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We propose MR HuBo(Motion Retargeting leveraging a HUman BOdy prior), a cost-effective and convenient method to collect high-quality upper body paired pose data, which is essential for data-driven motion retargeting methods. Unlike existing approaches which collect pose data by converting human MoCap poses into robot poses, our method goes in reverse. We first sample diverse random robot poses, and then convert them into human poses. However, since random robot poses can result in extreme and infeasible human poses, we propose an additional technique to sort out extreme poses by exploiting a human body prior trained from a large amount of human pose data. Our data collection method can be used for any humanoid robots, if one designs or optimizes the system's hyperparameters which include a size scale factor and the joint angle ranges for sampling. In addition to this data collection method, we also present a two-stage motion retargeting neural network that can be trained via supervised learning on a large amount of paired data. Compared to other learning-based methods trained via unsupervised learning, we found that our deep neural network trained with ample high-quality paired data achieved notable performance. Our experiments also show that our data filtering method yields better retargeting results than training the model with raw and noisy data. Our code and video results are available on https://sites.google.com/view/mr-hubo/, Comment: 8 pages, 5 Figures, Accepted at IROS 2024

Context. High frame-rate imaging was employed to mitigate the effects of atmospheric turbulence (seeing) in observations of globular cluster Terzan 5. Aims. High-precision time-series photometry has been obtained with the highest angular resolution so far taken in the crowded central region of Terzan 5, with ground-based telescopes, and ways to avoid saturation of the brightest stars in the field observed. Methods. The Electron-Multiplying Charge Coupled Device (EMCCD) camera installed at the Danish 1.54-m telescope at the ESO La Silla Observatory was employed to produce thousands of short-exposure time images (ten images per second) that were stacked to produce the normal-exposure-time images (minutes). We employed difference image analysis in the stacked images to produce high-precision photometry using the DanDIA pipeline. Results. Light curves of 1670 stars with 242 epochs were analyzed in the crowded central region of Terzan 5 to statistically detect variable stars in the field observed. We present a possible visual counterpart outburst at the position of the pulsar J1748-2446N, and the visual counterpart light curve of the low-mass X-ray binary CX 3. Additionally, we present the discovery of 4 semiregular variables. We also present updated ephemerides and properties of the only RR Lyrae star previously known in the field covered by our observations in Terzan 5. Finally, we report a significant displacement of two sources by ~0.62 and 0.59 arcseconds with respect to their positions in previous images available in the literature., Comment: 22 pages, 18 figures, 7 tables. Accepted for publication in A&A

We investigated the nature of the anomalies appearing in four microlensing events KMT-2020-BLG-0757, KMT-2022-BLG-0732, KMT-2022-BLG-1787, and KMT-2022-BLG-1852. The light curves of these events commonly exhibit initial bumps followed by subsequent troughs that extend across a substantial portion of the light curves. We performed thorough modeling of the anomalies to elucidate their characteristics. Despite their prolonged durations, which differ from the usual brief anomalies observed in typical planetary events, our analysis revealed that each anomaly in these events originated from a planetary companion located within the Einstein ring of the primary star. It was found that the initial bump arouse when the source star crossed one of the planetary caustics, while the subsequent trough feature occurred as the source traversed the region of minor image perturbations lying between the pair of planetary caustics. The estimated masses of the host and planet, their mass ratios, and the distance to the discovered planetary systems are $(M_{\rm host}/M_\odot, M_{\rm planet}/M_{\rm J}, q/10^{-3}, \dl/{\rm kpc}) = (0.58^{+0.33}_{-0.30}, 10.71^{+6.17}_{-5.61}, 17.61\pm 2.25,6.67^{+0.93}_{-1.30})$ for KMT-2020-BLG-0757, $(0.53^{+0.31}_{-0.31}, 1.12^{+0.65}_{-0.65}, 2.01 \pm 0.07, 6.66^{+1.19}_{-1.84})$ for KMT-2022-BLG-0732, $(0.42^{+0.32}_{-0.23}, 6.64^{+4.98}_{-3.64}, 15.07\pm 0.86, 7.55^{+0.89}_{-1.30})$ for KMT-2022-BLG-1787, and $(0.32^{+0.34}_{-0.19}, 4.98^{+5.42}_{-2.94}, 8.74\pm 0.49, 6.27^{+0.90}_{-1.15})$ for KMT-2022-BLG-1852. These parameters indicate that all the planets are giants with masses exceeding the mass of Jupiter in our solar system and the hosts are low-mass stars with masses substantially less massive than the Sun., Comment: 10 pages, 12 figures, 7 tables

