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Ankit Kumar

Publications and source records attributed to Ankit Kumar.

At least 19 recordsLinked to original sources
arXiv2026

Tactus: Tactile & Pose Sensing Glove for Natural Dexterity Data Collection

Collecting naturalistic human manipulation demonstrations with accurate contact force and hand pose is essential for robot dexterous manipulation policy and foundational world model learning - yet no existing wearable platform provides both calibrated fingertip force sensing and occlusion-resilient hand tracking in a form factor that preserves natural manipulation behavior. We present Tactus, a textile-integrated sensing glove that co-optimizes three design pillars: (1) a thin, conformal 3D-knit form factor (1.5 mm fingertip stackup) designed to minimize interference with natural manipulation, (2) strategically placed capacitive tactile sensors at manipulation-relevant regions informed by empirical contact studies, and (3) IMU-fused pose tracking that maintains accuracy through the hand-object occlusions where manipulation data is most valuable. Tactus includes a documented calibration pipeline for cross-glove consistency and per-session calibration for subject-dependent correction. To enable objective comparison, we introduce standardized benchmarking protocols for tactile force regression and hand pose estimation, and apply them to Tactus and two commercially available tactile gloves - to our knowledge the first quantitative cross-platform evaluation of this kind. Tactus resolves a minimum detectable force of 0.59 N at 95% confidence, 1.6 - 2.7x lower than the commercial baselines, and with 0.87 cross-participant consistency, while our pose tracking sustains 11.0 mm fingertip keypoint relative error during manipulation, when occlusion is heaviest. We show that these combined signals support object property estimation, slip detection, and representative recording of hand-object interaction - yielding demonstration data with the fidelity required for contact-aware manipulation policies and world models.

cs.RO↗
arXiv2026

ODIN: Comparison of Source Extractor and Tractor Source Detection for Lyman Alpha Emitting Galaxy Selection at z=3.1

Lyman Alpha Emitting galaxies (LAEs) are young, actively star-forming galaxies identified by their strong Lyman-alpha emission at a rest-frame wavelength of 121.6 nm, making them valuable tracers of galaxy evolution and the large-scale structure of the Universe. The One-hundred-deg^2 DECam Imaging in narrow-bands (ODIN) survey collects LAE samples during Cosmic Noon. Because LAE selection is based on photometric measurements derived from source-detection algorithms, the choice of detection method can directly affect the resulting LAE samples. We therefore compare two prominent source detection methods, Source Extractor (SE) and Tractor (Tr), to determine which is better suited for LAE selection in ODIN. We investigate differences between SE and Tr in the ODIN-COSMOS field, focusing on the z=3.1 LAE sample. We find that a significant fraction of Tr LAEs have low continuum flux measurements, increasing the inferred narrow-band excess and resulting in an LAE sample nearly twice as large as SE. However, LAEs detected by Tr but not SE exhibit equivalent width estimates indicative of potential contamination. We introduce an additional LAE selection criterion based on the expected Lyman-break behavior of LAEs at z~3 to reduce low-redshift contamination without requiring a significant detection of the break itself. Our results demonstrate that differences in source detection can significantly affect narrow-band LAE selection and motivate the use of SE photometry for ODIN LAE catalogs.

astro-ph.GA↗
arXiv2026

Best proximity point results of operator type condensing mappings via measure of noncompactness and application to an infinite system of differential equations in $c_0$ and $\ell_1$

We propose a new class of cyclic (noncyclic) operator type condensing mappings and establish conditions that guarantee the existence of best proximity points (pairs) using measure of noncompactness. The results obtained are further applied to investigate the optimum solution of an infinite system of differential equations in $c_0$ and $\ell_1$.

math.FA↗
arXiv2026

Finite State Machine-Based Traffic Orchestration for Multi-Engine Analysis Platforms

Modern application-security platforms route live traffic from a single proxy into several independent analysis engines -- behavioral anomaly detection, authentication analysis, resource discovery, access-control inspection, among others. Each engine's appetite for traffic changes on its own schedule, yet the proxy can honor only one forwarding instruction per resource. We present a traffic-orchestration method that models the combined needs of all engines as a single composite finite state machine (FSM) whose state space is the Cartesian product of per-engine states. Every reachable composite state pre-maps to one forwarding configuration, so runtime reduces to a lookup rather than a negotiation. We add two refinements: time-based expiry treated as a first-class FSM transition enabling declarative traffic decay, and per-state multi-tier outputs that let one machine serve every service level. The design is fully declarative, engine-agnostic, and scales to N engines without re-architecture.

