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We compare multiple foreground-cleaning pipelines for estimating the tensor-to-scalar ratio, $r$, using simulated maps of the planned CMB-S4 experiment within the context of the South Pole Deep Patch. To evaluate robustness, we analyze bias and uncertainty on $r$ across various foreground suites using map-based simulations. The foreground-cleaning methods include: a parametric maximum likelihood approach applied to auto- and cross-power spectra between frequency maps; a map-based parametric maximum-likelihood method; and a harmonic-space internal linear combination using frequency maps. We summarize the conceptual basis of each method to highlight their similarities and differences. To better probe the impact of foreground residuals, we implement an iterative internal delensing step, leveraging a map-based pipeline to generate a lensing $B$-mode template from the Large Aperture Telescope frequency maps. Our results show that the performance of the three approaches is comparable for simple and intermediate-complexity foregrounds, with $\sigma(r)$ ranging from 3 to 5 $\times 10^{-4}$. However, biases at the $1-2\sigma$ level appear when analyzing more complex forms of foreground emission. By extending the baseline pipelines to marginalize over foreground residuals, we demonstrate that contamination can be reduced to within statistical uncertainties, albeit with a pipeline-dependent impact on $\sigma(r)$, which translates to a detection significance between 2 and 4$\sigma$ for an input value of $r = 0.003$. These findings suggest varying levels of maturity among the tested pipelines, with the auto- and cross-spectra-based approach demonstrating the best stability and overall performance. Moreover, given the extremely low noise levels, mutual validation of independent foreground-cleaning pipelines is essential to ensure the robustness of any potential detection., Comment: 25 pages, 14 figures

By reducing variance induced by gravitational lensing, likelihood-based de-lensing techniques have true potential to extract significantly more information from deep and high-resolution Cosmic Microwave Background (CMB) data than traditional methods. We derive here optimal data compression statistics for the lensed CMB, and clarify the role of each term, demonstrating their direct analogs in the quadratic estimator (QE) framework. We discuss in this light pros and cons of practical implementations, including the MUSE approach, as used in the latest SPT-3G cosmological analysis, and give improvements. We discuss pathways for porting the large robustness and redundancy toolbox of the QE approach to beyond-QE with simple means., Comment: 9 pages, no figure!

Autonomous racing presents a complex environment requiring robust controllers capable of making rapid decisions under dynamic conditions. While traditional controllers based on tire models are reliable, they often demand extensive tuning or system identification. Reinforcement Learning (RL) methods offer significant potential due to their ability to learn directly from interaction, yet they typically suffer from the sim-to-real gap, where policies trained in simulation fail to perform effectively in the real world. In this paper, we propose RLPP, a residual RL framework that enhances a Pure Pursuit (PP) controller with an RL-based residual. This hybrid approach leverages the reliability and interpretability of PP while using RL to fine-tune the controller's performance in real-world scenarios. Extensive testing on the F1TENTH platform demonstrates that RLPP improves lap times of the baseline controllers by up to 6.37 %, closing the gap to the State-of-the-Art methods by more than 52 % and providing reliable performance in zero-shot real-world deployment, overcoming key challenges associated with the sim-to-real transfer and reducing the performance gap from simulation to reality by more than 8-fold when compared to the baseline RL controller. The RLPP framework is made available as an open-source tool, encouraging further exploration and advancement in autonomous racing research. The code is available at: www.github.com/forzaeth/rlpp., Comment: This paper has been accepted for publication at the IEEE International Conference on Robotics and Automation (ICRA), Atlanta 2025. The code is available at: www.github.com/forzaeth/rlpp

An excellent estimate of the lensing signal is expected from the availability of deep and high-resolution polarization data in the near future. This is most important to allow for efficient delensing, needed to detect the primordial B-mode power and with it the famous tensor-to-scalar ratio. Here we discuss in a joint manner estimators of the rotation of polarization, of the second order lensing field rotation, and standard gradient lensing reconstruction. All are most efficient when able to probe the EB power created locally, have comparable reconstruction noise in this regime, and can benefit substantially from delensing. We discuss several ongoing and planned CMB experiments. We determine their noise for lensing field rotation and polarization rotation and discuss their prospects for measuring these effects. There is an on-going controversy on whether the lensing field rotation also rotates the polarization -- if so this will be observed at high significance soon with already on going observations of the South Pole Telescope, SPT-3G, in cross-correlation with tracers of large scale structure, as we show in this paper., Comment: 20 pages, 8 figures, some appendices

Incorporating learning-based models, such as Gaussian processes (GPs), into model predictive control (MPC) strategies can significantly improve control performance and online adaptation capabilities for real-world applications. Still, despite recent advances in numerical optimization and real-time GP inference, its widespread application is limited by the lack of an efficient and modular open-source implementation. This work aims at filling this gap by providing an efficient implementation of zero-order Gaussian process-based MPC in acados, as well as L4acados, a general framework for incorporating non-CasADi (learning-based) residual models in acados. By providing the required sensitivities via a user-defined Python module, L4acados enables the implementation of MPC controllers with learning-based residual models in acados, while supporting custom Jacobian approximations, as well as parallelization of sensitivity computations when preparing the quadratic subproblems. The computational efficiency of L4acados is benchmarked against available software using a neural network-based control example. Last, it is used demonstrate the performance of the zero-order GP-MPC method applied to two hardware examples: autonomous miniature racing, as well as motion control of a full-scale autonomous vehicle for an ISO lane change maneuver.

