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The Laser Interferometer Space Antenna (LISA) will detect mHz gravitational waves from many astrophysical sources, including millions of compact binaries in the Galaxy, thousands of which may be individually resolvable. The large number of signals overlapping in the LISA dataset requires a global fit in which an unknown number of sources are modeled simultaneously. This introduces a label-switching ambiguity for sources in the same class, making it challenging to distill a traditional astronomical catalog from global-fit posteriors. We present a method to construct a catalog by optimally relabeling samples from the global-fit posterior to minimize the statistical divergence between the global fit and a factorized catalog representation. The resulting catalog consists of the source posterior distributions and their probabilities of having an astrophysical origin. We demonstrate our algorithm on two toy models and on a small simulated LISA dataset of Galactic binaries. Our method is implemented in the open-source Python package petra_catalogs, and it can be applied in postprocessing to the output of any global-fit sampler., Comment: 15 pages, 11 figures

As bipedal robots become more and more popular in commercial and industrial settings, the ability to control them with a high degree of reliability is critical. To that end, this paper considers how to accurately estimate which feet are currently in contact with the ground so as to avoid improper control actions that could jeopardize the stability of the robot. Additionally, modern algorithms for estimating the position and orientation of a robot's base frame rely heavily on such contact mode estimates. Dedicated contact sensors on the feet can be used to estimate this contact mode, but these sensors are prone to noise, time delays, damage/yielding from repeated impacts with the ground, and are not available on every robot. To overcome these limitations, we propose a momentum observer based method for contact mode estimation that does not rely on such contact sensors. Often, momentum observers assume that the robot's base frame can be treated as an inertial frame. However, since many humanoids' legs represent a significant portion of the overall mass, the proposed method instead utilizes multiple simultaneous dynamic models. Each of these models assumes a different contact condition. A given contact assumption is then used to constrain the full dynamics in order to avoid assuming that either the body is an inertial frame or that a fully accurate estimate of body velocity is known. The (dis)agreement between each model's estimates and measurements is used to determine which contact mode is most likely using a Markov-style fusion method. The proposed method produces contact detection accuracy of up to 98.44% with a low noise simulation and 77.12% when utilizing data collect on the Sarcos Guardian XO robot (a hybrid humanoid/exoskeleton).

Map-based LiDAR localization, while widely used in autonomous systems, faces significant challenges in degraded environments due to lacking distinct geometric features. This paper introduces SuperLoc, a robust LiDAR localization package that addresses key limitations in existing methods. SuperLoc features a novel predictive alignment risk assessment technique, enabling early detection and mitigation of potential failures before optimization. This approach significantly improves performance in challenging scenarios such as corridors, tunnels, and caves. Unlike existing degeneracy mitigation algorithms that rely on post-optimization analysis and heuristic thresholds, SuperLoc evaluates the localizability of raw sensor measurements. Experimental results demonstrate significant performance improvements over state-of-the-art methods across various degraded environments. Our approach achieves a 54% increase in accuracy and exhibits the highest robustness. To facilitate further research, we release our implementation along with datasets from eight challenging scenarios, Comment: 7 pages, 6 figures, under review at ICRA 2025

Evidence has emerged for a stochastic signal correlated among 67 pulsars within the 15-year pulsar-timing data set compiled by the NANOGrav collaboration. Similar signals have been found in data from the European, Indian, Parkes, and Chinese PTAs. This signal has been interpreted as indicative of the presence of a nanohertz stochastic gravitational wave background. To explore the internal consistency of this result we investigate how the recovered signal strength changes as we remove the pulsars one by one from the data set. We calculate the signal strength using the (noise-marginalized) optimal statistic, a frequentist metric designed to measure correlated excess power in the residuals of the arrival times of the radio pulses. We identify several features emerging from this analysis that were initially unexpected. The significance of these features, however, can only be assessed by comparing the real data to synthetic data sets. After conducting identical analyses on simulated data sets, we do not find anything inconsistent with the presence of a stochastic gravitational wave background in the NANOGrav 15-year data. The methodologies developed here can offer additional tools for application to future, more sensitive data sets. While this analysis provides an internal consistency check of the NANOGrav results, it does not eliminate the necessity for additional investigations that could identify potential systematics or uncover unmodeled physical phenomena in the data., Comment: 21 pages, 11 figures, 2 tables

