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A collaboration between The Institute for College Access & Success (TICAS) and the Student Senate for California Community Colleges (SSCCC), this policy brief examines the costs of attending California Community Colleges (CCCs) for low-income students and the roles that financial aid resources, work hours, and student loan borrowing currently play in meeting those costs. The report sheds light on the college affordability challenges that CCC students face and the need for state and CCC leaders to consider strategies that support CCC students' ability to afford and complete their education. Key recommendations from the brief include, among others, supporting equitable financial aid reform and encouraging more students to apply for financial aid. [This report was co-produced with The Student Senate for California Community Colleges.]

This work demonstrates universal dynamic perching capabilities for quadrotors of various sizes and on surfaces with different orientations. By employing a non-dimensionalization framework and deep reinforcement learning, we systematically assessed how robot size and surface orientation affect landing capabilities. We hypothesized that maintaining geometric proportions across different robot scales ensures consistent perching behavior, which was validated in both simulation and experimental tests. Additionally, we investigated the effects of joint stiffness and damping in the landing gear on perching behaviors and performance. While joint stiffness had minimal impact, joint damping ratios influenced landing success under vertical approaching conditions. The study also identified a critical velocity threshold necessary for successful perching, determined by the robot's maneuverability and leg geometry. Overall, this research advances robotic perching capabilities, offering insights into the role of mechanical design and scaling effects, and lays the groundwork for future drone autonomy and operational efficiency in unstructured environments., Comment: 7 pages, 8 Figures

We present a scheme to realize a topological superconducting system supporting Majorana zero modes, within a number-conserving framework suitable for optical-lattice experiments. Our approach builds on the engineering of pair-hopping processes on a ladder geometry, using a sequence of pulses that activate single-particle hopping in a time-periodic manner. We demonstrate that this dynamic setting is well captured by an effective Hamiltonian that preserves the parity symmetry, a key requirement for the stabilization of Majorana zero modes. The phase diagram of our system is determined using a bosonization theory, which is then validated by a numerical study of the topological bulk gap and entanglement spectrum using matrix product states. Our results indicate that Majorana zero modes can be stabilized in a large parameter space, accessible in optical-lattice experiments., Comment: 11 pages, 8 figures, including Appendix

Detecting vortices in neutral superfluids represents an outstanding experimental challenge. Using stochastic classical-field methods, we theoretically show that a quantum impurity repulsively coupled to a weakly-interacting Bose gas at finite temperature carries direct spectroscopic signatures of vortex proliferation. In two dimensions, we find that a low-energy (attractive) branch in the excitation spectrum becomes prominent when the temperature is tuned across the Berezinskii-Kosterlitz-Thouless (BKT) transition. We explain this red-shifted resonance as originating from the binding of the impurity to vortices, where the bosons density (and hence, the repulsive Hartree energy) is reduced. This mechanism could be exploited to spectroscopically estimate the BKT transition in excitonic insulators. In contrast, in three dimensions, the impurity spectra reflect the presence of vortex rings well below the condensation temperature, and herald the presence of a thermal gas above the Bose-Einstein condensation transition. Importantly, we expect our results to have impact on the understanding of Bose-polaron formation at finite temperatures., Comment: corrected affiliations

Intrusions into granular media are common in natural and engineered settings (e.g. during animal locomotion and planetary landings). While intrusion of complex shapes in dry non-cohesive granular materials is well studied, less is known about intrusion in cohesive powders. Granular resistive force theory (RFT) -- a reduced-order frictional fluid model -- quantitatively predicts intrusion forces in dry, non-cohesive granular media by assuming a linear superposition of angularly dependent elemental stresses acting on arbitrarily shaped intruders. Here we extend RFT's applicability to cohesive dry powders, enabling quantitative modeling of forces on complex shapes during intrusion. To do so, we first conduct intrusion experiments into dry cornstarch powder to create stress functions. These stresses are similar to non-cohesive media; however, we observe relatively higher resistance to horizontal intrusions in cohesive powder compared to non-cohesive media. We use the model to identify geometries that enhance resistance to intrusion in such materials, aiming to minimize sinkage. Our calculations, supported by experimental verification, suggest that a flat surface generates the largest stress across various intrusion angles while a curved surface exhibits the largest resistance for vertical intrusion. Our model can thus facilitate optimizing design and movement strategies for robotic platforms (e.g. extraterrestrial landers) operating in such environments., Comment: 23 pages, 10 figures, submitted to the Journal of Terramechanics