We provide an example of a non-collapsed strong Kato limit that is branching., Comment: 7 pages, 1 figure, comments welcome

Accurate tire modeling is crucial for optimizing autonomous racing vehicles, as state-of-the-art (SotA) model-based techniques rely on precise knowledge of the vehicle's parameters. Yet, system identification in dynamic racing conditions is challenging due to varying track and tire conditions. Traditional methods require extensive operational ranges, often impractical in racing scenarios. Machine learning (ML)-based methods, while improving performance, struggle with generalization and depend on accurate initialization. This paper introduces a novel on-track system identification algorithm, incorporating a neural network (NN) for error correction, which is then employed for traditional system identification with virtually generated data. Crucially, the process is iteratively reapplied, with tire parameters updated at each cycle, leading to notable improvements in accuracy in tests on a scaled vehicle. Experiments show that it is possible to learn a tire model without prior knowledge with only 30 seconds of driving data and 3 seconds of training time. This method demonstrates greater one-step prediction accuracy than the baseline nonlinear least squares (NLS) method under noisy conditions, achieving a 3.3x lower root mean square error (RMSE), and yields tire models with comparable accuracy to traditional steady-state system identification. Furthermore, unlike steady-state methods requiring large spaces and specific experimental setups, the proposed approach identifies tire parameters directly on a race track in dynamic racing environments.

Head-to-head racing against opponents is a challenging and emerging topic in the domain of autonomous racing. We propose Predictive Spliner, a data-driven overtaking planner that learns the behavior of opponents through Gaussian Process (GP) regression, which is then leveraged to compute viable overtaking maneuvers in future sections of the racing track. Experimentally validated on a 1:10 scale autonomous racing platform using Light Detection and Ranging (LiDAR) information to perceive the opponent, Predictive Spliner outperforms State-of-the-Art (SotA) algorithms by overtaking opponents at up to 83.1% of its own speed, being on average 8.4% faster than the previous best-performing method. Additionally, it achieves an average success rate of 84.5%, which is 47.6% higher than the previous best-performing method. The method maintains computational efficiency with a Central Processing Unit (CPU) load of 22.79% and a computation time of 8.4 ms, evaluated on a Commercial off-the-Shelf (CotS) Intel i7-1165G7, making it suitable for real-time robotic applications. These results highlight the potential of Predictive Spliner to enhance the performance and safety of autonomous racing vehicles. The code for Predictive Spliner is available at: https://github.com/ForzaETH/predictive-spliner., Comment: Accepted to RA-L

We propose a novel data-driven stochastic model predictive control framework for uncertain linear systems with noisy output measurements. Our approach leverages multi-step predictors to efficiently propagate uncertainty, ensuring chance constraint satisfaction with minimal conservatism. In particular, we present a strategy to identify multi-step predictors and quantify the associated uncertainty using a surrogate (data-driven) state space model. Then, we utilize the derived distribution to formulate a constraint tightening that ensures chance constraint satisfaction. A numerical example highlights the reduced conservatism of handling parametric uncertainty in the proposed method compared to state-of-the-art solutions.

Cosmic microwave background (CMB) temperature and polarization observations indicate that in the best-fit $\Lambda$ Cold Dark Matter model of the Universe, the local geometry is consistent with at most a small amount of positive or negative curvature, i.e., $\vert\Omega_K\vert\ll1$. However, whether the geometry is flat ($E^3$), positively curved ($S^3$) or negatively curved ($H^3$), there are many possible topologies. Among the topologies of $S^3$ geometry, the lens spaces $L(p,q)$, where $p$ and $q$ ($p>1$ and $0

Modern machine learning relies nearly exclusively on dedicated electronic hardware accelerators. Photonic approaches, with low consumption and high operation speed, are increasingly considered for inference but, to date, remain mostly limited to relatively basic tasks. Simultaneously, the problem of training deep and complex neural networks, overwhelmingly performed through backpropagation, remains a significant limitation to the size and, consequently, the performance of current architectures and a major compute and energy bottleneck. Here, we experimentally implement a versatile and scalable training algorithm, called direct feedback alignment, on a hybrid electronic-photonic platform. An optical processing unit performs large-scale random matrix multiplications, which is the central operation of this algorithm, at speeds up to 1500 TeraOps. We perform optical training of one of the most recent deep learning architectures, including Transformers, with more than 1B parameters, and obtain good performances on both language and vision tasks. We study the compute scaling of our hybrid optical approach, and demonstrate a potential advantage for ultra-deep and wide neural networks, thus opening a promising route to sustain the exponential growth of modern artificial intelligence beyond traditional von Neumann approaches., Comment: 19 pages, 4 figures