Pulsar timing array observations have found evidence for an isotropic gravitational wave background with the Hellings-Downs angular correlations, expected from general relativity. This interpretation hinges on the measured shape of the angular correlations, which is predominately quadrupolar under general relativity. Here we explore a more flexible parameterization: we expand the angular correlations into a sum of Legendre polynomials and use a Bayesian analysis to constrain their coefficients with the 15-year pulsar timing data set collected by the North American Nanohertz Observatory for Gravitational Waves (NANOGrav). When including Legendre polynomials with multipoles $\ell \geq 2$, we only find a significant signal in the quadrupole with an amplitude consistent with general relativity and non-zero at the $\sim 95\%$ confidence level and a Bayes factor of 200. When we include multipoles $\ell \leq 1$, the Bayes factor evidence for quadrupole correlations decreases by more than an order of magnitude due to evidence for a monopolar signal at approximately 4 nHz which has also been noted in previous analyses of the NANOGrav 15-year data. Further work needs to be done in order to better characterize the properties of this monopolar signal and its effect on the evidence for quadrupolar angular correlations., Comment: 15 pages, 6 figures

The detection of a stochastic gravitational wave background by pulsar timing arrays suggests the presence of a supermassive black hole binary population. Although the observed spectrum generally aligns with predictions from orbital evolution driven by gravitational wave emission in circular orbits, there is a discernible preference for a turnover at the lowest observed frequencies. This turnover could indicate a significant hardening phase, transitioning from early environmental influences to later stages predominantly influenced by gravitational wave emission. In the vicinity of these binaries, the ejection of stars or dark matter particles through gravitational three-body slingshots efficiently extracts orbital energy, leading to a low-frequency turnover in the spectrum. By analyzing the NANOGrav 15-year data, we assess how the gravitational wave spectrum depends on the initial inner galactic profile prior to disruption by binary ejections, accounting for a range of initial binary eccentricities. Our findings suggest a parsec-scale galactic center density around $10^6\,M_\odot/\textrm{pc}^3$ across most of the parameter space, offering insights into the environmental effects on black hole evolution and combined matter density near galaxy centers., Comment: 15 pages, 5 figures

This work introduces a novel paradigm for solving optimal control problems for hybrid dynamical systems under uncertainties. Robotic systems having contact with the environment can be modeled as hybrid systems. Controller design for hybrid systems under disturbances is complicated by the discontinuous jump dynamics, mode changes with inconsistent state dimensions, and variations in jumping timing and states caused by noise. We formulate this problem into a stochastic control problem with hybrid transition constraints and propose the Hybrid Path Integral (H-PI) framework to obtain the optimal controller. Despite random mode changes across stochastic path samples, we show that the ratio between hybrid path distributions with varying drift terms remains analogous to the smooth path distributions. We then show that the optimal controller can be obtained by evaluating a path integral with hybrid constraints. Importance sampling for path distributions with hybrid dynamics constraints is introduced to reduce the variance of the path integral evaluation, where we leverage the recently developed Hybrid iterative-Linear-Quadratic-Regulator (H-iLQR) controller to induce a hybrid path distribution proposal with low variance. The proposed method is validated through numerical experiments on various hybrid systems and extensive ablation studies. All the sampling processes are conducted in parallel on a Graphics Processing Unit (GPU)., Comment: 14 pages

In this paper we present Hybrid iterative Linear Quadratic Estimation (HiLQE), an optimization based offline state estimation algorithm for hybrid dynamical systems. We utilize the saltation matrix, a first order approximation of the variational update through an event driven hybrid transition, to calculate gradient information through hybrid events in the backward pass of an iterative linear quadratic optimization over state estimates. This enables accurate computation of the value function approximation at each timestep. Additionally, the forward pass in the iterative algorithm is augmented with hybrid dynamics in the rollout. A reference extension method is used to account for varying impact times when comparing states for the feedback gain in noise calculation. The proposed method is demonstrated on an ASLIP hopper system with position measurements. In comparison to the Salted Kalman Filter (SKF), the algorithm presented here achieves a maximum of 63.55% reduction in estimation error magnitude over all state dimensions near impact events.

