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The rapid increase in resident space objects, including satellites and orbital debris, threatens the safety and sustainability of space missions. This paper explores orbital debris remediation using laser ablation with a network of collaborative space-based lasers. A novel delta-v vector analysis framework quantifies the effects of multiple simultaneous laser-to-debris (L2D) engagements by leveraging a vector composition of imparted delta-v vectors. The paper introduces the Concurrent Location-Scheduling Problem (CLSP), which optimizes the placement of laser platforms and schedules L2D engagements to maximize debris remediation capacity. Due to the computational complexity of CLSP, it is decomposed into two sequential subproblems: (1) optimal laser platform locations are determined using the Maximal Covering Location Problem, and (2) a novel integer linear programming-based approach schedules L2D engagements within the network configuration to maximize remediation capacity. Computational experiments are conducted to evaluate the proposed framework's effectiveness under various mission scenarios, demonstrating key network functions such as collaborative nudging, deorbiting, and just-in-time collision avoidance. A cost-benefit analysis further explores how varying the number and distribution of laser platforms affects debris remediation capacity, providing insights into optimizing the performance of space-based laser networks., Comment: 41 pages, 13 figures, submitted to the Journal of Spacecraft and Rockets

Redshift prediction is a fundamental task in astronomy, essential for understanding the expansion of the universe and determining the distances of astronomical objects. Accurate redshift prediction plays a crucial role in advancing our knowledge of the cosmos. Machine learning (ML) methods, renowned for their precision and speed, offer promising solutions for this complex task. However, traditional ML algorithms heavily depend on labeled data and task-specific feature extraction. To overcome these limitations, we introduce AstroMAE, an innovative approach that pretrains a vision transformer encoder using a masked autoencoder method on Sloan Digital Sky Survey (SDSS) images. This technique enables the encoder to capture the global patterns within the data without relying on labels. To the best of our knowledge, AstroMAE represents the first application of a masked autoencoder to astronomical data. By ignoring labels during the pretraining phase, the encoder gathers a general understanding of the data. The pretrained encoder is subsequently fine-tuned within a specialized architecture tailored for redshift prediction. We evaluate our model against various vision transformer architectures and CNN-based models, demonstrating the superior performance of AstroMAEs pretrained model and fine-tuning architecture., Comment: This paper has been accepted to 2024 IEEE 20th International Conference on e-Science

3D object detection is critical for autonomous driving, leveraging deep learning techniques to interpret LiDAR data. The PointPillars architecture is a prominent model in this field, distinguished by its efficient use of LiDAR data. This study provides an analysis of enhancing the performance of PointPillars model under various dropout rates to address overfitting and improve model generalization. Dropout, a regularization technique, involves randomly omitting neurons during training, compelling the network to learn robust and diverse features. We systematically compare the effects of different enhancement techniques on the model's regression performance during training and its accuracy, measured by Average Precision (AP) and Average Orientation Similarity (AOS). Our findings offer insights into the optimal enhancements, contributing to improved 3D object detection in autonomous driving applications.

We present JWST/MIRI observations of the Type I superluminous supernova (SLSN) 2017gci taken over 2000 rest-frame days after the supernova (SN) exploded, which represent the latest phase images taken of any known SLSN. We find that archival \WISE detections of SN\,2017gci taken 70 to 200 days after explosion are most likely explained by an IR dust echo from a $\sim 3 \times 10^{-4}$ M$_\odot$ shell of pre-existing dust, as opposed to freshly-formed dust. New JWST observations reveal IR emission in the field of SN\,2017gci, which we determine is most likely dominated by the host galaxy of the SN, based on the expected flux of the galaxy and the measurable separation between said emission and the location of the SN. Based on models for IR emission of carbonate dust, we place a $3\sigma$ upper limit of $0.83$ M$_\odot$ of dust formed in SN\,2017gci, with a lowest $1\sigma$ limit of $0.44$ M$_\odot$. Infrared (IR) detections of other SLSNe have suggested that SLSNe could be among the most efficient dust producers in the universe. Our results suggest that SLSNe do not necessarily form more dust than other types of SNe, but instead might have a more accelerated dust formation process. More IR observations of a larger sample of SLSNe will be required to determine how efficient dust production is in SLSNe., Comment: 11 pages, 5 figures, submitted to ApJ