During the last 25 years, hundreds of binary stars and planets have been discovered towards the Galactic Bulge by microlensing surveys. Thanks to a new generation of large-sky surveys, it is now possible to regularly detect microlensing events across the entire sky. The OMEGA Key Projet at the Las Cumbres Observatory carries out automated follow-up observations of microlensing events alerted by these surveys with the aim of identifying and characterizing exoplanets as well as stellar remnants. In this study, we present the analysis of the binary lens event Gaia20bof. By automatically requesting additional observations, the OMEGA Key Project obtained dense time coverage of an anomaly near the peak of the event, allowing characterization of the lensing system. The observed anomaly in the lightcurve is due to a binary lens. However, several models can explain the observations. Spectroscopic observations indicate that the source is located at $\le2.0$ kpc, in agreement with the parallax measurements from Gaia. While the models are currently degenerate, future observations, especially the Gaia astrometric time series as well as high-resolution imaging, will provide extra constraints to distinguish between them., Comment: Accepted in AJ

Context. Gravitational microlensing is a method that is used to discover planet-hosting systems at distances of several kiloparsec in the Galactic disk and bulge. We present the analysis of a microlensing event reported by the Gaia photometric alert team that might have a bright lens. Aims. In order to infer the mass and distance to the lensing system, the parallax measurement at the position of Gaia21blx was used. In this particular case, the source and the lens have comparable magnitudes and we cannot attribute the parallax measured by Gaia to the lens or source alone. Methods. Since the blending flux is important, we assumed that the Gaia parallax is the flux-weighted average of the parallaxes of the lens and source. Combining this assumption with the information from the microlensing models and the finite source effects we were able to resolve all degeneracies and thus obtained the mass, distance, luminosities and projected kinematics of the binary lens and the source. Results. According to the best model, the lens is a binary system at $2.18 \pm 0.07$ kpc from Earth. It is composed of a G star with $0.95\pm 0.17\,M_{\odot}$ and a K star with $0.53 \pm 0.07 \, M_{\odot}$. The source is likely to be an F subgiant star at $2.38 \pm 1.71$ kpc with a mass of $1.10 \pm 0.18 \, M_{\odot}$. Both lenses and the source follow the kinematics of the thin-disk population. We also discuss alternative models, that are disfavored by the data or by prior expectations, however., Comment: 11 pages, 6 figures. Accepted for publication in A&A

The ROME/REA (Robotic Observations of Microlensing Events/Reactive Event Assessment) Survey was a Key Project at Las Cumbres Observatory (hereafter LCO) which continuously monitored 20 selected fields (3.76 sq.deg.) in the Galactic Bulge throughout their seasonal visibility window over a three-year period, between March 2017 and March 2020. Observations were made in three optical passbands (SDSS-g', -r', -i'), and LCO's multi-site telescope network enabled the survey to achieve a typical cadence of $\sim$10\,hrs in i' and ~15 hrs in g' and r'. In addition, intervals of higher cadence (<1 hr) data were obtained during monitoring of key microlensing events within the fields. This paper describes the Difference Image Analysis data reduction pipeline developed to process these data, and the process for combining the photometry from LCO's three observing sites in the Southern Hemisphere. The full timeseries photometry for all 8 million stars, down to a limiting magnitude of i~18 mag is provided in the data release accompanying this paper, and samples of the data are presented for exemplar microlensing events, illustrating how the tri-band data are used to derive constraints on the microlensing source star parameters, a necessary step in determining the physical properties of the lensing object. The timeseries data also enables a wealth of additional science, for example in characterizing long-timescale stellar variability, and a few examples of the data for known variables are presented., Comment: Accepted for publication in PASP

