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The increased brightness temperature of young rocky protoplanets during their magma ocean epoch makes them potentially amenable to atmospheric characterization to distances from the solar system far greater than thermally equilibrated terrestrial exoplanets, offering observational opportunities for unique insights into the origin of secondary atmospheres and the near surface conditions of prebiotic environments. The Large Interferometer For Exoplanets (LIFE) mission will employ a space-based mid-infrared nulling interferometer to directly measure the thermal emission of terrestrial exoplanets. Here, we seek to assess the capabilities of various instrumental design choices of the LIFE mission concept for the detection of cooling protoplanets with transient high-temperature magma ocean atmospheres, in young stellar associations in particular. Using the LIFE mission instrument simulator (LIFEsim) we assess how specific instrumental parameters and design choices, such as wavelength coverage, aperture diameter, and photon throughput, facilitate or disadvantage the detection of protoplanets. We focus on the observational sensitivities of distance to the observed planetary system, protoplanet brightness temperature using a blackbody assumption, and orbital distance of the potential protoplanets around both G- and M-dwarf stars. Our simulations suggest that LIFE will be able to detect (S/N $\geq$ 7) hot protoplanets in young stellar associations up to distances of $\approx$100 pc from the solar system for reasonable integration times (up to $\sim$hours). Detection of an Earth-sized protoplanet orbiting a solar-sized host star at 1 AU requires less than 30 minutes of integration time. M-dwarfs generally need shorter integration times. The contribution from wavelength regions $<$6 $\mu$m is important for decreasing the detection threshold and discriminating emission temperatures., Comment: 18 pages, 19 figures; accepted for publication in A&A

We resolve the multiple images of the binary-lens microlensing event ASASSN-22av using the GRAVITY instrument of the Very Large Telescope Interferometer (VLTI). The light curves show weak binary perturbations, complicating the analysis, but the joint modeling with the VLTI data breaks several degeneracies, arriving at a strongly favored solution. Thanks to precise measurements of angular Einstein radius \theta_E = 0.724 +/- 0.002 mas and microlens parallax, we determine that the lens system consists of two M dwarfs with masses of M_1 = 0.258 +/- 0.008 M_sun and M_2 = 0.130 +/- 0.007 M_sun, a projected separation of r_\perp = 6.83 +/- 0.31 AU and a distance of D_L = 2.29 +/- 0.08 kpc. The successful VLTI observations of ASASSN-22av open up a new path for studying intermediate-separation (i.e., a few AUs) stellar-mass binaries, including those containing dark compact objects such as neutron stars and stellar-mass black holes., Comment: Accepted by ApJ. See the ancillary file for animation associated with Fig. 8

Current research in semantic bird's-eye view segmentation for autonomous driving focuses solely on optimizing neural network models using a single dataset, typically nuScenes. This practice leads to the development of highly specialized models that may fail when faced with different environments or sensor setups, a problem known as domain shift. In this paper, we conduct a comprehensive cross-dataset evaluation of state-of-the-art BEV segmentation models to assess their performance across different training and testing datasets and setups, as well as different semantic categories. We investigate the influence of different sensors, such as cameras and LiDAR, on the models' ability to generalize to diverse conditions and scenarios. Additionally, we conduct multi-dataset training experiments that improve models' BEV segmentation performance compared to single-dataset training. Our work addresses the gap in evaluating BEV segmentation models under cross-dataset validation. And our findings underscore the importance of enhancing model generalizability and adaptability to ensure more robust and reliable BEV segmentation approaches for autonomous driving applications. The code for this paper available at https://github.com/manueldiaz96/beval .

Scaling up interferometry to 8m collectors should smooth-out the optical piston perturbations and allow a slow fringe tracker to obtain high precision correction on faint targets. In practice, the GRAVITY fringe tracker still observes high frequency OPD components that limit the exposure time, its precision and limiting magnitude. Perturbations seem to come from mechanical vibrations in the train of mirrors. As part of the GRAVITY+ efforts, accelerometers were added to all the mirrors of the coud\'e train to compensate in real-time the optical path using the main delay lines. We show their effectiveness on vibrations peaks between 40 and 200Hz and outline prospects for the upgrade of the deformable mirrors and the beam-compressor differential delay lines., Comment: 11 pages, 12 figures, Proc. SPIE Astronomical Telescopes + Instrumentation 2024 (Yokohama Japan), Optical and Infrared Interferometry and Imaging VI

To leverage the angular resolution of interferometry at high contrast, one must employ specialized beam-combiners called interferometric nullers. Nullers discard part of the astrophysical information to optimize the recording of light present in the dark fringe of the central source. Asgard/NOTT will deploy a beam-combination scheme offering good instrumental noise rejection when phased appropriately, but for which information is degenerate on the outputs, prompting a dedicated tuning strategy using the science detector. The dispersive effect of water vapor can be corrected with prisms forming a variable thickness of glass. But observations in the L band suffer from an additional and important chromatic effect due to longitudinal atmospheric dispersion coming from a resonance of CO2 at 4.3 micron. To compensate for this effect efficiently, a novel type of compensation device will be deployed leveraging a gas cell of variable length at ambient pressure. After reviewing the impact of water vapor and CO2, we present the design of this atmospheric dispersion compensation device and describe a strategy to maintain this tuning on-sky., Comment: 7 pages, 5 figures, Proc of SPIE Astronomical Telescopes + Instrumentation 2024 Yokohama, Japan, Optical and Infrared Interferometry and Imaging VI

Accurate prediction of driving scenes is essential for road safety and autonomous driving. Occupancy Grid Maps (OGMs) are commonly employed for scene prediction due to their structured spatial representation, flexibility across sensor modalities and integration of uncertainty. Recent studies have successfully combined OGMs with deep learning methods to predict the evolution of scene and learn complex behaviours. These methods, however, do not consider prediction of flow or velocity vectors in the scene. In this work, we propose a novel multi-task framework that leverages dynamic OGMs and semantic information to predict both future vehicle semantic grids and the future flow of the scene. This incorporation of semantic flow not only offers intermediate scene features but also enables the generation of warped semantic grids. Evaluation on the real-world NuScenes dataset demonstrates improved prediction capabilities and enhanced ability of the model to retain dynamic vehicles within the scene., Comment: Accepted for publication at the 27th IEEE International Conference on Intelligent Transportation Systems (ITSC) (ITSC 2024)