Significant mass loss in the red supergiant (RSG) phase has great influence on the evolution of massive stars and their final fate as supernovae. We present near-infrared interferometric imaging of the circumstellar environment of the dust-enshrouded RSG WOH G64 in the Large Magellanic Cloud. WOH G64 was observed with the GRAVITY instrument at ESO's Very Large Telescope Interferometer (VLTI) at 2.0--2.45 micron. We succeeded in imaging the innermost circumstellar environment of WOH G64 -- the first interferometric imaging of an RSG outside the Milky Way. The reconstructed image reveals elongated compact emission with a semimajor and semiminor axis of ~2 and ~1.5 mas (~13 and 9 stellar radii), respectively. The GRAVITY data show that the stellar flux contribution at 2.2 micron at the time of our observations in 2020 is much lower than predicted by the optically and geometrically thick dust torus model based on the VLTI/MIDI data taken in 2005 and 2007. We found a significant change in the near-infrared spectrum of WOH G64: while the (spectro)photometric data taken at 1--2.5 micron before 2003 show the spectrum of the central RSG with H2O absorption, the spectra and JHK' photometric data taken after 2016 are characterized by a monotonically rising continuum with very weak signatures of H2O. This spectral change likely took place between December 2009 and 2016. On the other hand, the mid-infrared spectrum obtained in 2022 with VLT/VISIR agrees well with the spectra obtained before 2007. The compact emission imaged with GRAVITY and the near-infrared spectral change suggest the formation of hot new dust close to the star, which gives rise to the monotonically rising near-infrared continuum and the high obscuration of the central star. The elongation of the emission may be due to the presence of a bipolar outflow or effects of an unseen companion., Comment: 10 pages, 8 figures, published in Astronomy and Astrophysics

The 2-dimensional Shephard groups are quotients of 2-dimensional Artin groups by powers of standard generators. We show that such a quotient is not $\mathrm{CAT}(0)$ if the powers taken are sufficiently large. However, for a given 2-dimensional Shephard group, we construct a $\mathrm{CAT}(0)$ piecewise Euclidean cell complex with a cocompact action (analogous to the Deligne complex for an Artin group) that allows us to determine other non-positive curvature properties. Namely, we show the 2-dimensional Shephard groups are acylindrically hyperbolic (which was known for 2-dimensional Artin groups), and relatively hyperbolic (which most Artin groups are known not to be). As an application, we show that a broad class of 2-dimensional Artin groups are residually finite., Comment: 37 pages, 5 figures. Comments welcome

We consider a branched transport problem with weakly imposed boundary conditions. This problem arises as a reduced model for pattern formation in type-I superconductors. For this model, it is conjectured that the dimension of the boundary measure is non-integer. We prove this conjecture in a simplified 2D setting, under the (strong) assumption of Ahlfors regularity of the irrigated measure. This work is the first rigorous proof of a singular behaviour for irrigated measures resulting from minimality.

Achieving robust legged locomotion on complex terrains poses challenges due to the high uncertainty in robot-environment interactions. Recent advances in bipedal and quadrupedal robots demonstrate good mobility on rugged terrains but rely heavily on sensors for stability due to low static stability from a high center of mass and a narrow base of support. We hypothesize that a multi-legged robotic system can leverage morphological redundancy from additional legs to minimize sensing requirements when traversing challenging terrains. Studies suggest that a multi-legged system with sufficient legs can reliably navigate noisy landscapes without sensing and control, albeit at a low speed of up to 0.1 body lengths per cycle (BLC). However, the control framework to enhance speed on challenging terrains remains underexplored due to the complex environmental interactions, making it difficult to identify the key parameters to control in these high-degree-of-freedom systems. Here, we present a bio-inspired vertical body undulation wave as a novel approach to mitigate environmental disturbances affecting robot speed, supported by experiments and probabilistic models. Finally, we introduce a control framework which monitors foot-ground contact patterns on rugose landscapes using binary foot-ground contact sensors to estimate terrain rugosity. The controller adjusts the vertical body wave based on the deviation of the limb's averaged actual-to-ideal foot-ground contact ratio, achieving a significant enhancement of up to 0.235 BLC on rugose laboratory terrain. We observed a $\sim$ 50\% increase in speed and a $\sim$ 40\% reduction in speed variance compared to the open-loop controller. Additionally, the controller operates in complex terrains outside the lab, including pine straw, robot-sized rocks, mud, and leaves., Comment: Submitted to IEEE Transactions on Robotics (T-RO)

CeO$_2$ (ceria) is an attractive material for heterogeneous catalysis applications involving hydrogen due to its favorable redox activity combined with its relative impermeability to hydrogen ions and molecules. However, to date, many bulk ceria/hydrogen properties remain unresolved in part due to a scarcity of experimental data combined with quantum calculation results that vary according to the approach used. In this regard, we have conducted a series of Density Functional Theory (DFT) calculations utilizing generalized gradient (GGA), meta-GGA, and hybrid functionals as well as several corrections for electronic correlations, applied to a number of properties regarding hydrogen in bulk stoichiometic $\mathrm{CeO_2}$. Our calculations place reasonable bounds on the lattice constants, band gaps, hydrogen absorption energies, and O-H bond vibrational frequencies that can be determined by DFT. In addition, our results indicate that the activation energy barriers for hydrogen bulk diffusion are uniformly low ($ < 0.15 \ \mathrm{eV} $) for the calculation parameters probed here and that, in general, the effect of hydrogen tunneling is small at ambient temperatures. Our study provides a recipe to determine fundamental physical chemical properties of Ce-O-H interactions while also determining realistic ranges for diffusion kinetics. This can facilitate the determination of future coarse-grained models that will be able to guide and elucidate experimental efforts in this area.

