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Catalyzed by advancements in hardware and software, drone performances are increasingly making their mark in the entertainment industry. However, designing smooth and safe choreographies for drone swarms is complex and often requires expert domain knowledge. In this work, we introduce SwarmGPT-Primitive, a language-based choreographer that integrates the reasoning capabilities of large language models (LLMs) with safe motion planning to facilitate deployable drone swarm choreographies. The LLM composes choreographies for a given piece of music by utilizing a library of motion primitives; the language-based choreographer is augmented with an optimization-based safety filter, which certifies the choreography for real-world deployment by making minimal adjustments when feasibility and safety constraints are violated. The overall SwarmGPT-Primitive framework decouples choreographic design from safe motion planning, which allows non-expert users to re-prompt and refine compositions without concerns about compliance with constraints such as avoiding collisions or downwash effects or satisfying actuation limits. We demonstrate our approach through simulations and experiments with swarms of up to 20 drones performing choreographies designed based on various songs, highlighting the system's ability to generate effective and synchronized drone choreographies for real-world deployment., Comment: Submitted to ICRA 2025

Van der Waals (vdW) semiconductors have emerged as promising platforms for efficient nonlinear optical conversion, including harmonic and entangled photon generation. Although major efforts are devoted to integrating vdW materials in nanoscale waveguides for miniaturization, the realization of efficient, phase-matched conversion in these platforms remains challenging. To address this challenge, we develop a far-field ultrafast imaging method to track the propagation of both fundamental and harmonic waves within vdW waveguides with extreme spatiotemporal resolution. Our approach allows systematic optimization of nonlinear conversion by determining the phase-matching angles, mode profiles, and losses in waveguides without a priori knowledge of material properties. We focus on light propagation in slab waveguides of rhombohedral-stacked MoS2, an emerging vdW semiconductor with giant nonlinear susceptibility. Our results reveal that these waveguides support birefringent phase-matching, demonstrating the material's potential for efficient on-chip nonlinear optics. This work establishes spatiotemporal imaging of light propagation in waveguides as an incisive and general method to identify new materials and architectures for efficient nonlinear nanophotonics.

Quiet-Sun regions cover most of the Sun's surface; its magnetic fields contribute significantly to the solar chromospheric and coronal heating. However, characterizing the magnetic fields of the quiet Sun is challenging due to their weak polarization signal. The 4-m \textit{Daniel K. Inouye Solar Telescope} (\textit{DKIST}) is expected to improve our understanding of the quiet-Sun magnetism. In this paper, we assess the diagnostic capability of the Diffraction-Limited Near Infrared Spectropolarimeter (DL-NIRSP) instrument on \textit{DKIST} on the energy transport processes in the quiet-Sun photosphere. To this end, we synthesize high-resolution, high-cadence Stokes profiles of the \ion{Fe}{1} 630~nm lines using a realistic magnetohydrodynamic simulation, degrade them to emulate the \textit{DKIST}/DL-NIRSP observations, and subsequently infer the vector magnetic and velocity fields. For the assessment, we first verify that a widely used flow-tracking algorithm, Differential Affine Velocity Estimator for Vector Magnetograms, works well for estimating the large-scale ($> 200$ km) photospheric velocity fields with these high-resolution data. We then examine how the accuracy of inferred velocity depends on the temporal resolution. Finally, we investigate the reliability of the Poynting flux estimate and its dependence on the model assumptions. The results suggest that the unsigned Poynting flux, estimated with existing schemes, can account for about $71.4\%$ and $52.6\%$ of the reference ground truth at $\log \tau =0.0$ and $\log \tau = -1$. However, the net Poynting flux tends to be significantly underestimated. The error mainly arises from the underestimated contribution of the horizontal motion. We discuss the implications on \textit{DKIST} observations., Comment: 29 pages, 22 figures. Accepted for publication in ApJ

Intense electromagnetic fields can result in dramatic changes in the electronic properties of solids. These changes are commonly studied using optical probes of the modified electronic structure. Here we use optical-scanning tunneling microscopy (optical-STM) equipped with near-field continuous wave (CW) laser excitation to directly measure the electronic structure of light-dressed states in a monolayer transition metal dichalcogenide (TMD) semiconductor, WSe2. We find that the effective tunneling gap and tunneling density of states are strongly influenced by the intensity of the electromagnetic field when the applied field is resonant with the bandgap of the semiconductor. Our findings indicate that CW laser excitation can be used to generate light-dressed electronic states of quantum materials when confined strongly to the nanoscale.