Advancing the capabilities of earthquake nowcasting, the real-time forecasting of seismic activities remains a crucial and enduring objective aimed at reducing casualties. This multifaceted challenge has recently gained attention within the deep learning domain, facilitated by the availability of extensive, long-term earthquake datasets. Despite significant advancements, existing literature on earthquake nowcasting lacks comprehensive evaluations of pre-trained foundation models and modern deep learning architectures. These architectures, such as transformers or graph neural networks, uniquely focus on different aspects of data, including spatial relationships, temporal patterns, and multi-scale dependencies. This paper addresses the mentioned gap by analyzing different architectures and introducing two innovation approaches called MultiFoundationQuake and GNNCoder. We formulate earthquake nowcasting as a time series forecasting problem for the next 14 days within 0.1-degree spatial bins in Southern California, spanning from 1986 to 2024. Earthquake time series is forecasted as a function of logarithm energy released by quakes. Our comprehensive evaluation employs several key performance metrics, notably Nash-Sutcliffe Efficiency and Mean Squared Error, over time in each spatial region. The results demonstrate that our introduced models outperform other custom architectures by effectively capturing temporal-spatial relationships inherent in seismic data. The performance of existing foundation models varies significantly based on the pre-training datasets, emphasizing the need for careful dataset selection. However, we introduce a new general approach termed MultiFoundationPattern that combines a bespoke pattern with foundation model results handled as auxiliary streams. In the earthquake case, the resultant MultiFoundationQuake model achieves the best overall performance., Comment: 22 pages, 8 figures, 2 tables

Proton radiography is a central diagnostic technique for measuring electromagnetic (EM) fields in high-energy-density, laser-produced plasmas. In this technique, protons traverse the plasma where they accumulate small EM deflections which lead to variations in the proton fluence pattern on a detector. Path-integrated EM fields can then be extracted from the fluence image through an inversion process. In this work, experiments of laser-driven foils were conducted on the OMEGA laser and magnetic field reconstructions were performed using both "fluence-based" techniques and high-fidelity "mesh-based" methods. We implement nonzero boundary conditions into the inversion and show their importance by comparing against mesh measurements. Good agreement between the methods is found only when nonzero boundary conditions are used. We also introduce an approach to determine the unperturbed proton source profile, which is a required input in fluence reconstruction algorithms. In this approach, a fluence inversion is embedded inside of a mesh region, which provides overconstrained magnetic boundary conditions. A source profile is then iteratively optimized to satisfy the boundary information. This method substantially enhances the accuracy in recovering EM fields. Lastly, we propose a scheme to quantify uncertainty in the final inversion that is introduced through errors in the source retrieval., Comment: 16 pages, 12 figures

The integration of topology into photonics has generated a new design framework for constructing robust and unidirectional waveguides, which are not feasible with traditional photonic devices. Here, we overcome current barriers to the successful integration of quantum emitters such as quantum dots (QDs) into valley-Hall (VH) topological waveguides, utilising photonic defects at the topological interface to stabilise the local charge environment and inverse design for efficient topological-conventional mode conversion. By incorporating QDs within defects of VH-photonic crystals, we demonstrate the first instances of single-photon resonant fluorescence and resonant transmission spectroscopy of a quantum emitter at a topological waveguide interface. Our results bring together topological photonics with optical nonlinear effects at the single-photon level, offering a new avenue to investigate the interaction between topology and quantum nonlinear systems.

For both humans and robots, the sense of touch, known as tactile sensing, is critical for performing contact-rich manipulation tasks. Three key challenges in robotic tactile sensing are 1) interpreting sensor signals, 2) generating sensor signals in novel scenarios, and 3) learning sensor-based policies. For visuotactile sensors, interpretation has been facilitated by their close relationship with vision sensors (e.g., RGB cameras). However, generation is still difficult, as visuotactile sensors typically involve contact, deformation, illumination, and imaging, all of which are expensive to simulate; in turn, policy learning has been challenging, as simulation cannot be leveraged for large-scale data collection. We present \textbf{TacSL} (\textit{taxel}), a library for GPU-based visuotactile sensor simulation and learning. \textbf{TacSL} can be used to simulate visuotactile images and extract contact-force distributions over $200\times$ faster than the prior state-of-the-art, all within the widely-used Isaac Gym simulator. Furthermore, \textbf{TacSL} provides a learning toolkit containing multiple sensor models, contact-intensive training environments, and online/offline algorithms that can facilitate policy learning for sim-to-real applications. On the algorithmic side, we introduce a novel online reinforcement-learning algorithm called asymmetric actor-critic distillation (\sysName), designed to effectively and efficiently learn tactile-based policies in simulation that can transfer to the real world. Finally, we demonstrate the utility of our library and algorithms by evaluating the benefits of distillation and multimodal sensing for contact-rich manip ulation tasks, and most critically, performing sim-to-real transfer. Supplementary videos and results are at \url{https://iakinola23.github.io/tacsl/}.