Large language models (LLMs) generate diverse, situated, persuasive texts from a plurality of potential perspectives, influenced heavily by their prompts and training data. As part of LLM adoption, we seek to characterize - and ideally, manage - the socio-cultural values that they express, for reasons of safety, accuracy, inclusion, and cultural fidelity. We present a validated approach to automatically (1) extracting heterogeneous latent value propositions from texts, (2) assessing resonance and conflict of values with texts, and (3) combining these operations to characterize the pluralistic value alignment of human-sourced and LLM-sourced textual data.

The Local Ultraviolet to Infrared Treasury (LUVIT) is a Hubble Space Telescope program that combines newly acquired data in the near ultraviolet (NUV), optical, and near infrared (NIR) with archival optical and NIR imaging to produce multiband panchromatic resolved stellar catalogs for 23 pointings in 22 low-mass, star-forming galaxies ranging in distance from the outskirts of the Local Group to ~3.8 Mpc. We describe the survey design, detail the LUVIT broadband filter observations and the archival datasets included in the LUVIT reductions, and summarize the simultaneous multiband data reduction steps. The spatial distributions and color-magnitude diagrams (CMDs) from the resulting stellar catalogs are presented for each target, from the NUV to the NIR. We demonstrate in which regions of the CMDs stars with NUV and optical, optical and NIR, and NUV through NIR detections reside. For each target, we use the results from artificial star tests to measure representative completeness, bias, and total photometric uncertainty as a function of magnitude in each broadband filter. We also assess which LUVIT targets have significant spatial variation in the fraction of stars recovered at a given magnitude. The panchromatic LUVIT stellar catalogs will provide a rich legacy dataset for a host of resolved stellar population studies., Comment: 48 pages, 14 figures, 8 tables, accepted for publication in ApJS

By analyzing the spectral energy distributions (SEDs) of resolved stars in nearby galaxies, we can constrain their stellar properties and line-of-sight dust extinction. From the Scylla survey, we obtain ultraviolet to near-infrared photometry from Wide Field Camera 3 onboard the {\it Hubble Space Telescope} for more than 1.5 million stars in the SMC and LMC. We use the Bayesian Extinction and Stellar Tool (BEAST) to analyze the multi-band SEDs of these sources and characterize their initial masses, ages, metallicities, distances, and line-of-sight extinction properties (e.g.~$A_V$, $R_V$). We apply quality cuts and perform validation simulations to construct a catalog of over 550,000 stars with high-reliability SED fits, which we use to analyze the stellar content and extinction properties of the SMC and LMC. We detect stars with masses as low as 0.6 $M_{\odot}$. Observed stellar age distributions show a jump in stars around 6 Gyrs ago, which is in agreement with other star-formation histories. Extinctions ($A_V$) in both galaxies follow a log-normal distribution. We compare $A_V$ with ancillary gas and dust tracers like $HI$, $H_\alpha$, and far infrared (FIR) dust emission and find positive correlations on a field-by-field basis. We convert observed $A_V$ to predicted dust surface densities using the Draine et. al. (2014) model and find $A_V$-based dust surface densities are a factor of $\sim$2.5 lower than observed FIR-based dust surface densities, a correction factor similar to other studies., Comment: Submitted to ApJ, 31 pages

In arXiv:1609.03493, the authors extended the exact renormalization group (ERG) to arbitrary wave-functionals in quantum field theory (QFT). Applying this formalism, we show that the ERG flow of density matrices is given by a Lindblad master equation. The Lindbladian consists of a "Hamiltonian" term which is the sum of a scaling and a coarse-graining (disentangling) operator, and a dissipative term with absorption and emission rates for each momentum mode. We consider as examples the flow of Gaussian states and the perturbative ground state of $\lambda \phi^4$ theory, and highlight the role of the dissipative terms in generating the correct flow of couplings. Integrating the Lindblad master equation, we find that a finite ERG flow of density matrices is described by a quantum channel. It follows from the data processing inequality that any distinguishability measure of states is an ERG monotone., Comment: 62 pages, 7 figures