Our aim in this paper is to refine the orbital and physical parameters of the HATS-2 planetary system and study transit timing variations and atmospheric composition thanks to transit observations that span more than ten years and that were collected using different instruments and pass-band filters. We also investigate the orbital alignment of the system by studying the anomalies in the transit light curves induced by starspots on the photosphere of the parent star. We analysed new transit events from both ground-based telescopes and NASA's TESS mission. Anomalies were detected in most of the light curves and modelled as starspots occulted by the planet during transit events. We fitted the clean and symmetric light curves with the JKTEBOP code and those affected by anomalies with the PRISM+GEMC codes to simultaneously model the photometric parameters of the transits and the position, size, and contrast of each starspot. We found consistency between the values we found for the physical and orbital parameters and those from the discovery paper and ATLAS9 stellar atmospherical models. We identified different sets of consecutive starspot-crossing events that temporally occurred in less than five days. Under the hypothesis that we are dealing with the same starspots, occulted twice by the planet during two consecutive transits, we estimated the rotational period of the parent star and, in turn the projected and the true orbital obliquity of the planet. We find that the system is well aligned. We identified the possible presence of transit timing variations in the system, which can be caused by tidal orbital decay, and we derived a low-resolution transmission spectrum., Comment: 23 pages, 21 figures, Accepted for publication in Astronomy & Astrophysics

We have grown high-quality magnetite micrometric islands on ruthenium stripes on sapphire through a combination of magnetron sputtering (Ru film), high-temperature molecular beam epitaxy (oxide islands), and optical lithography. The samples have been characterized by atomic force microscopy, Raman spectroscopy, X-ray absorption and magnetic circular dichroism in a photoemission microscope. The magnetic domains on the magnetite islands can be modified by the application of current pulses through the Ru stripes in combination with magnetic fields. The modification of the magnetic domains is explained by the Oersted field generated by the electrical current flowing through the stripes underneath the magnetite nanostructures. The fabrication method is applicable to a wide variety of rock salt and spinel oxides.

We show that it is possible to tune the N\'eel temperature of nickel(II)-cobalt(II) oxide films by changing the Ni to Co ratio. We grow single crystalline micrometric triangular islands with tens of nanometers thickness on a Ru(0001) substrate using high temperature oxygen-assisted molecular beam epitaxy. Composition is controlled by adjusting the deposition rates of Co and Ni. The morphology, shape, crystal structure and composition are determined by low-energy electron microscopy and diffraction, and synchrotron-based x-ray absorption spectromicroscopy. The antiferromagnetic order is observed by x-ray magnetic linear dichroism. Antiferromagnetic domains up to micrometer width are observed.

We report discovering an exoplanet from following up a microlensing event alerted by Gaia. The event Gaia22dkv is toward a disk source rather than the traditional bulge microlensing fields. Our primary analysis yields a Jovian planet with M_p = 0.59^{+0.15}_{-0.05} M_J at a projected orbital separation r_perp = 1.4^{+0.8}_{-0.3} AU, and the host is a ~1.1 M_sun turnoff star at ~1.3 kpc. At r'~14, the host is far brighter than any previously discovered microlensing planet host, opening up the opportunity of testing the microlensing model with radial velocity (RV) observations. RV data can be used to measure the planet's orbital period and eccentricity, and they also enable searching for inner planets of the microlensing cold Jupiter, as expected from the ''inner-outer correlation'' inferred from Kepler and RV discoveries. Furthermore, we show that Gaia astrometric microlensing will not only allow precise measurements of its angular Einstein radius theta_E, but also directly measure the microlens parallax vector and unambiguously break a geometric light-curve degeneracy, leading to definitive characterization of the lens system., Comment: Accepted by AJ