The ability to resolve photon numbers is crucial in quantum information science and technology, driving the development of detectors with intrinsic photon-number resolving (PNR) capabilities. Although transition edge sensors represent the state-of-the-art in PNR performance, superconducting nanowire single-photon detectors (SNSPDs) offer superior efficiency, speed, noise reduction, and timing precision. Directly inferring photon numbers, however, has only recently become feasible due to advances in readout technology. Despite this, photon-number discrimination remains constrained by the nanowire's electrical properties and readout jitter. In this work, we employ waveguide-integrated SNSPDs and time-resolved measurements to explore how the nanowire kinetic inductance and system jitter affect PNR capabilities. By analyzing the latency time of the photon detection, we can resolve changes in the rising edge of the detection pulse. We find that lower jitter as well as increased kinetic inductance enhances the pulse separation for different photon numbers and improves the PNR capability. Enhancing the kinetic inductance from 165 nH to 872 nH improves PNR quality by 12%, 31% and 23% over the first three photon numbers, though at the cost of reducing the detector's count rate from 165 Mcps to 19 Mcps. Our findings highlight the trade-off between PNR resolution and detector speed., Comment: 21 pages, 7 figures

Handling orientations of robots and objects is a crucial aspect of many applications. Yet, ever so often, there is a lack of mathematical correctness when dealing with orientations, especially in learning pipelines involving, for example, artificial neural networks. In this paper, we investigate reinforcement learning with orientations and propose a simple modification of the network's input and output that adheres to the Lie group structure of orientations. As a result, we obtain an easy and efficient implementation that is directly usable with existing learning libraries and achieves significantly better performance than other common orientation representations. We briefly introduce Lie theory specifically for orientations in robotics to motivate and outline our approach. Subsequently, a thorough empirical evaluation of different combinations of orientation representations for states and actions demonstrates the superior performance of our proposed approach in different scenarios, including: direct orientation control, end effector orientation control, and pick-and-place tasks., Comment: Submitted to ICRA 2025

This research explores the enhancement of lunar landing precision through an advanced structured light system, integrating machine learning, Iterative Learning Control (ILC) and Structured Illumination Microscopy (SIM) techniques. By employing Moire fringe patterns for high-precision scanning maneuvers, the study addresses the limitations of conventional structured light systems. A nonlinear mathematical optimization model is developed to refine the world model, optimizing oscillation frequency and amplitude to improve resolution. The findings suggest that this approach can double the conventional resolution, promising significant advancements in the accuracy of lunar landings, with potential real-time application., Comment: 5 pages, 1 figure

The field of single-cell biology is growing rapidly and is generating large amounts of data from a variety of species, disease conditions, tissues, and organs. Coordinated efforts such as CZI CELLxGENE, HuBMAP, Broad Institute Single Cell Portal, and DISCO, allow researchers to access large volumes of curated datasets. Although the majority of the data is from scRNAseq experiments, a wide range of other modalities are represented as well. These resources have created an opportunity to build and expand the computational biology ecosystem to develop tools necessary for data reuse, and for extracting novel biological insights. Here, we highlight achievements made so far, areas where further development is needed, and specific challenges that need to be overcome.

Graphene is a privileged 2D platform for hosting confined light-matter excitations known as surface plasmon-polaritons (SPPs), as it possesses low intrinsic losses with a high degree of optical confinement. However, the inherently isotropic optical properties of graphene limit its ability to guide and focus SPPs, making it less suitable than anisotropic elliptical and hyperbolic materials as a platform for polaritonic lensing and canalization. Here, we present the graphene/CrSBr heterostructure as an engineered 2D interface that hosts highly anisotropic SPP propagation over a wide range of frequencies in the mid-infrared and terahertz. Using a combination of scanning tunneling microscopy (STM), scattering-type scanning near-field optical microscopy (s-SNOM), and first-principles calculations, we demonstrate mutual doping in excess of 10$^{13}$ cm$^{-2}$ holes/electrons between the interfacial layers of graphene/CrSBr heterostructures. SPPs in graphene activated by charge transfer interact with charge-induced anisotropic intra- and interband transitions in the interfacial doped CrSBr, leading to preferential SPP propagation along the quasi-1D chains that compose each CrSBr layer. This multifaceted proximity effect both creates SPPs and endows them with anisotropic transport and propagation lengths that differ by an order-of-magnitude between the two in-plane crystallographic axes of CrSBr.