This work addresses the problem of optimally steering the state covariance of a linear stochastic system from an initial to a target, subject to hybrid transitions. The nonlinear and discontinuous jump dynamics complicate the control design for hybrid systems. Under uncertainties, stochastic jump timing and state variations further intensify this challenge. This work aims to regulate the hybrid system's state trajectory to stay close to a nominal deterministic one, despite uncertainties and noises. We address this problem by directly controlling state covariances around a mean trajectory, and this problem is termed the Hybrid Covariance Steering (H-CS) problem. The jump dynamics are approximated to the first order by leveraging the Saltation Matrix. When the jump dynamics are nonsingular, we derive an analytical closed-form solution to the H-CS problem. For general jump dynamics with possible singularity and changes in the state dimensions, we reformulate the problem into a convex optimization over path distributions by leveraging Schrodinger's Bridge duality to the smooth covariance control problem. The covariance propagation at hybrid events is enforced as equality constraints to handle singularity issues. The proposed convex framework scales linearly with the number of jump events, ensuring efficient, optimal solutions. This work thus provides a computationally efficient solution to the general H-CS problem. Numerical experiments are conducted to validate the proposed method., Comment: 14 pages

The NANOGrav 15-year data provides compelling evidence for a stochastic gravitational-wave (GW) background at nanohertz frequencies. The simplest model-independent approach to characterizing the frequency spectrum of this signal consists in a simple power-law fit involving two parameters: an amplitude A and a spectral index \gamma. In this paper, we consider the next logical step beyond this minimal spectral model, allowing for a running (i.e., logarithmic frequency dependence) of the spectral index, \gamma_run(f) = \gamma + \beta \ln(f/f_ref). We fit this running-power-law (RPL) model to the NANOGrav 15-year data and perform a Bayesian model comparison with the minimal constant-power-law (CPL) model, which results in a 95% credible interval for the parameter \beta consistent with no running, \beta \in [-0.80,2.96], and an inconclusive Bayes factor, B(RPL vs. CPL) = 0.69 +- 0.01. We thus conclude that, at present, the minimal CPL model still suffices to adequately describe the NANOGrav signal; however, future data sets may well lead to a measurement of nonzero \beta. Finally, we interpret the RPL model as a description of primordial GWs generated during cosmic inflation, which allows us to combine our results with upper limits from big-bang nucleosynthesis, the cosmic microwave background, and LIGO-Virgo-KAGRA., Comment: 18 pages, 4 figures, 2 tables. v2: matches version published in ApJ Letters

Pulsar-timing-array experiments have reported evidence for a stochastic background of nanohertz gravitational waves consistent with the signal expected from a population of supermassive--black-hole binaries. Those analyses assume power-law spectra for intrinsic pulsar noise and for the background, as well as a Hellings--Downs cross-correlation pattern among the gravitational-wave--induced residuals across pulsars. These assumptions are idealizations that may not be realized in actuality. We test them in the NANOGrav 15 yr data set using Bayesian posterior predictive checks: after fitting our fiducial model to real data, we generate a population of simulated data-set replications, and use them to assess whether the optimal-statistic significance, inter-pulsar correlations, and spectral coefficients assume extreme values for the real data when compared to the replications. We confirm that the NANOGrav 15 yr data set is consistent with power-law and Hellings--Downs assumptions. We also evaluate the evidence for the stochastic background using posterior-predictive versions of the frequentist optimal statistic and of Bayesian model comparison, and find comparable significance (3.2\ $\sigma$ and 3\ $\sigma$ respectively) to what was previously reported for the standard statistics. We conclude with novel visualizations of the reconstructed gravitational waveforms that enter the residuals for each pulsar. Our analysis strengthens confidence in the identification and characterization of the gravitational-wave background as reported by NANOGrav., Comment: 20 pages, 14 Figures

Prior research has investigated the benefits and costs of double-anonymous review (DAR, also known as double-blind review) in comparison to single-anonymous review (SAR) and open review (OR). Several review papers have attempted to compile experimental results in peer review research both broadly and in engineering and computer science. This document summarizes prior research in peer review that may inform decisions about the format of peer review in the field of robotics and makes some recommendations for potential next steps for robotics publication., Comment: Originally published August 24, 2022

Fully Encrypted Protocols (FEPs) have arisen in practice as a technique to avoid network censorship. Such protocols are designed to produce messages that appear completely random. This design hides communications metadata, such as version and length fields, and makes it difficult to even determine what protocol is being used. Moreover, these protocols frequently support padding to hide the length of protocol fields and the contained message. These techniques have relevance well beyond censorship circumvention, as protecting protocol metadata has security and privacy benefits for all Internet communications. The security of FEP designs depends on cryptographic assumptions, but neither security definitions nor proofs exist for them. We provide novel security definitions that capture the metadata-protection goals of FEPs. Our definitions are given in both the datastream and datagram settings, which model the ubiquitous TCP and UDP interfaces available to protocol designers. We prove relations among these new notions and existing security definitions. We further present new FEP constructions and prove their security. Finally, we survey existing FEP candidates and characterize the extent to which they satisfy FEP security. We identify novel ways in which these protocols are identifiable, including their responses to the introduction of data errors and the sizes of their smallest protocol messages., Comment: 23 pages, 3 figures

