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Conversational AI agents are commonly applied within single-user, turn-taking scenarios. The interaction mechanics of these scenarios are trivial: when the user enters a message, the AI agent produces a response. However, the interaction dynamics are more complex within group settings. How should an agent behave in these settings? We report on two experiments aimed at uncovering users' experiences of an AI agent's participation within a group, in the context of group ideation (brainstorming). In the first study, participants benefited from and preferred having the AI agent in the group, but participants disliked when the agent seemed to dominate the conversation and they desired various controls over its interactive behaviors. In the second study, we created functional controls over the agent's behavior, operable by group members, to validate their utility and probe for additional requirements. Integrating our findings across both studies, we developed a taxonomy of controls for when, what, and where a conversational AI agent in a group should respond, who can control its behavior, and how those controls are specified and implemented. Our taxonomy is intended to aid AI creators to think through important considerations in the design of mixed-initiative conversational agents., Comment: 31 pages, 7 figures. In Proceedings of the 30th International Conference on Intelligent User Interfaces (IUI '25), March 24-27, 2025, Cagliari, Italy

As part of the BISTRO survey, we present JCMT 850 $\mu$m polarimetric observations towards the Orion Integral-Shaped Filament (ISF) that covers three portions known as OMC-1, OMC-2, and OMC-3. The magnetic field threading the ISF seen in the JCMT POL-2 map appears as a tale of three: pinched for OMC-1, twisted for OMC-2, and nearly uniform for OMC-3. A multi-scale analysis shows that the magnetic field structure in OMC-3 is very consistent at all the scales, whereas the field structure in OMC-2 shows no correlation across different scales. In OMC-1, the field retains its mean orientation from large to small scales, but shows some deviations at small scales. Histograms of relative orientations between the magnetic field and filaments reveal a bimodal distribution for OMC-1, a relatively random distribution for OMC-2, and a distribution with a predominant peak at 90$^\circ$ for OMC-3. Furthermore, the magnetic fields in OMC-1 and OMC-3 both appear to be aligned perpendicular to the fibers, which are denser structures within the filament, but the field in OMC-2 is aligned along with the fibers. All these suggest that gravity, turbulence, and magnetic field are each playing a leading role in OMC-1, 2, and 3, respectively. While OMC-2 and 3 have almost the same gas mass, density, and non-thermal velocity dispersion, there are on average younger and fewer young stellar objects in OMC-3, providing evidence that a stronger magnetic field will induce slower and less efficient star formation in molecular clouds., Comment: published in the ApJ Letters

We present design principles for ultrashort-pulse, type-0 phase-matched optical parametric amplifiers to generate and measure spectrally pure degenerate squeezed light. We achieve a Schmidt number of $K \approx 1.02$ with squeezing levels greater than 15 dB spanning over $>5$ THz bandwidth with cm-scale devices on thin-film lithium niobate (TFLN) on insulator platform. Our work opens up promising avenues for large-scale circuits for ultrafast quantum information processing and quantum sensing applications on rapidly advancing TFLN platform with already demonstrated linear components and photodetection capabilities.

Safety-critical traffic scenarios are of great practical relevance to evaluating the robustness of autonomous driving (AD) systems. Given that these long-tail events are extremely rare in real-world traffic data, there is a growing body of work dedicated to the automatic traffic scenario generation. However, nearly all existing algorithms for generating safety-critical scenarios rely on snippets of previously recorded traffic events, transforming normal traffic flow into accident-prone situations directly. In other words, safety-critical traffic scenario generation is hindsight and not applicable to newly encountered and open-ended traffic events.In this paper, we propose the Deep Motion Factorization (DeepMF) framework, which extends static safety-critical driving scenario generation to closed-loop and interactive adversarial traffic simulation. DeepMF casts safety-critical traffic simulation as a Bayesian factorization that includes the assignment of hazardous traffic participants, the motion prediction of selected opponents, the reaction estimation of autonomous vehicle (AV) and the probability estimation of the accident occur. All the aforementioned terms are calculated using decoupled deep neural networks, with inputs limited to the current observation and historical states. Consequently, DeepMF can effectively and efficiently simulate safety-critical traffic scenarios at any triggered time and for any duration by maximizing the compounded posterior probability of traffic risk. Extensive experiments demonstrate that DeepMF excels in terms of risk management, flexibility, and diversity, showcasing outstanding performance in simulating a wide range of realistic, high-risk traffic scenarios.