We present FORGE, a method that enables sim-to-real transfer of contact-rich manipulation policies in the presence of significant pose uncertainty. FORGE combines a force threshold mechanism with a dynamics randomization scheme during policy learning in simulation, to enable the robust transfer of the learned policies to the real robot. At deployment, FORGE policies, conditioned on a maximum allowable force, adaptively perform contact-rich tasks while respecting the specified force threshold, regardless of the controller gains. Additionally, FORGE autonomously predicts a termination action once the task has succeeded. We demonstrate that FORGE can be used to learn a variety of robust contact-rich policies, enabling multi-stage assembly of a planetary gear system, which requires success across three assembly tasks: nut-threading, insertion, and gear meshing. Project website can be accessed at https://noseworm.github.io/forge/.

In this paper we continue Prasma's homotopical group theory program by considering homotopy normal maps in arbitrary $\infty$-topoi. We show that maps of group objects equipped with normality data, in Prasma's sense, are algebras for a "normal closure" monad in a way which generalizes the standard loops-suspension monad. We generalize a result of Prasma by showing that monoidal functors of $\infty$-topoi preserve normal maps or, equivalently, that monoidal functors of $\infty$-topoi preserve the property of "being a fiber" for morphisms between connected objects. We also formulate Noether's Isomorphism Theorems in this setting, prove the first of them, and provide counterexamples to the other two. Accomplishing these goals requires us to spend substantial time synthesizing existing work of Lurie so that we may rigorously talk about group objects in $\infty$-topoi in the "usual way." One nice result of this labor is the formulation and proof of an Orbit-Stabilizer Theorem for group actions in $\infty$-topoi., Comment: minor changes, added some references, fixed some typos

The James Webb Space Telescope (JWST) has opened up a new window to study highly reddened explosive transients. We present results from late-time (1421 days post-explosion) JWST follow-up spectroscopic observations with NIRSpec and MIRI LRS of the intermediate luminosity red transient (ILRT) AT 2019abn located in the nearby Messier 51 galaxy (8.6 Mpc). ILRTs represent a mysterious class of transients which exhibit peak luminosities between those of classical novae and supernovae and which are known to be highly dust obscured. Similar to the prototypical examples of this class of objects, NGC 300 2008-OT and SN 2008S, AT 2019abn has an extremely red and dusty progenitor detected only in pre-explosion Spitzer/IRAC imaging at 3.6 and 4.5 micron and not in deep optical or near-infrared HST images. We find that late time observations of AT 2019abn from NEOWISE and JWST are consistent with the late time evolution of SN 2008S. In part because they are so obscured by dust, it is unknown what produces an ILRT with hypotheses ranging from high mass stellar merger events, non-terminal stellar outbursts, or terminal supernovae explosions through electron-capture in super-AGB stars. Our JWST observations show strong mid-IR Class C PAH features at 6.3 and 8.25 micron typical of carbon-rich post-AGB sources. These features suggest the dust around AT 2019abn, either pre-existing or newly formed in the ejecta, is composed of carbonaceous grains which are not typically observed around red supergiants. However, depending on the strength and temperature of hot bottom burning, SAGBs may be expected to exhibit a carbon-rich chemistry. Thus our JWST observations are consistent with AT 2019abn having an SAGB progenitor., Comment: 12 pages, 4 figures, submitted to ApJL