Nulling interferometry is a powerful observing technique to reach exoplanets and circumstellar dust at separations too small for direct imaging with single-dish telescopes and too large for indirect methods. With near-future instrumentation, it bears the potential to detect young, hot planets near the snow lines of their host stars. A future space mission could detect and characterize a large number of rocky, habitable-zone planets around nearby stars at thermal-infrared wavelengths. The null self-calibration is a method aiming at modelling the statistical distribution of the nulled signal. It has proven to be more sensitive and accurate than average-based data reduction methods in nulling interferometry. This statistical approach opens the possibility of designing a GPU-based Python package to reduce the data from any of these instruments, by simply providing the data and a simulator of the instrument. GRIP is a toolbox to reduce nulling and interferometric data based on the statistical self-calibration method. In this article, we present the main features of GRIP as well as applications on real data.

Asgard/NOTT is an ERC-funded project hosted at KU Leuven and is part of a new visitor instrumental suite, called Asgard, under preparation for the Very Large Telescope Interferometer (VLTI). Leveraging nulling capabilities and the long VLTI baselines, it is optimized for high-contrast imaging of the snow line region around young nearby main-sequence stars. This will enable the characterization of the atmosphere of young giant exoplanets and warm/hot exozodiacal dust with spectroscopy in the L'-band (3.5-4.0$\mu$m). In this work, we present the first lab assembly of the instrument done at KU Leuven and the technical solutions to tackle the challenge of performing nulling in the mid-infrared despite the thermal background. The opto-mechanical design of the warm optics and the injection system for the photonic chip are described. The alignment procedure used to assemble the system is also presented. Finally, the first experimental results, including fringes and null measurements, are given and confirm the adequacy of the bench to test and optimize the Asgard/NOTT instrument., Comment: 13 pages (incl. 14 figures); Proc. SPIE Astronomical Telescopes + Instrumentation 2024 (Yokohama; Japan), Optical and Infrared Interferometry and Imaging IX

ESO's Very Large Telescope Interferometer has a history of record-breaking discoveries in astrophysics and significant advances in instrumentation. The next leap forward is its new visitor instrument, called Asgard. It comprises four natively collaborating instruments: HEIMDALLR, an instrument performing both fringe tracking and stellar interferometry simultaneously with the same optics, operating in the K band; Baldr, a Strehl optimizer in the H band; BIFROST, a spectroscopic combiner to study the formation processes and properties of stellar and planetary systems in the Y-J-H bands; and NOTT, a nulling interferometer dedicated to imaging nearby young planetary systems in the L band. The suite is in its integration phase in Europe and should be shipped to Paranal in 2025. In this article, we present details of the alignment and calibration unit, the observing modes, the integration plan, the software architecture, and the roadmap to completion of the project.

NOTT (formerly Hi-5) is the L'-band (3.5-4.0~microns) nulling interferometer of Asgard, an instrument suite in preparation for the VLTI visitor focus. The primary scientific objectives of NOTT include characterizing (i) young planetary systems near the snow line, a critical region for giant planet formation, and (ii) nearby main-sequence stars close to the habitable zone, with a focus on detecting exozodiacal dust that could obscure Earth-like planets. In 2023-2024, the final warm optics have been procured and assembled in a new laboratory at KU Leuven. First fringes and null measurements were obtained using a Gallium Lanthanum Sulfide (GLS) photonic chip that was also tested at cryogenic temperatures. In this paper, we present an overall update of the NOTT project with a particular focus on the cold mechanical design, the first results in the laboratory with the final NOTT warm optics, and the ongoing Asgard integration activities. We also report on other ongoing activities such as the characterization of the photonic chip (GLS, LiNbO3, SiO), the development of the exoplanet science case, the design of the dispersion control module, and the progress with the self-calibration data reduction software., Comment: 11 pages (incl. 5 figures); Proc. SPIE Astronomical Telescopes + Instrumentation 2024 (Yokohama; Japan), Optical and Infrared Interferometry and Imaging VI

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

Asgard/NOTT (previously Hi-5) is a European Research Council (ERC)-funded project hosted at KU Leuven and a new visitor instrument for the Very Large Telescope Interferometer (VLTI). Its primary goal is to image the snow line region around young stars using nulling interferometry in the L-band (3.5 to 4.0)$\mu$m, where the contrast between exoplanets and their host stars is advantageous. The breakthrough is the use of a photonic beam combiner, which only recently allowed the required theoretical raw contrast of $10^{-3}$ in this spectral range. Nulling interferometry observations of exoplanets also require a high degree of balancing between the four pupils of the VLTI in terms of intensity, phase, and polarization. The injection into the beam combiner and the requirements of nulling interferometry are driving the design of the warm optics and the injection system. The optical design up to the beam combiner is presented. It offers a technical solution to efficiently couple the light from the VLTI into the beam combiner. During the coupling, the objective is to limit throughput losses to 5% of the best expected efficiency for the injection. To achieve this, a list of different loss sources is considered with their respective impact on the injection efficiency. Solutions are also proposed to meet the requirements on beam balancing for intensity, phase, and polarization. The different properties of the design are listed, including the optics used, their alignment and tolerances, and their impact on the instrumental performances in terms of throughput and null depth. The performance evaluation gives an expected throughput loss of less than <6.4% of the best efficiency for the injection and a null depth of $\sim2.10^{-3}$, mainly from optical path delay errors outside the scope of this work., Comment: Accepted for publication in JATIS. 23 pages, 11 figures, 8 tables