We investigate the role of quantum entanglement and coherence in suppressing radiation and explore its implications for dark matter. Using Dicke's framework, we demonstrate that entangled states in a gas at thermal equilibrium can lead to subradiance, trapping energy in dark quantum states and reducing radiation intensity. Applying this to the 21 cm line in dark matter halos, we find that quantum coherence renders the gas effectively dark. Moreover, entanglement results in a vanishing collision cross-section, consistent with the collisionless nature of dark matter observed in systems like the bullet cluster. We also show that absorption of incident radiation can exceed levels predicted by Beer's law, which holds only in the absence of coherence. These findings suggest that quantum entanglement and coherence may explain the non-luminous behavior of matter in dark matter halos, offering a novel perspective on dark matter and advancing the understanding of astrophysical radiative processes., Comment: Main text: 17 pages, Total: 33 pages, 7 figures

We present a mathematical analysis of the spectro-temporal properties of Fast Radio Bursts (FRBs), focusing on the distortions introduced by propagation effects such as scattering and inaccurate de-dispersion. By examining the impact of different scattering timescales and residual dispersion measures (DMs), both independently and in combination, we identify systematic trends in the sub-burst slope law as defined within the framework of the Triggered Relativistic Dynamical Model (TRDM). These effects primarily alter the measurements of the sub-burst slope and duration, thereby also modifying their correlations with other properties, such as central frequency and bandwidth. Our results show that scatter-induced temporal broadening affects duration more than slope, with weak to moderate scattering subtly modifying the sub-burst slope law and strong scattering causing significant deviations. Residual dispersion preferentially modifies the slope, further changing the trends predicted by the sub-burst slope law. Ultra-short bursts (or ultra-FRBs) emerge as particularly susceptible to these effects even at relatively high frequencies, underscoring the need for precise treatment of scattering and accurate dedispersion before performing analyses. Our findings emphasize the necessity for higher frequency observations (especially for ultra-FRBs) to improve the DM estimates as well as the measurements of spectro-temporal properties., Comment: 15 pages, 11 figures

We present 850 $\mu$m polarization observations of the IC 348 star-forming region in the Perseus molecular cloud as part of the B-fields In STar-forming Region Observation (BISTRO) survey. We study the magnetic properties of two cores (HH 211 MMS and IC 348 MMS) and a filamentary structure of IC 348. We find that the overall field tends to be more perpendicular than parallel to the filamentary structure of the region. The polarization fraction decreases with intensity, and we estimate the trend by power-law and the mean of the Rice distribution fittings. The power indices for the cores are much smaller than 1, indicative of possible grain growth to micron size in the cores. We also measure the magnetic field strengths of the two cores and the filamentary area separately by applying the Davis-Chandrasekhar-Fermi method and its alternative version for compressed medium. The estimated mass-to-flux ratios are 0.45-2.20 and 0.63-2.76 for HH 211 MMS and IC 348 MMS, respectively, while the ratios for the filament is 0.33-1.50. This result may suggest that the transition from subcritical to supercritical conditions occurs at the core scale ($\sim$ 0.05 pc) in the region. In addition, we study the energy balance of the cores and find that the relative strength of turbulence to the magnetic field tends to be stronger for IC 348 MMS than HH 211 MMS. The result could potentially explain the different configurations inside the two cores: a single protostellar system in HH 211 MMS and multiple protostars in IC 348 MMS., Comment: Accepted for publication in ApJ. 21 pages, 12 figures

In reinforcement learning, agents collect state information and rewards through environmental interactions, essential for policy refinement. This process is notably time-consuming, especially in complex robotic simulations and real-world applications. Traditional algorithms usually re-engage with the environment after processing a single batch of samples, thereby failing to fully capitalize on historical data. However, frequently observed states, with reliable value estimates, require minimal updates; in contrast, rare observed states necessitate more intensive updates for achieving accurate value estimations. To address uneven sample utilization, we propose Novelty-guided Sample Reuse (NSR). NSR provides extra updates for infrequent, novel states and skips additional updates for frequent states, maximizing sample use before interacting with the environment again. Our experiments show that NSR improves the convergence rate and success rate of algorithms without significantly increasing time consumption. Our code is publicly available at https://github.com/ppksigs/NSR-DDPG-HER.

