centers in diamond. Simultaneous single-shot charge readout over hundreds of individual NVs allows us to resolve the roles of ionized impurities, reveal the formation of space charges fields, and monitor the thermalization of hot photo-carriers during diffusion. We measure effective NV- hole capture radii in excess of 0.2 um, a value approaching the Onsager limit and made possible here thanks to the near-complete neutralization of coexisting charge traps. These results establish a new platform for resolving charge dynamics beyond ensemble averages, with direct relevance to nanoscale electronics and quantum devices.

cond-mat.mes-hall↗

arXiv2025

Systematic investigation of dynamic nuclear polarization with boron vacancy in hexagonal boron nitride

Dynamic nuclear polarization (DNP) using the boron vacancy ($\mathrm{V_B^-}$) in hexagonal boron nitride (hBN) has gained increasing attention. Understanding this DNP requires systematically investigating the optically detected magnetic resonance (ODMR) spectra and developing a model that quantitatively describes its behavior. Here, we measure the ODMR spectra of $\mathrm{V_B^-}$ in $\mathrm{h}^{10}\mathrm{B}^{15}\mathrm{N}$ over a wide magnetic field range, including the ground state level anti-crossing (GSLAC), and compare them with the results of the Lindblad-based simulation that considers a single electron spin and three neighboring $^{15}\mathrm{N}$ nuclear spins. Our simulation successfully reproduces the experimental spectra, including the vicinity of GSLAC. It can explain the overall behavior of the magnetic field dependence of the nuclear spin polarization estimated using the Lorentzian fitting of the spectra. Despite such qualitative agreement, we also demonstrate that the fitting methods cannot give accurate polarizations. Finally, we discuss that symmetry-induced mechanisms of $\mathrm{V_B^-}$ limit the maximum polarization. Our study is an essential step toward a quantitative understanding of DNP using defects in hBN and its quantum applications.

cond-mat.mes-hall↗

arXiv2024

Ionospheric conductances at the giant planets of the Solar System:a comparative study of ionization sources and the impact of meteoric ions

The dynamics of giant planet magnetospheres is controlled by a complex interplay between their fast rotation, their interaction with the solar wind, and their diverse internal plasma and momentum sources. In the ionosphere, the Hall and Pedersen conductances are two key parameters that regulate the intensity of currents coupling the magnetosphere and the ionosphere, and the rate of angular momentum transfer and power carried by these currents. We perform a comparative study of Hall and Pedersen conductivities and conductances in the four giant planets of our Solar System - Jupiter, Saturn, Uranus and Neptune. We use a generic ionospheric model (restraining the studied ions to H3+, CH5+, and meteoric ions) to study the dependence of conductances on the structure and composition of these planets' upper atmospheres and on the main ionization sources (photoionization, ionization by precipitating electrons, and meteoroid ablation). After checking that our model reproduces the conclusions of Nakamura et al. (2022, https://doi.org/10.1029/2022JA030312) at Jupiter, i.e. the contribution of meteoric ions to the height-integrated conductances is non-negligible, we show that this contribution could also be non-negligible at Saturn, Uranus and Neptune, compared with ionization processes caused by precipitating electrons of energies lower than a few keV (typical energies on these planets). However, because of their weaker magnetic field, the conductive layer of these planets is higher than the layer where meteoric ions are mainly produced, limiting their role in magnetosphere-ionosphere coupling.

astro-ph.EP↗

arXiv2024

Surface criticality in the mixed-field Ising model with sign-inverted next-nearest-neighbor interaction

Rydberg atoms in an optical tweezer array have been used as a quantum simulator of the spin-$1/2$ antiferromagnetic Ising model with longitudinal and transverse fields. We suggest how to implement the next-nearest-neighbor (NNN) interaction whose sign is opposite to that of the nearest neighbor one in the Rydberg atom systems. We show that this can be achieved by weakly coupling one Rydberg state with another Rydberg state. We further study the surface criticality associated with the first-order quantum phase transition between the antiferromagnetic and paramagnetic phases, which emerges due to the sign-inverted NNN interaction. From the microscopic model, we derive a Ginzburg-Landau (GL) equation, which describes static and dynamic properties of the antiferromagnetic order parameter near the transition. Using both analytical GL theory and numerical method based on a mean-field theory, we calculate the order parameter in the proximity of a boundary of the system in order to show that the healing length of the order parameter logarithmically diverges, signaling the surface criticality.

cond-mat.quant-gas↗

arXiv2024

Systematic characterization of nanoscale $h$-BN quantum sensor spots created by helium-ion microscopy

The nanosized boron vacancy ($V_\mathrm{B}^-$) defect spot in hexagonal boron nitride ($h$-BN) is promising for a local magnetic field quantum sensor. One of its advantages is that a helium-ion microscope can make a spot at any location in an $h$-BN flake with nanometer accuracy. In this study, we investigate the properties of the created nanosized $V_\mathrm{B}^-$ defect spots by systematically varying three conditions: the helium-ion dose, the thickness of the $h$-BN flakes, and the substrate on which the $h$-BN flakes are attached. The physical background of the results obtained is successfully interpreted using Monte Carlo calculations. From the findings obtained here, a guideline for their optimal creation conditions is obtained to maximize its performance as a quantum sensor concerning sensitivity and localization.

cond-mat.mes-hall↗