cs.SE↗
arXiv2026

Spin relaxation of heavy quarks from momentum diffusion in the quark-gluon plasma

Heavy-quark spin dynamics in the quark-gluon plasma provides a potential probe of the interaction between heavy quarks and the medium. We develop a stochastic framework in which the random momentum kicks responsible for heavy-quark diffusion also induce spin rotation through Thomas precession. Starting from the Thomas-Bargmann-Michel-Telegdi equation and a Langevin equation for heavy-quark momentum, we derive a novel coupled spin-momentum Fokker-Planck equation. In the heavy-quark limit, where momentum equilibrates faster than spin, the momentum degrees of freedom can be integrated out, yielding a rotational Fokker-Planck equation for the spin orientation. This establishes a direct relation between the Thomas precession contribution to the spin-relaxation time $τ_{s}$ and the heavy-quark momentum-diffusion coefficient $κ$. In the non-relativistic limit, we find $τ_s=2τ_p(m_Q/T)^2$, with $τ_p$ being the momentum relaxation time. Using recent determinations of $κ$ from lattice QCD, strong-coupling estimates, $T$-matrix calculations, and heavy-flavor phenomenology, we obtain the corresponding Thomas precession contribution to spin relaxation times for charm and bottom quarks. Relativistic kinematics modify the result by only a modest amount over the temperature range relevant for heavy-ion collisions, while the uncertainty is dominated by that of $κ$. We emphasize that the result represents the Thomas precession contribution to heavy-quark spin relaxation; direct coupling to the chromomagnetic field provides an additional channel.

hep-ph↗
arXiv2026

Optimal existence of weak solutions for the power-law Navier-Stokes-Voigt equations

We study the power-law Navier--Stokes--Voigt system in a bounded domain, subject to appropriate initial conditions and no-slip boundary conditions. The analysis is governed by the power-law exponent $p$, ranging from shear-thinning ($1 2$). We prove the global existence of weak solutions to the associated initial-boundary value problem. These results are optimal in the sense that they hold for the full admissible range of the exponent $p >1$ and for any space dimension $d\geq 2$. For $p>1$ when $2 \leq d \leq 3$, and for $p \geq \tfrac{d}{2}$ when $d>3$, existence follows from a classical approach combining compactness arguments with the theory of monotone operators. The remaining case, $1 3$, requires in addition a pressure decomposition technique and an $\mathrm{L}^\infty$--truncation argument. {Finally, we establish the uniqueness of weak solution for $p>1$ when $2\leq d\leq 4$, and for $p\geq \frac{d}{2}$ when $d>4$.}

math.AP↗
arXiv2026

A virtual element method for Kelvin--Voigt viscoelasticity

Considering the computational advantages of virtual element methods (VEM), this work employs a conforming VEM for the numerical approximation of the Kelvin--Voigt model of viscoelasticity. For clarity and simplicity, we focus on the primal formulation. The spatial discretization is carried out using the virtual element method, while the temporal discretization is handled via the {second-order Crank--Nicolson} scheme. We establish the well-posedness of both the semi-discrete and fully discrete problems and derive {\it a priori} error estimates. Several representative numerical examples are presented to validate the theoretical results and to demonstrate the effectiveness of the proposed formulation.

math.NA↗
arXiv2026

Compressed Recurrent Feedback in Tsetlin Machines: A Reproducible Boolean-FSM Study

Sequential inference on small devices requires a model to retain useful history without repeatedly processing a long input record. A Recurrent Tsetlin Machine (RTM) provides this memory by returning Boolean clause outputs from one time step as inputs to the next. Direct feedback, however, grows with the clause bank and can make the recurrent input unnecessarily wide. This paper investigates a fixed-width alternative. We combine clause activations by exclusive-OR (XOR) folding, retain the folded bits at two time scales, and threshold them back to a binary state. The resulting design reduces 480 clause activations to 96 recurrent bits. We evaluate the method on a reproducible Boolean finite-state-machine benchmark with explicit transition rules, data splits, and random seeds. Across 144 runs, the compressed model obtains $61.47 \pm 6.74\%$ and $62.94 \pm 9.92\%$ accuracy on the two task families. Raw clause feedback changes these means by less than one percentage point, while increasing the recurrent width tenfold and measured host execution time by $4.38\times$ and $3.71\times$. Gated neural models remain more accurate, and a no-feedback control retaining only short input history achieves comparable or slightly higher accuracy. On this benchmark, folding matches raw feedback within small empirical margins at a much narrower interface; these findings also underscore the critical necessity of no-feedback recurrence controls when benchmarking sequence models.