In the field of locomotion task of quadruped robots, Blind Policy and Perceptive Policy each have their own advantages and limitations. The Blind Policy relies on preset sensor information and algorithms, suitable for known and structured environments, but it lacks adaptability in complex or unknown environments. The Perceptive Policy uses visual sensors to obtain detailed environmental information, allowing it to adapt to complex terrains, but its effectiveness is limited under occluded conditions, especially when perception fails. Unlike the Blind Policy, the Perceptive Policy is not as robust under these conditions. To address these challenges, we propose a MBC:Multi-Brain collaborative system that incorporates the concepts of Multi-Agent Reinforcement Learning and introduces collaboration between the Blind Policy and the Perceptive Policy. By applying this multi-policy collaborative model to a quadruped robot, the robot can maintain stable locomotion even when the perceptual system is impaired or observational data is incomplete. Our simulations and real-world experiments demonstrate that this system significantly improves the robot's passability and robustness against perception failures in complex environments, validating the effectiveness of multi-policy collaboration in enhancing robotic motion performance., Comment: 18 pages, 9 figures, Website and Videos: https://quad-mbc.github.io/

Fast and efficient collision detection is essential for motion generation in robotics. In this paper, we propose an efficient collision detection framework based on the Signed Distance Field (SDF) of robots, seamlessly integrated with a self-collision detection module. Firstly, we decompose the robot's SDF using forward kinematics and leverage multiple extremely lightweight networks in parallel to efficiently approximate the SDF. Moreover, we introduce support vector machines to integrate the self-collision detection module into the framework, which we refer to as the SDF-SC framework. Using statistical features, our approach unifies the representation of collision distance for both SDF and self-collision detection. During this process, we maintain and utilize the differentiable properties of the framework to optimize collision-free robot trajectories. Finally, we develop a reactive motion controller based on our framework, enabling real-time avoidance of multiple dynamic obstacles. While maintaining high accuracy, our framework achieves inference speeds up to five times faster than previous methods. Experimental results on the Franka robotic arm demonstrate the effectiveness of our approach.

In the control task of mobile manipulators(MM), achieving efficient and agile obstacle avoidance in dynamic environments is challenging. In this letter, we present a safe expeditious whole-body(SEWB) control for MMs that ensures both external and internal collision-free. SEWB is constructed by a two-layer optimization structure. Firstly, control barrier functions(CBFs) are employed for a MM to establish initial safety constraints. Moreover, to resolve the pseudo-equilibrium problem of CBFs and improve avoidance agility, we propose a novel sub-optimization called adaptive cyclic inequality(ACI). ACI considers obstacle positions, velocities, and predefined directions to generate directional constraints. Then, we combine CBF and ACI to decompose safety constraints alongside an equality constraint for expectation control. Considering all these constraints, we formulate a quadratic programming(QP) as our primary optimization. In the QP cost function, we account for the motion accuracy differences between the base and manipulator, as well as obstacle influences, to achieve optimized motion. We validate the effectiveness of our SEWB control in avoiding collision and reaching target points through simulations and real-world experiments, particularly in challenging scenarios that involve fast-moving obstacles. SEWB has been proven to achieve whole-body collision-free and improve avoidance agility, similar to a "martial arts dodge".

This paper presents a framework to achieve compliant catching with cushioning mechanism(CCCM) for mobile manipulators. First, we introduce a two-level motion optimization scheme, comprising a high-level capture planner and a low-level joint planner. The low-level joint planner consists of two distinct components: Pre-Catching (PRC) planner and Post-Catching (POC) planner. Next, we propose a network that leverages the strengths of LSTM for temporal dependencies and positional encoding for spatial context(P-LSTM). P-LSTM is designed to effectively learn compliant control strategies from human demonstrations. To account for structural differences between humans and robots, safety constraints are incorporated into POC planner to avoid potential collisions. We validate the CCCM framework through both simulated and real-world ball-catching scenarios, achieving a success rate of 98.70% in simulation, 92.59% in real-world tests, and a 33.2% reduction in impact torques.