In the gravitational-wave analysis of pulsar-timing-array datasets, parameter estimation is usually performed using Markov Chain Monte Carlo methods to explore posterior probability densities. We introduce an alternative procedure that relies instead on stochastic gradient-descent Bayesian variational inference, whereby we obtain the weights of a neural-network approximation of the posterior by minimizing the Kullback-Leibler divergence of the approximation from the exact posterior. This technique is distinct from simulation-based inference with normalizing flows, since we train the network for a single dataset, rather than the population of all possible datasets, and we require the computation of the data likelihood and its gradient. Unlike Markov Chain methods, our technique can transparently exploit highly parallel computing platforms. This makes it extremely fast on modern graphical processing units, where it can analyze the NANOGrav 15-yr dataset in few tens of minutes, depending on the probabilistic model, as opposed to hours or days with the analysis codes used until now. We expect that this speed will unlock new kinds of astrophysical and cosmological studies of pulsar-timing-array datasets. Furthermore, variational inference would be viable in other contexts of gravitational-wave data analysis as long as differentiable and parallelizable likelihoods are available., Comment: 6 pages, 1 figure

Website fingerprinting (WF) is a dangerous attack on web privacy because it enables an adversary to predict the website a user is visiting, despite the use of encryption, VPNs, or anonymizing networks such as Tor. Previous WF work almost exclusively uses synthetic datasets to evaluate the performance and estimate the feasibility of WF attacks despite evidence that synthetic data misrepresents the real world. In this paper we present GTT23, the first WF dataset of genuine Tor traces, which we obtain through a large-scale measurement of the Tor network. GTT23 represents real Tor user behavior better than any existing WF dataset, is larger than any existing WF dataset by at least an order of magnitude, and will help ground the future study of realistic WF attacks and defenses. In a detailed evaluation, we survey 25 WF datasets published over the last 15 years and compare their characteristics to those of GTT23. We discover common deficiencies of synthetic datasets that make them inferior to GTT23 for drawing meaningful conclusions about the effectiveness of WF attacks directed at real Tor users. We have made GTT23 available to promote reproducible research and to help inspire new directions for future work.

The cosmic merger history of supermassive black hole binaries (SMBHBs) is expected to produce a low-frequency gravitational wave background (GWB). Here we investigate how signs of the discrete nature of this GWB can manifest in pulsar timing arrays through excursions from, and breaks in, the expected $f_{\mathrm{GW}}^{-2/3}$ power-law of the GWB strain spectrum. To do this, we create a semi-analytic SMBHB population model, fit to NANOGrav's 15 yr GWB amplitude, and with 1,000 realizations we study the populations' characteristic strain and residual spectra. Comparing our models to the NANOGrav 15 yr spectrum, we find two interesting excursions from the power-law. The first, at $2 \; \mathrm{nHz}$, is below our GWB realizations with $p$-value significance $p = 0.05$ to $0.06$ ($\approx 1.8 \sigma - 1.9 \sigma$). The second, at $16 \; \mathrm{nHz}$, is above our GWB realizations with $p = 0.04$ to $0.15$ ($\approx 1.4 \sigma - 2.1 \sigma$). We explore the properties of a loud SMBHB which could cause such an excursion. Our simulations also show that the expected number of SMBHBs decreases by three orders of magnitude, from $\sim 10^6$ to $\sim 10^3$, between $2\; \mathrm{nHz}$ and $20 \; \mathrm{nHz}$. This causes a break in the strain spectrum as the stochasticity of the background breaks down at $26^{+28}_{-19} \; \mathrm{nHz}$, consistent with predictions pre-dating GWB measurements. The diminished GWB signal from SMBHBs at frequencies above the $26~\mathrm{nHz}$ break opens a window for PTAs to detect continuous GWs from individual SMBHBs or GWs from the early universe., Comment: 13 pages, 8 figures, 2 appendices, in press at ApJ