When it comes to the safety of cosmetic products, compliance with regulatory standards is crucialto guarantee consumer protection against the risks of skin irritation. Toxicologists must thereforebe fully conversant with all risks. This applies not only to their day-to-day work, but also to allthe algorithms they integrate into their routines. Recognizing this, ensuring the reproducibility ofalgorithms becomes one of the most crucial aspects to address.However, how can we prove the robustness of an algorithm such as the random forest, that reliesheavily on randomness? In this report, we will discuss the strategy of integrating random forest intoocular tolerance assessment for toxicologists.We will compare four packages: randomForest and Ranger (R packages), adapted in Python via theSKRanger package, and the widely used Scikit-Learn with the RandomForestClassifier() function.Our goal is to investigate the parameters and sources of randomness affecting the outcomes ofRandom Forest algorithms.By setting comparable parameters and using the same Pseudo-Random Number Generator (PRNG),we expect to reproduce results consistently across the various available implementations of therandom forest algorithm. Nevertheless, this exploration will unveil hidden layers of randomness andguide our understanding of the critical parameters necessary to ensure reproducibility across all fourimplementations of the random forest algorithm.

We introduce data to predictive control, D2PC, a framework to facilitate the design of robust and predictive controllers from data. The proposed framework is designed for discrete-time stochastic linear systems with output measurements and provides a principled design of a predictive controller based on data. The framework starts with a parameter identification method based on the Expectation-Maximization algorithm, which incorporates pre-defined structural constraints. Additionally, we provide an asymptotically correct method to quantify uncertainty in parameter estimates. Next, we develop a strategy to synthesize robust dynamic output-feedback controllers tailored to the derived uncertainty characterization. Finally, we introduce a predictive control scheme that guarantees recursive feasibility and satisfaction of chance constraints. This framework marks a significant advancement in integrating data into robust and predictive control schemes. We demonstrate the efficacy of D2PC through a numerical example involving a $10$-dimensional spring-mass-damper system., Comment: Code link: https://github.com/haldunbalim/D2PC

The standard cosmological model, which assumes statistical isotropy and parity invariance, predicts the absence of correlations between even-parity and odd-parity observables of the cosmic microwave background (CMB). Contrary to these predictions, large-angle CMB temperature anomalies generically involve correlations between even-$\ell$ and odd-$\ell$ angular power spectrum $C_\ell$, while recent analyses of CMB polarization have revealed non-zero equal-$\ell$ $EB$ correlations. These findings challenge the conventional understanding, suggesting deviations from statistical isotropy, violations of parity, or both. Cosmic topology, which involves changing only the boundary conditions of space relative to standard cosmology, offers a compelling framework to potentially account for such parity-violating observations. Topology inherently breaks statistical isotropy, and can also break homogeneity and parity, providing a natural paradigm for explaining observations of parity-breaking observables without the need to add parity violation to the underlying microphysics. Our investigation delves into the harmonic space implications of topology for CMB correlations, using as an illustrative example $EB$ correlations generated by tensor perturbations under both parity-preserving and parity-violating scenarios. Consequently, these findings not only challenge the foundational assumptions of the standard cosmological model but also open new avenues for exploring the topological structure of the Universe through CMB observations., Comment: 20 pages, 4 figures. v2: version published in JCAP

The gravitational lensing signal from the Cosmic Microwave Background is highly valuable to constrain the growth of the structures in the Universe in a clean and robust manner over a wide range of redshifts. One of the theoretical systematics for lensing reconstruction is the impact of the lensing field non-Gaussianities on its estimators. Non-linear matter clustering and post-Born lensing corrections are known to bias standard quadratic estimators to some extent, most significantly so in temperature. In this work, we explore the impact of non-Gaussian deflections on Maximum a Posteriori lensing estimators, which, in contrast to quadratic estimators, are able to provide optimal measurements of the lensing field. We show that these naturally reduce the induced non- Gaussian bias and lead to unbiased cosmological constraints in $\Lambda$CDM at CMB-S4 noise levels without the need for explicit modelling. We also test the impact of assuming a non-Gaussian prior for the reconstruction; this mitigates the effect further slightly, but generally has little impact on the quality of the reconstruction. This shows that higher-order statistics of the lensing deflections are not expected to present a major challenge for optimal CMB lensing reconstruction in the foreseeable future., Comment: 18 figures