The robotic dexterous hand is responsible for both grasping and dexterous manipulation. The number of motors directly influences both the dexterity and the cost of such systems. In this paper, we present MuxHand, a robotic hand that employs a time-division multiplexing motor (TDMM) mechanism. This system allows 9 cables to be independently controlled by just 4 motors, significantly reducing cost while maintaining high dexterity. To enhance stability and smoothness during grasping and manipulation tasks, we have integrated magnetic joints into the three 3D-printed fingers. These joints offer superior impact resistance and self-resetting capabilities. We conduct a series of experiments to evaluate the grasping and manipulation performance of MuxHand. The results demonstrate that the TDMM mechanism can precisely control each cable connected to the finger joints, enabling robust grasping and dexterous manipulation. Furthermore, the fingertip load capacity reached 1.0 kg, and the magnetic joints effectively absorbed impact and corrected misalignments without damage., Comment: 7 pages

This paper presents Range-SLAM, a real-time, lightweight SLAM system designed to address the challenges of localization and mapping in environments with smoke and other harsh conditions using Ultra-Wideband (UWB) signals. While optical sensors like LiDAR and cameras struggle in low-visibility environments, UWB signals provide a robust alternative for real-time positioning. The proposed system uses general UWB devices to achieve accurate mapping and localization without relying on expensive LiDAR or other dedicated hardware. By utilizing only the distance and Received Signal Strength Indicator (RSSI) provided by UWB sensors in relation to anchors, we combine the motion of the tag-carrying agent with raycasting algorithm to construct a 2D occupancy grid map in real time. To enhance localization in challenging conditions, a Weighted Least Squares (WLS) method is employed. Extensive real-world experiments, including smoke-filled environments and simulated

Designing a bipedal robot is a complex and challenging task, especially when dealing with a multitude of structural parameters. Traditional design methods often rely on human intuition and experience. However, such approaches are time-consuming, labor-intensive, lack theoretical guidance and hard to obtain optimal design results within vast design spaces, thus failing to full exploit the inherent performance potential of robots. In this context, this paper introduces the SERL (Structure Evolution Reinforcement Learning) algorithm, which combines reinforcement learning for locomotion tasks with evolution algorithms. The aim is to identify the optimal parameter combinations within a given multidimensional design space. Through the SERL algorithm, we successfully designed a bipedal robot named Wow Orin, where the optimal leg length are obtained through optimization based on body structure and motor torque. We have experimentally validated the effectiveness of the SERL algorithm, which is capable of optimizing the best structure within specified design space and task conditions. Additionally, to assess the performance gap between our designed robot and the current state-of-the-art robots, we compared Wow Orin with mainstream bipedal robots Cassie and Unitree H1. A series of experimental results demonstrate the Outstanding energy efficiency and performance of Wow Orin, further validating the feasibility of applying the SERL algorithm to practical design.

Strongly-driven nonlinear optical processes such as spontaneous parametric down-conversion and spontaneous four-wave mixing can produce multiphoton nonclassical beams of light which have applications in quantum information processing and sensing. In contrast to the low-gain regime, new physical effects arise in a high-gain regime due to the interactions between the nonclassical light and the strong pump driving the nonlinear process. Here, we describe and experimentally observe a gain-induced group delay between the multiphoton pulses generated in a high-gain type-II spontaneous parametric down-conversion source. Since the group delay introduces distinguishability between the generated photons, it will be important to compensate for it when designing quantum interference devices in which strong optical nonlinearities are required., Comment: 18 pages, 9 figures (including supplemental material)

Traversing 3-D complex environments has always been a significant challenge for legged locomotion. Existing methods typically rely on external sensors such as vision and lidar to preemptively react to obstacles by acquiring environmental information. However, in scenarios like nighttime or dense forests, external sensors often fail to function properly, necessitating robots to rely on proprioceptive sensors to perceive diverse obstacles in the environment and respond promptly. This task is undeniably challenging. Our research finds that methods based on collision detection can enhance a robot's perception of environmental obstacles. In this work, we propose an end-to-end learning-based quadruped robot motion controller that relies solely on proprioceptive sensing. This controller can accurately detect, localize, and agilely respond to collisions in unknown and complex 3D environments, thereby improving the robot's traversability in complex environments. We demonstrate in both simulation and real-world experiments that our method enables quadruped robots to successfully traverse challenging obstacles in various complex environments., Comment: 10 pages, 8 figures,submitted to iros2024