The Koopman operator enables the analysis of nonlinear dynamical systems through a linear perspective by describing time evolution in the infinite-dimensional space of observables. Here this formalism is applied to shear flows, specifically the minimal flow unit plane Couette flow and a nine-dimensional model of turbulent shear flow between infinite parallel free-slip walls under a sinusoidal body force (Moehlis et al., New J. Phys. 6, 56 (2004)). We identify a finite set of observables and approximate the Koopman operator using neural networks, following the method developed by Constante-Amores et al., Chaos, 34(4), 043119 (2024). Then the time evolution is determined with a method here denoted as "Projected Koopman Dynamics". Using a high-dimensional approximate Koopman operator directly for the plane Couette system is computationally infeasible due to the high state space dimension of direct numerical simulations (DNS). However, the long-term dynamics of the dissipative Navier-Stokes equations are expected to live on a lower-dimensional invariant manifold. Motivated by this fact, we perform dimension reduction on the DNS data with a variant of the IRMAE-WD (implicit rank-minimizing autoencoder-weight decay) autoencoder (Zeng et al., MLST 5(2), 025053 (2024)) before applying the Koopman approach. We compare the performance of data-driven state space (neural ordinary differential equation) and Projected Koopman Dynamics approaches in manifold coordinates for plane Couette flow. Projected Koopman Dynamics effectively captures the chaotic behavior of Couette flow and the nine-dimensional model, excelling in both short-term tracking and long-term statistical analysis, outperforming other frameworks applied to these shear flows.

Stochastic optimization algorithms are widely used for large-scale data analysis due to their low per-iteration costs, but they often suffer from slow asymptotic convergence caused by inherent variance. Variance-reduced techniques have been therefore used to address this issue in structured sparse models utilizing sparsity-inducing norms or $\ell_0$-norms. However, these techniques are not directly applicable to complex (non-convex) graph sparsity models, which are essential in applications like disease outbreak monitoring and social network analysis. In this paper, we introduce two stochastic variance-reduced gradient-based methods to solve graph sparsity optimization: GraphSVRG-IHT and GraphSCSG-IHT. We provide a general framework for theoretical analysis, demonstrating that our methods enjoy a linear convergence speed. Extensive experiments validate

The auxiliary field diffusion Monte Carlo method uses imaginary-time projection techniques to accurately solve the ground-state wave function of atomic nuclei and infinite nuclear matter. In this work, we present a novel representation of the imaginary-time propagator based on restricted Boltzmann machines. We test its accuracy against the routinely employed Hubbard-Stratonovich transformations by evaluating ground-state energies and single-particle densities of selected light nuclei. This analysis paves the way for incorporating more realistic nuclear potentials in the auxiliary field diffusion Monte Carlo method, including isospin-dependent spin-orbit terms and cubic spin-isospin operators, which characterize accurate phenomenological and chiral effective field theory Hamiltonians., Comment: 8 pages, 3 figures

The International Muon Collider Collaboration (IMCC) [1] was established in 2020 following the recommendations of the European Strategy for Particle Physics (ESPP) and the implementation of the European Strategy for Particle Physics-Accelerator R&D Roadmap by the Laboratory Directors Group [2], hereinafter referred to as the the European LDG roadmap. The Muon Collider Study (MuC) covers the accelerator complex, detectors and physics for a future muon collider. In 2023, European Commission support was obtained for a design study of a muon collider (MuCol) [3]. This project started on 1st March 2023, with work-packages aligned with the overall muon collider studies. In preparation of and during the 2021-22 U.S. Snowmass process, the muon collider project parameters, technical studies and physics performance studies were performed and presented in great detail. Recently, the P5 panel [4] in the U.S. recommended a muon collider R&D, proposed to join the IMCC and envisages that the U.S. should prepare to host a muon collider, calling this their "muon shot". In the past, the U.S. Muon Accelerator Programme (MAP) [5] has been instrumental in studies of concepts and technologies for a muon collider., Comment: This document summarises the International Muon Collider Collaboration (IMCC) progress and status of the Muon Collider R&D programme

Achieving photorealistic 3D view synthesis and relighting of human portraits is pivotal for advancing AR/VR applications. Existing methodologies in portrait relighting demonstrate substantial limitations in terms of generalization and 3D consistency, coupled with inaccuracies in physically realistic lighting and identity preservation. Furthermore, personalization from a single view is difficult to achieve and often requires multiview images during the testing phase or involves slow optimization processes. This paper introduces Lite2Relight, a novel technique that can predict 3D consistent head poses of portraits while performing physically plausible light editing at interactive speed. Our method uniquely extends the generative capabilities and efficient volumetric representation of EG3D, leveraging a lightstage dataset to implicitly disentangle face reflectance and perform relighting under target HDRI environment maps. By utilizing a pre-trained geometry-aware encoder and a feature alignment module, we map input images into a relightable 3D space, enhancing them with a strong face geometry and reflectance prior. Through extensive quantitative and qualitative evaluations, we show that our method outperforms the state-of-the-art methods in terms of efficacy, photorealism, and practical application. This includes producing 3D-consistent results of the full head, including hair, eyes, and expressions. Lite2Relight paves the way for large-scale adoption of photorealistic portrait editing in various domains, offering a robust, interactive solution to a previously constrained problem. Project page: https://vcai.mpi-inf.mpg.de/projects/Lite2Relight/, Comment: Accepted at SIGGRAPH '24: ACM SIGGRAPH 2024 Conference Papers