Curl lensing, also known as lensing field-rotation or shear B-modes, is a distinct post-Born observable caused by two lensing deflections at different redshifts (lens-lens coupling). For the Cosmic Microwave Background (CMB), the field-rotation is approximately four orders of magnitude smaller than the CMB lensing convergence. Direct detection is therefore challenging for near-future CMB experiments such as the Simons Observatory (SO) or CMB `Stage-4' (CMB-S4). Instead, the curl can be probed in cross-correlation between a direct reconstruction and a template formed using pairs of large-scale structure (LSS) tracers to emulate the lens-lens coupling. In this paper, we derive a new estimator for the optimal curl template specifically adapted for curved-sky applications, and test it against non-Gaussian complications using N-body cosmology simulations. We find non-foreground biases to the curl cross-spectrum are purely Gaussian at the sensitivity of SO. However, higher-order curl contractions induce non-Gaussian bias at the order of $1\sigma$ for CMB-S4 using quadratic estimators (QE). Maximum a-Posteriori (MAP) lensing estimators significantly reduce biases for both SO and CMB-S4, in agreement with our analytic predictions. We also show that extragalactic foregrounds in the CMB can bias curl measurements at order of the signal, and evaluate a variety of mitigation strategies to control these biases for SO-like experiments. Near-future observations will be able to measure post-Born lensing curl B-modes., Comment: 19 pages, 17 figures, JCAP accepted version

We present $\texttt{cunusht}$, a general-purpose Python package that wraps a highly efficient CUDA implementation of the nonuniform spin-$0$ spherical harmonic transform. The method is applicable to arbitrary pixelization schemes, including schemes constructed from equally-spaced iso-latitude rings as well as completely nonuniform ones. The algorithm has an asymptotic scaling of $\mathrm{O}{(\ell_{\rm max}^3)}$ for maximum multipole $\ell_{\rm max}$ and achieves machine precision accuracy. While $\texttt{cunusht}$ is developed for applications in cosmology in mind, it is applicable to various other interpolation problems on the sphere. We outperform the fastest available CPU algorithm by a factor of up to 5 for problems with a nonuniform pixelization and $\ell_{\rm max}>4\cdot10^3$ when comparing a single modern GPU to a modern 32-core CPU. This performance is achieved by utilizing the double Fourier sphere method in combination with the nonuniform fast Fourier transform and by avoiding transfers between the host and device. For scenarios without GPU availability, $\texttt{cunusht}$ wraps existing CPU libraries. $\texttt{cunusht}$ is publicly available and includes tests, documentation, and demonstrations.

A novel method to reconstruct the energy of hadronic showers in the CMS High Granularity Calorimeter (HGCAL) is presented. The HGCAL is a sampling calorimeter with very fine transverse and longitudinal granularity. The active media are silicon sensors and scintillator tiles readout by SiPMs and the absorbers are a combination of lead and Cu/CuW in the electromagnetic section, and steel in the hadronic section. The shower reconstruction method is based on graph neural networks and it makes use of a dynamic reduction network architecture. It is shown that the algorithm is able to capture and mitigate the main effects that normally hinder the reconstruction of hadronic showers using classical reconstruction methods, by compensating for fluctuations in the multiplicity, energy, and spatial distributions of the shower's constituents. The performance of the algorithm is evaluated using test beam data collected in 2018 prototype of the CMS HGCAL accompanied by a section of the CALICE AHCAL prototype. The capability of the method to mitigate the impact of energy leakage from the calorimeter is also demonstrated.

The current standard model of cosmology successfully describes a variety of measurements, but the nature of its main ingredients, dark matter and dark energy, remains unknown. Euclid is a medium-class mission in the Cosmic Vision 2015-2025 programme of the European Space Agency (ESA) that will provide high-resolution optical imaging, as well as near-infrared imaging and spectroscopy, over about 14,000 deg^2 of extragalactic sky. In addition to accurate weak lensing and clustering measurements that probe structure formation over half of the age of the Universe, its primary probes for cosmology, these exquisite data will enable a wide range of science. This paper provides a high-level overview of the mission, summarising the survey characteristics, the various data-processing steps, and data products. We also highlight the main science objectives and expected performance., Comment: Accepted for publication in the A&A special issue`Euclid on Sky'

We describe a general expansion of spherical (full-sky) bispectra into a set of orthogonal modes. For squeezed shapes, the basis separates physically-distinct signals and is dominated by the lowest moments. In terms of reduced bispectra, we identify a set of discrete polynomials that are pairwise orthogonal with respect to the relevant Wigner 3j symbol, and reduce to Chebyshev polynomials in the flat-sky (high-momentum) limit for both parity-even and parity-odd cases. For squeezed shapes, the flat-sky limit is equivalent to previous moment expansions used for CMB bispectra and quadratic estimators, but in general reduces to a distinct expansion in the angular dependence of triangles at fixed total side length (momentum). We use the full-sky expansion to construct a tower of orthogonal CMB lensing quadratic estimators and construct estimators that are immune to foregrounds like point sources or noise inhomogeneities. In parity-even combinations (such as the lensing gradient mode from $TT$, or the lensing curl mode from $EB$) the leading two modes can be identified with information from the magnification and shear respectively, whereas the parity-odd combinations are shear-only. Although not directly separable, we show that these estimators can nonetheless be evaluated numerically sufficiently easily., Comment: Matches version to be published in JCAP. Only minor changes wrt v1

