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Natural language and images are commonly used as goal representations in goal-conditioned imitation learning (IL). However, natural language can be ambiguous and images can be over-specified. In this work, we propose hand-drawn sketches as a modality for goal specification in visual imitation learning. Sketches are easy for users to provide on the fly like language, but similar to images they can also help a downstream policy to be spatially-aware and even go beyond images to disambiguate task-relevant from task-irrelevant objects. We present RT-Sketch, a goal-conditioned policy for manipulation that takes a hand-drawn sketch of the desired scene as input, and outputs actions. We train RT-Sketch on a dataset of paired trajectories and corresponding synthetically generated goal sketches. We evaluate this approach on six manipulation skills involving tabletop object rearrangements on an articulated countertop. Experimentally we find that RT-Sketch is able to perform on a similar level to image or language-conditioned agents in straightforward settings, while achieving greater robustness when language goals are ambiguous or visual distractors are present. Additionally, we show that RT-Sketch has the capacity to interpret and act upon sketches with varied levels of specificity, ranging from minimal line drawings to detailed, colored drawings. For supplementary material and videos, please refer to our website: http://rt-sketch.github.io.

We report results from an analysis aimed at detecting the trispectrum of the kinematic Sunyaev-Zel{'}dovich (kSZ) effect by combining data from the South Pole Telescope (SPT) and {\it Herschel}-SPIRE experiments over a 100 ${\rm deg}^{2}$ field. The SPT observations combine data from the previous and current surveys, namely SPTpol and SPT-3G, to achieve depths of 4.5, 3, and 16 $\mu {\rm K-arcmin}$ in bands centered at 95, 150, and 220 GHz. For SPIRE, we include data from the 600 and 857 GHz bands. We reconstruct the velocity-induced large-scale correlation of the small-scale kSZ signal with a quadratic estimator that uses two cosmic microwave background (CMB) temperature maps, constructed by optimally combining data from all the frequency bands. We reject the null hypothesis of a zero trispectrum at $10.3\sigma$ level. However, the measured trispectrum contains contributions from both the kSZ and other undesired components, such as CMB lensing and astrophysical foregrounds, with kSZ being sub-dominant. We use the \textsc{Agora} simulations to estimate the expected signal from CMB lensing and astrophysical foregrounds. After accounting for the contributions from CMB lensing and foreground signals, we do not detect an excess kSZ-only trispectrum and use this non-detection to set constraints on reionization. By applying a prior based on observations of the Gunn-Peterson trough, we obtain an upper limit on the duration of reionization of $\Delta z_{\rm re, 50} < 4.5$ (95\% C.L). We find these constraints are fairly robust to foregrounds assumptions. This trispectrum measurement is independent of, but consistent with, {\it Planck}'s optical depth measurement. This result is the first constraint on the epoch of reionization using the non-Gaussian nature of the kSZ signal., Comment: 15 pages, 5 figures (3 in main text and 2 in Appendix); Accepted for publication in PRL; Some texts have been moved to Appendix; Minor change in Fig. 2 to include nomalization; Data products and plotting scripts can be downloaded from https://github.com/sriniraghunathan/kSZ_4pt_SPT_SPIRE

This paper introduces the concept of Distributed Intelligent integrated Sensing and Communications (DISAC), which expands the capabilities of Integrated Sensing and Communications (ISAC) towards distributed architectures. Additionally, the DISAC framework integrates novel waveform design with new semantic and goal-oriented communication paradigms, enabling ISAC technologies to transition from traditional data fusion to the semantic composition of diverse sensed and shared information. This progress facilitates large-scale, energy-efficient support for high-precision spatial-temporal processing, optimizing ISAC resource utilization, and enabling effective multi-modal sensing performance. Addressing key challenges such as efficient data management and connect-compute resource utilization, 6G- DISAC stands to revolutionize applications in diverse sectors including transportation, healthcare, and industrial automation. Our study encapsulates the project vision, methodologies, and potential impact, marking a significant stride towards a more connected and intelligent world., Comment: Submitted for conference publication

Interstellar travel requires propulsion systems beyond present possibilities and scientists search for new technologies and breakthrough concepts in physics. Frederick E. Alzofon came up with an alternative idea on the origin of the gravitational field. He claimed that the gravitational force arises from the interaction of subatomic particles and that the gravitational force between the particles of a system decreases during a process of retrograding from an ordered system into a disordered system. To proof his assumption, Alzofon used pulsed dynamic nuclear polarization to create such an order of particles within a test object and claims to have measured distinct changes in weight. This paper describes an experiment to investigate Alzofon's assumptions with the use of NMR spectroscopy for nuclear spin polarization. It could be shown that with certain measurement parameters, an apparent change in weight was indeed measured, but finally this turned out to be a temperature effect.