Physics Education Research (PER) is a global endeavour, with a wealth of work performed at a variety of institutions worldwide. However, results from research into undergraduate physics laboratory courses is often difficult to compare due to the broad variations in courses. We have created a survey to help classify these courses to compare and contrast them, which will be useful in two key endeavours: comparisons between PER studies and providing useful data for individual instructors hoping to improve their courses, thus providing information relevant to both researchers and instructors. While we are still in the process of collecting sufficient data to create a full taxonomy of laboratory courses, we present here details of the survey creation itself, as well as a first look at the data collected, which includes a broad landscape of lab courses in 41 countries. We used both quantitative and qualitative methods in analyzing the data collected. Some of these results include similarities between courses, such as students often using pre-constructed apparatuses and that instructors hope for students to learn technical skills. We also find differences in courses, such as in the number and types of goals of the course, as well as the activities students participate in., Comment: 38 pages, 15 figures

Large Language Models have shown remarkable efficacy in generating streaming data such as text and audio, thanks to their temporally uni-directional attention mechanism, which models correlations between the current token and previous tokens. However, video streaming remains much less explored, despite a growing need for live video processing. State-of-the-art video diffusion models leverage bi-directional temporal attention to model the correlations between the current frame and all the surrounding (i.e. including future) frames, which hinders them from processing streaming videos. To address this problem, we present Live2Diff, the first attempt at designing a video diffusion model with uni-directional temporal attention, specifically targeting live streaming video translation. Compared to previous works, our approach ensures temporal consistency and smoothness by correlating the current frame with its predecessors and a few initial warmup frames, without any future frames. Additionally, we use a highly efficient denoising scheme featuring a KV-cache mechanism and pipelining, to facilitate streaming video translation at interactive framerates. Extensive experiments demonstrate the effectiveness of the proposed attention mechanism and pipeline, outperforming previous methods in terms of temporal smoothness and/or efficiency., Comment: https://live2diff.github.io/

High-performance scientific simulations, important for comprehension of complex systems, encounter computational challenges especially when exploring extensive parameter spaces. There has been an increasing interest in developing deep neural networks (DNNs) as surrogate models capable of accelerating the simulations. However, existing approaches for training these DNN surrogates rely on extensive simulation data which are heuristically selected and generated with expensive computation -- a challenge under-explored in the literature. In this paper, we investigate the potential of incorporating active learning into DNN surrogate training. This allows intelligent and objective selection of training simulations, reducing the need to generate extensive simulation data as well as the dependency of the performance of DNN surrogates on pre-defined training simulations. In the problem context of constructing DNN surrogates for diffusion equations with sources, we examine the efficacy of diversity- and uncertainty-based strategies for selecting training simulations, considering two different DNN architecture. The results set the groundwork for developing the high-performance computing infrastructure for Smart Surrogates that supports on-the-fly generation of simulation data steered by active learning strategies to potentially improve the efficiency of scientific simulations., Comment: 17 pages, 9 figures, 1 table

Robotic assembly for high-mixture settings requires adaptivity to diverse parts and poses, which is an open challenge. Meanwhile, in other areas of robotics, large models and sim-to-real have led to tremendous progress. Inspired by such work, we present AutoMate, a learning framework and system that consists of 4 parts: 1) a dataset of 100 assemblies compatible with simulation and the real world, along with parallelized simulation environments for policy learning, 2) a novel simulation-based approach for learning specialist (i.e., part-specific) policies and generalist (i.e., unified) assembly policies, 3) demonstrations of specialist policies that individually solve 80 assemblies with 80% or higher success rates in simulation, as well as a generalist policy that jointly solves 20 assemblies with an 80%+ success rate, and 4) zero-shot sim-to-real transfer that achieves similar (or better) performance than simulation, including on perception-initialized assembly. The key methodological takeaway is that a union of diverse algorithms from manufacturing engineering, character animation, and time-series analysis provides a generic and robust solution for a diverse range of robotic assembly problems. To our knowledge, AutoMate provides the first simulation-based framework for learning specialist and generalist policies over a wide range of assemblies, as well as the first system demonstrating zero-shot sim-to-real transfer over such a range. For videos and additional details, please see our project website: https://bingjietang718.github.io/automate/