This paper presents an open-source miniature car-like robot with low-cost sensing and a pipeline for optimization-based system identification, state estimation, and control. The overall robotics platform comes at a cost of less than \$\,700 and thus significantly simplifies the verification of advanced algorithms in a realistic setting. We present a modified bicycle model with Pacejka tire forces to model the dynamics of the considered all-wheel drive vehicle and to prevent singularities of the model at low velocities. Furthermore, we provide an optimization-based system identification approach and a moving horizon estimation (MHE) scheme. In extensive hardware experiments, we show that the presented system identification approach results in a model with high prediction accuracy, while the MHE results in accurate state estimates. Finally, the overall closed-loop system is shown to perform well even in the presence of sensor failure for limited time intervals. All hardware, firmware, and control and estimation software is released under a BSD 2-clause license to promote widespread adoption and collaboration within the community., Comment: This version contains an additional appendix giving an overview of the software, hardware and firmware

In Model Predictive Control (MPC), discrepancies between the actual system and the predictive model can lead to substantial tracking errors and significantly degrade performance and reliability. While such discrepancies can be alleviated with more complex models, this often complicates controller design and implementation. By leveraging the fact that many trajectories of interest are periodic, we show that perfect tracking is possible when incorporating a simple observer that estimates and compensates for periodic disturbances. We present the design of the observer and the accompanying tracking MPC scheme, proving that their combination achieves zero tracking error asymptotically, regardless of the complexity of the unmodelled dynamics. We validate the effectiveness of our method, demonstrating asymptotically perfect tracking on a high-dimensional soft robot with nearly 10,000 states and a fivefold reduction in tracking errors compared to a baseline MPC on small-scale autonomous race car experiments., Comment: 8 pages, 3 figures; 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)

Non-trivial spatial topology of the Universe may give rise to potentially measurable signatures in the cosmic microwave background. We explore different machine learning approaches to classify harmonic-space realizations of the microwave background in the test case of Euclidean $E_1$ topology (the 3-torus) with a cubic fundamental domain of a size scale significantly smaller than the diameter of the last scattering surface. This is the first step toward developing a machine learning approach to classification of cosmic topology and likelihood-free inference of topological parameters. Different machine learning approaches are capable of classifying the harmonic-space realizations with accuracy greater than 99% if the topology scale is half of the diameter of the last-scattering surface and orientation of the topology is known. For distinguishing random rotations of these sky realizations from realizations of the covering space, the extreme gradient boosting classifier algorithm performs best with an accuracy of 88%. Slightly lower accuracies of 83% to 87% are obtained with the random forest classifier along with one- and two-dimensional convolutional neural networks. The techniques presented here can also accurately classify non-rotated cubic $E_1$ topology realizations with a topology scale slightly larger than the diameter of the last-scattering surface, if enough training data are provided. While information compressing methods like most machine learning approaches cannot exceed the statistical power of a likelihood-based approach that captures all available information, they potentially offer a computationally cheaper alternative. A principle challenge appears to be accounting for arbitrary orientations of a given topology, although this is also a significant hurdle for likelihood-based approaches., Comment: 34 pages, 12 figures, 4 tables

In this paper, we study the relationship between the type problem and the asymptotic behaviour of the first (Dirichlet) eigenvalues $\lambda_1(B_r)$ of ``balls'' $B_r:=\{\rhor_0$ \[ r^2 \lambda_1(B_r)\ge \gamma>0, \] we obtain a sharp estimate of the volume growth: $|B_r|\ge cr^{\mu(\gamma)}.$ Moreover when $\gamma>j_0^2\approx 5.784$, where $j_0$ denotes the first positive zero of the Bessel function $J_0$, then $M$ is hyperbolic and we have a Hardy type inequality. In the case where $r_0=0$, a sharp Hardy type inequality holds. These spectral conditions are satisfied if one assumes that $\Delta\rho^2\geq2\mu(\gamma)>0$. In particular, when $\inf_M\Delta\rho^2>4$, $M$ is hyperbolic and we get a sharp Hardy type inequality. Related results for finite volume case are also studied., Comment: 20 pages. Comments are welcome! arXiv admin note: text overlap with arXiv:2401.11803