Various risk-limiting audit (RLA) methods have been developed for instant-runoff voting (IRV) elections. A recent method, AWAIRE, is the first efficient approach that can take advantage of but does not require cast vote records (CVRs). AWAIRE involves adaptively weighted averages of test statistics, essentially "learning" an effective set of hypotheses to test. However, the initial paper on AWAIRE only examined a few weighting schemes and parameter settings. We explore schemes and settings more extensively, to identify and recommend efficient choices for practice. We focus on the case where CVRs are not available, assessing performance using simulations based on real election data. The most effective schemes are often those that place most or all of the weight on the apparent "best" hypotheses based on already seen data. Conversely, the optimal tuning parameters tended to vary based on the election margin. Nonetheless, we quantify the performance trade-offs for different choices across varying election margins, aiding in selecting the most desirable trade-off if a default option is needed. A limitation of the current AWAIRE implementation is its restriction to a small number of candidates -- up to six in previous implementations. One path to a more computationally efficient implementation would be to use lazy evaluation and avoid considering all possible hypotheses. Our findings suggest that such an approach could be done without substantially compromising statistical performance., Comment: 15 pages, 4, figures, presented at Voting'24. The current version includes some improved wording and fixes a few errors

This paper introduces the distributed and intelligent integrated sensing and communications (DISAC) concept, a transformative approach for 6G wireless networks that extends the emerging concept of integrated sensing and communications (ISAC). DISAC addresses the limitations of the existing ISAC models and, to overcome them, it introduces two novel foundational functionalities for both sensing and communications: a distributed architecture and a semantic and goal-oriented framework. The distributed architecture enables large-scale and energy-efficient tracking of connected users and objects, leveraging the fusion of heterogeneous sensors. The semantic and goal-oriented intelligent and parsimonious framework, enables the transition from classical data fusion to the composition of semantically selected information, offering new paradigms for the optimization of resource utilization and exceptional multi-modal sensing performance across various use cases. This paper details DISAC's principles, architecture, and potential applications., Comment: Under review for possible publication in an IEEE Magazine

Cryo-EM data processing typically focuses on the structure of the main conformational state under investigation and discards images that belong to other states. This approach can reach atomic resolution, but ignores vast amounts of valuable information about the underlying conformational ensemble and its dynamics. CowScape analyzes an entire cryo-EM dataset and thereby obtains a quantitative description of structural variability of macromolecular complexes that represents the biochemically relevant conformational space. By combining extensive image classification with principal component analysis (PCA) of the classified 3D volumes and kernel density estimation, CowScape can be used as a quantitative tool to analyze this variability. PCA projects all 3D structures along the major modes spanning a low-dimensional space that captures a large portion of structural variability. The number of particle images in a given state can be used to calculate an energy landscape based on kernel density estimation and Boltzmann inversion. By revealing allosteric interactions in macromolecular complexes, CowScape allows us to distinguish and interpret dynamic changes in macromolecular complexes during function and regulation., Comment: 15 pages + 4 figures (main text)

The Habitable Worlds Observatory Preliminary Input Catalog (HPIC) is a list of ~13,000 nearby bright stars that will be potential targets for the Habitable Worlds Observatory (HWO) in its search for Earth-sized planets around Sun-like stars. We construct this target list using the TESS and Gaia DR3 catalogs, and develop an automated pipeline to compile stellar measurements and derived astrophysical properties for all stars. We benchmark the stellar properties in the HPIC relative to those of the manually curated ExEP HWO Precursor Science Stars list and find that, for the 164 best targets for exo-Earth direct imaging, our stellar properties are consistent. We demonstrate the utility of the HPIC by using it as an input for yield calculations to predict the science output of various mission designs including those with larger telescope diameters and those focused on other planet types besides Earth analogs, such as Jupiter-mass planets. The breadth and completeness of the HPIC is essential for accurate HWO mission trade studies, and it will be useful for other exoplanet studies and general astrophysics studying the population of bright nearby stars., Comment: Accepted for publication in the Astronomical Journal. The HPIC is hosted on the NASA Exoplanet Archive at https://exoplanetarchive.ipac.caltech.edu/docs/MissionStellar.html

JWST has recently sparked a new era of Ly$\alpha$ spectroscopy, delivering the first measurements of the Ly$\alpha$ escape fraction and velocity profile in typical galaxies at $z\simeq6-10$. These observations offer new prospects for insight into the earliest stages of reionization. But to realize this potential, we need robust models of Ly$\alpha$ properties in galaxies at $z\simeq5-6$ when the IGM is mostly ionized. Here we use new JWST observations from the JADES and FRESCO surveys combined with VLT/MUSE and Keck/DEIMOS data to characterize statistical distributions of Ly$\alpha$ velocity offsets, escape fractions, and EWs in $z\simeq5-6$ galaxies. We find that galaxies with large Ly$\alpha$ escape fractions (> 0.2) are common at $z\simeq5-6$, comprising 30 per cent of Lyman break selected samples. Comparing to literature studies, our census suggests that Ly$\alpha$ becomes more prevalent in the galaxy population toward higher redshift from $z\sim3$ to $z\sim6$, although we find that this evolution slows considerably between $z\sim5$ and $z\sim6$, consistent with modest attenuation from residual HI in the mostly ionized IGM at $z\simeq5-6$. We find significant evolution in Ly$\alpha$ velocity profiles between $z\simeq2-3$ and $z\simeq5-6$, likely reflecting the influence of resonant scattering from residual intergalactic HI on the escape of Ly$\alpha$ emission near line center. This effect will make it challenging to use Ly$\alpha$ peak offsets as a probe of Lyman continuum leakage at $z\simeq5-6$. We use our $z\simeq5-6$ Ly$\alpha$ distributions to make predictions for typical Ly$\alpha$ properties at $z\gtrsim8$ and discuss implications of a recently-discovered Ly$\alpha$ emitter at $z\simeq8.5$ with a small peak velocity offset (156 km s$^{-1}$)., Comment: 31 pages, 12 figures, accepted by MNRAS