Dynamic critical fluctuations in magnetic materials encode important information about magnetic ordering in the associated critical exponents. Using nitrogen-vacancy centers in diamond, we implement $T_2$ (spin-decoherence) noise magnetometry to study critical dynamics in a 2D Van der Waals magnet CrSBr. By analyzing NV decoherence on time scales approaching the characteristic correlation time $\tau_c$ of critical fluctuations, we extract the critical exponent $\nu$ for the correlation length. Our result deviates from the Ising prediction and highlights the role of long-range dipolar interactions in 2D CrSBr. Furthermore, analyzing the divergence of the correlation length suggests the possibility of 2D-XY criticality in CrSBr in a temperature window near $T_C$ where static magnetic domains are absent. Our work provides a first demonstration of $T_2$ noise magnetometry to quantitatively analyze critical scaling behavior in 2D materials., Comment: 19 pages main text, 4 main text figures, 26 pages Supplementary Materials, 13 Supplementary figures

In addition to a plethora of emergent phenomena, the spatial topology of optical vortices enables an array of applications spanning communications to quantum photonics. Nonlinear optics is essential in this context, providing access to an infinitely large set of quantum states associated with the orbital angular momentum of light. Nevertheless, the realization of such processes have failed to keep pace with the ever-growing need to shrink the fundamental length-scale of photonic technologies to the nanometer regime6. Here, we push the boundaries of vortex nonlinear optics to the ultimate limits of material dimensionality. By exploiting second and third-order frequency-mixing processes in semiconducting monolayers, we demonstrate the independent manipulation of the wavelength, orbital angular momentum, and spatial distribution of vortex light-fields. Due to the atomically-thin nature of the host quantum material, this control spans a broad spectral bandwidth in a highly-integrable platform, unconstrained by the traditional limits of bulk nonlinear optical materials. Our work heralds a new avenue for ultra-compact and scalable hybrid nanotechnologies empowered by twisted nonlinear light-matter interactions in van der Waals quantum nanomaterials.

Mechanical force is an essential feature for many physical and biological processes.1-12 Remote measurement of mechanical signals with high sensitivity and spatial resolution is needed for diverse applications, including robotics,13 biophysics,14-20 energy storage,21-24 and medicine.25-27 Nanoscale luminescent force sensors excel at measuring piconewton forces,28-32 while larger sensors have proven powerful in probing micronewton forces.33,34 However, large gaps remain in the force magnitudes that can be probed remotely from subsurface or interfacial sites, and no individual, non-invasive sensor is capable of measuring over the large dynamic range needed to understand many systems.35,36 Here, we demonstrate Tm3+-doped avalanching nanoparticle37 force sensors that can be addressed remotely by deeply penetrating near-infrared (NIR) light and can detect piconewton to micronewton forces with a dynamic range spanning more than four orders of magnitude. Using atomic force microscopy coupled with single-nanoparticle optical spectroscopy, we characterize the mechanical sensitivity of the photon avalanching process and reveal its exceptional force responsiveness. By manipulating the Tm3+ concentrations and energy transfer within the nanosensors, we demonstrate different optical force-sensing modalities, including mechanobrightening and mechanochromism. The adaptability of these nanoscale optical force sensors, along with their multiscale sensing capability, enable operation in the dynamic and versatile environments present in real-world, complex structures spanning biological organisms to nanoelectromechanical systems (NEMS).

Magnetic resonance imaging (MRI) is the standard modality to understand human brain structure and function in vivo (antemortem). Decades of research in human neuroimaging has led to the widespread development of methods and tools to provide automated volume-based segmentations and surface-based parcellations which help localize brain functions to specialized anatomical regions. Recently ex vivo (postmortem) imaging of the brain has opened-up avenues to study brain structure at sub-millimeter ultra high-resolution revealing details not possible to observe with in vivo MRI. Unfortunately, there has been limited methodological development in ex vivo MRI primarily due to lack of datasets and limited centers with such imaging resources. Therefore, in this work, we present one-of-its-kind dataset of 82 ex vivo T2w whole brain hemispheres MRI at 0.3 mm isotropic resolution spanning Alzheimer's disease and related dementias. We adapted and developed a fast and easy-to-use automated surface-based pipeline to parcellate, for the first time, ultra high-resolution ex vivo brain tissue at the native subject space resolution using the Desikan-Killiany-Tourville (DKT) brain atlas. This allows us to perform vertex-wise analysis in the template space and thereby link morphometry measures with pathology measurements derived from histology. We will open-source our dataset docker container, Jupyter notebooks for ready-to-use out-of-the-box set of tools and command line options to advance ex vivo MRI clinical brain imaging research on the project webpage.

Optically bistable materials respond to a single input with two possible optical outputs, contingent upon excitation history. Such materials would be ideal for optical switching and memory, yet limited understanding of intrinsic optical bistability (IOB) prevents development of nanoscale IOB materials suitable for devices. Here, we demonstrate IOB in Nd3+-doped KPb2Cl5 avalanching nanoparticles (ANPs), which switch with high contrast between luminescent and non-luminescent states, with hysteresis characteristic of bistability. We elucidate a nonthermal mechanism in which IOB originates from suppressed nonradiative relaxation in Nd3+ ions and from the positive feedback of photon avalanching, resulting in extreme, >200th-order optical nonlinearities. Modulation of laser pulsing tunes hysteresis widths, and dual-laser excitation enables transistor-like optical switching. This control over nanoscale IOB establishes ANPs for photonic devices in which light is used to manipulate light.

