We present the lattice QCD studies for baryon-baryon interactions for the first time with (almost) physical quark masses. $N_f = 2+1$ gauge configurations are generated with the Iwasaki gauge action and nonperturbatively $O(a)$-improved Wilson quark action with stout smearing on the lattice of $(96 a)^4 simeq (8.2 {rm fm})^4$ with $a simeq 0.085$ fm, where $m_pi simeq 146$ MeV and $m_K simeq 525$ MeV. Baryon forces are calculated from Nambu-Bethe-Salpeter (NBS) correlation functions using the time-dependent HAL QCD method. In this report, we first give the general overview of the theoretical frameworks essential to the physical point calculation of baryon forces. We then present the numerical results for the two-nucleon central and tensor forces in $^3S_1$-$^3D_1$ coupled channel and the central force in $^1S_0$ channel. In particular, a clear signal is obtained for the tensor force.
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