Aims. As part of the ongoing GRAVITY+ upgrade of the Very Large Telescope Interferometer infrastructure, we aim to improve the performance of the GRAVITY Fringe-Tracker, and to enable its use by other instruments. Methods. We modify the group delay controller to consistently maintain tracking in the white light fringe, characterised by a minimum group delay. Additionally, we introduce a novel approach in which fringe-tracking is performed in the non-observable Optical Path Length state-space, using a covariance-weighted Kalman filter and an auto-regressive model of the disturbance. We outline this new state-space representation, and the formalism we use to propagate the state-vector and generate the control signal. While our approach is presented specifically in the context of GRAVITY/GRAVITY+, it can easily be adapted to other instruments or interferometric facilities. Results. We successfully demonstrate phase delay tracking within a single fringe, with any spurious phase jumps detected and corrected in less than 100 ms. We also report a significant performance improvement, as evidenced by a reduction of about 30 to 40% in phase residuals, and a much better behaviour under sub-optimal atmospheric conditions. Compared to what was observed in 2019, the median residuals have decreased from 150 nm to 100 nm on the Auxiliary Telescopes and from 250 nm to 150 nm on the Unit Telescopes. Conclusions. The improved phase-delay tracking combined with whit light fringe tracking means that from now-on, the GRAVITY Fringe-Tracker can be used by other instruments operating in different wavebands. The only limitation remains the need for an optical path dispersion adjustment., Comment: 16 pages, 8 figures. Accepted for publication in A&A

Tight relationships exist in the local universe between the central stellar properties of galaxies and the mass of their supermassive black hole. These suggest galaxies and black holes co-evolve, with the main regulation mechanism being energetic feedback from accretion onto the black hole during its quasar phase. A crucial question is how the relationship between black holes and galaxies evolves with time; a key epoch to probe this relationship is at the peaks of star formation and black hole growth 8-12 billion years ago (redshifts 1-3). Here we report a dynamical measurement of the mass of the black hole in a luminous quasar at a redshift of 2, with a look back time of 11 billion years, by spatially resolving the broad line region. We detect a 40 micro-arcsecond (0.31 pc) spatial offset between the red and blue photocenters of the H$\alpha$ line that traces the velocity gradient of a rotating broad line region. The flux and differential phase spectra are well reproduced by a thick, moderately inclined disk of gas clouds within the sphere of influence of a central black hole with a mass of 3.2x10$^{8}$ solar masses. Molecular gas data reveal a dynamical mass for the host galaxy of 6x10$^{11}$ solar masses, which indicates an under-massive black hole accreting at a super-Eddington rate. This suggests a host galaxy that grew faster than the supermassive black hole, indicating a delay between galaxy and black hole formation for some systems., Comment: 5 pages Main text, 8 figures, 2 tables, to be published in Nature, under embargo until 29 January 2024 16:00 (London)

Directly observing exoplanets with coronagraphs is impeded by the presence of speckles from aberrations in the optical path, which can be mitigated in hardware with wavefront control as well as in post-processing. This work explores using an instrument model in post-processing to separate astrophysical signals from residual aberrations in coronagraphic data. The effect of wavefront error (WFE) on the coronagraphic intensity consists of a linear contribution and a quadratic contribution. When either of the terms is much larger than the other, the instrument response can be approximated by a transfer matrix mapping WFE to detector plane intensity. From this transfer matrix, a useful projection onto instrumental modes that removes the dominant error modes can be derived. We apply this projection to synthetically generated Roman Space Telescope hybrid Lyot coronagraph (HLC) data to extract "robust observables," which can be used instead of raw data for applications such as detection testing. The projection improves planet flux ratio detection limits by about 28% in the linear regime and by over a factor of 2 in the quadratic regime, illustrating that robust observables can increase sensitivity to astrophysical signals and improve the scientific yield from coronagraphic data. While this approach does not require additional information such as observations of reference stars or modulations of a deformable mirror, it can and should be combined with these other techniques, acting as a model-informed prior in an overall post-processing strategy., Comment: 19 pages, 10 figures

The European Space Agency's Euclid mission is one of the upcoming generation of large-scale cosmology surveys, which will map the large-scale structure in the Universe with unprecedented precision. The development and validation of the SGS pipeline requires state-of-the-art simulations with a high level of complexity and accuracy that include subtle instrumental features not accounted for previously as well as faster algorithms for the large-scale production of the expected Euclid data products. In this paper, we present the Euclid SGS simulation framework as applied in a large-scale end-to-end simulation exercise named Science Challenge 8. Our simulation pipeline enables the swift production of detailed image simulations for the construction and validation of the Euclid mission during its qualification phase and will serve as a reference throughout operations. Our end-to-end simulation framework starts with the production of a large cosmological N-body & mock galaxy catalogue simulation. We perform a selection of galaxies down to I_E=26 and 28 mag, respectively, for a Euclid Wide Survey spanning 165 deg^2 and a 1 deg^2 Euclid Deep Survey. We build realistic stellar density catalogues containing Milky Way-like stars down to H<26. Using the latest instrumental models for both the Euclid instruments and spacecraft as well as Euclid-like observing sequences, we emulate with high fidelity Euclid satellite imaging throughout the mission's lifetime. We present the SC8 data set consisting of overlapping visible and near-infrared Euclid Wide Survey and Euclid Deep Survey imaging and low-resolution spectroscopy along with ground-based. This extensive data set enables end-to-end testing of the entire ground segment data reduction and science analysis pipeline as well as the Euclid mission infrastructure, paving the way to future scientific and technical developments and enhancements., Comment: 39 pages, 25 figures, A&A submitted

In autonomous driving, addressing occlusion scenarios is crucial yet challenging. Robust surrounding perception is essential for handling occlusions and aiding motion planning. State-of-the-art models fuse Lidar and Camera data to produce impressive perception results, but detecting occluded objects remains challenging. In this paper, we emphasize the crucial role of temporal cues by integrating them alongside these modalities to address this challenge. We propose a novel approach for bird's eye view semantic grid segmentation, that leverages sequential sensor data to achieve robustness against occlusions. Our model extracts information from the sensor readings using attention operations and aggregates this information into a lower-dimensional latent representation, enabling thus the processing of multi-step inputs at each prediction step. Moreover, we show how it can also be directly applied to forecast the development of traffic scenes and be seamlessly integrated into a motion planner for trajectory planning. On the semantic segmentation tasks, we evaluate our model on the nuScenes dataset and show that it outperforms other baselines, with particularly large differences when evaluating on occluded and partially-occluded vehicles. Additionally, on motion planning task we are among the early teams to train and evaluate on nuPlan, a cutting-edge large-scale dataset for motion planning., Comment: Published on 2024 IEEE Intelligent Vehicles Symposium (IV)