Quadrotor flight is an extremely challenging problem due to the limited control authority encountered at the limit of handling. Model Predictive Contouring Control (MPCC) has emerged as a promising model-based approach for time optimization problems such as drone racing. However, the standard MPCC formulation used in quadrotor racing introduces the notion of the gates directly in the cost function, creating a multi objective optimization that continuously trades off between maximizing progress and tracking the path accurately. This paper introduces three key components that enhance the state-of-the-art MPCC approach for drone racing. First and foremost, we provide safety guarantees in the form of a track constraint and terminal set. The track constraint is designed as a spatial constraint which prevents gate collisions while allowing for time optimization only in the cost function. Second, we augment the existing first principles dynamics with a residual term that captures complex aerodynamic effects and thrust forces learned directly from real-world data. Third, we use Trust Region Bayesian Optimization (TuRBO), a state-of-the-art global Bayesian Optimization algorithm, to tune the hyperparameters of the MPCC controller given a sparse reward based on lap time minimization. The proposed approach achieves similar lap times to the best-performing RL policy and outperforms the best model-based controller while satisfying constraints. In both simulation and real world, our approach consistently prevents gate crashes with 100% success rate, while pushing the quadrotor to its physical limits reaching speeds of more than 80km/h., Comment: 12 pages, 6 figures

Autonomous racing in robotics combines high-speed dynamics with the necessity for reliability and real-time decision-making. While such racing pushes software and hardware to their limits, many existing full-system solutions necessitate complex, custom hardware and software, and usually focus on Time-Trials rather than full unrestricted Head-to-Head racing, due to financial and safety constraints. This limits their reproducibility, making advancements and replication feasible mostly for well-resourced laboratories with comprehensive expertise in mechanical, electrical, and robotics fields. Researchers interested in the autonomy domain but with only partial experience in one of these fields, need to spend significant time with familiarization and integration. The ForzaETH Race Stack addresses this gap by providing an autonomous racing software platform designed for F1TENTH, a 1:10 scaled Head-to-Head autonomous racing competition, which simplifies replication by using commercial off-the-shelf hardware. This approach enhances the competitive aspect of autonomous racing and provides an accessible platform for research and development in the field. The ForzaETH Race Stack is designed with modularity and operational ease of use in mind, allowing customization and adaptability to various environmental conditions, such as track friction and layout. Capable of handling both Time-Trials and Head-to-Head racing, the stack has demonstrated its effectiveness, robustness, and adaptability in the field by winning the official F1TENTH international competition multiple times., Comment: This paper has been accepted at the Journal of Field Robotics

We make use of the Gaia-Unwise quasar catalogue, Quaia, to constrain the growth history out to high redshifts from the clustering of quasars and their cross-correlation with maps of the Cosmic Microwave Background (CMB) lensing convergence. Considering three tomographic bins, centered at redshifts $\bar{z}_i = [0.69, 1.59, 2.72]$, we reconstruct the evolution of the amplitude of matter fluctuations $\sigma_8(z)$ over the last $\sim12$ billion years of cosmic history. In particular, we make one of the highest-redshift measurements of $\sigma_8$ ($\sigma_8(z=2.72)=0.22\pm 0.06$), finding it to be in good agreement (at the $\sim1\sigma$ level) with the value predicted by $\Lambda$CDM using CMB data from Planck. We also used the data to study the evolution of the linear quasar bias for this sample, finding values similar to those of other quasar samples, although with a less steep evolution at high redshifts. Finally, we study the potential impact of foreground contamination in the CMB lensing maps and, although we find evidence of contamination in cross-correlations at $z\sim1.7$ we are not able to clearly pinpoint its origin as being Galactic or extragalactic. Nevertheless, we determine that the impact of this contamination on our results is negligible., Comment: 28 pages, 11 figures

In recent years, the increasing need for high-performance controllers in applications like autonomous driving has motivated the development of optimization routines tailored to specific control problems. In this paper, we propose an efficient inexact model predictive control (MPC) strategy for autonomous miniature racing with inherent robustness properties. We rely on a feasible sequential quadratic programming (SQP) algorithm capable of generating feasible intermediate iterates such that the solver can be stopped after any number of iterations, without jeopardizing recursive feasibility. In this way, we provide a strategy that computes suboptimal and yet feasible solutions with a computational footprint that is much lower than state-of-the-art methods based on the computation of locally optimal solutions. Under suitable assumptions on the terminal set and on the controllability properties of the system, we can state that, for any sufficiently small disturbance affecting the system's dynamics, recursive feasibility can be guaranteed. We validate the effectiveness of the proposed strategy in simulation and by deploying it onto a physical experiment with autonomous miniature race cars. Both the simulation and experimental results demonstrate that, using the feasible SQP method, a feasible solution can be obtained with moderate additional computational effort compared to strategies that resort to early termination without providing a feasible solution. At the same time, the proposed method is significantly faster than the state-of-the-art solver Ipopt.