We present archival HST and JWST ultraviolet through near infrared time series photometric observations of a massive minimal-contact binary candidate in the metal-poor galaxy WLM ($Z = 0.14 Z_{\odot}$). This discovery marks the lowest metallicity contact binary candidate observed to date. We determine the nature of the two stars in the binary by using the eclipsing binary modeling software (PHysics Of Eclipsing BinariEs; PHOEBE) to train a neural network to fit our observed panchromatic multi-epoch photometry. The best fit model consists of two hot MS stars ($T_1=29800^{+2300}_{-1700}$ K, $M_1=16^{+2}_{-3}~M_{\odot}$, and $T_2=18000^{+5000}_{-5000}$ K, $M_2=7^{+5}_{-3}~M_{\odot}$). We discuss plausible evolutionary paths for the system, and suggest the system is likely to be currently in a contact phase before ultimately ending in a merger. Future spectroscopy will help to further narrow down evolutionary pathways. This work showcases a novel use of data of JWST and HST imaging originally taken to characterize RR Lyrae. We expect time series imaging from LSST, BlackGEM, etc. to uncover similar types of objects in nearby galaxies., Comment: comments welcome

The proximity of the Large and Small Magellanic Clouds (LMC and SMC) provides the opportunity to study the impact of dwarf-dwarf interactions on their mass assembly with a unique level of detail. To this end, we analyze two-filter broadband imaging of 83 Hubble Space Telescope (HST) pointings covering 0.203 deg$^2$ towards the SMC, extending out to $\sim$3.5 kpc in projection from its optical center. Lifetime star formation histories (SFHs) fit to each pointing independently reveal an outside-in age gradient such that fields in the SMC outskirts are older on average. We measure radial gradients of the lookback time to form 90%, 75% and 50% of the cumulative stellar mass for the first time, finding $\delta$($\tau_{90}$, $\tau_{75}$, $\tau_{50}$)/$\delta$R = (0.61$^{+0.08}_{-0.07}$, 0.65$^{+0.09}_{-0.08}$, 0.82$^{+0.12}_{-0.16}$) Gyr/kpc assuming PARSEC evolutionary models and a commonly used elliptical geometry of the SMC, although our results are robust to these assumptions. The wing of the SMC deviates from this trend, forming 25\% of its cumulative mass over the most recent 3 Gyr due to a best-fit star formation rate that remains approximately constant. Our results are consistent with chemodynamical evidence of a tidally stripped SMC component in the foreground, and imply contributions to the observed SFH from multiple previous LMC-SMC interactions. We also compare our SMC SFH with results from a companion study of the LMC, finding that while the two galaxies present different internal, spatially resolved SFH trends, both the LMC and SMC have similar near-constant lifetime SFHs when viewed globally., Comment: ApJ in press. 40 pages, 18 figures, 5 tables including Appendices

The proximity of the Magellanic Clouds provides the opportunity to study interacting dwarf galaxies near a massive host, and spatial trends in their stellar population properties in particular, with a unique level of detail. The Scylla pure parallel program has obtained deep (80% complete to >1 mag below the ancient main sequence turnoff), homogeneous two-filter Hubble Space Telescope (HST) imaging sampling the inner star-forming disk of the Large Magellanic Cloud (LMC), the perfect complement to shallower, contiguous ground-based surveys. We harness this imaging together with extant archival data and fit lifetime star formation histories (SFHs) to resolved color-magnitude diagrams (CMDs) of 111 individual fields, using three different stellar evolutionary libraries. We validate per-field recovered distances and extinctions as well as the combined global LMC age-metallicity relation and SFH against independent estimates. We find that the present-day radial age gradient reverses from an inside-out gradient in the inner disk to an outside-in gradient beyond $\sim$2 disk scalelengths, supported by ground-based measurements. The gradients become relatively flatter at earlier lookback times, while the location of the inversion remains constant over an order of magnitude in lookback time, from $\sim$1$-$10 Gyr. This suggests at least one mechanism that predates the recent intense LMC-SMC interaction. We compare observed radial age trends to other late-type galaxies at fixed stellar mass and discuss similarities and differences in the context of potential drivers, implying strong radial migration in the LMC., Comment: ApJ in press. 45 pages, 17 figures, 9 tables including Appendices

Scylla is a deep Hubble Space Telescope survey of the stellar populations, interstellar medium and star formation in the LMC and SMC. As a pure-parallel complement to the Ultraviolet Legacy Library of Young Stars as Essential Standards (ULLYSES) survey, Scylla obtained 342 orbits of ultraviolet (UV) through near-infrared (IR) imaging of the LMC and SMC with Wide Field Camera 3. In this paper, we describe the science objectives, observing strategy, data reduction procedure, and initial results from our photometric analysis of 96 observed fields. Although our observations were constrained by ULYSSES primary exposures, we imaged all fields in at least two filters (F475W and F814W), and 64% of fields in at least three and as many as seven WFC3 filters spanning the UV to IR. Overall, we reach average 50% completeness of $m_{\rm F225W}=26.0$, $m_{\rm F275W}=26.2$, $m_{\rm F336W}=26.9$, $m_{\rm F475W}=27.8$, $m_{\rm F814W}=25.5$, $m_{\rm F110W}=24.7$, and $m_{\rm F160W}=24.0$ Vega magnitudes in our photometric catalogs, which is faintward of the ancient main sequence turnoff in all filters. The primary science goals of Scylla include characterizing the structure and properties of dust in the MCs, as well as their spatially-resolved star formation and chemical enrichment histories. Our images and photometric catalogs, which represent the widest-area coverage of MCs with HST photometry to date, are available as a high-level science product at the Barbara A. Mikulski Archive for Space Telescopes., Comment: 25 pages, 16 figures, 8 tables. Accepted for publication in ApJS