The remarkable athletic intelligence displayed by humans in complex dynamic movements such as dancing and gymnastics suggests that the balance mechanism in biological beings is decoupled from specific movement patterns. This decoupling allows for the execution of both learned and unlearned movements under certain constraints while maintaining balance through minor whole-body coordination. To replicate this balance ability and body agility, this paper proposes a versatile controller for bipedal robots. This controller achieves ankle and body trajectory tracking across a wide range of gaits using a single small-scale neural network, which is based on a model-based IK solver and reinforcement learning. We consider a single step as the smallest control unit and design a universally applicable control input form suitable for any single-step variation. Highly flexible gait control can be achieved by combining these minimal control units with high-level policy through our extensible control interface. To enhance the trajectory-tracking capability of our controller, we utilize a three-stage training curriculum. After training, the robot can move freely between target footholds at varying distances and heights. The robot can also maintain static balance without repeated stepping to adjust posture. Finally, we evaluate the tracking accuracy of our controller on various bipedal tasks, and the effectiveness of our control framework is verified in the simulation environment.

Fully leveraging the mobile manipulation capabilities of a quadruped robot equipped with a robotic arm is non-trivial, as it requires controlling all degrees of freedom (DoFs) of the quadruped robot to achieve effective whole-body coordination. In this letter, we propose a novel framework RoboDuet, which employs two collaborative policies to realize locomotion and manipulation simultaneously, achieving whole-body control through mutual interactions. Beyond enabling large-range 6D pose tracking for manipulation, we find that the two-policy framework supports cross-embodiment deployment, allowing for the use of different quadruped robots or various robotic arms. Our experiments demonstrate that RoboDuet achieves a 42.5% improvement in average success rate over the baseline in mobile manipulation tasks employing whole-body control. These policies also enable zero-shot deployment across different quadruped robots in the real world. To support further research, we provide open-source code and additional videos on our website: locomanip-duet.github.io.

In this note we summarize four important matrix decompositions commonly used in quantum optics, namely the Takagi/Autonne, Bloch-Messiah/Euler, Iwasawa, and Williamson decompositions. The first two of these decompositions are specialized versions of the singular-value decomposition when applied to symmetric or symplectic matrices. The third factors any symplectic matrix in a unique way in terms of matrices that belong to different subgroups of the symplectic group. The last one instead gives the symplectic diagonalization of real, positive definite matrices of even size. While proofs of the existence of these decompositions exist in the literature, we focus on providing explicit constructions to implement these decompositions using standard linear algebra packages and functionalities such as singular-value, polar, Schur and QR decompositions, and matrix square roots and inverses., Comment: 10 pages

We report 850 $\mu$m continuum polarization observations toward the filamentary high-mass star-forming region NGC 2264, taken as part of the B-fields In STar forming Regions Observations (BISTRO) large program on the James Clerk Maxwell Telescope (JCMT). These data reveal a well-structured non-uniform magnetic field in the NGC 2264C and 2264D regions with a prevailing orientation around 30 deg from north to east. Field strengths estimates and a virial analysis for the major clumps indicate that NGC 2264C is globally dominated by gravity while in 2264D magnetic, gravitational, and kinetic energies are roughly balanced. We present an analysis scheme that utilizes the locally resolved magnetic field structures, together with the locally measured gravitational vector field and the extracted filamentary network. From this, we infer statistical trends showing that this network consists of two main groups of filaments oriented approximately perpendicular to one another. Additionally, gravity shows one dominating converging direction that is roughly perpendicular to one of the filament orientations, which is suggestive of mass accretion along this direction. Beyond these statistical trends, we identify two types of filaments. The type-I filament is perpendicular to the magnetic field with local gravity transitioning from parallel to perpendicular to the magnetic field from the outside to the filament ridge. The type-II filament is parallel to the magnetic field and local gravity. We interpret these two types of filaments as originating from the competition between radial collapsing, driven by filament self-gravity, and the longitudinal collapsing, driven by the region's global gravity., Comment: Accepted for publication in the Astrophysical Journal. 43 pages, 32 figures, and 4 tables (including Appendix)