Understanding narratives requires reasoning about the cause-and-effect relationships between events mentioned in the text. While existing foundation models yield impressive results in many NLP tasks requiring reasoning, it is unclear whether they understand the complexity of the underlying network of causal relationships of events in narratives. In this work, we present CRAB, a new Causal Reasoning Assessment Benchmark designed to evaluate causal understanding of events in real-world narratives. CRAB contains fine-grained, contextual causality annotations for ~2.7K pairs of real-world events that describe various newsworthy event timelines (e.g., the acquisition of Twitter by Elon Musk). Using CRAB, we measure the performance of several large language models, demonstrating that most systems achieve poor performance on the task. Motivated by classical causal principles, we also analyze the causal structures of groups of events in CRAB, and find that models perform worse on causal reasoning when events are derived from complex causal structures compared to simple linear causal chains. We make our dataset and code available to the research community.

Photonics offer numerous functionalities that can be used to realize astrophotonic instruments. The most spectacular example to date is the ESO Gravity instrument at the Very Large Telescope in Chile. Integrated astrophotonic devices stand to offer critical advantages for instrument development, including extreme miniaturization, as well as integration, superior thermal and mechanical stabilization owing to the small footprint, and high replicability offering cost savings. Numerous astrophotonic technologies have been developed to address shortcomings of conventional instruments to date, including for example the development of photonic lanterns, complex aperiodic fiber Bragg gratings, complex beam combiners to enable long baseline interferometry, and laser frequency combs for high precision spectral calibration of spectrometers. Despite these successes, the facility implementation of photonic solutions in astronomical instrumentation is currently limited because of (1) low throughputs from coupling to fibers, coupling fibers to chips, propagation and bend losses, device losses, etc, (2) difficulties with scaling to large channel count devices needed for large bandwidths and high resolutions, and (3) efficient integration of photonics with detectors, to name a few. In this roadmap, we identify 24 areas that need further development. We outline the challenges and advances needed across those areas covering design tools, simulation capabilities, fabrication processes, the need for entirely new components, integration and hybridization and the characterization of devices. To realize these advances the astrophotonics community will have to work cooperatively with industrial partners who have more advanced manufacturing capabilities. With the advances described herein, multi-functional instruments will be realized leading to novel observing capabilities for both ground and space platforms., Comment: 191 pages, 47 figures. This is the version of the article before peer review or editing, as submitted by an author to J. Phys. Photonics. IOP Publishing Ltd is not responsible for any errors or omissions in this version of the manuscript or any version derived from it. The Version of Record is available online at https://iopscience.iop.org/article/10.1088/2515-7647/ace869/meta

Motion prediction is a challenging task for autonomous vehicles due to uncertainty in the sensor data, the non-deterministic nature of future, and complex behavior of agents. In this paper, we tackle this problem by representing the scene as dynamic occupancy grid maps (DOGMs), associating semantic labels to the occupied cells and incorporating map information. We propose a novel framework that combines deep-learning-based spatio-temporal and probabilistic approaches to predict vehicle behaviors.Contrary to the conventional OGM prediction methods, evaluation of our work is conducted against the ground truth annotations. We experiment and validate our results on real-world NuScenes dataset and show that our model shows superior ability to predict both static and dynamic vehicles compared to OGM predictions. Furthermore, we perform an ablation study and assess the role of semantic labels and map in the architecture., Comment: Accepted to the 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023)

A mid-infrared nulling-space interferometer is a promising way to characterize thermal light from habitable planet candidates around Sun-like stars. However, one of the main challenges for achieving this ambitious goal is a high-precision stability of the optical path difference (OPD) and amplitude over a few days for planet detection and up to a few weeks for in-depth characterization. Here we propose a new method called phase-space synthesis decomposition (PSSD) to shorten the stability requirement to minutes, significantly relaxing the technological challenges of the mission. Focusing on what exactly modulates the planet signal in the presence of the stellar leak and systematic error, PSSD prioritizes the modulation of the signals along the wavelength domain rather than baseline rotation. Modulation along the wavelength domain allows us to extract source positions in parallel to the baseline vector for each exposure. The sum of the one-dimensional data converts into two-dimensional information. Based on the reconstructed image, we construct a continuous equation and extract the spectra through the singular value decomposition (SVD) while efficiently separating them from a long-term systematic stellar leak. We performed numerical simulations to investigate the feasibility of PSSD for the LIFE mission concept. We confirm that multiple terrestrial planets in the habitable zone around a Sun-like star at 10 pc can be detected and characterized despite high levels and long durations of systematic noise. We also find that PSSD is more robust against a sparse sampling of the array rotation compared to purely rotation-based signal extraction. Using PSSD as signal extraction method significantly relaxes the technical requirements on signal stability and further increases the feasibility of the LIFE mission., Comment: Accepted for publication by A&A - 14 pages main text including 10 Figures

We present highly sampled photometry of the supernova (SN) 2023ixf, a Type II SN in M101, beginning 2 days before its first known detection. To gather these data, we enlisted the global Unistellar Network of citizen scientists. These 252 observations from 115 telescopes show the SN's rising brightness associated with shock emergence followed by gradual decay. We measure a peak $M_{V}$ = -18.18 $\pm$ 0.09 mag at 2023-05-25 21:37 UTC in agreement with previously published analyses., Comment: 4 pages, 1 figure

Semantic grids can be useful representations of the scene around an autonomous system. By having information about the layout of the space around itself, a robot can leverage this type of representation for crucial tasks such as navigation or tracking. By fusing information from multiple sensors, robustness can be increased and the computational load for the task can be lowered, achieving real time performance. Our multi-scale LiDAR-Aided Perspective Transform network uses information available in point clouds to guide the projection of image features to a top-view representation, resulting in a relative improvement in the state of the art for semantic grid generation for human (+8.67%) and movable object (+49.07%) classes in the nuScenes dataset, as well as achieving results close to the state of the art for the vehicle, drivable area and walkway classes, while performing inference at 25 FPS., Comment: 2023 IEEE International Conference on Robotics and Automation (ICRA), IEEE Robotics and Automation Society, May 2023, London, United Kingdom

This paper explores a novel application of textual semantic similarity to user-preference representation for rating prediction. The approach represents a user's preferences as a graph of textual snippets from review text, where the edges are defined by semantic similarity. This textual, memory-based approach to rating prediction enables review-based explanations for recommendations. The method is evaluated quantitatively, highlighting that leveraging text in this way outperforms both strong memory-based and model-based collaborative filtering baselines.