Nonlinear optics lies at the heart of classical and quantum light generation. The invention of periodic poling revolutionized nonlinear optics and its commercial applications by enabling robust quasi-phase-matching in crystals such as lithium niobate. However, reaching useful frequency conversion efficiencies requires macroscopic dimensions, limiting further technology development and integration. Here we realize a periodically poled van der Waals semiconductor (3R-MoS$_2$). Due to its exceptional nonlinearity, we achieve macroscopic frequency conversion efficiency over a microscopic thickness of only 1.2${\mu}$m, $10-100\times$ thinner than current systems with similar performances. Due to unique intrinsic cavity effects, the thickness-dependent quasi-phase-matched second harmonic signal surpasses the usual quadratic enhancement by $50\%$. Further, we report the broadband generation of photon pairs at telecom wavelengths via quasi-phase-matched spontaneous parametric down-conversion. This work opens the new and unexplored field of phase-matched nonlinear optics with microscopic van der Waals crystals, unlocking applications that require simple, ultra-compact technologies such as on-chip entangled photon-pair sources for integrated quantum circuitry and sensing.

The advancement of quantum photonic technologies relies on the ability to precisely control the degrees of freedom of optically active states. Here, we realize real-time, room-temperature tunable strong plasmon-exciton coupling in 2D semiconductor monolayers enabled by a general approach that combines strain engineering plus force- and voltage-adjustable plasmonic nanocavities. We show that the exciton energy and nanocavity plasmon resonance can be controllably toggled in concert by applying pressure with a plasmonic nanoprobe, allowing in operando control of detuning and coupling strength, with observed Rabi splittings >100 meV. Leveraging correlated force spectroscopy, nano-photoluminescence (nano-PL) and nano-Raman measurements, augmented with electromagnetic simulations, we identify distinct polariton bands and dark polariton states, and map their evolution as a function of nanogap and strain tuning. Uniquely, the system allows for manipulation of coupling strength over a range of cavity parameters without dramatically altering the detuning. Further, we establish that the tunable strong coupling is robust under multiple pressing cycles and repeated experiments over multiple nanobubbles. Finally, we show that the nanogap size can be directly modulated via an applied DC voltage between the substrate and plasmonic tip, highlighting the inherent nature of the concept as a plexcitonic nano-electro-mechanical system (NEMS). Our work demonstrates the potential to precisely control and tailor plexciton states localized in monolayer (1L) transition metal dichalcogenides (TMDs), paving the way for on-chip polariton-based nanophotonic applications spanning quantum information processing to photochemistry., Comment: 17 pages, 4 figures

We develop a general description of how information propagates through a magnetohydrodynamic (MHD) system based on the method of characteristics and use that to formulate numerical boundary conditions (BCs) that are intrinsically consistent with the MHD equations. Our formulation includes two major advances for simulations of the Sun. First, we derive data-driven BCs that optimally match the state of the plasma inferred from a time series of observations of a boundary (e.g., the solar photosphere). Second, our method directly handles random noise and systematic bias in the observations, and finds a solution for the boundary evolution that is strictly consistent with MHD and maximally consistent with the observations. We validate the method against a Ground Truth (GT) simulation of an expanding spheromak. The data-driven simulation can reproduce the GT simulation above the photosphere with high fidelity when driven at high cadence. Errors progressively increase for lower driving cadence until a threshold cadence is reached and the driven simulation can no longer accurately reproduce the GT simulation. However, our characteristic formulation of the BCs still requires adherence of the boundary evolution to the MHD equations even when the driven solution departs from the true solution in the driving layer. That increasing departure clearly indicates when additional information at the boundary is needed to fully specify the correct evolution of the system. The method functions even when no information about the evolution of some variables on the lower boundary is available, albeit with a further decrease in fidelity., Comment: Submitted for publication to the Astrophysical Journal; 77 pages, 12 figures

Europium intermetallic compounds show a variety of different ground states and anomalous physical properties due to the interactions between the localized 4f electrons and the delocalized electronic states. Europium is also the most reactive of the rare earth metals which might be the reason why very few works are concerned with the properties of Eu-based thin films. Here we address the low-temperature magnetic properties of ferromagnetic EuPd$_2$ thin films prepared by molecular beam epitaxy. The epitaxial (111)-oriented thin films grow on MgO (100) with eight different domain orientations. We analyze the low-temperature magnetic hysteresis behavior by means of micromagnetic simulations taking the multi-domain morphology explicitly into account and quantify the magnetic crystal anisotropy contribution. By ab initio calculations we trace back the microscopic origin of the magnetic anisotropy to thin film-induced biaxial strain.