We present the most comprehensive catalog to date of Type I Superluminous Supernovae (SLSNe), a class of stripped envelope supernovae (SNe) characterized by exceptionally high luminosities. We have compiled a sample of 262 SLSNe reported through 2022 December 31. We verified the spectroscopic classification of each SLSN and collated an exhaustive data set of UV, optical and IR photometry from both publicly available data and our own FLEET observational follow-up program, totaling over 30,000 photometric detections. Using these data we derive observational parameters such as the peak absolute magnitudes, rise and decline timescales, as well as bolometric luminosities, temperature and photospheric radius evolution for all SLSNe. Additionally, we model all light curves using a hybrid model that includes contributions from both a magnetar central engine and the radioactive decay of $^{56}$Ni. We explore correlations among various physical and observational parameters, and recover the previously found relation between ejecta mass and magnetar spin, as well as the overall progenitor pre-explosion mass distribution with a peak at $\approx 6.5$ M$_\odot$. We find no significant redshift dependence for any parameter, and no evidence for distinct sub-types of SLSNe. We find that $< 3$\% of SLSNe are best fit with a significant contribution from radioactive decay $\gtrsim 50$\%, representing a set of relatively dim and slowly declining SNe. We provide several analytical tools designed to simulate typical SLSN light curves across a broad range of wavelengths and phases, enabling accurate K-corrections, bolometric scaling calculations, and inclusion of SLSNe in survey simulations or future comparison works. The complete catalog, including all of the photometry, models, and derived parameters, is made available as an open-source resource on GitHub., Comment: 59 pages, 22 Figures, Submitted to MNRAS

Some popular mechanisms for restricting the diffusion of waves include introducing disorder (to provoke Anderson localization) and engineering topologically non-trivial phases (to allow for topological edge states to form). However, other methods for inducing somewhat localized states in elementary lattice models have been historically much less studied. Here we show how edge states can emerge within a simple two-leg ladder of coupled harmonic oscillators, where it is important to include interactions beyond those at the nearest neighbour range. Remarkably, depending upon the interplay between the coupling strength along the rungs of the ladder and the next-nearest neighbour coupling strength along one side of the ladder, edge states can indeed appear at particular energies. In a wonderful manifestation of a type of bulk-edge correspondence, these edge state energies correspond to the quantum number for which additional stationary points appear in the continuum bandstructure of the equivalent problem studied with periodic boundary conditions. Our theoretical results are relevant to a swathe of classical or quantum lattice model simulators, such that the proposed edge states may be useful for applications including waveguiding in metamaterials and quantum transport., Comment: 23 pages, 11 figures

The search for charged-lepton flavor violation in muon capture on nuclei is a powerful probe of heavy new physics. A smoking gun signal for $\mu \rightarrow e$ conversion is a monochromatic electron with energy almost equal to the muon mass. We show that light new physics can mimic this signature and that it can also lead to electrons above the $\mu \rightarrow e$ signal peak. A concrete example of such light new physics is $\mu^- $-nucleon annihilation into a light dark sector, which can produce an energetic $e^-$ as well as $e^+e^-$ byproducts. Due to the size of the muon mass, the exotic muon capture process can be kinematically allowed, while the otherwise stringent constraints, e.g., from proton decay, are kinematically forbidden. We also discuss other relevant constraints, including those from the stability of nuclei and muon capture in the interior of neutron stars., Comment: 18 pages, 9 figures

Sample Return Capsules (SRCs) entering Earth's atmosphere at hypervelocity from interplanetary space are a valuable resource for studying meteor phenomena. The 24 September 2023 arrival of the OSIRIS-REx (Origins, Spectral Interpretation, Resource Identification, and Security-Regolith Explorer) SRC provided an unprecedented chance for geophysical observations of a well-characterized source with known parameters, including timing and trajectory. A collaborative effort involving researchers from 16 institutions executed a carefully planned geophysical observational campaign at strategically chosen locations, deploying over 400 ground-based sensors encompassing infrasound, seismic, distributed acoustic sensing (DAS), and GPS technologies. Additionally, balloons equipped with infrasound sensors were launched to capture signals at higher altitudes. This campaign (the largest of its kind so far) yielded a wealth of invaluable data anticipated to fuel scientific inquiry for years to come. The success of the observational campaign is evidenced by the near-universal detection of signals across instruments, both proximal and distal. This paper presents a comprehensive overview of the collective scientific effort, field deployment, and preliminary findings. The early findings have the potential to inform future space missions and terrestrial campaigns, contributing to our understanding of meteoroid interactions with planetary atmospheres. Furthermore, the dataset collected during this campaign will improve entry and propagation models as well as augment the study of atmospheric dynamics and shock phenomena generated by meteoroids and similar sources., Comment: 87 pages, 14 figures