Perfect inline squeezers are both spectrally pure and have identical input and output temporal modes, allowing one to squeeze an arbitrary input quantum state in the sole input mode on which the device acts, while the quantum states of any other modes are unaffected. We study theoretically how to obtain a perfect pulsed inline squeezer in twin-beam systems by considering three commonly used configurations: unpoled single pass, poled single pass, and poled double pass. By obtaining analytical relations between the input and output temporal modes from the Bloch-Messiah decomposition of the discretized Heisenberg-picture propagator, we find that a double pass structure produces a perfect pulsed inline squeezer when operated in a frequency degenerate, symmetric group-velocity matched type-II configuration., Comment: 15 pages, 4 figures, 3 tables

We conduct a comprehensive spectro-temporal analysis of repeating Fast Radio Bursts (FRBs) utilizing nine distinct sources, the largest sample to date. Our data set includes 175 sub-bursts and 31 multi-component bursts from 11 data sets, with centre frequencies ranging from 149--7144 MHz and durations spanning from 73 $\mu$s--13 ms. Our findings are consistent with the predictions of the Triggered Relativistic Dynamical Model (TRDM) of FRB emission. We affirm the predicted quadratic relationship between sub-burst slope and central frequency, as well as a linear dependence of the sub-burst bandwidth on central frequency that is consistent with mildly-relativistic Doppler broadening of narrow-band emission. Most importantly, we confirm the sub-burst slope law, a predicted inverse relationship between sub-burst slope and duration, to hold consistently across different sources. Remarkably, we also discover that the drift rates of multi-component bursts follow the same law as the sub-burst slopes, an unexplained result that warrants further investigation. These findings not only support the TRDM as a viable framework for explaining several aspects of FRB emission, but also provide new insights into the complex spectro-temporal properties of FRBs., Comment: 7 pages, 3 figures, accepted MNRAS Letter

We discuss the role that coherence phenomena can have on the intensity variability of spectral lines associated with maser radiation. We do so by introducing the fundamental cooperative radiation phenomenon of (Dicke's) superradiance and discuss its complementary nature to the maser action, as well as its role in the flaring behaviour of some maser sources. We will consider examples of observational diagnostics that can help discriminate between the two, and identify superradiance as the source of the latter. More precisely, we show how superradiance readily accounts for the different time-scales observed in the multi-wavelength monitoring of the periodic flaring in G9.62+0.20E., Comment: 15 pages, 11 figures

We present observations of polarized dust emission at 850 $\mu$m from the L43 molecular cloud which sits in the Ophiuchus cloud complex. The data were taken using SCUBA-2/POL-2 on the James Clerk Maxwell Telescope as a part of the BISTRO large program. L43 is a dense ($N_{\rm H_2}\sim 10^{22}$-10$^{23}$ cm$^{-2}$) complex molecular cloud with a submillimetre-bright starless core and two protostellar sources. There appears to be an evolutionary gradient along the isolated filament that L43 is embedded within, with the most evolved source closest to the Sco OB2 association. One of the protostars drives a CO outflow that has created a cavity to the southeast. We see a magnetic field that appears to be aligned with the cavity walls of the outflow, suggesting interaction with the outflow. We also find a magnetic field strength of up to $\sim$160$\pm$30 $\mu$G in the main starless core and up to $\sim$90$\pm$40 $\mu$G in the more diffuse, extended region. These field strengths give magnetically super- and sub-critical values respectively and both are found to be roughly trans-Alfv\'enic. We also present a new method of data reduction for these denser but fainter objects like starless cores., Comment: Accepted for publication in ApJ. 23 pages, 9 figures (7 main text, 2 appendix)

We present detailed modeling of periodic flaring events in the 6.7 GHz and 12.2 GHz methanol lines as well as the OH 1665 MHz and 1667 MHz transitions observed in the G9.62+0.20E star-forming region. Our analysis is performed within the framework of the one-dimensional Maxwell-Bloch equations, which intrinsically cover the complementary quasi-steady state maser and transient superradiance regimes. We find that the variations in flaring time-scales measured for the different species/transitions, and sometimes even for a single spectral line, are manifestations of and are best modeled with Dicke's superradiance, which naturally accounts for a modulation in the duration of flares through corresponding changes in the inversion pump. In particular, it can explain the peculiar behaviour observed for some features, such as the previously published result for the OH 1667 MHz transition at $v_\mathrm{lsr}=+1.7$ km s$^{-1}$ as well as the methanol 6.7 GHz line at $v_\mathrm{lsr}=-1.8$ km s$^{-1}$, through a partial quenching of the population inversion during flaring events., Comment: 13 pages, 13 figures, accepted MNRAS