The GRAVITY instrument has been revolutionary for near-infrared interferometry by pushing sensitivity and precision to previously unknown limits. With the upgrade of GRAVITY and the Very Large Telescope Interferometer (VLTI) in GRAVITY+, these limits will be pushed even further, with vastly improved sky coverage, as well as faint-science and high-contrast capabilities. This upgrade includes the implementation of wide-field off-axis fringe-tracking, new adaptive optics systems on all Unit Telescopes, and laser guide stars in an upgraded facility. GRAVITY+ will open up the sky to the measurement of black hole masses across cosmic time in hundreds of active galactic nuclei, use the faint stars in the Galactic centre to probe General Relativity, and enable the characterisation of dozens of young exoplanets to study their formation, bearing the promise of another scientific revolution to come at the VLTI., Comment: Published in the ESO Messenger

The Very Large Telescope Interferometer is one of the most proficient observatories in the world for high angular resolution. Since its first observations, it has hosted several interferometric instruments operating in various bandwidths in the infrared. As a result, the VLTI has yielded countless discoveries and technological breakthroughs. Here, we introduce a new concept for the VLTI, Asgard: an instrumental suite comprised of four natively collaborating instruments: BIFROST, a combiner whose main science case is studying the formation processes and properties of stellar and planetary systems; NOTT, a nulling interferometer dedicated to imaging young nearby planetary systems in the L band; HEIMDALLR, an all-in-one instrument performing both fringe tracking and stellar interferometry with the same optics; Baldr, a Strehl optimiser. These instruments share common goals and technologies. The goals are diverse astrophysical cases such as the study of the formation and evolution processes of binary systems, exoplanetary systems and protoplanetary disks, the characterization of orbital parameters and spin-orbit alignment of multiple systems, the characterization of the exoplanets, and the study of exozodiacal disks. Thus, the idea of this suite is to make the instruments interoperable and complementary to deliver unprecedented sensitivity and accuracy from the J to M bands to meet these goals. The interoperability of the Asgard instruments and their integration in the VLTI are major challenges for this project.

Prediction of dynamic environment is crucial to safe navigation of an autonomous vehicle. Urban traffic scenes are particularly challenging to forecast due to complex interactions between various dynamic agents, such as vehicles and vulnerable road users. Previous approaches have used egocentric occupancy grid maps to represent and predict dynamic environments. However, these predictions suffer from blurriness, loss of scene structure at turns, and vanishing of agents over longer prediction horizon. In this work, we propose a novel framework to make long-term predictions by representing the traffic scene in a fixed frame, referred as allo-centric occupancy grid. This allows for the static scene to remain fixed and to represent motion of the ego-vehicle on the grid like other agents'. We study the allo-centric grid prediction with different video prediction networks and validate the approach on the real-world Nuscenes dataset. The results demonstrate that the allo-centric grid representation significantly improves scene prediction, in comparison to the conventional ego-centric grid approach., Comment: ICARCV 2022-17th International Conference on Control, Automation, Robotics and Vision

Context: NOTT (formerly Hi-5) is a new high-contrast L' band (3.5-4.0 \textmu m) beam combiner for the VLTI with the ambitious goal to be sensitive to young giant exoplanets down to 5 mas separation around nearby stars. The performance of nulling interferometers in these wavelengths is affected both by fundamental noise from the background and by the contributions of instrumental noises. This motivates the development of end-to-end simulations to optimize these instruments. Aims: To enable the performance evaluation and inform the design of such instruments on the current and future infrastructures, taking into account the different sources of noise, and their correlation. Methods: SCIFYsim is an end-to-end simulator for single mode filtered beam combiners, with an emphasis on nulling interferometers. It is used to compute a covariance matrix of the errors. Statistical detection tests based on likelihood ratios are then used to compute compound detection limits for the instrument. Results: With the current assumptions on the performance of the wavefront correction systems, the errors are dominated by correlated instrumental errors down to stars of magnitude 6-7 in the L band, beyond which thermal background from the telescopes and relay system becomes dominant. Conclusions: SCIFYsim is suited to anticipate some of the challenges of design, tuning, operation and signal processing for integrated optics beam combiners. The detection limits found for this early version of NOTT simulation with the unit telescopes are compatible with detections at contrasts up to $10^5$ in the L band at separations of 5 to 80 mas around bright stars.

Semantic grids are a useful representation of the environment around a robot. They can be used in autonomous vehicles to concisely represent the scene around the car, capturing vital information for downstream tasks like navigation or collision assessment. Information from different sensors can be used to generate these grids. Some methods rely only on RGB images, whereas others choose to incorporate information from other sensors, such as radar or LiDAR. In this paper, we present an architecture that fuses LiDAR and camera information to generate semantic grids. By using the 3D information from a LiDAR point cloud, the LiDAR-Aided Perspective Transform Network (LAPTNet) is able to associate features in the camera plane to the bird's eye view without having to predict any depth information about the scene. Compared to state-of-theart camera-only methods, LAPTNet achieves an improvement of up to 8.8 points (or 38.13%) over state-of-art competing approaches for the classes proposed in the NuScenes dataset validation split., Comment: ICARCV 2022 - 17th International Conference on Control, Automation, Robotics and Vision, Dec 2022, Singapore, Singapore

