Modified gravity theories have received increased attention lately due to combined motivation coming from high-energy physics, cosmology, and astrophysics. Among numerous alternatives to Einstein's theory of gravity, theories that include higher-order curvature invariants, and specifically the particular class of $f(R)$ theories, have a long history. In the last five years there has been a new stimulus for their study, leading to a number of interesting results. Here $f(R)$ theories of gravity are reviewed in an attempt to comprehensively present their most important aspects and cover the largest possible portion of the relevant literature. All known formalisms are presented---metric, Palatini, and metric affine---and the following topics are discussed: motivation; actions, field equations, and theoretical aspects; equivalence with other theories; cosmological aspects and constraints; viability criteria; and astrophysical applications.

f ( R ) theories of gravity

Over the past decade, f(R) theories have been extensively studied as one of the simplest modifications to General Relativity. In this article we review various applications of f(R) theories to cosmology and gravity - such as inflation, dark energy, local gravity constraints, cosmological perturbations, and spherically symmetric solutions in weak and strong gravitational backgrounds. We present a number of ways to distinguish those theories from General Relativity observationally and experimentally. We also discuss the extension to other modified gravity theories such as Brans-Dicke theory and Gauss-Bonnet gravity, and address models that can satisfy both cosmological and local gravity constraints.

f(R) theories

We review different dark energy cosmologies. In particular, we present the ΛCDM cosmology, Little Rip and Pseudo-Rip universes, the phantom and quintessence cosmologies with Type I, II, III and IV finite-time future singularities and non-singular dark energy universes. In the first part, we explain the ΛCDM model and well-established observational tests which constrain the current cosmic acceleration. After that, we investigate the dark fluid universe where a fluid has quite general equation of state (EoS) [including inhomogeneous or imperfect EoS]. All the above dark energy cosmologies for different fluids are explicitly realized, and their properties are also explored. It is shown that all the above dark energy universes may mimic the ΛCDM model currently, consistent with the recent observational data. Furthermore, special attention is paid to the equivalence of different dark energy models. We consider single and multiple scalar field theories, tachyon scalar theory and holographic dark energy as models for current acceleration with the features of quintessence/phantom cosmology, and demonstrate their equivalence to the corresponding fluid descriptions. In the second part, we study another equivalent class of dark energy models which includes F(R) gravity as well as F(R) Hořava-Lifshitz gravity and the teleparallel f(T) gravity. The cosmology of such models representing the ΛCDM-like universe or the accelerating expansion with the quintessence/phantom nature is described. Finally, we approach the problem of testing dark energy and alternative gravity models to general relativity by cosmography. We show that degeneration among parameters can be removed by accurate data analysis of large data samples and also present the examples.

Dark energy cosmology: the equivalent description via different theoretical models and cosmography tests

We review different dark energy cosmologies. In particular, we present the $\Lambda$CDM cosmology, Little Rip and Pseudo-Rip universes, the phantom and quintessence cosmologies with Type I, II, III and IV finite-time future singularities and non-singular dark energy universes. In the first part, we explain the $\Lambda$CDM model and well-established observational tests which constrain the current cosmic acceleration. After that, we investigate the dark fluid universe where a fluid has quite general equation of state (EoS) [including inhomogeneous or imperfect EoS]. All the above dark energy cosmologies for different fluids are explicitly realized, and their properties are also explored. It is shown that all the above dark energy universes may mimic the $\Lambda$CDM model currently, consistent with the recent observational data. Furthermore, special attention is paid to the equivalence of different dark energy models. We consider single and multiple scalar field theories, tachyon scalar theory and holographic dark energy as models for current acceleration with the features of quintessence/phantom cosmology, and demonstrate their equivalence to the corresponding fluid descriptions. In the second part, we study another equivalent class of dark energy models which includes $F(R)$ gravity as well as $F(R)$ Hořava-Lifshitz gravity and the teleparallel $f(T)$ gravity. The cosmology of such models representing the $\Lambda$CDM-like universe or the accelerating expansion with the quintessence/phantom nature is described. Finally, we approach the problem of testing dark energy and alternative gravity models to general relativity by cosmography. We show that degeneration among parameters can be removed by accurate data analysis of large data samples and also present the examples.