cs.LG↗
arXiv2026

ODIN: Confirmation and 3D Reconstruction of Six Massive Protoclusters at Cosmic Noon

Protoclusters represent sites of accelerated galaxy formation and extreme astrophysical activity characteristic of dense environments. Identifying massive protoclusters and mapping their spatial structures are therefore crucial first steps in understanding how the large-scale environment influences galaxy evolution. We combine wide-field Ly$α$ imaging from the ODIN survey with extensive DESI and ancillary spectroscopy across the extended COSMOS and XMM-LSS fields ($\approx$14 deg$^2$) to search for massive protoclusters. We confirm six systems at $z\approx 2.4$ and $z\approx 3.1$, reconstruct their three-dimensional structures, estimate descendant halo masses, and, for one structure at $z\approx 3.12$, demonstrate that overlapping narrowband filters ($NB497$ and $N501$) provide accurate redshift tomography for emission-line galaxies. One protocluster at $z\approx 2.45$ overlaps with one of the LATIS tomographic fields, enabling direct comparison between galaxy and H {\sc i} overdensities traced by Ly$α$ forest absorption. Another at $z\approx 3.12$ hosts a massive quiescent galaxy ($M_{\ast} \approx 1.2 \times 10^{11}M_\odot$), indicating early quenching in a dense environment. By comparing Ly$α$ emission properties across environments, we find that protocluster galaxies exhibit higher median line fluxes and a deficit of faint emitters relative to the field. The effect is strongest when both 2D and 3D density information are combined, indicating that galaxies in the densest protocluster cores are most affected by environmental processes. This effect is stronger at $z\approx3.1$ than at $z\approx2.4$, suggesting possible redshift evolution.

astro-ph.GA↗
arXiv2026

On the Set-Valued Katugampola Fractional Integral: Properties and Regular Selections

In this paper, we develop a theory of generalized fractional integration for set-valued mappings for the Katugampola fractional integral, which unifies the classical Riemann-Liouville and Hadamard fractional integrals. The Katugampola fractional integral of a set valued mapping is studied using integrable selections. We study its properties with respect to the Hausdorff metric on the space of nonempty compact subsets of R and several fundamental analytical characteristics including convexity, boundedness and continuity are preserved under Katugampola fractional integration. Furthermore, we establish that both bounded variation and Lipschitz regularity of a set-valued mapping are preserved under its Katugampola fractional integral. We investigate the existence of regular selections associated with the Katugampola fractional integral and show that whenever the original set valued mapping admits a selection with a specified regularity property, the corresponding Katugampola fractional integral does as well.

math.FA↗
arXiv2026

A stochastic Schauder-Tychonoff type theorem and its applications

One standard way to prove existence for deterministic, highly nonlinear PDEs is to use the Schauder-Tychonoff fixed-point theorem. In what follows, we introduce and verify a stochastic variant of the Schauder-Tychonoff theorem. We apply our existence result to nonlinear stochastic diffusion equations with non-Lipschitz perturbations

math.PR↗
arXiv2026

First Plasma Commissioning and Operational Highlights from India's First Spherical Tokamak at IPR

A compact Spherical Tokamak(ST) is commissioned at Institute for Plasma Research (IPR) to explore low aspect ratio tokamak physics and technologies that complement to the existing high aspect ratio tokamaks namely ADITYA-U and SST-1 by enabling studies on non-inductive startup, current drive in over dense plasmas, and shaped plasma physics on a low cost platform. The device, India's first spherical tokamak has completed major mechanical, magnetic, and electrical integration, and the coil system has been successfully tested with series of integrated commissioning. First plasma experiments have been carried out with a modest Ohmic system assisted by a 2.45GHz microwave system, supported by a centralized control and data acquisition system. An initial diagnostic set comprising visible imaging, spectroscopy, magnetics, and radiation monitors required for machine operation has been installed. This paper presents the integrated commissioning experiences and first plasma experiments of the newly installed machine.

physics.plasm-ph↗
arXiv2026

Linking high-mass X-ray binaries to binary compact object mergers in Milky Way-like galaxies

