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Robots today can exploit the rich world knowledge of large language models to chain simple behavioral skills into long-horizon tasks. However, robots often get interrupted during long-horizon tasks due to primitive skill failures and dynamic environments. We propose VADER, a plan, execute, detect framework with seeking help as a new skill that enables robots to recover and complete long-horizon tasks with the help of humans or other robots. VADER leverages visual question answering (VQA) modules to detect visual affordances and recognize execution errors. It then generates prompts for a language model planner (LMP) which decides when to seek help from another robot or human to recover from errors in long-horizon task execution. We show the effectiveness of VADER with two long-horizon robotic tasks. Our pilot study showed that VADER is capable of performing complex long-horizon tasks by asking for help from another robot to clear a table. Our user study showed that VADER is capable of performing complex long-horizon tasks by asking for help from a human to clear a path. We gathered feedback from people (N=19) about the performance of the VADER performance vs. a robot that did not ask for help. https://google-vader.github.io/, Comment: 9 pages, 4 figures

While low-luminosity galaxies dominate number counts at all redshifts, their contribution to cosmic Reionization is poorly understood due to a lack of knowledge of their physical properties. We isolate a sample of 35 z~4-5 continuum-faint Lyman-alpha emitters from deep VLT/MUSE spectroscopy and directly measure their Halpha emission using stacked Spitzer/IRAC Ch. 1 photometry. Based on Hubble Space Telescope imaging, we determine that the average UV continuum magnitude is fainter than -16 (~0.01 L_star), implying a median Lyman-alpha equivalent width of 249 Angstroms. By combining the Halpha measurement with the UV magnitude we determine the ionizing photon production efficiency, xi_ion, a first for such faint galaxies. The measurement of log (xi_ion [Hz/erg]) = 26.28 (+0.28; -0.40) is in excess of literature measurements of both continuum- and emission line-selected samples, implying a more efficient production of ionizing photons in these lower-luminosity, Lyman-alpha-selected systems. We conclude that this elevated efficiency can be explained by stellar populations with metallicities between 4e-4 and 0.008, with light-weighted ages less than 3 Myr., Comment: 12 Pages, 6 Figures; Accepted for publication in MNRAS

Extensive surveys with the \textit{Hubble Space Telescope} (HST) over the past decade, targeting some of the most massive clusters in the sky, have uncovered dozens of galaxy-cluster strong lenses. The massive cluster strong-lens scale is typically $\theta_{E}\sim10\arcsec$ to $\sim30-35\arcsec$, with only a handful of clusters known with Einstein radii $\theta_{E}\sim40\arcsec$ or above (for $z_{source}=2$, nominally). Here we report another very large cluster lens, RXC J0032.1+1808 ($z=0.3956$), the second richest cluster in the redMapper cluster catalog and the 85th most massive cluster in the Planck Sunyaev-Zel'dovich catalog. With our Light-Traces-Mass and fully parametric (dPIEeNFW) approaches, we construct strong lensing models based on 18 multiple images of 5 background galaxies newly identified in the \textit{Hubble} data mainly from the \textit{Reionization Lensing Cluster Survey} (RELICS), in addition to a known sextuply imaged system in this cluster. Furthermore, we compare these models to Lenstool and GLAFIC models that were produced independently as part of the RELICS program. All models reveal a large effective Einstein radius of $\theta_{E}\simeq40\arcsec$ ($z_{source}=2$), owing to the obvious concentration of substructures near the cluster center. Although RXC J0032.1+1808 has a very large critical area and high lensing strength, only three magnified high-redshift candidates are found within the field targeted by RELICS. Nevertheless, we expect many more high-redshift candidates will be seen in wider and deeper observations with \textit{Hubble} or \emph{JWST}. Finally, the comparison between several algorithms demonstrates that the total error budget is largely dominated by systematic uncertainties., Comment: 23 pages, accepted for publication in ApJ

I propose a new approach to free-form cluster lens modeling that is inspired by the JPEG image compression method. This approach is motivated specifically by the need for accurate modeling of high-magnification regions in galaxy clusters. Existing modeling methods may struggle in these regions due to their limited flexibility in the parametrization of the lens, even for a wide variety of free-form methods. This limitation especially hinders the characterization of faint galaxies at high redshifts, which have important implications for the formation of the first galaxies and even for the nature of dark matter. JPEG images are extremely accurate representations of their original, uncompressed counterparts but use only a fraction of number of parameters to represent that information. Its relevance is immediately obvious to cluster lens modeling. Using this technique, it is possible to construct flexible models that are capable of accurately reproducing the true mass distribution using only a small number of free parameters. Transferring this well-proven technology to cluster lens modeling, I demonstrate that this `JPEG parametrization' is indeed flexible enough to accurately approximate an N-body simulated cluster., Comment: 7 pages, 3 figures, submitted to PASP

