Yuki Sato

Hiroki Kobayashi, Yuki Takaha, Changyoung Yuhn et al.

Rigid-bodied robots often lack compliance needed to adapt to unstructured environments, while fully soft robots, though highly adaptable, struggle with scalability and load capacity. In nature, musculoskeletal systems balance strength and flexibility by integrating hard and soft tissues. Inspired by this principle, we present an automated design method for soft-rigid hybrids that optimizes a freeform soft-body shape, a stiff truss layout, and multi-channel actuation. Our differentiable simulator couples the material point method (MPM) for deformable bodies with extended position-based dynamics (XPBD) for truss elements, enabling gradient-based search. The optimization generates truss skeletons that transmit actuation forces to the soft body. We fabricate the optimized design and evaluate it on a walking task. Experiments reproduce the walking mode predicted by the optimization, which does not emerge without the skeleton. Modal analysis further suggests that the skeleton enables deformation modes near the actuation frequency that promote effective stride generation.

Ruho Kondo, Yuki Sato, Hiroshi Yano et al.

A random access code (RAC) encodes an $L$-bit string into a $k$-bit $(L>k)$ message from which any designated source bit can be recovered with high probability. Its quantum counterpart, a quantum random access code (QRAC), replaces the $k$-bit message with $k$ qubits. While upper bounds on the decoding success probability have long been studied in both classical and quantum settings, explicit constructions of optimal codes are known only in special cases, even for classical RACs. In this paper, we develop a constructive framework for classical $(L,k)$-RACs under both average- and worst-case criteria. We show that optimal code design reduces to selecting $2^k$ points in $\{0,1\}^L$ and $[0,1]^L$ for the average- and worst-case criteria, respectively, so as to minimize a distance-like objective. This characterization yields explicit constructions for general $(L,k)$. For $k=L-1$, we further obtain closed-form optimal encoders and decoders for both criteria, and show that the resulting classical $(L,L-1)$-RACs attain the corresponding proved upper bounds. We also show that these optimal classical codes induce $(L,L-1)$-QRACs that attain a conjectured upper bound on the decoding success probability. Numerical optimization suggests little difference between RACs and QRACs in the average-case setting, but a potentially large classical-quantum gap in the worst-case nonasymptotic regime.

Kosuke Nakanishi, Hiroshi Yano, Yuki Sato

We present an explicit quantum circuit construction for Hamiltonian simulation of a first-order velocity--stress formulation of the three-dimensional elastic wave equation in homogeneous isotropic media. Previous studies have shown how elastic wave equations can be cast into forms amenable to Hamiltonian simulation, but they typically rely on black box Hamiltonian access assumptions, making gate complexity estimation difficult. Starting from the first-order velocity--stress formulation, we discretize the system by finite differences, transform it into Schrödinger form, and exploit the separation between the component register and the spatial register to decompose the Hamiltonian into structured tensor product terms. This yields explicit implementations of first-order and second-order Trotter formulas for the resulting time evolution operator. We derive corresponding error bounds and constant sensitive qubit and CNOT complexity estimates in terms of the discretization parameter, simulation time, target accuracy, and material parameters. Numerical experiments validate the proposed framework through comparisons with the exact time evolution and reconstructed physical fields.

Kaiyuan Yang, Fabio Musio, Yihui Ma et al.

The Circle of Willis (CoW) is an important network of arteries connecting major circulations of the brain. Its vascular architecture is believed to affect the risk, severity, and clinical outcome of serious neurovascular diseases. However, characterizing the highly variable CoW anatomy is still a manual and time-consuming expert task. The CoW is usually imaged by two non-invasive angiographic imaging modalities, magnetic resonance angiography (MRA) and computed tomography angiography (CTA), but there exist limited datasets with annotations on CoW anatomy, especially for CTA. Therefore, we organized the TopCoW challenge with the release of an annotated CoW dataset. The TopCoW dataset is the first public dataset with voxel-level annotations for 13 CoW vessel components, enabled by virtual reality technology. It is also the first large dataset using 200 pairs of MRA and CTA from the same patients. As part of the benchmark, we invited submissions worldwide and attracted over 250 registered participants from six continents. The submissions were evaluated on both internal and external test datasets of 226 scans from over five centers. The top performing teams achieved over 90% Dice scores at segmenting the CoW components, over 80% F1 scores at detecting key CoW components, and over 70% balanced accuracy at classifying CoW variants for nearly all test sets. The best algorithms also showed clinical potential in classifying fetal-type posterior cerebral artery and locating aneurysms with CoW anatomy. TopCoW demonstrated the utility and versatility of CoW segmentation algorithms for a wide range of downstream clinical applications with explainability. The annotated datasets and best performing algorithms have been released as public Zenodo records to foster further methodological development and clinical tool building.