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Robotics programming typically involves a trade-off between the ease of use offered by Python and the run-time performance of C++. While multi-language architectures address this trade-off by coupling Python's ergonomics with C++'s speed, they introduce complexity at the language interface. This paper proposes using Julia for performance-critical tasks within Python ROS 2 applications, providing an elegant solution that streamlines the development process without disrupting the existing Python workflow.

Recent cosmic shear analyses have exhibited inconsistencies of up to $1\sigma$ between the inferred cosmological parameters when analyzing summary statistics in real space versus harmonic space. In this paper, we demonstrate the consistent measurement and analysis of cosmic shear two-point functions in harmonic and real space using the $i${\sc Master} algorithm. This algorithm provides a consistent prescription to model the survey window effects and scale cuts in both real space (due to observational systematics) and harmonic space (due to model limitations), resulting in a consistent estimation of the cosmic shear power spectrum from both harmonic and real space estimators. We show that the $i$\textsc{Master} algorithm gives consistent results using measurements from the HSC Y1 mock shape catalogs in both real and harmonic space, resulting in consistent inferences of $S_8=\sigma_8(\Omega_m/0.3)^{0.5}$. This method provides an unbiased estimate of the cosmic shear power spectrum, and $S_8$ inference that has a correlation coefficient of 0.997 between analyses using measurements in real space and harmonic space. We observe the mean difference between the two inferred $S_8$ values to be 0.0004, far below the observed difference of 0.042 for the published HSC Y1 analyses and well below the statistical uncertainties. While the notation employed in this paper is specific to photometric galaxy surveys, the methods are equally applicable and can be extended to spectroscopic galaxy surveys, intensity mapping, and CMB surveys., Comment: 17 pages, 6 figures. For submission to MNRAS

Upcoming imaging surveys will use weak gravitational lensing to study the large-scale structure of the Universe, demanding sub-percent accuracy for precise cosmic shear measurements. We present a new differentiable implementation of our perturbation-based shear estimator (FPFS), using JAX, which is publicly available as part of a new suite of analytic shear algorithms called AnaCal. This code can analytically calibrate the shear response of any nonlinear observable constructed with the FPFS shapelets and detection modes utilizing auto-differentiation (AD), generalizing the formalism to include a family of shear estimators with corrections for detection and selection biases. Using the AD capability of JAX, it calculates the full Hessian matrix of the non-linear observables, which improves the previously presented second-order noise bias correction in the shear estimation. As an illustration of the power of the new AnaCal framework, we optimize the effective galaxy number density in the space of the generalized shear estimators using an LSST-like galaxy image simulation for the ten-year LSST. For the generic shear estimator, the magnitude of the multiplicative bias $|m|$ is below $3\times 10^{-3}$ (99.7% confidence interval), and the effective galaxy number density is improved by 5%. We also discuss some planned future additions to the AnaCal software suite to extend its applicability beyond the FPFS measurements., Comment: 9 pages, 7 figures, Accepted for publication in MNRAS

One challenge for applying current weak lensing analysis tools to the Nancy Grace Roman Space Telescope is that individual images will be undersampled. Our companion paper presented an initial application of Imcom - an algorithm that builds an optimal mapping from input to output pixels to reconstruct a fully sampled combined image - on the Roman image simulations. In this paper, we measure the output noise power spectra, identify the sources of the major features in the power spectra, and show that simple analytic models that ignore sampling effects underestimate the power spectra of the coadded noise images. We compute the moments of both idealized injected stars and fully simulated stars in the coadded images, and their 1- and 2-point statistics. We show that the idealized injected stars have root-mean-square ellipticity errors (1 - 6) x 10-4 per component depending on the band; the correlation functions are >= 2 orders of magnitude below requirements, indicating that the image combination step itself is using a small fraction of the overall Roman 2nd moment error budget, although the 4th moments are larger and warrant further investigation. The stars in the simulated sky images, which include blending and chromaticity effects, have correlation functions near the requirement level (and below the requirement level in a wide-band image constructed by stacking all 4 filters). We evaluate the noise-induced biases in the ellipticities of injected stars, and explain the resulting trends with an analytical model. We conclude by enumerating the next steps in developing an image coaddition pipeline for Roman., Comment: 25 pages, 20 figures. Submitted to MNRAS