We take advantage of new 100-hour Spitzer/IRAC observations available for MACS0647-JD, a strongly lensed $z\approx11$ galaxy candidate, to provide improved constraints on its physical properties. Probing the physical properties of galaxies at $z>8$ is challenging due to the inherent faintness of such sources and the limited wavelength coverage available. Thanks to the high $\approx$2-6$\times$ lensing magnification of the multiple images of MACS0647-JD, we can use the sensitive Spitzer/IRAC data to probe the rest-frame optical fluxes of MACS0647-JD and investigate its physical properties including the age and the stellar mass. In deriving Spitzer/IRAC fluxes for MACS0647-JD, great care is taken in coping with the impact of three bright ($\approx$8-16 mag) stars in our field to ensure robust results. Assuming a constant star formation rate, the age, stellar mass, and rest-frame UV slope we estimate for MACS0647-JD based on a stack of the photometry are log$_{10}$(age/yr) = 8.6$^{+0.1}_{-2.1}$, log$_{10}$(M$_{*}$/M$_{\odot}$) = 9.1$^{+0.2}_{-1.4}$, and $\beta = -$1.3$\pm$0.6, respectively. We compare our results with expectations from the EAGLE simulation and find that MACS0647-JD has properties consistent with corresponding to the most massive and rapidly star-forming galaxies in the simulation. We also find that its radius, 105$\pm$28 pc, is a factor of $\approx$2 smaller than the mean size in a separate simulation project DRAGONS. Interestingly enough, the observed size is similar to the small sizes seen in very low-luminosity $z\approx$6-10 galaxies behind lensing clusters., Comment: Submitted to ApJ

Large surveys of galaxy clusters with the Hubble and Spitzer Space Telescopes, including CLASH and the Frontier Fields, have demonstrated the power of strong gravitational lensing to efficiently deliver large samples of high-redshift galaxies. We extend this strategy through a wider, shallower survey named RELICS, the Reionization Lensing Cluster Survey. This survey, described here, was designed primarily to deliver the best and brightest high-redshift candidates from the first billion years after the Big Bang. RELICS observed 41 massive galaxy clusters with Hubble and Spitzer at 0.4-1.7um and 3.0-5.0um, respectively. We selected 21 clusters based on Planck PSZ2 mass estimates and the other 20 based on observed or inferred lensing strength. Our 188-orbit Hubble Treasury Program obtained the first high-resolution near-infrared images of these clusters to efficiently search for lensed high-redshift galaxies. We observed 46 WFC3/IR pointings (~200 arcmin^2) with two orbits divided among four filters (F105W, F125W, F140W, and F160W) and ACS imaging as needed to achieve single-orbit depth in each of three filters (F435W, F606W, and F814W). As previously reported by Salmon et al., we discovered 322 z ~ 6 - 10 candidates, including the brightest known at z ~ 6, and the most distant spatially-resolved lensed arc known at z ~ 10. Spitzer IRAC imaging (945 hours awarded, plus 100 archival) has crucially enabled us to distinguish z ~ 10 candidates from z ~ 2 interlopers. For each cluster, two HST observing epochs were staggered by about a month, enabling us to discover 11 supernovae, including 3 lensed supernovae, which we followed up with 20 orbits from our program. We delivered reduced HST images and catalogs of all clusters to the public via MAST and reduced Spitzer images via IRSA. We have also begun delivering lens models of all clusters, to be completed before the JWST GO call for proposals., Comment: 29 pages, 6 figures, submitted to ApJ. For reduced images, catalogs, lens models, and more, see relics.stsci.edu