Discrete diffusion or flow models could enable faster and more controllable sequence generation than autoregressive models. We show that na\"ive linear flow matching on the simplex is insufficient toward this goal since it suffers from discontinuities in the training target and further pathologies. To overcome this, we develop Dirichlet flow matching on the simplex based on mixtures of Dirichlet distributions as probability paths. In this framework, we derive a connection between the mixtures' scores and the flow's vector field that allows for classifier and classifier-free guidance. Further, we provide distilled Dirichlet flow matching, which enables one-step sequence generation with minimal performance hits, resulting in $O(L)$ speedups compared to autoregressive models. On complex DNA sequence generation tasks, we demonstrate superior performance compared to all baselines in distributional metrics and in achieving desired design targets for generated sequences. Finally, we show that our classifier-free guidance approach improves unconditional generation and is effective for generating DNA that satisfies design targets. Code is available at https://github.com/HannesStark/dirichlet-flow-matching., Comment: Published at ICML 2024. (Proceedings of the 41st International Conference on Machine Learning, Vienna, Austria. PMLR 235, 2024)

In Chen et al., 2023 (C23; arXiv:2304.09898), we introduced a new method to directly measure temperature fluctuations and applied it to a nearby dwarf galaxy, Mrk 71, finding a temperature fluctuation parameter $t^2 = 0.008\pm 0.043$. This result is lower by $\sim 2\sigma$ than the value required to explain the abundance discrepancy (AD) in this object. In the Matters Arising article submitted by Mendez-Delgado et al. (arXiv:2310.01197), the authors claim that using the same data presented in C23 in a different way, it is possible to conclude that the measurements are consistent with a larger $t^2 \simeq 0.1$ inferred indirectly from recombination lines (RLs). However, this requires a higher density such that the infrared [O III] 52 $\mu$m and [O III] 88 $\mu$m lines -- which form the basis of the direct measurement method -- are mutually inconsistent. Moreover, to reach agreement between the direct $t^2$ measurement and the larger $t^2$ value inferred from RLs requires systematically varying four parameters by $\sim 1\sigma$ from their best-determined values, which collectively amount to a $\sim2\sigma$ difference, consistent with the significance ($\sim 2 \sigma$) originally reported in C23. Therefore, we conclude that the results of C23 hold, and that the combined optical and infrared [O III] data disfavour $t^2 \simeq 0.1$ at the $\approx2\sigma$ level in Mrk 71. Future work is nonetheless warranted to better understand the AD associated with both optical and infrared emission line analysis., Comment: Response requested by the editorial board. Peer-reviewed version published in Nature Astronomy

We study the spatially resolved outflow properties of CSWA13, an intermediate mass ($M_*=10^{9}~\mathrm{M}_{\odot}$), gravitationally lensed star-forming galaxy at $z=1.87$. We use Keck/KCWI to map outflows in multiple rest-frame ultraviolet ISM absorption lines, along with fluorescent Si II$^*$ emission, and nebular emission from C III] tracing the local systemic velocity. The spatial structure of outflow velocity mirrors that of the nebular kinematics, which we interpret to be a signature of a young galactic wind that is pressurizing the ISM of the galaxy but is yet to burst out. From the radial extent of Si II$^*$ emission, we estimate that the outflow is largely encapsulated within $3.5$ kpc. We explore the geometry (e.g., patchiness) of the outflow by measuring the covering fraction at different velocities, finding that the maximum covering fraction is at velocities $v\simeq-150$ km$\,$s$^{-1}$. Using the outflow velocity ($v_{out}$), radius ($R$), column density ($N$), and solid angle ($\Omega$) based on the covering fraction, we measure the mass loss rate $\log\dot{m}_{out}/(\mathrm{M}_{\odot}\text{yr}^{-1}) = 1.73\pm0.23$ and mass loading factor $\log\eta = 0.04\pm0.34$ for the low-ionization outflowing gas in this galaxy. These values are relatively large and the bulk of the outflowing gas is moving with speeds less than the escape velocity of the galaxy halo, suggesting that the majority of outflowing mass will remain in the circumgalactic medium and/or recycle back into the galaxy. The results support a picture of high outflow rates transporting mass and metals into the inner circumgalactic medium, providing the gas reservoir for future star formation., Comment: Submitted to ApJ. Comments welcome (17 pages, 10 figures, 1 table)