The upcoming Nancy Grace Roman Space Telescope will carry out a wide-area survey in the near infrared. A key science objective is the measurement of cosmic structure via weak gravitational lensing. Roman data will be undersampled, which introduces new challenges in the measurement of source galaxy shapes; a potential solution is to use linear algebra-based coaddition techniques such as Imcom that combine multiple undersampled images to produce a single oversampled output mosaic with a desired "target" point spread function (PSF). We present here an initial application of Imcom to 0.64 square degrees of simulated Roman data, based on the Roman branch of the Legacy Survey of Space and Time (LSST) Dark Energy Science Collaboration (DESC) Data Challenge 2 (DC2) simulation. We show that Imcom runs successfully on simulated data that includes features such as plate scale distortions, chip gaps, detector defects, and cosmic ray masks. We simultaneously propagate grids of injected sources and simulated noise fields as well as the full simulation. We quantify the residual deviations of the PSF from the target (the "leakage"), as well as noise properties of the output images; we discuss how the overall tiling pattern as well as Moir\'e patterns appear in the final leakage and noise maps. We include appendices on interpolation algorithms and the interaction of undersampling with image processing operations that may be of broader applicability. The companion paper ("Paper II") explores the implications for weak lensing analyses., Comment: 28 pages, 19 figures, matches version accepted by MNRAS

This paper presents the results of the Rubin Observatory Dark Energy Science Collaboration (DESC) 3x2pt tomography challenge, which served as a first step toward optimizing the tomographic binning strategy for the main DESC analysis. The task of choosing an optimal tomographic binning scheme for a photometric survey is made particularly delicate in the context of a metacalibrated lensing catalogue, as only the photometry from the bands included in the metacalibration process (usually riz and potentially g) can be used in sample definition. The goal of the challenge was to collect and compare bin assignment strategies under various metrics of a standard 3x2pt cosmology analysis in a highly idealized setting to establish a baseline for realistically complex follow-up studies; in this preliminary study, we used two sets of cosmological simulations of galaxy redshifts and photometry under a simple noise model neglecting photometric outliers and variation in observing conditions, and contributed algorithms were provided with a representative and complete training set. We review and evaluate the entries to the challenge, finding that even from this limited photometry information, multiple algorithms can separate tomographic bins reasonably well, reaching figures-of-merit scores close to the attainable maximum. We further find that adding the g band to riz photometry improves metric performance by ~15% and that the optimal bin assignment strategy depends strongly on the science case: which figure-of-merit is to be optimized, and which observables (clustering, lensing, or both) are included., Comment: 30 pages (incl. 12 in appendix), 12 figures. Version accepted for publication in the Open Journal of Astrophysics

In this paper, we focus on the problem of inferring the underlying reward function of an expert given demonstrations, which is often referred to as inverse reinforcement learning (IRL). In particular, we propose a model-free density-based IRL algorithm, named density matching reward learning (DMRL), which does not require model dynamics. The performance of DMRL is analyzed theoretically and the sample complexity is derived. Furthermore, the proposed DMRL is extended to handle nonlinear IRL problems by assuming that the reward function is in the reproducing kernel Hilbert space (RKHS) and kernel DMRL (KDMRL) is proposed. The parameters for KDMRL can be computed analytically, which greatly reduces the computation time. The performance of KDMRL is extensively evaluated in two sets of experiments: grid world and track driving experiments. In grid world experiments, the proposed KDMRL method is compared with both model-based and model-free IRL methods and shows superior performance on a nonlinear reward setting and competitive performance on a linear reward setting in terms of expected value differences. Then we move on to more realistic experiments of learning different driving styles for autonomous navigation in complex and dynamic tracks using KDMRL and receding horizon control., Comment: Submitted to Workshop on Algorithmic Foundations of Robotics (WAFR)