We present the first measurements of the Lyman-continuum photon production efficiency $\xi_{\textrm{ion,0}}$ at $z\sim4$-5 for galaxies fainter than 0.2 $L^*$ ($-$19 mag). $\xi_{\textrm{ion,0}}$ quantifies the production rate of ionizing photons with respect to the UV luminosity density assuming a fiducial escape fraction of zero. Extending previous measurements of $\xi_{\textrm{ion,0}}$ to the faint population is important, as ultra-faint galaxies are expected to contribute the bulk of the ionizing emissivity. We probe $\xi_{\textrm{ion,0}}$ to such faint magnitudes by taking advantage of 200-hour depth Spitzer/IRAC observations from the GREATS program and $\approx$300 3<$z$<6 galaxies with spectroscopic redshifts from the MUSE GTO Deep + Wide programs. Stacked IRAC [3.6]$-$[4.5] colors are derived and used to infer the H$\alpha$ rest-frame equivalent widths, which range from 403\r{A} to 2818\r{A}. The derived $\xi_{\textrm{ion,0}}$ is $\log_{10}(\xi_{\textrm{ion,0}} / \textrm{Hz erg}^{-1}) = 25.36 \pm 0.08$ over $-$20.5 < M$_{\textrm{UV}}$ < $-$17.5, similar to those derived for brighter galaxy samples at the same redshift and therefore suggesting that $\xi_{\textrm{ion}}$ shows no strong dependence on $M_{UV}$. The $\xi_{\textrm{ion,0}}$ values found in our sample imply that the Lyman-continuum escape fraction for $M_{\textrm{UV}} \approx -19$ star-forming galaxies cannot exceed $\approx$8-20\% in the reionization era., Comment: Published by A&A

Strong gravitational lensing (SL) is a powerful means to map the distribution of dark matter. In this work, we perform a SL analysis of the prominent X-ray cluster RXJ0152.7-1357 (z=0.83, also known as CL 0152.7-1357) in \textit{Hubble Space Telescope} images, taken in the framework of the Reionization Lensing Cluster Survey (RELICS). On top of a previously known $z=3.93$ galaxy multiply imaged by RXJ0152.7-1357, for which we identify an additional multiple image, guided by a light-traces-mass approach we identify seven new sets of multiply imaged background sources lensed by this cluster, spanning the redshift range [1.79-3.93]. A total of 25 multiple images are seen over a small area of ~0.4 $arcmin^2$, allowing us to put relatively high-resolution constraints on the inner matter distribution. Although modestly massive, the high degree of substructure together with its very elongated shape make RXJ0152.7-1357 a very efficient lens for its size. This cluster also comprises the third-largest sample of z~6-7 candidates in the RELICS survey. Finally, we present a comparison of our resulting mass distribution and magnification estimates with those from a Lenstool model. These models are made publicly available through the MAST archive., Comment: 15 Pages, 7 Figures, 4 Tables Accepted for publication in ApJ

We present a lens model for the cluster SPT-CLJ0615$-$5746, which is the highest redshift ($z=0.972$) system in the Reionization of Lensing Clusters Survey (RELICS), making it the highest redshift cluster for which a full strong lens model is published. We identify three systems of multiply-imaged lensed galaxies, two of which we spectroscopically confirm at $z=1.358$ and $z=4.013$, which we use as constraints for the model. We find a foreground structure at $z\sim0.4$, which we include as a second cluster-sized halo in one of our models; however two different statistical tests find the best-fit model consists of one cluster-sized halo combined with three individually optimized galaxy-sized halos, as well as contributions from the cluster galaxies themselves. We find the total projected mass density within $r=26.7"$ (the region where the strong lensing constraints exist) to be $M=2.51^{+0.15}_{-0.09}\times 10^{14}$~M$_{\odot}$. If we extrapolate out to $r_{500}$, our projected mass density is consistent with the mass inferred from weak lensing and from the Sunyaev-Zel'dovich effect ($M\sim10^{15}$~M$_{\odot}$). This cluster is lensing a previously reported $z\sim10$ galaxy, which, if spectroscopically confirmed, will be the highest-redshift strongly lensed galaxy known., Comment: 15 pages, 8 figures 4 tables. ApJ Accepted

We present a strong-lensing analysis of four massive galaxy clusters imaged with the Hubble Space Telescope in the Reionization Lensing Cluster Survey. We use a Light-Traces-Mass technique to uncover sets of multiply images and constrain the mass distribution of the clusters. These mass models are the first published for Abell S295 and MACS J0159.8-0849, and are improvements over previous models for Abell 697 and MACS J0025.4-1222. Our analysis for MACS J0025.4-1222 and Abell S295 shows a bimodal mass distribution supporting the merger scenarios proposed for these clusters. The updated model for MACS J0025.4-1222 suggests a substantially smaller critical area than previously estimated. For MACS J0159.8-0849 and Abell 697 we find a single peak and relatively regular morphology, revealing fairly relaxed clusters. Despite being less prominent lenses, three of these clusters seem to have lensing strengths, i.e. cumulative area above certain magnification, similar to the Hubble Frontier Fields clusters (e.g., A($\mu>5$) $\sim 1-3$ arcmin$^2$, A($\mu>10$) $\sim 0.5-1.5$ arcmin$^2$), which in part can be attributed to their merging configurations. We make our lens models publicly available through the Mikulski Archive for Space Telescopes. Finally, using Gemini-N/GMOS spectroscopic observations we detect a single emission line from a high-redshift $J_{125}\simeq25.7$ galaxy candidate lensed by Abell 697. While we cannot rule out a lower-redshift solution, we interpret the line as Ly$\alpha$ at $z=5.800\pm 0.001$, in agreement with its photometric redshift and dropout nature. Within this scenario we measure a Ly$\alpha$ rest-frame equivalent width of $52\pm22$ \AA, and an observed Gaussian width of $117\pm 15$ km/s., Comment: 23 pages, 16 figures; V2, accepted for publication in ApJ