More than 5,000 exoplanets have been confirmed and among them almost 4,000 were discovered by the transit method. However, few transiting exoplanets have an orbital period greater than 100 days. Here we report a transit detection of Kepler-167 e, a "Jupiter analog" exoplanet orbiting a K4 star with a period of 1,071 days, using the Unistellar ground-based telescope network. From 2021 November 18 to 20, citizen astronomers located in nine different countries gathered 43 observations, covering the 16 hour long transit. Using a nested sampling approach to combine and fit the observations, we detected the mid-transit time to be UTC 2021 November 19 17:20:51 with a 1$\sigma$ uncertainty of 9.8 minutes, making it the longest-period planet to ever have its transit detected from the ground. This is the fourth transit detection of Kepler-167 e, but the first made from the ground. This timing measurement refines the orbit and keeps the ephemeris up to date without requiring space telescopes. Observations like this demonstrate the capabilities of coordinated networks of small telescopes to identify and characterize planets with long orbital periods., Comment: 11 pages, 3 figures, 2 tables, accepted in ApJL

Precise control of the optical path differences (OPD) in the Very Large Telescope Interferometer (VLTI) was critical for the characterization of the black hole at the center of our Galaxy - leading to the 2020 Nobel prize in physics. There is now significant effort to push these OPD limits even further, in-particular achieving 100nm OPD RMS on the 8m unit telescopes (UT's) to allow higher contrast and sensitivity at the VLTI. This work calculated the theoretical atmospheric OPD limit of the VLTI as 5nm and 15nm RMS, with current levels around 200nm and 100nm RMS for the UT and 1.8m auxillary telescopes (AT's) respectively, when using bright targets in good atmospheric conditions. We find experimental evidence for the $f^{-17/3}$ power law theoretically predicted from the effect of telescope filtering in the case of the ATs which is not currently observed for the UT's. Fitting a series of vibrating mirrors modelled as dampened harmonic oscillators, we were able to model the UT OPD PSD of the gravity fringe tracker to $<1nm/\sqrt{Hz}$ RMSE up to 100Hz, which could adequately explain a hidden $f^{-17/3}$ power law on the UTs. Vibration frequencies in the range of 60-90Hz and also 40-50Hz were found to generally dominate the closed loop OPD residuals of Gravity. Cross correlating accelerometer with Gravity data, it was found that strong contributions in the 40-50Hz range are coming from the M1-M3 mirrors, while a significant portion of power from the 60-100Hz contributions are likely coming from between the M4-M10. From the vibrating mirror model it was shown that achieving sub 100nm OPD RMS for particular baselines (that have OPD$\sim$200nm RMS) required removing nearly all vibration sources below 100Hz.

Hi-5 is the L'-band (3.5-4.0 $\mu$m) high-contrast imager of Asgard, an instrument suite in preparation for the visitor focus of the VLTI. The system is optimized for high-contrast and high-sensitivity imaging within the diffraction limit of a single UT/AT telescope. It is designed as a double-Bracewell nulling instrument producing spectrally-dispersed (R=20, 400, or 2000) complementary nulling outputs and simultaneous photometric outputs for self-calibration purposes. In this paper, we present an update of the project with a particular focus on the overall architecture, opto-mechanical design of the warm and cold optics, injection system, and development of the photonic beam combiner. The key science projects are to survey (i) nearby young planetary systems near the snow line, where most giant planets are expected to be formed, and (ii) nearby main sequence stars near the habitable zone where exozodiacal dust that may hinder the detection of Earth-like planets. We present an update of the expected instrumental performance based on full end-to-end simulations using the new GRAVITY+ specifications of the VLTI and the latest planet formation models., Comment: 16 pages, 9 figures, SPIE 2022 "Astronomical Telescopes and Instrumentation" manuscript 12183-16

BIFROST will be a short-wavelength ($\lambda$ = 1.0 - 1.7$\mu$m) beam combiner for the VLT Interferometer, combining both high spatial ($\lambda$/2B = 0.8 mas) and spectral (up to R = 25,000) resolution. It will be part of the Asgard Suite of visitor instruments. The new window of high spectral resolution, short wavelength observations brings with it new challenges. Here we outline the instrumental design of BIFROST, highlighting which beam combiner subsystems are required and why. This is followed by a comparison All-In-One (AIO) beam combination scheme and an Integrated Optics (IO) scheme with ABCD modulation both in terms of expected sensitivity and the practical implementation of each system., Comment: 12 pages, 6 figures, SPIE Astronomical Telescopes + Instrumentation 2022

Kernel phase is a method to interpret stellar point source images by considering their formation as the analytical result of an interferometric process. Using Fourier formalism, this method allows for observing planetary companions around nearby stars at separations down to half a telescope resolution element, typically 20\,mas for a 8\,m class telescope in H band. The Kernel-phase analysis has so far been mainly focused on working with a single monochromatic light image, recently providing theoretical contrast detection limits down to $10^{-4}$ at 200\,mas with JWST/NIRISS in the mid-infrared by using hypothesis testing theory. In this communication, we propose to extend this approach to data cubes provided by integral field spectrographs (IFS) on ground-based telescopes with adaptive optics to enhance the detection of planetary companions and explore the spectral characterization of their atmosphere by making use of the Kernel-phase multi-spectral information. Using ground-based IFS data cube with a spectral resolution R=20, we explore different statistical tests based on kernel phases at three wavelengths to estimate the detection limits for planetary companions. Our tests are first conducted with synthetic data before extending their use to real images from ground-based exoplanet imagers such as Subaru/SCExAO and VLT/SPHERE in the near future. Future applications to multi-wavelength data from space telescopes are also discussed for the observation of planetary companions with JWST., Comment: 10 pages, 3 figures, submitted to SPIE Astronomical Telescopes and Instrumentation 2022, Conference 12183, Optical and Infrared Interferometry and Imaging VIII, updated version with acknowledgments