Upgrades beyond the current second generation of ground-based gravitational wave detectors will allow them to observe tens of thousands neutron star and black hole binaries. Given the typical minute-to-hour duration of neutron star signals in the detector frequency band, a number of them will overlap in the time-frequency plane resulting in a nonzero cross-correlation. We examine source confusion arising from overlapping signals whose time-frequency tracks cross. Adopting the median observed merger rate of $100$ Gpc$^{-3}$yr$^{-1}$, each neutron star binary signal overlaps with an average of 42(4)[0.5] other signals when observed from 2(5)[10] Hz. The vast majority of overlaps occur at low frequencies where the inspiral evolution is slow: 91% of time-frequency overlaps occur in band below 5 Hz. The combined effect of overlapping signals does not satisfy the central limit theorem and source confusion cannot be treated as stationary, Gaussian noise: on average 0.91(0.17)[0.05] signals are present in a single adaptive time-frequency bin centered at 2(5)[10] Hz. We quantify source confusion under a realistic neutron star binary population and find that parameter uncertainty typically increases by less than 1% unless there are overlapping signals whose detector-frame chirp mass difference is $\lesssim 0.01 M_{\odot}$ and the overlap frequency is $\gtrsim$ 40 Hz. Out of $1\times10^6$ simulated signals, 0.14% fall within this region of detector-frame chirp mass differences, but their overlap frequencies are typically lower than 40 Hz. Source confusion for ground-based detectors, where events overlap instantaneously is significantly milder than the equivalent LISA problem, where many classes of events overlap for the lifetime of the mission., Comment: 20 pages, 9 figures, 4 tables

Recently we found compelling evidence for a gravitational wave background with Hellings and Downs (HD) correlations in our 15-year data set. These correlations describe gravitational waves as predicted by general relativity, which has two transverse polarization modes. However, more general metric theories of gravity can have additional polarization modes which produce different interpulsar correlations. In this work we search the NANOGrav 15-year data set for evidence of a gravitational wave background with quadrupolar Hellings and Downs (HD) and Scalar Transverse (ST) correlations. We find that HD correlations are the best fit to the data, and no significant evidence in favor of ST correlations. While Bayes factors show strong evidence for a correlated signal, the data does not strongly prefer either correlation signature, with Bayes factors $\sim 2$ when comparing HD to ST correlations, and $\sim 1$ for HD plus ST correlations to HD correlations alone. However, when modeled alongside HD correlations, the amplitude and spectral index posteriors for ST correlations are uninformative, with the HD process accounting for the vast majority of the total signal. Using the optimal statistic, a frequentist technique that focuses on the pulsar-pair cross-correlations, we find median signal-to-noise-ratios of 5.0 for HD and 4.6 for ST correlations when fit for separately, and median signal-to-noise-ratios of 3.5 for HD and 3.0 for ST correlations when fit for simultaneously. While the signal-to-noise-ratios for each of the correlations are comparable, the estimated amplitude and spectral index for HD are a significantly better fit to the total signal, in agreement with our Bayesian analysis., Comment: 11 pages, 5 figures

Autonomous off-road driving is challenging as risky actions taken by the robot may lead to catastrophic damage. As such, developing controllers in simulation is often desirable as it provides a safer and more economical alternative. However, accurately modeling robot dynamics is difficult due to the complex robot dynamics and terrain interactions in unstructured environments. Domain randomization addresses this problem by randomizing simulation dynamics parameters, however this approach sacrifices performance for robustness leading to policies that are sub-optimal for any target dynamics. We introduce a novel model-based reinforcement learning approach that aims to balance robustness with adaptability. Our approach trains a System Identification Transformer (SIT) and an Adaptive Dynamics Model (ADM) under a variety of simulated dynamics. The SIT uses attention mechanisms to distill state-transition observations from the target system into a context vector, which provides an abstraction for its target dynamics. Conditioned on this, the ADM probabilistically models the system's dynamics. Online, we use a Risk-Aware Model Predictive Path Integral controller (MPPI) to safely control the robot under its current understanding of the dynamics. We demonstrate in simulation as well as in multiple real-world environments that this approach enables safer behaviors upon initialization and becomes less conservative (i.e. faster) as its understanding of the target system dynamics improves with more observations. In particular, our approach results in an approximately 41% improvement in lap-time over the non-adaptive baseline while remaining safe across different environments.