A key hallmark of quantum Hall physics is the existence of topological chiral states at the system boundary. Signatures of these edge states have been experimentally observed in cold atoms by using different approaches, including notably that of ``synthetic dimension'' in which internal states are coupled together and reinterpreted as sites along an artificial spatial dimension. However, previous atomic synthetic dimension implementations have been limited to relatively small system sizes with inflexible boundaries. In this paper, we propose instead how to use a synthetic dimension of atomic trap states to observe chiral edge states in a large quantum Hall system with a tunable edge. We present numerical simulations for relevant experimental parameters, showing how this scheme may be used to probe the properties and robustness of the edge states to defects. Our work opens the way for future experiments in topological physics with synthetic dimensions, while also providing new ways to manipulate and control highly-excited trap states., Comment: 21 Pages, 20 figures

AlScN is a new wide bandgap, high-k, ferroelectric material for RF, memory, and power applications. Successful integration of high quality AlScN with GaN in epitaxial layer stacks depends strongly on the ability to control lattice parameters and surface or interface through growth. This study investigates the molecular beam epitaxy growth and transport properties of AlScN/GaN multilayer heterostructures. Single layer Al$_{1-x}$Sc$_x$N/GaN heterostructures exhibited lattice-matched composition within $x$ = 0.09 -- 0.11 using substrate (thermocouple) growth temperatures between 330 $ ^\circ$C and 630 $ ^\circ$C. By targeting the lattice-matched Sc composition, pseudomorphic AlScN/GaN multilayer structures with ten and twenty periods were achieved, exhibiting excellent structural and interface properties as confirmed by X-ray diffraction (XRD) and scanning transmission electron microscopy (STEM). These multilayer heterostructures exhibited substantial polarization-induced net mobile charge densities of up to 8.24 $\times$ 10$^{14}$/cm$^2$ for twenty channels. The sheet density scales with the number of AlScN/GaN periods. By identifying lattice-matched growth condition and using it to generate multiple conductive channels, this work enhances our understanding of the AlScN/GaN material platform.

Neural networks are trained primarily based on their inputs and outputs, without regard for their internal mechanisms. These neglected mechanisms determine properties that are critical for safety, like (i) transparency; (ii) the absence of sensitive information or harmful capabilities; and (iii) reliable generalization of goals beyond the training distribution. To address this shortcoming, we introduce gradient routing, a training method that isolates capabilities to specific subregions of a neural network. Gradient routing applies data-dependent, weighted masks to gradients during backpropagation. These masks are supplied by the user in order to configure which parameters are updated by which data points. We show that gradient routing can be used to (1) learn representations which are partitioned in an interpretable way; (2) enable robust unlearning via ablation of a pre-specified network subregion; and (3) achieve scalable oversight of a reinforcement learner by localizing modules responsible for different behaviors. Throughout, we find that gradient routing localizes capabilities even when applied to a limited, ad-hoc subset of the data. We conclude that the approach holds promise for challenging, real-world applications where quality data are scarce.

Interacting bosons on a single plaquette threaded by a $\pi$-flux can spontaneously break time-reversal symmetry, resulting in a chiral loop current. Connecting such bosonic $\pi$-flux plaquettes in a dispersive configuration was recently shown to lead to long-range chiral order. Here, instead, we design a chain of $\pi$-flux plaquettes that exhibits an all-flat-bands single-particle energy spectrum and an extensive set of local symmetries. Using Elitzur's theorem, we show that these local symmetries prevent the emergence of long-range chiral order. Moreover, projecting the dynamics to a Creutz ladder model with an effective intra-rung interaction allows one to derive simple spin Hamiltonians capturing the ground state degeneracy and the low-energy excitations, and to confirm the absence of chiral order. Nevertheless, we show how to obtain gauge-invariant information from a mean-field approach, which explicitly break gauge-invaraince. Finally, we observe an ``impurity self-pinning'' phenomenon, when an extra boson is added on top of a ground state at integer filling, resulting in a non-dispersive density peak. Exact diagonalization benchmarks are also provided, and experimental perspectives are discussed., Comment: 12 pages, 8 figures

Centipede-like robots offer an effective and robust solution to navigation over complex terrain with minimal sensing. However, when climbing over obstacles, such multi-legged robots often elevate their center-of-mass into unstable configurations, where even moderate terrain uncertainty can cause tipping over. Robust mechanisms for such elongate multi-legged robots to self-right remain unstudied. Here, we developed a comparative biological and robophysical approach to investigate self-righting strategies. We first released \textit{S. polymorpha} upside down from a 10 cm height and recorded their self-righting behaviors using top and side view high-speed cameras. Using kinematic analysis, we hypothesize that these behaviors can be prescribed by two traveling waves superimposed in the body lateral and vertical planes, respectively. We tested our hypothesis on an elongate robot with static (non-actuated) limbs, and we successfully reconstructed these self-righting behaviors. We further evaluated how wave parameters affect self-righting effectiveness. We identified two key wave parameters: the spatial frequency, which characterizes the sequence of body-rolling, and the wave amplitude, which characterizes body curvature. By empirically obtaining a behavior diagram of spatial frequency and amplitude, we identify effective and versatile self-righting strategies for general elongate multi-legged robots, which greatly enhances these robots' mobility and robustness in practical applications such as agricultural terrain inspection and search-and-rescue.

