We describe updated scientific goals for the wide-field, millimeter-wave survey that will be produced by the Simons Observatory (SO). Significant upgrades to the 6-meter SO Large Aperture Telescope (LAT) are expected to be complete by 2028, and will include a doubled mapping speed with 30,000 new detectors and an automated data reduction pipeline. In addition, a new photovoltaic array will supply most of the observatory's power. The LAT survey will cover about 60% of the sky at a regular observing cadence, with five times the angular resolution and ten times the map depth of Planck. The science goals are to: (1) determine the physical conditions in the early universe and constrain the existence of new light particles; (2) measure the integrated distribution of mass, electron pressure, and electron momentum in the late-time universe, and, in combination with optical surveys, determine the neutrino mass and the effects of dark energy via tomographic measurements of the growth of structure at z < 3; (3) measure the distribution of electron density and pressure around galaxy groups and clusters, and calibrate the effects of energy input from galaxy formation on the surrounding environment; (4) produce a sample of more than 30,000 galaxy clusters, and more than 100,000 extragalactic millimeter sources, including regularly sampled AGN light-curves, to study these sources and their emission physics; (5) measure the polarized emission from magnetically aligned dust grains in our Galaxy, to study the properties of dust and the role of magnetic fields in star formation; (6) constrain asteroid regoliths, search for Trans-Neptunian Objects, and either detect or eliminate large portions of the phase space in the search for Planet 9; and (7) provide a powerful new window into the transient universe on time scales of minutes to years, concurrent with observations from Rubin of overlapping sky.

We report the first measurement of charged particle elliptic flow in Pb-Pb collisions at 2.76 TeV with the ALICE detector at the CERN Large Hadron Collider. The measurement is performed in the central pseudorapidity region (|$\eta$|<0.8) and transverse momentum range 0.2< $p_{\rm T}$< 5.0 GeV/$c$. The elliptic flow signal v$_2$, measured using the 4-particle correlation method, averaged over transverse momentum and pseudorapidity is 0.087 $\pm$ 0.002 (stat) $\pm$ 0.004 (syst) in the 40-50% centrality class. The differential elliptic flow v$_2(p_{\rm T})$ reaches a maximum of 0.2 near $p_{\rm T}$ = 3 GeV/$c$. Compared to RHIC Au-Au collisions at 200 GeV, the elliptic flow increases by about 30%. Some hydrodynamic model predictions which include viscous corrections are in agreement with the observed increase.

We perform a search for light sterile neutrinos using the data from the T2K far detector at a baseline of 295 km, with an exposure of 14.7 (7.6)$\times 10^{20}$ protons on target in neutrino (antineutrino) mode. A selection of neutral current interaction samples are also used to enhance the sensitivity to sterile mixing. No evidence of sterile neutrino mixing in the 3+1 model was found from a simultaneous fit to the charged-current muon, electron and neutral current neutrino samples. We set the most stringent limit on the sterile oscillation amplitude $\sin^2\theta_{24}$ for the sterile neutrino mass splitting \Delta m^2_{41}&lt;3\times 10^{-3} eV$^2/c^4$.

Accurate 3D perception is essential for autonomous driving. Traditional methods often struggle with geometric ambiguity due to a lack of geometric prior. To address these challenges, we use omnidirectional depth estimation to introduce geometric prior. Based on the depth information, we propose a Sketch-Coloring framework OmniDepth-Occ. Additionally, our approach introduces a cylindrical voxel representation based on polar coordinate to better align with the radial nature of panoramic camera views. To address the lack of fisheye camera dataset in autonomous driving tasks, we also build a virtual scene dataset with six fisheye cameras, and the data volume has reached twice that of SemanticKITTI. Experimental results demonstrate that our Sketch-Coloring network significantly enhances 3D perception performance.

This study addresses a flexible holding tool for robotic disassembly. We propose a shell-type soft jig that securely and universally holds objects, mitigating the risk of component damage and adapting to diverse shapes while enabling soft fixation that is robust to recognition, planning, and control errors. The balloon-based holding mechanism ensures proper alignment and stable holding performance, thereby reducing the need for dedicated jig design, highly accurate perception, precise grasping, and finely tuned trajectory planning that are typically required with conventional fixtures. Our experimental results demonstrate the practical feasibility of the proposed jig through performance comparisons with a vise and a jamming-gripper-inspired soft jig. Tests on ten different objects further showed representative successes and failures, clarifying the jig's limitations and outlook.

