Daily Papers

Gesture recognition is a challenging problem in the field of biometrics. In this paper, we integrate Fisher criterion into Bidirectional Long-Short Term Memory (BLSTM) network and Bidirectional Gated Recurrent Unit (BGRU),thus leading to two new deep models termed as F-BLSTM and F-BGRU. BothFisher discriminative deep models can effectively classify the gesture based on analyzing the acceleration and angular velocity data of the human gestures. Moreover, we collect a large Mobile Gesture Database (MGD) based on the accelerations and angular velocities containing 5547 sequences of 12 gestures. Extensive experiments are conducted to validate the superior performance of the proposed networks as compared to the state-of-the-art BLSTM and BGRU on MGD database and two benchmark databases (i.e. BUAA mobile gesture and SmartWatch gesture).

We introduce VZCrash, the largest publicly available dataset of real-world vehicle collision data featuring Inertial Measurement Unit (IMU) telemetry. The dataset contains more than 31,000 validated crashes and 158,000 negative samples, including hard cases and distractors. Each sample includes acceleration and angular velocity at 100 Hz, and GPS speed at 1 Hz. Events in VZCrash were captured by devices installed on a fleet of 73,010 commercial vehicles of different sizes driving in the United States over the span of several years. We also present an extensive experimental study enabled by the volume of the dataset. We first benchmark several different approaches, from a simple threshold-based heuristic to state-of-the-art deep learning models. Then, we present an experiment demonstrating the importance of scaling data to train high-quality crash detection models, and we show that scale is especially important when these models need to be deployed into a real-world environment.

When interacting with the real world, human often take the egocentric (first-person) view as a benchmark, naturally transferring behaviors observed from a exocentric (third-person) view to their own. This cognitive theory provides a foundation for researching how robots can more effectively imitate human behavior. However, current research either employs multiple cameras with different views focusing on the same individual's behavior simultaneously or encounters unpair ego-exo view scenarios, there is no effort to fully exploit human cognitive behavior in the real world. To fill this gap, in this paper, we introduce a novel large-scale egocentric dataset, called EgoMe, which towards following the process of human imitation learning via egocentric view in the real world. Our dataset includes 7902 pairs of videos (15804 videos) for diverse daily behaviors in real-world scenarios. For a pair of videos, one video captures a exocentric view of the imitator observing the demonstrator's actions, while the other captures a egocentric view of the imitator subsequently following those actions. Notably, our dataset also contain exo-ego eye gaze, angular velocity, acceleration, magnetic strength and other sensor multi-modal data for assisting in establishing correlations between observing and following process. In addition, we also propose eight challenging benchmark tasks for fully leveraging this data resource and promoting the research of robot imitation learning ability. Extensive statistical analysis demonstrates significant advantages compared to existing datasets. The proposed EgoMe dataset and benchmark will be released soon.

In this work we introduce a physically motivated method of performing disc/spheroid decomposition of simulated galaxies, which we apply to the Eagle sample. We make use of the HEALPix package to create Mollweide projections of the angular momentum map of each galaxy's stellar particles. A number of features arise on the angular momentum space which allows us to decompose galaxies and classify them into different morphological types. We assign stellar particles with angular separation of less/greater than 30 degrees from the densest grid cell on the angular momentum sphere to the disc/spheroid components, respectively. We analyse the spatial distribution for a subsample of galaxies and show that the surface density profiles of the disc and spheroid closely follow an exponential and a Sersic profile, respectively. In addition discs rotate faster, have smaller velocity dispersions, are younger and are more metal rich than spheroids. Thus our morphological classification reproduces the observed properties of such systems. Finally, we demonstrate that our method is able to identify a significant population of galaxies with counter-rotating discs and provide a more realistic classification of such systems compared to previous methods.

In the era of mega-constellations, the need for accurate and publicly available information has become fundamental for satellite operators to guarantee the safety of spacecrafts and the Low Earth Orbit (LEO) space environment. This study critically evaluates the accuracy and reliability of publicly available ephemeris data for a LEO mega-constellation - Starlink. The goal of this work is twofold: (i) compare and analyze the quality of the data against high-precision numerical propagation. (ii) Leverage Physics-Informed Machine Learning to extract relevant satellite quantities, such as non-conservative forces, during the decay process. By analyzing two months of real orbital data for approximately 1500 Starlink satellites, we identify discrepancies between high precision numerical algorithms and the published ephemerides, recognizing the use of simplified dynamics at fixed thresholds, planned maneuvers, and limitations in uncertainty propagations. Furthermore, we compare data obtained from multiple sources to track and analyze deorbiting satellites over the same period. Empirically, we extract the acceleration profile of satellites during deorbiting and provide insights relating to the effects of non-conservative forces during reentry. For non-deorbiting satellites, the position Root Mean Square Error (RMSE) was approximately 300 m, while for deorbiting satellites it increased to about 600 m. Through this in-depth analysis, we highlight potential limitations in publicly available data for accurate and robust Space Situational Awareness (SSA), and importantly, we propose a data-driven model of satellite decay in mega-constellations.