Centipedes exhibit great maneuverability in diverse environments due to their many legs and body-driven control. By leveraging similar morphologies, their robotic counterparts also demonstrate effective terrestrial locomotion. However, the success of these multi-legged robots is largely limited to forward locomotion; steering is substantially less studied, in part due to the challenges in coordinating their many body joints. Furthermore, steering behavior is complex and can include different combinations of desired rotational/translational displacement. In this paper, we explore steering strategies in multi-legged robots based on tools derived from geometric mechanics (GM). We characterize the steering motion in the plane by the rotation angle, the steering radius, and the heading direction angle. We identify an effective turning strategy by superimposing two traveling waves in the lateral body undulation and further explore variations of the "turning wave" to enable a broad spectrum of steering behaviors. By combining an amplitude modulation and a phase modulation, we develop a control strategy for steering behaviors that enables steering with a range of rotation angles (from 0{\deg} to 20{\deg}) and steering radius (from 0.28 to 0.38 body length) while keeping the heading direction angle close to 0. Lastly, we test our control framework on an elongate multi-legged robot model to verify the effectiveness of our proposed strategy. Our work demonstrates the generality of the two-wave template for effective steering of multi-legged elongate robots.

Characterized by their elongate bodies and relatively simple legs, multi-legged robots have the potential to locomote through complex terrains for applications such as search-and-rescue and terrain inspection. Prior work has developed effective and reliable locomotion strategies for multi-legged robots by propagating the two waves of lateral body undulation and leg stepping, which we will refer to as the two-wave template. However, these robots have limited capability to climb over obstacles with sizes comparable to their heights. We hypothesize that such limitations stem from the two-wave template that we used to prescribe the multi-legged locomotion. Seeking effective alternative waves for obstacle-climbing, we designed a five-segment robot with static (non-actuated) legs, where each cable-driven joint has a rotational degree-of-freedom (DoF) in the sagittal plane (vertical wave) and a linear DoF (peristaltic wave). We tested robot locomotion performance on a flat terrain and a rugose terrain. While the benefit of peristalsis on flat-ground locomotion is marginal, the inclusion of a peristaltic wave substantially improves the locomotion performance in rugose terrains: it not only enables obstacle-climbing capabilities with obstacles having a similar height as the robot, but it also significantly improves the traversing capabilities of the robot in such terrains. Our results demonstrate an alternative actuation mechanism for multi-legged robots, paving the way towards all-terrain multi-legged robots.

Modern artificial intelligence (AI) systems are powered by foundation models. This paper presents a new set of foundation models, called Llama 3. It is a herd of language models that natively support multilinguality, coding, reasoning, and tool usage. Our largest model is a dense Transformer with 405B parameters and a context window of up to 128K tokens. This paper presents an extensive empirical evaluation of Llama 3. We find that Llama 3 delivers comparable quality to leading language models such as GPT-4 on a plethora of tasks. We publicly release Llama 3, including pre-trained and post-trained versions of the 405B parameter language model and our Llama Guard 3 model for input and output safety. The paper also presents the results of experiments in which we integrate image, video, and speech capabilities into Llama 3 via a compositional approach. We observe this approach performs competitively with the state-of-the-art on image, video, and speech recognition tasks. The resulting models are not yet being broadly released as they are still under development.

Isolated, low-mass galaxies provide the opportunity to assess the impact of reionization on their star formation histories (SFHs) without the ambiguity of environmental processes associated with massive host galaxies. There are very few isolated, low-mass galaxies that are close enough to determine their SFHs from resolved star photometry reaching below the oldest main sequence turnoff. JWST has increased the volume for which this is possible, and here we report on JWST observations of the low-mass, isolated galaxy Leo P. From NIRCam imaging in F090W, F150W, and F277W, we derive a SFH which shows early star formation followed by a pause subsequent to the epoch of reionization which is then later followed by a re-ignition of star formation. This is very similar to the SFHs from previous studies of other dwarf galaxies in the ``transition zone'' between quenched very low-mass galaxies and the more massive galaxies which show no evidence of the impact of reionization on their SFHs; this pattern is rarely produced in simulations of SFHs. The lifetime SFH reveals that Leo P's stellar mass at the epoch of reionization was in the range that is normally associated with being totally quenched. The extended pause in star formation from z~5-1 has important implications for the contribution of low-mass galaxies to the UV photon budget at intermediate redshifts. We also demonstrate that, due to higher sensitivity and angular resolution, observing in two NIRCam short wavelength filters is superior to observing in a combination of a short and a long wavelength filter., Comment: 24 pages, 9 figures, 3 tables