We present the results of our analysis of Gaia19dke, an extraordinary microlensing event in the Cygnus constellation that was first spotted by the {\gaia} satellite. This event featured a strong microlensing parallax effect, which resulted in multiple peaks in the light curve. We conducted extensive photometric, spectroscopic, and high-resolution imaging follow-up observations to determine the mass and the nature of the invisible lensing object. Using the Milky Way priors on density and velocity of lenses, we found that the dark lens is likely to be located at a distance of $D_L =(3.05^{+4.10}_{-2.42})$kpc, and has a mass of $M_L =(0.51^{+3.07}_{-0.40}) M_\odot$. Based on its low luminosity and mass, we propose that the lens in Gaia19dke event is an isolated white dwarf., Comment: 16 pages, submitted to A&A

We analyze the MOA-2020-BLG-208 gravitational microlensing event and present the discovery and characterization of a new planet, MOA-2020-BLG-208Lb, with an estimated sub-Saturn mass. With a mass ratio $q = 3.17^{+0.28}_{-0.26} \times 10^{-4}$ and a separation $s = 1.3807^{+0.0018}_{-0.0018}$, the planet lies near the peak of the mass-ratio function derived by the MOA collaboration (Suzuki et al. 2016), near the edge of expected sample sensitivity. For these estimates we provide results using two mass law priors: one assuming that all stars have an equal planet-hosting probability, and the other assuming that planets are more likely to orbit around more massive stars. In the first scenario, we estimate that the lens system is likely to be a planet of mass $m_\mathrm{planet} = 46^{+42}_{-24} \; M_\oplus$ and a host star of mass $M_\mathrm{host} = 0.43^{+0.39}_{-0.23} \; M_\odot$, located at a distance $D_L = 7.49^{+0.99}_{-1.13} \; \mathrm{kpc}$. For the second scenario, we estimate $m_\mathrm{planet} = 69^{+37}_{-34} \; M_\oplus$, $M_\mathrm{host} = 0.66^{+0.35}_{-0.32} \; M_\odot$, and $D_L = 7.81^{+0.93}_{-0.93} \; \mathrm{kpc}$. As a cool sub-Saturn-mass planet, this planet adds to a growing collection of evidence for revised planetary formation models and qualifies for inclusion in the extended MOA-II exoplanet microlensing sample.

We have studied the influence of annealing treatment on the crystalline growth of SrFe_12_O_19 previously deposited on Si (100) substrates using radio frequency (RF) magnetron sputtering. For this goal, two grown films, with and without \textit{ex-situ} heating step, have been analysed and compared to determine the differences in their structural, compositional and magnetic properties. The results obtained by the different analysis techniques, in particular M\"ossbauer spectroscopy together with EXAFS and XANES data, suggest that the as-grown film is composed of nanocrystalline maghemite nanoparticles and amorphous strontium oxide. A strontium hexaferrite canonical structure with c-axis orientation in the sample plane was found for the annealed film., Comment: 13 pages (two columns), 7 figures. Submitted to Journal of Materials Research

TRAPPIST-1 is an ultra-cool dwarf that hosts seven known transiting planets. We present photometry of the system obtained using three telescopes at ESO La Silla (the Danish 1.54-m telescope and the 2.2-m MPI telescope) and Paranal (Unit Telescope 1 of the Very Large Telescope). We obtained 18 light curves from the Danish telescope, eight from the 2.2-m and four from the VLT. From these we measure 25 times of mid-transit for four of the planets (b, c, f, g). These light curves and times of mid-transit will be useful in determining the masses and radii of the planets, which show variations in their transit times due to gravitational interactions., Comment: Accepted for publication in The Observatory Magazine. 11 pages, 3 tables, 3 figures. Version 2 is corrected for the misidentification of the planet causing one of the transits