High-mass X-ray binaries (HMXBs) constitute a potential intermediate phase connecting massive stellar binaries to the formation of coalescing binary compact objects (BCOs). Yet, the specific circumstances that allow HMXBs to later develop into merging BCOs are still under debate. In this study, we focus on wind-fed HMXBs and investigate this link by generating synthetic catalogs with the population-synthesis code SEVN and assigning them to a sample of 66 Milky Way-like galaxies. Using stellar particles drawn from the TNG50 cosmological simulation, we assign HMXBs according to particle mass, age, and metallicity, and follow their subsequent evolution to BCOs. In this way, our approach provides a realistic framework for modelling HMXBs in the Milky Way by explicitly accounting for the varied metallicities and spatial distributions of binary systems. Our method recovers the spatial distribution inferred from the observed properties of Galactic HMXBs: their positions follow the spiral arms and agree with the measured radial profile. The age distribution aligns well with observations and shows that BH-HMXBs tend to be younger than NS-HMXBs. We find that the fraction of HMXBs that evolve into merging BCOs within a Hubble time for BH-HMXBs is ~0.2-3.2% (or ~0.3-5.4% when restricting to 10^35 <= L_X <= 10^40 erg s^-1), while for NS-HMXBs is ~3.6-23.4% (or ~3.5-26.0% with the same luminosity cut). We show that common envelope (CE) episodes and natal-kick magnitudes are the primary processes determining the number of merging systems. Successful BCO mergers are typically produced by systems that experienced significant orbital hardening (early CE), whereas stable mass transfer often yields wide, non-merging binaries unless extreme eccentricities are induced by kicks. Metallicity plays a secondary but important role by modulating compact-remnant masses and wind-driven orbital widening.

astro-ph.HE↗
arXiv2026

ODIN: Rest-frame Optical Morphologies and Star Formation Activity of Lyα Emitters at z=2.4, 3.1, and 4.5

We analyze the rest-frame optical (~8000 Å) morphologies and star formation activity of Lyα emitters (LAEs) at redshifts $2.4$, $3.1$, and $4.5$, identified in the ODIN survey. To compare their physical properties with those of other galaxies, we construct a comparison sample of typical star-forming galaxies (SFGs) at similar redshifts from the COSMOS2025 catalog. Using the \textit{JWST}/NIRCam images from the COSMOS-Web survey, we measure the rest-frame optical sizes and Sérsic indices. We first examine their size-mass relations and find that LAEs at all three redshifts have smaller sizes than typical SFGs, with the size difference decreasing at higher redshifts. We also find that LAEs tend to have larger Sérsic indices at $z=2.4$ and $3.1$ than typical SFGs, but the difference becomes weaker at $z=4.5$. These trends are qualitatively reproduced in the Horizon Run 5 cosmological hydrodynamical simulation. We then investigate star formation activity and find that LAEs exhibit higher star formation rates than typical SFGs at all redshifts considered. Finally, we examine the connection between Lyα emission and galaxy structure, finding that the rest-frame equivalent width (REW) of the Lyα emission line has negative and positive correlations with size and Sérsic index, respectively. In addition, we find a strong positive correlation between the Lyα REW and the ratio of the instantaneous star formation rate to that averaged over the last $100\;\mathrm{Myr}$ (i.e., $\mathrm{SFR_{inst}}/\mathrm{SFR_{100 Myr}}$). These results suggest the compact and starbursting nature of LAEs, and provide important constraints on the physical mechanism for the Lyα photon escape from galaxies.

astro-ph.GA↗
arXiv2026

The stochastic Keller--Segel system in critical spaces

We study stochastic, parabolic-parabolic Keller--Segel equations on the $d$-dimensional torus in scaling critical Besov spaces, for $d \geq 3$. Using stochastic maximal regularity estimates, we prove local well-posedness of the equation, i.e., that there exists a unique solution up to a maximal time of existence. We show that the time of existence can be made arbitrarily large with arbitrarily high probability, provided that the initial data is sufficiently small in these critical spaces. Contribution to the Oberwolfach Report for the Seminar 'Stochastic Partial Differential Equations in Critical Spaces' organized by Antonio Agresti and Mark Veraar.

math.PR↗
arXiv2026

Universality of dual mass-scaled fundamental modes in two-fluid neutron stars with mirror dark matter