Active Galactic Nuclei (AGN) are prime candidate sources of the high-energy, astrophysical neutrinos detected by IceCube. This is demonstrated by the real-time multi-messenger detection of the blazar TXS 0506+056 and the recent evidence of neutrino emission from NGC 1068 from a separate time-averaged study. However, the production mechanism of the astrophysical neutrinos in AGN is not well established which can be resolved via correlation studies with photon observations. For neutrinos produced due to photohadronic interactions in AGN, in addition to a correlation of neutrinos with high-energy photons, there would also be a correlation of neutrinos with photons emitted at radio wavelengths. In this work, we perform an in-depth stacking study of the correlation between 15 GHz radio observations of AGN reported in the MOJAVE XV catalog, and ten years of neutrino data from IceCube. We also use a time-dependent approach which improves the statistical power of the stacking analysis. No significant correlation was found for both analyses and upper limits are reported. When compared to the IceCube diffuse flux, at 100 TeV and for a spectral index of 2.5, the upper limits derived are $\sim3\%$ and $\sim9\%$ for the time-averaged and time-dependent case, respectively., Comment: 14 Pages 7 Figures

We present a search for an eV-scale sterile neutrino using 7.5 years of data from the IceCube DeepCore detector. The analysis uses a sample of 21,914 events with energies between 5 and 150 GeV to search for sterile neutrinos through atmospheric muon neutrino disappearance. Improvements in event selection and treatment of systematic uncertainties provide greater statistical power compared to previous DeepCore sterile neutrino searches. Our results are compatible with the absence of mixing between active and sterile neutrino states, and we place constraints on the mixing matrix elements $|U_{\mu 4}|^2 < 0.0534$ and $|U_{\tau 4}|^2 < 0.0574$ at 90% CL under the assumption that $\Delta m^2_{41}\geq 1\;\mathrm{eV^2}$. These null results add to the growing tension between anomalous appearance results and constraints from disappearance searches in the 3+1 sterile neutrino landscape., Comment: 11 pages, 5 figures. To be submitted to Physical Review D

The amount of data generated and gathered in scientific simulations and data collection applications is continuously growing, putting mounting pressure on storage and bandwidth concerns. A means of reducing such issues is data compression; however, lossless data compression is typically ineffective when applied to floating-point data. Thus, users tend to apply a lossy data compressor, which allows for small deviations from the original data. It is essential to understand how the error from lossy compression impacts the accuracy of the data analytics. Thus, we must analyze not only the compression properties but the error as well. In this paper, we provide a statistical analysis of the error caused by ZFP compression, a state-of-the-art, lossy compression algorithm explicitly designed for floating-point data. We show that the error is indeed biased and propose simple modifications to the algorithm to neutralize the bias and further reduce the resulting error.

Bimanual manipulation is challenging due to precise spatial and temporal coordination required between two arms. While there exist several real-world bimanual systems, there is a lack of simulated benchmarks with a large task diversity for systematically studying bimanual capabilities across a wide range of tabletop tasks. This paper addresses the gap by extending RLBench to bimanual manipulation. We open-source our code and benchmark comprising 13 new tasks with 23 unique task variations, each requiring a high degree of coordination and adaptability. To kickstart the benchmark, we extended several state-of-the art methods to bimanual manipulation and also present a language-conditioned behavioral cloning agent -- PerAct2, which enables the learning and execution of bimanual 6-DoF manipulation tasks. Our novel network architecture efficiently integrates language processing with action prediction, allowing robots to understand and perform complex bimanual tasks in response to user-specified goals. Project website with code is available at: http://bimanual.github.io

