We present a lattice QCD study of $Npi$ scattering in the positive-parity nucleon channel, where the puzzling Roper resonance $N^*(1440)$ resides in experiment. The study is based on the PACS-CS ensemble of gauge configurations with $N_f=2+1$ Wilson-clover dynamical fermions, $m_pi simeq 156~$MeV and $Lsimeq 2.9~$fm. In addition to a number of $qqq$ interpolating fields, we implement operators for $Npi$ in $p$-wave and $Nsigma$ in $s$-wave. In the center-of-momentum frame we find three eigenstates below 1.65 GeV. They are dominated by $N(0)$, $N(0)pi(0)pi(0)$ (mixed with $N(0)sigma(0)$) and $N(p)pi(-p)$ with $psimeq 2pi/L$, where momenta are given in parentheses. This is the first simulation where the expected multi-hadron states are found in this channel. The experimental $Npi$ phase-shift would -- in the approximation of purely elastic $Npi$ scattering -- imply an additional eigenstate near the Roper mass $m_Rsimeq 1.43~$GeV for our lattice size. We do not observe any such additional eigenstate, which indicates that $Npi$ elastic scattering alone does not render a low-lying Roper. Coupling with other channels, most notably with $Npipi$, seems to be important for generating the Roper resonance, reinforcing the notion that this state could be a dynamically generated resonance. Our results are in line with most of previous lattice studies based just on $qqq$ interpolators, that did not find a Roper eigenstate below $1.65~$GeV. The study of the coupled-channel scattering including a three-particle decay $Npipi$ remains a challenge.
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