The analysis of the size of nanoparticles is an essential task in plasma technology and dusty plasmas. Light scattering techniques, based on Mie theory, can be used as a non-invasive and in-situ diagnostic tool for this purpose. However, the standard back-calculation methods require expertise from the user. To address this, we introduce a neural network that performs the same task. We discuss how we set up and trained the network to analyze the size of plasma-grown amorphous carbon nanoparticles (a:C-H) with a refractive index n in the range of real(n) = 1.4-2.2 and imag(n) = 0.04i-0.1i and a radius of up to several hundred nanometers, depending on the used wavelength. The diagnostic approach is kinetic, which means that the particles need to change in size due to growth or etching. An uncertainty analysis as well as a test with experimental data are presented. Our neural network achieves results that agree with those of prior fitting algorithms while offering higher methodical stability. The model also holds a major advantage in terms of computing speed and automation.

We survey several mathematical developments in the holonomy approach to gauge theory. A cornerstone of this approach is the introduction of group structures on spaces of based loops on a smooth manifold, relying on certain homotopy equivalence relations -- such as the so-called thin homotopy -- and the resulting interpretation of gauge fields as group homomorphisms to a Lie group $G$ satisfying a suitable smoothness condition, encoding the holonomy of a gauge orbit of smooth connections on a principal $G$-bundle. We also prove several structural results on thin homotopy, and in particular we clarify the difference between thin equivalence and retrace equivalence for piecewise-smooth based loops on a smooth manifold, which are often used interchangeably in the physics literature. We conclude by listing a set of questions on topological and functional analytic aspects of groups of based loops, which we consider to be fundamental to establish a rigorous differential geometric foundation of the holonomy formulation of gauge theory.

In this paper, we present a task space-based local motion planner that incorporates collision avoidance and constraints on end-effector motion during the execution of a task. Our key technical contribution is the development of a novel kinematic state evolution model of the robot where the collision avoidance is encoded as a complementarity constraint. We show that the kinematic state evolution with collision avoidance can be represented as a Linear Complementarity Problem (LCP). Using the LCP model along with Screw Linear Interpolation (ScLERP) in SE(3), we show that it may be possible to compute a path between two given task space poses by directly moving from the start to the goal pose, even if there are potential collisions with obstacles. The scalability of the planner is demonstrated with experiments using a physical robot. We present simulation and experimental results with both collision avoidance and task constraints to show the efficacy of our approach.

Recent advances in one-shot imitation learning have enabled robots to acquire new manipulation skills from a single human demonstration. While existing methods achieve strong performance on single-step tasks, they remain limited in their ability to handle long-horizon, multi-step tasks without additional model training or manual annotation. We propose a method that can be applied to this setting provided a single demonstration without additional model training or manual annotation. We evaluated our method on multi-step and single-step manipulation tasks where our method achieves an average success rate of 82.5% and 90%, respectively. Our method matches and exceeds the performance of the baselines in both these cases. We also compare the performance and computational efficiency of alternative pre-trained feature extractors within our framework.