We present a coordinated campaign of observations to monitor the brightness of the James Webb Space Telescope (JWST) as it travels toward the second Earth-Sun Lagrange point and unfolds using the network ofUnistellar digital telescopes. Those observations collected by citizen astronomers across the world allowed us to detect specific phases such as the separation from the booster, glare due to a change of orientation after a maneuver, the unfurling of the sunshield, and deployment of the primary mirror. After deployment of the sunshield on January 6 2022, the 6-h lightcurve has a significant amplitude and shows small variations due to the artificial rotation of the space telescope during commissionning. These variations could be due to the deployment of the primary mirror or some changes in orientation of the space telescope. This work illustrates the power of a worldwide array of small telescopes, operated by citizen astronomers, to conduct large scientific campaigns over a long timeframe. In the future, our network and others will continue to monitor JWST to detect potential degradations to the space environment by comparing the evolution of the lightcurve., Comment: 15 pages, 13 figures and 2 tables, SPIE Ground-based and Airborne Telescopes IX, AS22 SPIE Astronomical Telescopes + Instrumentation, 12182-144

The use of interferometric nulling for the direct characterization of extrasolar planets is an exciting prospect, but one that faces many practical challenges when deployed on telescopes. The largest limitation is the extreme sensitivity of nullers to any residual optical path differences between the incoming telescope beams even after adaptive optics or fringe-tracker correction. The recently proposed kernel-nulling architecture attempts to alleviate this by producing the destructive interference required for nulling, in a scheme whereby self-calibrated observables can be created efficiently, in effect canceling out residual atmospheric piston terms. Here we experimentally demonstrate for the first time a successful creation of self-calibrated kernel-null observables for nulling interferometry in the laboratory. We achieved this through the use of a purpose-built photonic integrated device, containing a multimode interference coupler that creates one bright, and two nulled outputs when injected with three co-phased telescope beams. The device produces the nulled outputs in a way that, by the subtraction of the measured output flux, create a single self-calibrated kernel-null. We experimentally demonstrate the extraction of kernel-nulls for up to 200 nm induced piston error using a laboratory test-bench at a wavelength of 1.55 {\mu}m. Further, we empirically demonstrate the kernel-null behaviour when injected with a binary companion analogue equivalent to a 2.32 mas separation at a contrast of 10^{-2}, under 100 nm RMS upstream piston residuals., Comment: 11 pages, 14 figures

GRAVITY+ is the upgrade of GRAVITY and the Very Large Telescope Interferometer (VLTI) with wide-separation fringe tracking, new adaptive optics, and laser guide stars on all four 8~m Unit Telescopes (UTs), for ever fainter, all-sky, high contrast, milliarcsecond interferometry. Here we present the design and first results of the first phase of GRAVITY+, called GRAVITY Wide. GRAVITY Wide combines the dual-beam capabilities of the VLTI and the GRAVITY instrument to increase the maximum separation between the science target and the reference star from 2 arcseconds with the 8 m UTs up to several 10 arcseconds, limited only by the Earth's turbulent atmosphere. This increases the sky-coverage of GRAVITY by two orders of magnitude, opening up milliarcsecond resolution observations of faint objects, and in particular the extragalactic sky. The first observations in 2019 - 2022 include first infrared interferometry of two redshift $z\sim2$ quasars, interferometric imaging on the binary system HD 105913A, and repeated observations of multiple star systems in the Orion Trapezium Cluster. We find the coherence loss between the science object and fringe-tracking reference star well described by the turbulence of the Earth's atmosphere. We confirm that the larger apertures of the UTs result in higher visibilities for a given separation due to larger overlap of the projected pupils on sky and give predictions for visibility loss as a function of separation to be used for future planning., Comment: 15 pages, 12 figures, 5 tables. Accepted by A&A

Reliably predicting future occupancy of highly dynamic urban environments is an important precursor for safe autonomous navigation. Common challenges in the prediction include forecasting the relative position of other vehicles, modelling the dynamics of vehicles subjected to different traffic conditions, and vanishing surrounding objects. To tackle these challenges, we propose a spatio-temporal prediction network pipeline that takes the past information from the environment and semantic labels separately for generating future occupancy predictions. Compared to the current SOTA, our approach predicts occupancy for a longer horizon of 3 seconds and in a relatively complex environment from the nuScenes dataset. Our experimental results demonstrate the ability of spatio-temporal networks to understand scene dynamics without the need for HD-Maps and explicit modeling dynamic objects. We publicly release our occupancy grid dataset based on nuScenes to support further research., Comment: Accepted as an conference paper at 33rd IEEE Intelligent Vehicles Symposium, 7 pages, 6 figures

(Abridged) Context: In the previous paper in this series, we identified that a pentagonal arrangement of five telescopes, using a kernel-nulling beam combiner, shows notable advantages for some important performance metrics for a space-based mid-infrared nulling interferometer over several other considered configurations for the detection of Earth-like exoplanets around solar-type stars. Aims: We aim to produce a physical implementation of a kernel-nulling beam combiner for such a configuration, as well as a discussion of systematic and stochastic errors associated with the instrument. Methods: We developed a mathematical framework around a nulling beam combiner, and then used it along with a space interferometry simulator to identify the effects of systematic uncertainties. Results: We find that errors in the beam combiner optics, systematic phase errors and the RMS fringe tracking errors result in instrument limited performance at $\sim$4-7 $\mu$m, and zodiacal limited at $\gtrsim$10 $\mu$m. Assuming a beam splitter reflectance error of $|\Delta R| = 5\%$ and phase shift error of $\Delta\phi = 3$ degrees, we find that the fringe tracking RMS should be kept to less than 3 nm in order to be photon limited, and the systematic piston error be less than 0.5 nm to be appropriately sensitive to planets with a contrast of 1$\times 10^{-7}$ over a 4-19 $\mu$m bandpass. We also identify that the beam combiner design, with the inclusion of a well positioned shutter, provides an ability to produce robust kernel observables even if one or two collecting telescopes were to fail. The resulting four telescope combiner, when put into an X-array formation, results in a transmission map with a relative signal-to-noise ratio equivalent to 80% of the fully functioning X-array combiner., Comment: 14 Pages, 15 Figures, 3 Tables. Accepted for publication in A&A. Other papers in the LIFE series are also available. First paper: arXiv:2101.07500, preceding paper: arXiv:2201.04891. Latest update fixed some minor errors