The tightest constraints on the tensor-to-scalar ratio $r$ can only be obtained after removing a substantial fraction of the lensing $B$-mode sample variance. The planned CMB-S4 experiment will remove the lensing $B$-mode signal internally by reconstructing the gravitational lenses from high-resolution observations. We document here a first lensing reconstruction pipeline able to achieve this optimally for arbitrary sky coverage. We make it part of a map-based framework to test CMB-S4 delensing performance and its constraining power on $r$, including inhomogeneous noise and two non-Gaussian Galactic polarized foreground models. The framework performs component-separation of the high-resolution maps, followed by the construction of lensing $B$-mode templates, which are then included in a parametric small-aperture maps cross-spectra-based likelihood for $r$. We find that the lensing reconstruction and framework achieve the expected performance, compatible with the target $\sigma(r) \simeq 5\cdot 10^{-4}$ in the absence of a tensor signal, after an effective removal of $92\%$ to $93\%$ of the lensing $B$-mode variance, depending on the simulation set. The code for the lensing reconstruction can also be used for cross-correlation studies with large-scale structures, lensing spectrum reconstruction, cluster lensing, or other CMB lensing-related purposes. As part of our tests we also demonstrate joint optimal reconstruction of the lensing potential with the lensing curl potential mode, second-order in the density fluctuations., Comment: 29 pages, ApJ version

Clusters of galaxies, being the largest collapsed structures in the universe, offer valuable insights into the nature of cosmic evolution. Precise calibration of the mass of clusters can be obtained by extracting their gravitational lensing signal on the Cosmic Microwave Background (CMB) fluctuations. We extend and test here the performance achieved on cluster scales by the parameter-free, maximum a posteriori (MAP) CMB lensing reconstruction method, which has been shown to be optimal in the broader context of CMB lensing mass map and power spectrum estimation. In the context of cluster lensing, the lensing signal of other large-scale structures acts as an additional source of noise. We show here that by delensing the CMB fluctuations around each and every cluster, this noise variance is reduced according to expectations. We also demonstrate that the well-known bias in the temperature quadratic estimator in this regime, sourced by the strong non-Gaussianity of the signal, is almost entirely mitigated without any scale cuts. Being statistically speaking an optimal and blind lensing mass map reconstruction, the MAP estimator is a promising tool for the calibration of the masses of clusters., Comment: 12 pages, 5 figures, submitted to JCAP

Physics-informed machine learning (PIML) is a set of methods and tools that systematically integrate machine learning (ML) algorithms with physical constraints and abstract mathematical models developed in scientific and engineering domains. As opposed to purely data-driven methods, PIML models can be trained from additional information obtained by enforcing physical laws such as energy and mass conservation. More broadly, PIML models can include abstract properties and conditions such as stability, convexity, or invariance. The basic premise of PIML is that the integration of ML and physics can yield more effective, physically consistent, and data-efficient models. This paper aims to provide a tutorial-like overview of the recent advances in PIML for dynamical system modeling and control. Specifically, the paper covers an overview of the theory, fundamental concepts and methods, tools, and applications on topics of: 1) physics-informed learning for system identification; 2) physics-informed learning for control; 3) analysis and verification of PIML models; and 4) physics-informed digital twins. The paper is concluded with a perspective on open challenges and future research opportunities., Comment: 16 pages, 4 figures, to be published in 2023 American Control Conference (ACC)

We prove that any complete Riemannian manifold with negative part of the Ricci curvature in a suitable Dynkin class is bi-Lipschitz equivalent to a finite-dimensional $\mathrm{RCD}$ space, by building upon the transformation rule of the Bakry-\'Emery condition under time change. We apply this result to show that our previous results on the limits of closed Riemannian manifolds satisfying a uniform Kato bound carry over to limits of complete manifolds. We also obtain a weak version of the Bishop-Gromov monotonicity formula for manifolds satisfying a strong Kato bound., Comment: 19 pages, comments are welcome!

We describe and benchmark a new quantum charge-coupled device (QCCD) trapped-ion quantum computer based on a linear trap with periodic boundary conditions, which resembles a race track. The new system successfully incorporates several technologies crucial to future scalability, including electrode broadcasting, multi-layer RF routing, and magneto-optical trap (MOT) loading, while maintaining, and in some cases exceeding, the gate fidelities of previous QCCD systems. The system is initially operated with 32 qubits, but future upgrades will allow for more. We benchmark the performance of primitive operations, including an average state preparation and measurement error of 1.6(1)$\times 10^{-3}$, an average single-qubit gate infidelity of $2.5(3)\times 10^{-5}$, and an average two-qubit gate infidelity of $1.84(5)\times 10^{-3}$. The system-level performance of the quantum processor is assessed with mirror benchmarking, linear cross-entropy benchmarking, a quantum volume measurement of $\mathrm{QV}=2^{16}$, and the creation of 32-qubit entanglement in a GHZ state. We also tested application benchmarks including Hamiltonian simulation, QAOA, error correction on a repetition code, and dynamics simulations using qubit reuse. We also discuss future upgrades to the new system aimed at adding more qubits and capabilities., Comment: 24 pages, 24 figures. Made some minor edits and added several more authors

