Discontinuity relations for the AdS(4)/CFT(3) correspondence

We study in detail the analytic properties of the Thermodynamic Bethe Ansatz (TBA) equations for the anomalous dimensions of composite operators in the planar limit of the 3D N=6 superconformal Chern-Simons gauge theory and derive functional relations for the jump discontinuities across the branch cuts in the complex rapidity plane. These relations encode the analytic structure of the Y functions and are extremely similar to the ones obtained for the previously-studied AdS(5)/CFT(4) case. Together with the Y-system and more basic analyticity conditions, they are completely equivalent to the TBA equations. We expect these results to be useful to derive alternative nonlinear integral equations for the AdS(4)/CFT(3) spectrum.Comment: 33 pages, 9 figure

Exact results for the low energy AdS(4)XCP(3) string theory

We derive the Thermodynamic Bethe Ansatz equations for the relativistic sigma model describing the AdS(4)XCP(3) string II A theory at strong coupling (i.e. in the Alday-Maldacena decoupling limit). The corresponding Y-system involves an infinite number of Y functions and is of a new type, although it shares a peculiar feature with the Y-system for AdS(4)XCP(3). A truncation of the equations at level p and a further generalisation to generic rank N allow us an alternative description of the theory as the N=4, p= \infty representative in an infinite family of models corresponding to the conformal cosets CP(N-1)_p X U(1), perturbed by a relevant composite field \phi(N,p) =\phi_[CP(N-1)_p] X \phi[U(1)] that couples the two independent conformal field theories. The calculation of the ultraviolet central charge confirms the conjecture by Basso and Rej and the conformal dimension of the perturbing operator, at every N and p, is obtained using the Y-system periodicity. The conformal dimension of \phi[CP(N-1)_p] matches that of the field identified by Fendley while discussing integrability issues for the purely bosonic CP(N-1) sigma model.Comment: Latex fil

The full Quantum Spectral Curve for AdS4/CFT3AdS_4/CFT_3

The spectrum of planar N=6 superconformal Chern-Simons theory, dual to type IIA superstring theory on $AdS_4 \times CP^3$, is accessible at finite coupling using integrability. Starting from the results of [arXiv:1403.1859], we study in depth the basic integrability structure underlying the spectral problem, the Quantum Spectral Curve. The new results presented in this paper open the way to the quantitative study of the spectrum for arbitrary operators at finite coupling. Besides, we show that the Quantum Spectral Curve is embedded into a novel kind of Q-system, which reflects the OSp(4|6) symmetry of the theory and leads to exact Bethe Ansatz equations. The discovery of this algebraic structure, more intricate than the one appearing in the $AdS_5/CFT_4$ case, could be a first step towards the extension of the method to $AdS_3/CFT_2$.Comment: 43 + 27 pages, 7 figures. v4: text improved, more details and App D included. This is the same as the published version JHEP09(2017)140, with small typos corrected in App

LocoMuJoCo: A Comprehensive Imitation Learning Benchmark for Locomotion

Imitation Learning (IL) holds great promise for enabling agile locomotion in embodied agents. However, many existing locomotion benchmarks primarily focus on simplified toy tasks, often failing to capture the complexity of real-world scenarios and steering research toward unrealistic domains. To advance research in IL for locomotion, we present a novel benchmark designed to facilitate rigorous evaluation and comparison of IL algorithms. This benchmark encompasses a diverse set of environments, including quadrupeds, bipeds, and musculoskeletal human models, each accompanied by comprehensive datasets, such as real noisy motion capture data, ground truth expert data, and ground truth sub-optimal data, enabling evaluation across a spectrum of difficulty levels. To increase the robustness of learned agents, we provide an easy interface for dynamics randomization and offer a wide range of partially observable tasks to train agents across different embodiments. Finally, we provide handcrafted metrics for each task and ship our benchmark with state-of-the-art baseline algorithms to ease evaluation and enable fast benchmarking.Comment: https://github.com/robfiras/loco-mujoc