HATS-18b is a transiting planet with a large mass and a short orbital period, and is one of the best candidates for the detection of orbital decay induced by tidal effects. We present extensive photometry of HATS-18 from which we measure 27 times of mid-transit. Two further transit times were measured from data from the Transiting Exoplanet Survey Satellite (TESS) and three more taken from the literature. The transit timings were fitted with linear and quadratic ephemerides and an upper limit on orbital decay was determined. This corresponds to a lower limit on the modified stellar tidal quality factor of $Q_\star^{\,\prime} > 10^{5.11 \pm 0.04}$. This is at the cusp of constraining the presence of enhanced tidal dissipation due to internal gravity waves. We also refine the measured physical properties of the HATS-18 system, place upper limits on the masses of third bodies, and compare the relative performance of TESS and the 1.54-m Danish Telescope in measuring transit times for this system., Comment: Accepted for publication in MNRAS. 12 pages, 4 tables, 6 figures. This is the authors' version of the accepted paper

Between 2010 and 2017 we have collected new optical and radar observations of the potentially hazardous asteroid (2102)~Tantalus from the ESO NTT and Danish telescopes at the La Silla Observatory and from the Arecibo planetary radar. The object appears to be nearly spherical, showing a low amplitude light-curve variation and limited large-scale features in the radar images. The spin-state is difficult to constrain with the available data; including a certain light-curve subset significantly changes the spin-state estimates, and the uncertainties on period determination are significant. Constraining any change in rotation rate was not possible, despite decades of observations. The convex lightcurve-inversion model, with rotational pole at ${\lambda}=210{\pm}41${\deg} and ${\beta}=-30{\pm}35${\deg}, is more flattened than the two models reconstructed by including radar observations: with prograde (${\lambda}=36{\pm}23${\deg}, ${\beta}=30{\pm}15${\deg}), and with retrograde rotation mode (${\lambda}=180{\pm}24${\deg}, ${\beta}=-30{\pm}16${\deg}). Using data from WISE we were able to determine that the prograde model produces the best agreement in size determination between radar and thermophysical modelling. Radar measurements indicate possible variation in surface properties, suggesting one side might have lower radar albedo and be rougher at centimetre-to-decimetre scale than the other. However, further observations are needed to confirm this. Thermophysical analysis indicates a surface covered in fine-grained regolith, consistent with radar albedo and polarisation ratio measurements. Finally, geophysical investigation of the spin-stability of Tantalus shows that it could be exceeding its critical spin-rate via cohesive forces., Comment: Main paper: 14 pages and 12 figure, Appendix: 13 pages and 12 figues

We have monitored the Verwey transition in micrometer-wide, nanometer-thick magnetite islands on epitaxial Ru films on Al2O3(0001) using Raman spectroscopy. The islands have been grown by high-temperature oxygen-assisted molecular beam epitaxy. Below 100 K and for thicknesses above 20 nm the Raman spectra correspond to those observed in bulk crystals and high quality thin films for the sub-Verwey magnetite structure. At room temperature the width of the cubic phase modes is similar to the best reported in bulk crystals, indicating a similar level of electron-phonon interaction. The evolution of the Raman spectra upon cooling suggests that for islands thicker than 20 nm, structural changes appear first at temperatures starting at 150 K and the Verwey transition itself takes place at around 115 K. However, islands thinner than 20 nm show a very different Raman spectra indicating that while a transition takes place, the charge order of the ultrathin islands differs markedly from their thicker counterparts, Comment: 8 pages, 5 figures, 2 tables

CoFe2O4 thin films (5 nm and 20 nm thick) were grown by oxygen assisted molecular beam epitaxy on Pt(111) at 523~K and subsequently annealed at 773 K in vacuum or oxygen. They were characterized in-situ using Auger Electron Spectroscopy, Low-Energy Electron Diffraction, Scanning Tunneling Microscopy and Conversion Electron M\"ossbauer Spectroscopy. The as-grown films were composed of small, nanometric grains. Annealing of the films produced an increase in the grain size and gave rise to magnetic order at room temperature, although with a fraction of the films remaining in the paramagnetic state. Annealing also induced cobalt segregation to the surface of the thicker films. The measured M\"ossbauer spectra at low temperature were indicative of cobalt ferrite, the both films showing very similar hyperfine patterns. Annealing in oxygen or vacuum affected the cationic distribution, which was closer to that expected for an inverse spinel in the case of annealing in an oxygen atmosphere., Comment: 9 pages (two columns), 8 figures, 2 tables. Submitted to Applied Surface Science