The radio galaxy 3C 66B has been hypothesized to host a supermassive black hole binary (SMBHB) at its center based on electromagnetic observations. Its apparent 1.05-year period and low redshift ($\sim0.02$) make it an interesting testbed to search for low-frequency gravitational waves (GWs) using Pulsar Timing Array (PTA) experiments. This source has been subjected to multiple searches for continuous GWs from a circular SMBHB, resulting in progressively more stringent constraints on its GW amplitude and chirp mass. In this paper, we develop a pipeline for performing Bayesian targeted searches for eccentric SMBHBs in PTA data sets, and test its efficacy by applying it on simulated data sets with varying injected signal strengths. We also search for a realistic eccentric SMBHB source in 3C 66B using the NANOGrav 12.5-year data set employing PTA signal models containing Earth term-only as well as Earth+Pulsar term contributions using this pipeline. Due to limitations in our PTA signal model, we get meaningful results only when the initial eccentricity $e_0<0.5$ and the symmetric mass ratio $\eta>0.1$. We find no evidence for an eccentric SMBHB signal in our data, and therefore place 95% upper limits on the PTA signal amplitude of $88.1\pm3.7$ ns for the Earth term-only and $81.74\pm0.86$ ns for the Earth+Pulsar term searches for $e_0<0.5$ and $\eta>0.1$. Similar 95% upper limits on the chirp mass are $(1.98 \pm 0.05) \times 10^9\,M_{\odot}$ and $(1.81 \pm 0.01) \times 10^9\,M_{\odot}$. These upper limits, while less stringent than those calculated from a circular binary search in the NANOGrav 12.5-year data set, are consistent with the SMBHB model of 3C 66B developed from electromagnetic observations., Comment: 27 Pages, 10 Figures, 1 Table, Accepted for publication in ApJ

Analysis of pulsar timing data have provided evidence for a stochastic gravitational wave background in the nHz frequency band. The most plausible source of such a background is the superposition of signals from millions of supermassive black hole binaries. The standard statistical techniques used to search for such a background and assess its significance make several simplifying assumptions, namely: i) Gaussianity; ii) isotropy; and most often iii) a power-law spectrum. However, a stochastic background from a finite collection of binaries does not exactly satisfy any of these assumptions. To understand the effect of these assumptions, we test standard analysis techniques on a large collection of realistic simulated datasets. The dataset length, observing schedule, and noise levels were chosen to emulate the NANOGrav 15-year dataset. Simulated signals from millions of binaries drawn from models based on the Illustris cosmological hydrodynamical simulation were added to the data. We find that the standard statistical methods perform remarkably well on these simulated datasets, despite their fundamental assumptions not being strictly met. They are able to achieve a confident detection of the background. However, even for a fixed set of astrophysical parameters, different realizations of the universe result in a large variance in the significance and recovered parameters of the background. We also find that the presence of loud individual binaries can bias the spectral recovery of the background if we do not account for them., Comment: 14 pages, 8 figures, version matching published paper

We present the design and experimental results of the first 1-DOF, hip-actuated bipedal robot. While passive dynamic walking is simple by nature, many existing bipeds inspired by this form of walking are complex in control, mechanical design, or both. Our design using only two rigid bodies connected by a single motor aims to enable exploration of walking at smaller sizes where more complex designs cannot be constructed. The walker, "Mugatu", is self-contained and autonomous, open-loop stable over a range of input parameters, able to stop and start from standing, and able to control its heading left and right. We analyze the mechanical design and distill down a set of design rules that enable these behaviors. Experimental evaluations measure speed, energy consumption, and steering., Comment: 2023 IEEE-RAS International Conference on Humanoid Robots

We present the results of a Bayesian search for gravitational wave (GW) memory in the NANOGrav 12.5-yr data set. We find no convincing evidence for any gravitational wave memory signals in this data set (Bayes factor = 2.8). As such, we go on to place upper limits on the strain amplitude of GW memory events as a function of sky location and event epoch. These upper limits are computed using a signal model that assumes the existence of a common, spatially uncorrelated red noise in addition to a GW memory signal. The median strain upper limit as a function of sky position is approximately $3.3 \times 10^{-14}$. We also find that there are some differences in the upper limits as a function of sky position centered around PSR J0613$-$0200. This suggests that this pulsar has some excess noise which can be confounded with GW memory. Finally, the upper limits as a function of burst epoch continue to improve at later epochs. This improvement is attributable to the continued growth of the pulsar timing array., Comment: 29 pages, 5 figures