The Large Interferometer For Exoplanets (LIFE) initiative is developing the science and a technology roadmap for an ambitious space mission featuring a space-based mid-infrared (MIR) nulling interferometer in order to detect the thermal emission of hundreds of exoplanets and characterize their atmospheres. In order to quantify the science potential of such a mission, in particular in the context of technical trade-offs, an instrument simulator is required. In addition, signal extraction algorithms are needed to verify that exoplanet properties (e.g., angular separation, spectral flux) contained in simulated exoplanet datasets can be accurately retrieved. We present LIFEsim, a software tool developed for simulating observations of exoplanetary systems with an MIR space-based nulling interferometer. It includes astrophysical noise sources (i.e., stellar leakage and thermal emission from local zodiacal and exo-zodiacal dust) and offers the flexibility to include instrumental noise terms in the future. LIFEsim provides an accessible way for predicting the expected SNR of future observations as a function of various key instrument and target parameters. The SNRs of the extracted spectra are photon-noise dominated, as expected from our current simulations. From single epoch observations in our mock survey of small ($R < 1.5 R_\mathrm{Earth}$) planets orbiting within the habitable zones of their stars, we find that typical uncertainties in the estimated effective temperature of the exoplanets are $\lesssim$10%, for the exoplanet radius $\lesssim$20%, and for the separation from the host star $\lesssim$2%. SNR values obtained in the signal extraction process deviate less than 10% from purely photon-counting statistics based SNRs. (abridged), Comment: Accepted for publication in A&A; 15 pages (main text incl. 13 figures and 1 table) + appendix; comments are welcome

The Phase-I trigger readout electronics upgrade of the ATLAS Liquid Argon calorimeters enhances the physics reach of the experiment during the upcoming operation at increasing Large Hadron Collider luminosities. The new system, installed during the second Large Hadron Collider Long Shutdown, increases the trigger readout granularity by up to a factor of ten as well as its precision and range. Consequently, the background rejection at trigger level is improved through enhanced filtering algorithms utilizing the additional information for topological discrimination of electromagnetic and hadronic shower shapes. This paper presents the final designs of the new electronic elements, their custom electronic devices, the procedures used to validate their proper functioning, and the performance achieved during the commissioning of this system., Comment: 56 pages, 41 figures, 6 tables

User posts whose perceived toxicity depends on the conversational context are rare in current toxicity detection datasets. Hence, toxicity detectors trained on existing datasets will also tend to disregard context, making the detection of context-sensitive toxicity harder when it does occur. We construct and publicly release a dataset of 10,000 posts with two kinds of toxicity labels: (i) annotators considered each post with the previous one as context; and (ii) annotators had no additional context. Based on this, we introduce a new task, context sensitivity estimation, which aims to identify posts whose perceived toxicity changes if the context (previous post) is also considered. We then evaluate machine learning systems on this task, showing that classifiers of practical quality can be developed, and we show that data augmentation with knowledge distillation can improve the performance further. Such systems could be used to enhance toxicity detection datasets with more context-dependent posts, or to suggest when moderators should consider the parent posts, which often may be unnecessary and may otherwise introduce significant additional cost., Comment: 13 pages, 8 figures

Object detection is a critical problem for the safe interaction between autonomous vehicles and road users. Deep-learning methodologies allowed the development of object detection approaches with better performance. However, there is still the challenge to obtain more characteristics from the objects detected in real-time. The main reason is that more information from the environment's objects can improve the autonomous vehicle capacity to face different urban situations. This paper proposes a new approach to detect static and dynamic objects in front of an autonomous vehicle. Our approach can also get other characteristics from the objects detected, like their position, velocity, and heading. We develop our proposal fusing results of the environment's interpretations achieved of YoloV3 and a Bayesian filter. To demonstrate our proposal's performance, we asses it through a benchmark dataset and real-world data obtained from an autonomous platform. We compared the results achieved with another approach., Comment: 6 pages, 7 figures

Platforms that support online commentary, from social networks to news sites, are increasingly leveraging machine learning to assist their moderation efforts. But this process does not typically provide feedback to the author that would help them contribute according to the community guidelines. This is prohibitively time-consuming for human moderators to do, and computational approaches are still nascent. This work focuses on models that can help suggest rephrasings of toxic comments in a more civil manner. Inspired by recent progress in unpaired sequence-to-sequence tasks, a self-supervised learning model is introduced, called CAE-T5. CAE-T5 employs a pre-trained text-to-text transformer, which is fine tuned with a denoising and cyclic auto-encoder loss. Experimenting with the largest toxicity detection dataset to date (Civil Comments) our model generates sentences that are more fluent and better at preserving the initial content compared to earlier text style transfer systems which we compare with using several scoring systems and human evaluation.

T Tauri has long been the prototypical young pre-main-sequence star. However, it has now been decomposed into a triple system with a complex disk and outflow geometry. We aim to measure the brightness of all three components of the T Tauri system (T Tau N, T Tau Sa, T Tau Sb) in the mid-infrared in order to obtain photometry around the $\sim 9.7~\mu m$ silicate feature. This allows us to study their variability and to investigate the distribution of dust and the geometry of circumstellar and circumbinary disks in this complex system. We observe T Tauri with the VLT/VISIR-NEAR instrument. With kernel phase interferometry post-processing of the data, and using the astrometric positions of all three components from VLT/SPHERE, we measure the three components' individual brightnesses (including the southern binary at an angular separation down to $\sim 0.2~\lambda/D$) and obtain their photometry. In order to validate our methods, we simulate and recover mock data of the T Tauri system using the observed reference point-spread function of HD 27639. We find that T Tau N is rather stable and shows weak silicate emission, while T Tau Sa is highly variable and shows prominent silicate absorption. T Tau Sb became significantly fainter compared to data from 2004 and 2006, suggesting increased extinction by dust. The precision of our photometry is limited by systematic errors, which is consistent with previous studies using kernel phase interferometry. Our results confirm the complex scenario of misaligned disks in the T Tauri system that had been observed previously, and they are in agreement with the recently observed dimming of T Tau Sb in the near-infrared. Our mid-infrared photometry supports the interpretation that T Tau Sb has moved behind the dense region of the Sa-Sb circumbinary disk on its tight orbit around Sa, therefore suffering increased extinction., Comment: 14 pages, 7 figures, accepted for publication in Astronomy & Astrophysics