We perform a nonperturbative determination of the $O(a)$-improvement coefficient $c_{rm SW}$ and the critical hopping parameter $kappa_c$ for $N_f$=3, 2, 0 flavor QCD with the RG-improved gauge action using the Schrodinger functional method. In order to interpolate $c_{rm SW}$ and $kappa_c$ as a function of the bare coupling, a wide range of $beta$ from the weak coupling region to the moderately strong coupling points used in large-scale simulations is studied. Corrections at finite lattice size of $O(a/L)$ turned out to be large for the RG-improved gauge action, and hence we make the determination at a size fixed in physical units using a modified improvement condition. This enables us to avoid $O(a)$ scaling violations which would remain in physical observables if $c_{rm SW}$ determined for a fixed lattice size $L/a$ is used in numerical simulations.
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