A detailed correlative structural, magnetic and chemical analysis of non-stoichiometric cobalt ferrite micrometric crystals was performed by x-ray magnetic circular dichroism combined with photoemission microscopy, low energy electron microscopy, and atomic force microscopy. The vector magnetization at the nanoscale is obtained from magnetic images at different x-ray incidence angles and compared with micromagnetic simulations, revealing the presence of defects which pin the magnetic domain walls. A comparison of different types of defects and the domain walls location suggests that the main source of pinning in these microcrystals are linear structural defects induced in the spinel by the substrate steps underneath the islands., Comment: 9 pages, 3 figures

Li metal has been deposited on the surface of a Ru(0001) single crystal containing patches of monolayer-thick epitaxial graphene islands. The use of low-energy electron microscopy and diffraction allowed us to {\em in situ} monitor the process by measuring the local work function as well as to study the system in real and reciprocal space, comparing the changes taking place on the graphene with those on the bare Ru(0001) surface. It is found that Li deposition decreases the work function of the graphene islands but to a much smaller degree than of the Ru(0001) surface, as corresponds to its intercalation below the graphene overlayer. Finally, the diffusion process of Li out of the graphene islands has been monitored by photoelectron microscopy using a visible-light laser., Comment: 6 pages, 5 figures. Submitted to Applied Surface Science

Thin epitaxial films of metals on insulating substrates are essential for many applications, as conducting layers, in magnetic devices or as templates for further growth. In this work, we report on the growth of epitaxial Ru films on single-crystalline Al$_2$O$_3$(0001) substrates by magnetron sputtering and their subsequent systematic characterization using Rutherford backscattering spectrometry of He ions both in random and in channeling conditions. We include results of a Ru(0001) single crystal for comparison. Analysis of channeling shows that films thicker than 35 nm grow with (0001) orientation, a well-defined epitaxial relation with the substrate and a high degree of crystal quality, comparable to the Ru(0001) single crystal. Thinner films of down to 7 nm in thickness, for which relaxation of epitaxial strain is not complete, produce a similar degree of dechanneling. The surface of the films can be prepared in a clean and ordered state in order to allow further epitaxial growth on top., Comment: 8 pages (two columns), 5 figures, submitted to Applied Surface Science

Context: The timescale of a microlensing event scales as a square root of a lens mass. Therefore, long-lasting events are important candidates for massive lenses, including black holes. Aims: Here we present the analysis of the Gaia18cbf microlensing event reported by the Gaia Science Alerts system. It exhibited a long timescale and features that are common for the annual microlensing parallax effect. We deduce the parameters of the lens based on the derived best fitting model. Methods: We used photometric data collected by the Gaia satellite as well as the follow-up data gathered by the ground-based observatories. We investigated the range of microlensing models and used them to derive the most probable mass and distance to the lens using a Galactic model as a prior. Using known mass-brightness relation we determined how likely it is that the lens is a main-sequence (MS) star. Results: This event is one of the longest ever detected, with the Einstein timescale of $t_\mathrm{E}=491.41^{+128.31}_{-84.94}$ days for the best solution and $t_\mathrm{E}=453.74^{+178.69}_{-105.74}$ days for the second-best. Assuming Galaxy priors, this translates to the most probable lens mass of $M_\mathrm{L} = 2.65^{+5.09}_{-1.48} M_\odot$ and $M_\mathrm{L} = 1.71^{+3.78}_{-1.06} M_\odot$, respectively. The limits on the blended light suggest that this event was most likely not caused by a MS star, but rather by a dark remnant of stellar evolution., Comment: accepted by Astonomy&Astrophysics, 12 pages, 5 figures