This paper presents AquaMILR+, an untethered limbless robot designed for agile navigation in complex aquatic environments. The robot features a bilateral actuation mechanism that models musculoskeletal actuation in many anguilliform swimming organisms which propagates a moving wave from head to tail allowing open fluid undulatory swimming. This actuation mechanism employs mechanical intelligence, enhancing the robot's maneuverability when interacting with obstacles. AquaMILR+ also includes a compact depth control system inspired by the swim bladder and lung structures of eels and sea snakes. The mechanism, driven by a syringe and telescoping leadscrew, enables depth and pitch control-capabilities that are difficult for most anguilliform swimming robots to achieve. Additional structures, such as fins and a tail, further improve stability and propulsion efficiency. Our tests in both open water and indoor 2D and 3D heterogeneous aquatic environments highlight AquaMILR+'s capabilities and suggest a promising system for complex underwater tasks such as search and rescue and deep-sea exploration.

In recent years, workplaces and educational institutes have widely adopted virtual meeting platforms. This has led to a growing interest in analyzing and extracting insights from these meetings, which requires effective detection and tracking of unique individuals. In practice, there is no standardization in video meetings recording layout, and how they are captured across the different platforms and services. This, in turn, creates a challenge in acquiring this data stream and analyzing it in a uniform fashion. Our approach provides a solution to the most general form of video recording, usually consisting of a grid of participants (\cref{fig:videomeeting}) from a single video source with no metadata on participant locations, while using the least amount of constraints and assumptions as to how the data was acquired. Conventional approaches often use YOLO models coupled with tracking algorithms, assuming linear motion trajectories akin to that observed in CCTV footage. However, such assumptions fall short in virtual meetings, where participant video feed window can abruptly change location across the grid. In an organic video meeting setting, participants frequently join and leave, leading to sudden, non-linear movements on the video grid. This disrupts optical flow-based tracking methods that depend on linear motion. Consequently, standard object detection and tracking methods might mistakenly assign multiple participants to the same tracker. In this paper, we introduce a novel approach to track and re-identify participants in remote video meetings, by utilizing the spatio-temporal priors arising from the data in our domain. This, in turn, increases tracking capabilities compared to the use of general object tracking. Our approach reduces the error rate by 95% on average compared to YOLO-based tracking methods as a baseline., Comment: Accepted to ECCV 2024 workshop

Navigating rugged landscapes poses significant challenges for legged locomotion. Multi-legged robots (those with 6 and greater) offer a promising solution for such terrains, largely due to their inherent high static stability, resulting from a low center of mass and wide base of support. Such systems require minimal effort to maintain balance. Recent studies have shown that a linear controller, which modulates the vertical body undulation of a multi-legged robot in response to shifts in terrain roughness, can ensure reliable mobility on challenging terrains. However, the potential of a learning-based control framework that adjusts multiple parameters to address terrain heterogeneity remains underexplored. We posit that the development of an experimentally validated physics-based simulator for this robot can rapidly advance capabilities by allowing wide parameter space exploration. Here we develop a MuJoCo-based simulator tailored to this robotic platform and use the simulation to develop a reinforcement learning-based control framework that dynamically adjusts horizontal and vertical body undulation, and limb stepping in real-time. Our approach improves robot performance in simulation, laboratory experiments, and outdoor tests. Notably, our real-world experiments reveal that the learning-based controller achieves a 30\% to 50\% increase in speed compared to a linear controller, which only modulates vertical body waves. We hypothesize that the superior performance of the learning-based controller arises from its ability to adjust multiple parameters simultaneously, including limb stepping, horizontal body wave, and vertical body wave., Comment: Submitted to ICRA 2025

In many data-driven applications, higher-order relationships among multiple objects are essential in capturing complex interactions. Hypergraphs, which generalize graphs by allowing edges to connect any number of nodes, provide a flexible and powerful framework for modeling such higher-order relationships. In this work, we introduce hypergraph diffusion wavelets and describe their favorable spectral and spatial properties. We demonstrate their utility for biomedical discovery in spatially resolved transcriptomics by applying the method to represent disease-relevant cellular niches for Alzheimer's disease.

We establish the validity of asymptotic limits for the general transportation problem between random i.i.d. points and their common distribution, with respect to the squared Euclidean distance cost, in any dimension larger than three. Previous results were essentially limited to the two (or one) dimensional case, or to distributions whose absolutely continuous part is uniform. The proof relies upon recent advances in the stability theory of optimal transportation, combined with functional analytic techniques and some ideas from quantitative stochastic homogenization. The key tool we develop is a quantitative upper bound for the usual quadratic optimal transportation problem in terms of its boundary variant, where points can be freely transported along the boundary. The methods we use are applicable to more general random measures, including occupation measure of Brownian paths, and may open the door to further progress on challenging problems at the interface of analysis, probability, and discrete mathematics.