Deep cosmic microwave background polarization experiments allow a very precise internal reconstruction of the gravitational lensing signal in pricinple. For this aim, likelihood-based or Bayesian methods are typically necessary, where very large numbers of lensing and delensing remappings on the sphere are sometimes required before satisfactory convergence. We discuss here an optimized piece of numerical code in some detail that is able to efficiently perform both the lensing operation and its adjoint (closely related to delensing) to arbitrary accuracy, using nonuniform fast Fourier transform technology. Where applicable, we find that the code outperforms current widespread software by a very wide margin. It is able to produce high-resolution maps that are accurate enough for next-generation cosmic microwave background experiments on the timescale of seconds on a modern laptop. The adjoint operation performs similarly well and removes the need for the computation of inverse deflection fields. This publicly available code enables de facto efficient spherical harmonic transforms on completely arbitrary grids, and it might be applied in other areas as well., Comment: 8 pages, 3 figures, final A&A

We present new measurements of cosmic microwave background (CMB) lensing over $9400$ sq. deg. of the sky. These lensing measurements are derived from the Atacama Cosmology Telescope (ACT) Data Release 6 (DR6) CMB dataset, which consists of five seasons of ACT CMB temperature and polarization observations. We determine the amplitude of the CMB lensing power spectrum at $2.3\%$ precision ($43\sigma$ significance) using a novel pipeline that minimizes sensitivity to foregrounds and to noise properties. To ensure our results are robust, we analyze an extensive set of null tests, consistency tests, and systematic error estimates and employ a blinded analysis framework. The baseline spectrum is well fit by a lensing amplitude of $A_{\mathrm{lens}}=1.013\pm0.023$ relative to the Planck 2018 CMB power spectra best-fit $\Lambda$CDM model and $A_{\mathrm{lens}}=1.005\pm0.023$ relative to the $\text{ACT DR4} + \text{WMAP}$ best-fit model. From our lensing power spectrum measurement, we derive constraints on the parameter combination $S^{\mathrm{CMBL}}_8 \equiv \sigma_8 \left({\Omega_m}/{0.3}\right)^{0.25}$ of $S^{\mathrm{CMBL}}_8= 0.818\pm0.022$ from ACT DR6 CMB lensing alone and $S^{\mathrm{CMBL}}_8= 0.813\pm0.018$ when combining ACT DR6 and Planck NPIPE CMB lensing power spectra. These results are in excellent agreement with $\Lambda$CDM model constraints from Planck or $\text{ACT DR4} + \text{WMAP}$ CMB power spectrum measurements. Our lensing measurements from redshifts $z\sim0.5$--$5$ are thus fully consistent with $\Lambda$CDM structure growth predictions based on CMB anisotropies probing primarily $z\sim1100$. We find no evidence for a suppression of the amplitude of cosmic structure at low redshifts, Comment: 45+22 pages, 50 figures. v2 matches with published version in ApJ. Cosmological likelihood data and lensing maps are here: https://lambda.gsfc.nasa.gov/product/act/actadv_prod_table.html ; likelihood software is here: https://github.com/ACTCollaboration/act_dr6_lenslike . Also see companion papers Madhavacheril et al and MacCrann et al

Deep surveys of the CMB polarization have more information on the lensing signal than the quadratic estimators (QE) can capture. We showed in a recent work that a CMB lensing power spectrum built from a single optimized CMB lensing mass map, working in close analogy to state-of-the-art QE techniques, can result in an essentially optimal spectrum estimator at reasonable numerical cost. We extend this analysis here to account for real-life non-idealities including masking and realistic instrumental noise maps. As in the QE case, it is necessary to include small corrections to account for the estimator response to these anisotropies, which we demonstrate can be estimated easily from simulations. The realization-dependent debiasing of the spectrum remains robust, allowing unbiased recovery of the band powers even in cases where the statistical model used for the lensing map reconstruction is grossly wrong. This allows now robust and at the same time optimal CMB lensing constraints from CMB data, on all scales relevant for the inference of the neutrino mass, or other parameters of our cosmological model., Comment: 12 pages, 9 figures

In control system networks, reconfiguration of the controller when agents are leaving or joining the network is still an open challenge, in particular when operation constraints that depend on each agent's behavior must be met. Drawing our motivation from mobile robot swarms, in this paper, we address this problem by optimizing individual agent performance while guaranteeing persistent constraint satisfaction in presence of bounded communication range and time-varying network topology. The approach we propose is a model predictive control (MPC) formulation, building on multi-trajectory MPC (mt-MPC) concepts. To enable plug and play operations when the system is in closed-loop without the need of a request, the proposed MPC scheme predicts two different state trajectories in the same finite horizon optimal control problem. One trajectory drives the system to the desired target, assuming that the network topology will not change in the prediction horizon, while the second one ensures constraint satisfaction assuming a worst-case scenario in terms of new agents joining the network in the planning horizon. Recursive feasibility and stability of the closed-loop system during plug and play operations are shown. The approach effectiveness is illustrated with a numerical simulation.