Advances in generative models have led to significant interest in image synthesis, demonstrating the ability to generate high-quality images for a diverse range of text prompts. Despite this progress, most studies ignore the presence of bias. In this paper, we examine several text-to-image models not only by qualitatively assessing their performance in generating accurate images of human faces, groups, and specified numbers of objects but also by presenting a social bias analysis. As expected, models with larger capacity generate higher-quality images. However, we also document the inherent gender or social biases these models possess, offering a more complete understanding of their impact and limitations., Comment: 20 pages, 8 figures

Large-scale endeavors like and widespread community efforts such as Open-X-Embodiment have contributed to growing the scale of robot demonstration data. However, there is still an opportunity to improve the quality, quantity, and diversity of robot demonstration data. Although vision-language models have been shown to automatically generate demonstration data, their utility has been limited to environments with privileged state information, they require hand-designed skills, and are limited to interactions with few object instances. We propose Manipulate-Anything, a scalable automated generation method for real-world robotic manipulation. Unlike prior work, our method can operate in real-world environments without any privileged state information, hand-designed skills, and can manipulate any static object. We evaluate our method using two setups. First, Manipulate-Anything successfully generates trajectories for all 7 real-world and 14 simulation tasks, significantly outperforming existing methods like VoxPoser. Second, Manipulate-Anything's demonstrations can train more robust behavior cloning policies than training with human demonstrations, or from data generated by VoxPoser, Scaling-up, and Code-As-Policies. We believe Manipulate-Anything can be a scalable method for both generating data for robotics and solving novel tasks in a zero-shot setting. Project page: https://robot-ma.github.io/., Comment: Project page: https://robot-ma.github.io/. All supplementary material, prompts and code can be found on the project page

Recent works have shown that visual pretraining on egocentric datasets using masked autoencoders (MAE) can improve generalization for downstream robotics tasks. However, these approaches pretrain only on 2D images, while many robotics applications require 3D scene understanding. In this work, we propose 3D-MVP, a novel approach for 3D multi-view pretraining using masked autoencoders. We leverage Robotic View Transformer (RVT), which uses a multi-view transformer to understand the 3D scene and predict gripper pose actions. We split RVT's multi-view transformer into visual encoder and action decoder, and pretrain its visual encoder using masked autoencoding on large-scale 3D datasets such as Objaverse. We evaluate 3D-MVP on a suite of virtual robot manipulation tasks and demonstrate improved performance over baselines. We also show promising results on a real robot platform with minimal finetuning. Our results suggest that 3D-aware pretraining is a promising approach to improve sample efficiency and generalization of vision-based robotic manipulation policies. We will release code and pretrained models for 3D-MVP to facilitate future research. Project site: https://jasonqsy.github.io/3DMVP

From rearranging objects on a table to putting groceries into shelves, robots must plan precise action points to perform tasks accurately and reliably. In spite of the recent adoption of vision language models (VLMs) to control robot behavior, VLMs struggle to precisely articulate robot actions using language. We introduce an automatic synthetic data generation pipeline that instruction-tunes VLMs to robotic domains and needs. Using the pipeline, we train RoboPoint, a VLM that predicts image keypoint affordances given language instructions. Compared to alternative approaches, our method requires no real-world data collection or human demonstration, making it much more scalable to diverse environments and viewpoints. In addition, RoboPoint is a general model that enables several downstream applications such as robot navigation, manipulation, and augmented reality (AR) assistance. Our experiments demonstrate that RoboPoint outperforms state-of-the-art VLMs (GPT-4o) and visual prompting techniques (PIVOT) by 21.8% in the accuracy of predicting spatial affordance and by 30.5% in the success rate of downstream tasks. Project website: https://robo-point.github.io.

The past two decades have yielded several new measurements and reanalysis of older measurements of the neutron lifetime. These have led to a 4.4 standard deviation discrepancy between the most precise measurements of the neutron decay rate producing protons in cold neutron beams and the most precise lifetime measured in neutron storage experiments. Here we publish an analysis of the recently published UCN aimed a searching for an explanation of this difference using the model proposed by Koch and Hummel.

The QCD axion and axion-like particles, as leading dark matter candidates, can also have interesting implications for dark matter substructures if the Peccei-Quinn symmetry is broken after inflation. In such a scenario, axion perturbations on small scales will lead to the formation of axion miniclusters at matter-radiation equality, and subsequently the formation of axion stars. Such compact objects open new windows for indirect searches for axions. We compute the axion star mass function based on recent axion minicluster studies and Bose star simulations. Applying this mass function, we find post-inflation axion-like particles with masses $1.8 \times 10^{-21}~{\rm eV}