Over recent decades, the role of torsion in gravity has been extensively investigated along the main direction of bringing gravity closer to its gauge formulation and incorporating spin in a geometric description. Here we review various torsional constructions, from teleparallel, to Einstein-Cartan, and metric-affine gauge theories, resulting in extending torsional gravity in the paradigm of f (T) gravity, where f (T) is an arbitrary function of the torsion scalar. Based on this theory, we further review the corresponding cosmological and astrophysical applications. In particular, we study cosmological solutions arising from f (T) gravity, both at the background and perturbation levels, in different eras along the cosmic expansion. The f (T) gravity construction can provide a theoretical interpretation of the late-time universe acceleration, alternative to a cosmological constant, and it can easily accommodate with the regular thermal expanding history including the radiation and cold dark matter dominated phases. Furthermore, if one traces back to very early times, for a certain class of f (T) models, a sufficiently long period of inflation can be achieved and hence can be investigated by cosmic microwave background observations-or, alternatively, the Big Bang singularity can be avoided at even earlier moments due to the appearance of non-singular bounces. Various observational constraints, especially the bounds coming from the large-scale structure data in the case of f (T) cosmology, as well as the behavior of gravitational waves, are described in detail. Moreover, the spherically symmetric and black hole solutions of the theory are reviewed. Additionally, we discuss various extensions of the f (T) paradigm. Finally, we consider the relation with other modified gravitational theories, such as those based on curvature, like f (R) gravity, trying to illuminate the subject of which formulation, or combination of formulations, might be more suitable for quantization ventures and cosmological applications.

f(T) teleparallel gravity and cosmology

It has previously been shown that the Einstein equation can be derived from the requirement that the Clausius relation dS = �Q/T hold for all local acceleration horizons through each spacetime point, where dS is one quarter the horizon area change in Planck units, andQ and T are the energy flux across the horizon and Unruh temperature seen by an accelerating observer just inside the horizon. Here we show that a curvature correction to the entropy that is polynomial in the Ricci scalar requires a non-equilibrium treatment. The corresponding field equation is derived from the entropy balance relation dS = �Q/T + diS, where diS is a bulk viscosity entropy production term that we determine by imposing energy-momentum conservation. Entropy production can also be included in pure Einstein theory by allowing for shear viscosity of the horizon.

Nonequilibrium Thermodynamics of Spacetime

The Clausius relation between entropy change and heat flux has previously been used to derive Einstein's field equations as an equation of state. In that derivation the entropy is proportional to the area of a local causal horizon, and the heat is the energy flux across the horizon, defined relative to an approximate boost Killing vector. We examine here whether a similar derivation can be given for extensions beyond Einstein gravity to include higher-derivative and higher-curvature terms. We review previous proposals which, in our opinion, are problematic or incomplete. Refining one of these, we assume that the horizon entropy depends on an approximate local Killing vector in a way that mimics the diffeomorphism Noether charge that yields the entropy of a stationary black hole. We show how this can be made to work if various restrictions are imposed on the nature of the horizon slices and the approximate Killing vector. Also, an integrability condition on the assumed horizon entropy density must hold. This can yield field equations of a Lagrangian constructed algebraically from the metric and Riemann tensor, but appears unlikely to allow for derivatives of curvature in the Lagrangian.

Horizon entropy and higher curvature equations of state

The Clausius relation between entropy change and heat flux has previously been used to derive Einstein's field equations as an equation of state. We examine here whether a similar derivation can be given for extensions beyond Einstein gravity to include higher derivative and higher curvature terms.

It has been shown that the Einstein equation can be derived from the requirement that the First Law Q = TdS holds for all local Rindler causal horizons through each spacetime point. Here Q and T are the energy flux and Unruh temperature seen by an accelerating observer just inside the horizon, and the entropy S is one quarter the horizon area in Planck units. In this paper we show that there are problems extending this thermodynamic derivation to include generic dieomorphism invariant theories of gravitation, where the entropy is the integral of the Noether charge over the horizon. The requirement of thermodynamic equilibrium is demonstrated to be incompatible with the local stationarity of the horizon. In scalar-tensor theories this obstruction can be remedied with a conformal transformation of the metric, but this method fails to work in higher curvature theories. We conclude by using eective field theory to argue that the thermodynamic derivation should only apply in the lowest order regimes of the eective gravitational action.

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Raf Guedens

Papers

Nonequilibrium Thermodynamics of Spacetime

Horizon entropy and higher curvature equations of state

Horizon entropy and higher curvature equations of state

Thermodynamics of spacetime in generally covariant theories of gravitation