Universal relations provide a particularly useful way to extract physical information from neutron star observables in the presence of various uncertainties by reducing the dependence on uncertain model parameters and microphysical inputs. In this study, we examine the oscillation frequencies of mirror dark matter admixed neutron stars using a two-fluid description, where the outer and inner fluids give rise to two distinct fundamental frequencies. We confirm that the universal relation between the mass-scaled fundamental frequency of the outer-fluid-led mode and the stellar compactness, established previously for self-interacting dark matter admixed neutron stars, also holds in the mirror dark matter scenario. However, this universal relation becomes less robust when metric perturbations are included, compared with the corresponding results in the Cowling approximation. We further find that the inner-fluid-led fundamental frequency can also be expressed as a compactness-dependent relation that is largely independent of the normal matter equation of state, provided that the dark matter mass fraction is fixed. These results suggest that the simultaneous detection of the two fundamental frequencies could provide a way to constrain the dark matter mass fraction, even when the equation of state of normal matter remains uncertain. Finally, we find that the Cowling approximation estimates the fundamental frequency associated with the outer fluid with an accuracy comparable to that found for standard neutron stars without dark matter, while it performs even better for the frequency associated with the inner fluid.

astro-ph.HE↗
arXiv2026

Exploring the stellar streams and satellites around the giant low surface brightness galaxy Malin 1

Context. Giant Low Surface Brightness galaxies, such as Malin 1, host extended discs exceeding 100 kpc. Their formation and evolution remain debated, with interactions with satellite galaxies and accretion streams proposed as key contributors. Malin 1 hosts satellites and exhibits two giant stellar streams, likely the result of past interactions. Aims. We investigate the orbital dynamics of Malin 1's satellites and their possible connections with observed stellar streams, testing their nature with different formation scenarios. Methods. We constructed gravitational potentials using optical and HI data, including stellar, gaseous, and dark matter components, and explored a wide parameter space while testing NFW and ISO halo profiles. Results. Some scenarios produced bound solutions. The ISO halo model ($M_{\text{Virial}} \approx 2.6 \times 10^{12}~M_{\odot}$) favours bound satellite orbits more than the NFW model ($M_{\text{Virial}} \approx 1.4 \times 10^{12}~M_{\odot}$). Giant stellar streams could be substructures of some satellite galaxies along their leading and trailing trajectories. The most distant Malin 1 satellite could have reached pericenter $\sim 1.6$ Gyr ago, while closer companions interacted as early as $\sim 100$ Myr ago. At the same time, one close companion displays both leading and trailing arms in radial and polar orbits. Furthermore, we also identify some unbound solutions linking satellites with streams. Conclusions. Satellites and stream alignment indicate that past interactions shaped Malin 1's morphology. Our modelling constrains progenitors and orbital histories, providing insights into the dynamical evolution of gLSBGs. Findings are consistent with recent studies using Malin 1 kinematic data.

astro-ph.GA↗
arXiv2026

Exploring the stellar streams and satellites around the giant low surface brightness galaxy Malin 1

Giant Low Surface Brightness galaxies (gLSBGs), such as Malin 1, host extended stellar and gaseous discs exceeding $100~\mathrm{kpc}$ in radius. Their formation and evolution remain debated, with satellite interactions and accretion streams proposed as key drivers. Malin 1 exhibits multiple companions and two giant stellar streams extending up to $200~\mathrm{kpc}$. We investigate the orbital dynamics of Malin 1's satellites and their potential connection to these streams. Using optical and HI rotation curve data, we constructed gravitational potentials for Malin 1 incorporating stellar, gaseous, and dark matter components under both Navarro-Frenk-White (NFW) and pseudo-isothermal (ISO) halo profiles. Several scenarios yield bound orbital solutions. The ISO model ($M_{\rm virial} \approx 2.6 \times 10^{12}~M_\odot$) favours bound satellite orbits more than the lower-mass NFW model ($M_{\rm virial} \approx 1.4 \times 10^{12}~M_\odot$). The giant stellar streams could be substructures located along the leading and trailing trajectories of satellite companions. Orbital modeling indicates that the distant satellite eM1 reached pericentre $\sim 1.6~\mathrm{Gyr}$ ago, whereas closer companions interacted as recently as $\sim 100~\mathrm{Myr}$ ago, with one companion currently experiencing strong interaction. Another close companion displays leading/trailing arms in a radial orbit, alongside a polar orbit solution. Unbound solutions linking satellites with streams are also identified. These alignments suggest past interactions shaped Malin 1's morphology, providing new constraints on gLSBG dynamical evolution consistent with recent kinematic studies.

astro-ph.GA↗