Strong gravitational lensing by galaxy clusters has become a powerful tool for probing the high-redshift Universe, magnifying distant and faint background galaxies. Reliable strong lensing (SL) models are crucial for determining the intrinsic properties of distant, magnified sources and for constructing their luminosity function. We present here the first SL analysis of MACS J0308.9+2645 and PLCK G171.9-40.7, two massive galaxy clusters imaged with the Hubble Space Telescope in the framework of the Reionization Lensing Cluster Survey (RELICS). We use the Light-Traces-Mass modeling technique to uncover sets of multiply imaged galaxies and constrain the mass distribution of the clusters. Our SL analysis reveals that both clusters have particularly large Einstein radii ($\theta_E>30"$ for a source redshift of $z_s=2$), providing fairly large areas with high magnifications, useful for high-redshift galaxy searches ($\sim2$ arcmin$^{2}$ with $\mu>5$ to $\sim1$ arcmin$^{2}$ with $\mu>10$, similar to a typical \textit{Hubble Frontier Fields} cluster). We also find that MACS J0308.9+2645 hosts a promising, apparently bright (J$\sim23.2-24.6$ AB), multiply imaged high-redshift candidate at $z\sim6.4$. These images are amongst the brightest high-redshift candidates found in RELICS. Our mass models, including magnification maps, are made publicly available for the community through the Mikulski Archive for Space Telescopes., Comment: 14 pages, 6 figures, 4 tables, accepted for publication in ApJ

Strong gravitational lensing by galaxy clusters magnifies background galaxies, enhancing our ability to discover statistically significant samples of galaxies at z>6, in order to constrain the high-redshift galaxy luminosity functions. Here, we present the first five lens models out of the Reionization Lensing Cluster Survey (RELICS) Hubble Treasury Program, based on new HST WFC3/IR and ACS imaging of the clusters RXC J0142.9+4438, Abell 2537, Abell 2163, RXC J2211.7-0349, and ACT-CLJ0102-49151. The derived lensing magnification is essential for estimating the intrinsic properties of high-redshift galaxy candidates, and properly accounting for the survey volume. We report on new spectroscopic redshifts of multiply imaged lensed galaxies behind these clusters, which are used as constraints, and detail our strategy to reduce systematic uncertainties due to lack of spectroscopic information. In addition, we quantify the uncertainty on the lensing magnification due to statistical and systematic errors related to the lens modeling process, and find that in all but one cluster, the magnification is constrained to better than 20% in at least 80% of the field of view, including statistical and systematic uncertainties. The five clusters presented in this paper span the range of masses and redshifts of the clusters in the RELICS program. We find that they exhibit similar strong lensing efficiencies to the clusters targeted by the Hubble Frontier Fields within the WFC3/IR field of view. Outputs of the lens models are made available to the community through the Mikulski Archive for Space Telescopes, Comment: Accepted to ApJ

Massive foreground galaxy clusters magnify and distort the light of objects behind them, permitting a view into both the extremely distant and intrinsically faint galaxy populations. We present here the z ~ 6 - 8 candidate high-redshift galaxies from the Reionization Lensing Cluster Survey (RELICS), a Hubble and Spitzer Space Telescope survey of 41 massive galaxy clusters spanning an area of ~200 arcmin^2. These clusters were selected to be excellent lenses and we find similar high-redshift sample sizes and magnitude distributions as CLASH. We discover 321 candidate galaxies with photometric redshifts between z ~ 6 to z ~ 8, including extremely bright objects with H-band magnitudes of m_AB ~ 23 mag. As a sample, the observed (lensed) magnitudes of these galaxies are among the brightest known at z> 6, comparable to much wider, blank-field surveys. RELICS demonstrates the efficiency of using strong gravitational lenses to produce high-redshift samples in the epoch of reionization. These brightly observed galaxies are excellent targets for follow-up study with current and future observatories, including the James Webb Space Telescope., Comment: 20 pages, 15 figures, submitted to ApJ. v2 edit to Table 1