The six parameters of the standard $\Lambda$CDM model have best-fit values derived from the Planck temperature power spectrum that are shifted somewhat from the best-fit values derived from WMAP data. These shifts are driven by features in the Planck temperature power spectrum at angular scales that had never before been measured to cosmic-variance level precision. We investigate these shifts to determine whether they are within the range of expectation and to understand their origin in the data. Taking our parameter set to be the optical depth of the reionized intergalactic medium $\tau$, the baryon density $\omega_{\rm b}$, the matter density $\omega_{\rm m}$, the angular size of the sound horizon $\theta_*$, the spectral index of the primordial power spectrum, $n_{\rm s}$, and $A_{\rm s}e^{-2\tau}$ (where $A_{\rm s}$ is the amplitude of the primordial power spectrum), we examine the change in best-fit values between a WMAP-like large angular-scale data set (with multipole moment \ell&lt;800 in the Planck temperature power spectrum) and an all angular-scale data set (\ell&lt;2500 Planck temperature power spectrum), each with a prior on $\tau$ of $0.07\pm0.02$. We find that the shifts, in units of the 1$\sigma$ expected dispersion for each parameter, are $\{\Delta \tau, \Delta A_{\rm s} e^{-2\tau}, \Delta n_{\rm s}, \Delta \omega_{\rm m}, \Delta \omega_{\rm b}, \Delta \theta_*\} = \{-1.7, -2.2, 1.2, -2.0, 1.1, 0.9\}$, with a$\chi^2$ value of 8.0. We find that this $\chi^2$ value is exceeded in 15% of our simulated data sets, and that a parameter deviates by more than 2.2$\sigma$ in 9% of simulated data sets, meaning that the shifts are not unusually large. Comparing \ell&lt;800 instead to \ell&gt;800, or splitting at a different multipole, yields similar results. We examine the \ell&lt;800 model residuals in the \ell&gt;800 power spectrum data and find that the features there... [abridged]

The stellar cluster environment is expected to play a central role in the evolution of circumstellar disks. We use thermochemical modeling to constrain the dust and gas masses, disk sizes, UV and X-ray radiation fields, viewing geometries, and central stellar masses of 20 Class II disks in the Orion Nebula Cluster (ONC). We fit a large grid of disk models to $350$ GHz continuum, CO $J=3-2$, and HCO$^+$ $J=4-3$ ALMA observations of each target, and we introduce a procedure for modeling interferometric observations of gas disks detected in absorption against a bright molecular cloud background. We find that the ONC disks are massive and compact, with typical radii &lt;100 AU, gas masses $\geq10^{-3}$ $M_{\odot}$, and gas-to-dust ratios $\geq100$. The ISM-like gas-to-dust ratios derived from our modeling suggest that compact, externally-irradiated disks in the ONC are less prone to gas-phase CO depletion than the massive and extended gas disks that are commonly found in nearby low-mass star-forming regions. The presence of massive gas disks indicates that external photoevaporation may have only recently begun operating in the ONC, though it remains unclear whether other cluster members are older and more evaporated than the ones in our sample. Finally, we compare our dynamically-derived stellar masses with the stellar masses predicted from evolutionary models and find excellent agreement. Our study has significantly increased the number of dynamical mass measurements in the mass range $\leq 0.5$ $M_{\odot}$, demonstrating that the ONC is an ideal region for obtaining large samples of dynamical mass measurements towards low-mass M-dwarfs.

The IceCube Collaboration has previously discovered a high-energy astrophysical neutrino flux using neutrino events with interaction vertices contained within the instrumented volume of the IceCube detector. We present a complementary measurement using charged current muon neutrino events where the interaction vertex can be outside this volume. As a consequence of the large muon range the effective area is significantly larger but the field of view is restricted to the Northern Hemisphere. IceCube data from 2009 through 2015 have been analyzed using a likelihood approach based on the reconstructed muon energy and zenith angle. At the highest neutrino energies between 191 TeV and 8.3 PeV a significant astrophysical contribution is observed, excluding a purely atmospheric origin of these events at $5.6\,\sigma$ significance. The data are well described by an isotropic, unbroken power law flux with a normalization at 100 TeV neutrino energy of $\left(0.90^{+0.30}_{-0.27}\right)\times10^{-18}\,\mathrm{GeV^{-1}\,cm^{-2}\,s^{-1}\,sr^{-1}}$ and a hard spectral index of $\gamma=2.13\pm0.13$. The observed spectrum is harder in comparison to previous IceCube analyses with lower energy thresholds which may indicate a break in the astrophysical neutrino spectrum of unknown origin. The highest energy event observed has a reconstructed muon energy of $(4.5\pm1.2)\,\mathrm{PeV}$ which implies a probability of less than 0.005% for this event to be of atmospheric origin. Analyzing the arrival directions of all events with reconstructed muon energies above 200 TeV no correlation with known $\gamma$-ray sources was found. Using the high statistics of atmospheric neutrinos we report the currently best constraints on a prompt atmospheric muon neutrino flux originating from charmed meson decays which is below $1.06$ in units of the flux normalization of the model in Enberg et al. (2008).