Foundational models, trained on vast and diverse datasets, have demonstrated remarkable capabilities in generalizing across different domains and distributions for various zero-shot tasks. Our work addresses the challenge of retaining these powerful generalization capabilities when adapting foundational models to specific downstream tasks through fine-tuning. To this end, we introduce a novel approach we call "similarity loss", which can be incorporated into the fine-tuning process of any task. By minimizing the distortion of fine-tuned embeddings from the pre-trained embeddings, our method strikes a balance between task-specific adaptation and preserving broad generalization abilities. We evaluate our approach on two diverse tasks: image classification on satellite imagery and face recognition, focusing on open-class and domain shift scenarios to assess out-of-distribution (OOD) performance. We demonstrate that this approach significantly improves OOD performance while maintaining strong in-distribution (ID) performance., Comment: Accepted to ECCV 2024 workshop

Chiral Spin Liquids (CSL) are quantum spin analogs of electronic Fractional Chern Insulators. Their realizations on ultracold-atom or Rydberg-atom platforms remain very challenging. Recently, a setup of time-periodic modulations of nearest-neighbor Heisenberg couplings applied on an initial genuine spin liquid state on the square lattice has been proposed to stabilize a (Abelian) $\mathbb{Z}_2$ CSL phase. In the high-frequency limit, it was shown that time evolution can be described in terms of a static effective chiral Hamiltonian. Here we revisit this proposal and consider drives at lower frequency in a regime where the high-frequency Magnus expansion fails. We show that a Dynamical CSL (DCSL) is nevertheless stabilized in a finite range of frequency. The topological nature of this dynamical phase, as well as its instability below a critical frequency, is connected to specific features of the Floquet pseudo-energy spectrum. We also show that the DCSL can be represented faithfully by a two-dimensional time-periodic tensor network and, as in the static case, topological order is associated to a tensor gauge symmetry ($\mathbb{Z}_2$ in that case)., Comment: 11 pages, 6 figures, 2 tables

Stellar evolution theory predicts that the Sun was fainter in the past, which can pose difficulties for understanding Earth's climate history. One proposed solution to this Faint Young Sun problem is a more luminous Sun in the past. In this paper, we address the robustness of the solar luminosity history using the YREC code to compute solar models including rotation, magnetized winds, and the associated mass loss. We present detailed solar models, including their evolutionary history, which are in excellent agreement with solar observables. Consistent with prior standard models, we infer a high solar metal content. We provide predicted X-ray luminosities and rotation histories for usage in climate reconstructions and activity studies. We find that the Sun's luminosity deviates from the standard solar model trajectory by at most 0.5% during the Archean (corresponding to a radiative forcing of 0.849 W m$^{-2}$). The total mass loss experienced by solar models is modest because of strong feedback between mass and angular momentum loss. We find a maximum mass loss of $1.35 \times 10^{-3} M_\odot$ since birth, at or below the level predicted by empirical estimates. The associated maximum luminosity increase falls well short of the level necessary to solve the FYS problem. We present compilations of paleotemperature and CO$_2$ reconstructions. 1-D "inverse" climate models demonstrate a mismatch between the solar constant needed to reach high temperatures (e.g. 60-80 $^{\circ}$C) and the narrow range of plausible solar luminosities determined in this study. Maintaining a temperate Earth, however, is plausible given these conditions., Comment: 18 pages, 14 figures

The mineral schreibersite, e.g., Fe$_3$P, is commonly found in iron-rich meteorites and could have served as an abiotic phosphorus source for prebiotic chemistry. However, atomistic calculations of its degradation chemistry generally require quantum simulation approaches, which can be too computationally cumbersome to study sufficient time and length scales for this process. In this regard, we have created a computationally efficient semi-empirical quantum Density Functional Tight Binding (DFTB) model for iron and phosphorus-containing materials by adopting an existing semi-automated workflow that represents many-body interactions by linear combinations of Chebyshev polynomials. We have utilized a relatively small training set to optimize a DFTB model that is accurate for schreibersite physical and chemical properties, including its bulk properties, surface energies, and water absorption. We then show that our model shows strong transferability to several iron phosphide solids as well as multiple allotropes of iron metal. Our resulting DFTB parameterization will allow us to interrogate schreibersite aqueous decomposition at longer time and length scales than standard quantum approaches, allowing for investigations of its role in prebiotic chemistry on early Earth., Comment: Includes Supplementary Information

We consider a variational model of electrified liquid drops, involving competition between surface tension and charge repulsion. Since the natural model happens to be ill-posed, we show that by adding to the perimeter a Willmore-type energy, the problem turns back to be well-posed. We also prove that for small charge the droplets is spherical.