We derive a free-form mass distribution for the unrelaxed cluster A370 (z=0.375), using the latest Hubble Frontier Fields images and GLASS spectroscopy. Starting from a reliable set of 10 multiply lensed systems we produce a free-form lens model that identifies ~ 80 multiple-images. Good consistency is found between models using independent subsamples of these lensed systems, with detailed agreement for the well resolved arcs. The mass distribution has two very similar concentrations centred on the two prominent Brightest Cluster Galaxies (or BCGs), with mass profiles that are accurately constrained by a uniquely useful system of long radially lensed images centred on both BCGs. We show that the lensing mass profiles of these BCGs are mainly accounted for by their stellar mass profiles, with a modest contribution from dark matter within r<100 kpc of each BCG. This conclusion may favour a cooled cluster gas origin for BCGs, rather than via mergers of normal galaxies for which dark matter should dominate over stars. Growth via merging between BCGs is, however, consistent with this finding, so that stars still dominate over dark matter ., Comment: 19 pages, 11 figures. Submitted to MNRAS

We derive a free-form mass distribution for the massive cluster AS1063 (z=0.348) using the completed optical imaging from the Hubble Frontier Fields programme. Based on a subset of 11 multiply lensed systems with spectroscopic redshift we produce a lens model that is accurate enough to unveil new multiply lensed systems, totalling over a 100 arclets, and to estimate their redshifts geometrically. Consistency is found between this precise model and that obtained using only the subset of lensed sources with spectroscopically measured redshifts. Although a relatively large elongation of the mass distribution is apparent relative to the X-ray map, no significant offset is found between the centroid of our mass distribution and that of the X-ray emission map, suggesting a relatively relaxed state for this cluster. For the well resolved lensed images we provide detailed model comparisons to illustrate the precision of our model and hence the reliability of our de-lensed sources. A clear linear structure is associated with one such source extending approx. 23 kpc in length, that could be an example of jet-induced star formation, at redshift z=3.1., Comment: Missing references added. Matches submitted version. 15 pages, 9 figures. Support material can be found at http://www.ifca.unican.es/users/jdiego/AS1063

SN HFF14Tom is a Type Ia Supernova (SN) discovered at z = 1.3457 +- 0.0001 behind the galaxy cluster Abell 2744 (z = 0.308). In a cosmology-independent analysis, we find that HFF14Tom is 0.77 +- 0.15 magnitudes brighter than unlensed Type Ia SNe at similar redshift, implying a lensing magnification of mu_obs = 2.03 +- 0.29. This observed magnification provides a rare opportunity for a direct empirical test of galaxy cluster lens models. Here we test 17 lens models, 13 of which were generated before the SN magnification was known, qualifying as pure "blind tests". The models are collectively fairly accurate: 8 of the models deliver median magnifications that are consistent with the measured mu to within 1-sigma. However, there is a subtle systematic bias: the significant disagreements all involve models overpredicting the magnification. We evaluate possible causes for this mild bias, and find no single physical or methodological explanation to account for it. We do find that model accuracy can be improved to some extent with stringent quality cuts on multiply-imaged systems, such as requiring that a large fraction have spectroscopic redshifts. In addition to testing model accuracies as we have done here, Type Ia SN magnifications could also be used as inputs for future lens models of Abell 2744 and other clusters, providing valuable constraints in regions where traditional strong- and weak-lensing information is unavailable., Comment: 21 pages, 8 figures, accepted to ApJ

The massive cluster MACSJ1149.5+2223(z=0.544) displays five very large lensed images of a well resolved spiral galaxy at $z_{\rm spect}=1.491$. It is within one of these images that the first example of a multiply-lensed supernova has been detected recently as part of the Grism Lens-Amplified Survey from Space. The depth of this data also reveals many HII regions within the lensed spiral galaxy which we identify between the five counter-images. Here we expand the capability of our free-form method to incorporate these HII regions locally, with other reliable lensed galaxies added for a global solution. This improved accuracy allows us to estimate when the Refsdal supernova will appear within the other lensed images of the spiral galaxy to an accuracy of $\sim$ 7\%. We predict this supernova will reappear in one of the counter-images (RA=11:49:36.025, DEC=+22:23:48.11, J2000) and on November 1$^{st}$ 2015 (with an estimated error of $\pm$ 25 days) it will be at the same phase as it was when it was originally discovered, offering a unique opportunity to study the early phases of this supernova and to examine the consistency of the mass model and the cosmological model that have an impact on the time delay prediction., Comment: 12 images, 11 pages. Mateches accepted version in MNRAS. MNRAS in press