Let $\Gamma\in \mathrm{SL}_2(\mathbb{C})$ be a finite subgroup. We introduce a class of projective noncommutative surfaces $\mathbb{P}^2_I$, indexed by a set of irreducible $\Gamma$-representations. Extending the action of $\Gamma$ from $\mathbb{C}^2$ to $\mathbb{P}^2$, we show that these surfaces generalise both $[\mathbb{P}^2/\Gamma]$ and $\mathbb{P}^2/\Gamma$. We prove that isomorphism classes of framed torsion-free sheaves on any $\mathbb{P}^2_I$ carry a canonical bijection to the closed points of appropriate Nakajima quiver varieties. In particular, we provide geometric interpretations for a class of Nakajima quiver varieties using noncommutative geometry. Our results partially generalise several previous results on such quiver varieties.

The cross sections of $e^{+}e^{-}\to\pi^{+}\pi^{-}h_c$ at center-of-mass energies from 3.896 to 4.600 GeV are measured using data samples collected with the BESIII detector operating at the Beijing Electron Positron Collider. The cross sections are found to be of the same order of magnitude as those of $e^{+}e^{-}\to\pi^{+}\pi^{-}J/\psi$ and $e^{+}e^{-}\to\pi^{+}\pi^{-}\psi(2S)$, but the line shape is inconsistent with the $Y$ states observed in the latter two modes. Two structures are observed in the $e^{+}e^{-}\to\pi^{+}\pi^{-}h_c$ cross sections around 4.22 and 4.39 GeV/$c^{2}$, which we call $Y(4220)$ and $Y(4390)$, respectively. A fit with a coherent sum of two Breit-Wigner functions results in a mass of $(4218.4^{+5.5}_{-4.5}\pm0.9)$ MeV/$c^{2}$ and a width of $(66.0^{+12.3}_{-8.3}\pm0.4)$ MeV for the $Y(4220)$, and a mass of $(4391.6^{+6.3}_{-6.8}\pm1.0)$ MeV/$c^{2}$ and a width of $(139.5^{+16.2}_{-20.6}\pm0.6)$ MeV for the $Y(4390)$, where the first uncertainties are statistical and the second ones systematic. The statistical significance of $Y(4220)$ and $Y(4390)$ is 10$\sigma$ over one structure assumption.

For a finite real reflection group $W$ we use non-crossing partitions of type $W$ to construct finite cell complexes with the homotopy type of the Milnor fiber of the associated $W$-discriminant $\Delta_W$ and that of the Milnor fiber of the defining polynomial of the associated reflection arrangement. These complexes support natural cyclic group actions realizing the geometric monodromy. Using the shellability of the non-crossing partition lattice, this cell complex yields a chain complex of homology groups computing the integral homology of the Milnor fiber of $\Delta_W$.

A Riemann surface equipped with its conformal hyperbolic metric is parabolic if and only if the geodesic flow on its unit tangent bundle is ergodic. Let X be a Cantor tree or a blooming Cantor tree Riemann surface. Fix a geodesic pants decomposition of X and call the boundary geodesics in the decomposition cuffs. Basmajian, Hakobyan, and \vSarić proved that if the lengths of cuffs are rapidly converging to zero, then X is parabolic. More recently, \vSarić proved a slightly slower convergence of lengths of cuffs to zero implies X is not parabolic. In the paper, we interpolate between the two rates of convergence of the cuffs to zero and find that these surfaces are not parabolic, thus completing the picture.

Let $d\geq 1$ and $\alpha \in (0, 2)$. Consider the following non-local and non-symmetric Lévy-type operator on $\mR^d$: $$\sL^\kappa_{\alpha}f(x):=\mbox{p.v.}\int_{\mR^d}(f(x+z)-f(x))\frac{\kappa(x,z)}{|z|^{d+\alpha}} \dif z,$$ where 0&lt;\kappa_0\leq \kappa(x,z)\leq \kappa_1, $\kappa(x,z)=\kappa(x,-z)$, and $|\kappa(x,z)-\kappa(y,z)|\leq\kappa_2|x-y|^\beta$ for some $\beta\in(0,1)$. Using Levi's method, we construct the fundamental solution (also called heat kernel) $p^\kappa_\alpha (t, x, y)$ of $\sL^\kappa_\alpha$, and establish its sharp two-sided estimates as well as its fractional derivative and gradient estimates of the heat kernel. We also show that $p^\kappa_\alpha (t, x, y)$ is jointly Hölder continuous in $(t, x)$. The lower bound heat kernel estimate is obtained by using a probabilistic argument. The fundamental solution of $\sL^\kappa_{\alpha}$ gives rise a Feller process $\{X, \mP_x, x\in \mR^d\}$ on $\mR^d$. We determine the Lévy system of $X$ and show that $\mP_x$ solves the martingale problem for $(\sL^\kappa_{\alpha}, C^2_b(\mR^d))$. Furthermore, we obtain the analyticity of the non-symmetric semigroup associated with $\sL^\kappa_\alpha$ in $L^p$-spaces for every $p\in[1,\infty)$. A maximum principle for solutions of the parabolic equation $\partial_t u =\sL^\kappa_\alpha u$ is also established.

We show that the bicategory of proper correspondences is the Dwyer-Kan localisation of the category of C*-algebras at a certain class of *-homomorphisms.

The current laws of physics do not explain the observed imbalance of matter and antimatter in the universe. Sakharov proposed that an explanation would require the violation of CP symmetry between matter and antimatter. The only CP violation observed so far is in the weak interactions of quarks, and it is too small to explain the matter-antimatter imbalance of the universe. It has been shown that CP violation in the lepton sector could generate the matter-antimatter disparity through the process called leptogenesis. The quantum mixing of neutrinos, the neutral leptons in the Standard Model, provides a potential source of CP violation through a complex phase dCP, which may have consequences for theoretical models of leptogenesis. This CP violation can be measured in muon neutrino to electron neutrino oscillations and the corresponding antineutrino oscillations, which are experimentally accessible with accelerator-produced beams as established by the T2K experiment. Until now, the value of dCP has not been significantly constrained by neutrino oscillation experiments. Here the T2K collaboration reports a measurement that favors large enhancement of the neutrino oscillation probability, excluding values of dCP which result in a large enhancement of the observed anti-neutrino oscillation probability at three standard deviations (3 sigma). The 3 sigma confidence level interval for dCP, which is cyclic and repeats every 2pi, is [-3.41,-0.03] for the so-called normal mass ordering, and [-2.54,-0.32] for the inverted mass ordering. Our results show an indication of CP violation in the lepton sector. Herein we establish methods for sensitive searches for matter-antimatter asymmetry in neutrino oscillations using accelerator-produced neutrino beams. Future measurements with larger data samples will determine whether the leptonic CP violation is larger than the quark sector CP violation.

The effective field theory description for modifications of Standard Model-like Higgs boson interactions arising from tree-level mixing with heavy Higgs sector vacuum states without conserved quantum numbers is presented. An expansion in terms of effective operator dimension based on powers of the heavy mass scale rather than operator dimension is utilized to systematically organize interactions within the effective theory. Vacuum states arising from electroweak singlet extensions of the Higgs sector yield at leading order only two effective dimension-six operators. One of these uniformly dilutes all the interactions of a single physical Higgs boson as compared with Standard Model expectations, while the combination of the two operators give more general modifications of all remaining interactions with two or more physical Higgs bosons. Vacuum states arising from an additional electroweak doublet yield three types of effective dimension-six operators that modify physical Higgs boson couplings to fermion pairs, self-couplings, and introduce four-fermion interactions. However, in this case modification of physical Higgs boson interactions with massive gauge bosons arise at leading order only from three effective dimension-eight operators. If the underlying Yukawa couplings of the additional electroweak doublet satisfy the Glashow-Weinberg condition then time reversal violation at effective dimension-six depends on a single universal phase appearing only in couplings of physical Higgs bosons to fermion pairs. In all cases the couplings of any three physical states in the effective theory description must be equal to those in a unitary mixing description in order for the long distance non-analytic components of physical on-shell scattering amplitudes to agree, while in contrast couplings of four or more physical states in general differ due to short distance effects.