The polarization of an X-ray beam that produces electrons with velocity components perpendicular to the beam generates an azimuthal distribution of the ejected electrons. We present methods for simulating and for analyzing the angular dependence of electron detections which enable us to derive simple analytical expressions for useful statistical properties of observable data. The derivations are verified by simulations. While we confirm the results of previous work on this topic, we provide an extension needed for analytical treatment of the full range of possible polarization amplitudes.

We analyse the observational signatures of galactic magnetic fields that are self-consistently generated in magnetohydrodynamic simulations of the interstellar medium through turbulence driven by supernova (SN) explosions and differential rotation. In particular, we study the time evolution of the Faraday rotation measure (RM), synchrotron radiation, and Stokes parameters by characterising the typical structures formed in the plane of observation. We do this by defining two distinct models for both thermal and cosmic ray (CR) electron distributions. Our results indicate that the maps of RM have structures which are sheared and rendered anisotropically by differential rotation and that they depend on the choice of thermal electrons model as well as the SN rate. Synchrotron maps are qualitatively similar to the maps of the mean magnetic field along the line of sight and structures are only marginally affected by the CR model. Stokes parameters and related quantities, such as the degree of linear polarisation, are highly dependent on both frequency and resolution of the observation.

We present the results of high-resolution (sim1~au) Atacama Large Millimeter/submillimeter Array (ALMA) observations of the TW~Hya protoplanetary disk in the Band 6 dust continuum, as well as the ^13CO and C^18O J=2--1 emission lines. The primary focus of this study is to investigate the kinematics, internal morphology, and local gas environment of the prominent dust blob at a radius of 52~au. By comparing our 2021 data with archival observations from 2017, we detect the proper motion of the blob. The measured azimuthal velocity of 3.3pm0.9~km~s^{-1} is fully consistent with local Keplerian rotation. Combined with the lack of significant radial migration over the four-year baseline, this confirms that the structure is robustly co-moving with the disk system. Crucially, our high-resolution continuum map resolves the blob into a distinct double-peaked morphology separated by sim1.7~au azimuthally. We robustly validate this double-peaked substructure by reproducing it in the independent 2017 dataset using a sparse-modeling image reconstruction technique. We discuss potential physical origins for this double-peaked morphology, including an inclined circumplanetary disk with an inner dust cavity, the roots of planet-induced spiral arms, or alternative hydrodynamic scenarios that do not involve an actively accreting planet such as the U-turn trajectory of secondary dust or a short-lived hydrodynamic gas vortex. We detect no compact gas emission counterparts associated with the continuum blob. Since these CO lines likely trace optically thick upper atmospheric layers, the absence of localized vertical gas perturbations suggests that if an embedded planet is responsible for the dust structure, its mass must be exceptionally low.

Recent studies illustrate the correlation between the angular momenta of cosmic structures and their Lagrangian properties. However, only baryons are observable and it is unclear whether they reliably trace the cosmic angular momenta. We study the Lagrangian mass distribution, spin correlation, and predictability of dark matter, gas, and stellar components of galaxy-halo systems using IllustrisTNG, and show that the primordial segregations between components are typically small. Their protoshapes are also similar in terms of the statistics of moment of inertia tensors. Under the common gravitational potential they are expected to exert the same tidal torque and the strong spin correlations are not destroyed by the nonlinear evolution and complicated baryonic effects, as confirmed by the high-resolution hydrodynamic simulations. We further show that their late-time angular momenta traced by total gas, stars, or the central galaxies, can be reliably reconstructed by the initial perturbations. These results suggest that baryonic angular momenta can potentially be used in reconstructing the parameters and models related to the initial perturbations.

The long-term dynamical evolution of asteroid families is governed by the interplay between orbital and rotational evolution driven by thermal forces and collision. We aim to observationally trace the rotational evolution of main-belt asteroid families over Gyr timescales. We analyzed rotational properties of 8739 asteroids with spin period measurements and 3794 asteroids with obliquity determinations across 28 asteroid families spanning ages from 14~Myrs to 3~Gyrs. We introduced a dimensionless timescale that normalizes each asteroid's family age by its classical YORP timescale, enabling direct comparison of rotational states across different evolutionary stages. We examined two key observables: the fraction of slow rotators (periods greater than or equal to 30 hours) and the polarization fraction (the degree to which asteroid spin poles align correctly with their position in the family's V-shape distribution according to the Yarkovsky theory). Evolution of both quantities were fitted to identify characteristic transition timescales. We discovered that the slow-rotator fraction increases steeply with t and saturates at f_{rm slow} simeq 0.25 around a breakpoint t_{rm bp} simeq 20. This implies a stochastic YORP timescale τ_{rm YORP,stoc} simeq 10,τ_{rm YORP} by comparison with rotational evolution models that include tumbling and weakened YORP torques. The polarization fraction reaches a maximum of simeq 0.8 at t simeq 16 and then decays toward the random limit f_{rm pol} rightarrow 0.5 for t gtrsim 20, indicating an increasing dominance of collisional spin reorientation over time. The rotation properties within different asteroid families offer crucial clues to rotation evolution and can serve as a new dimension for age estimation of asteroid families with more data in the LSST era.

The characterization and analysis of light curves are vital for understanding the physical and rotational properties of artificial space objects such as satellites, rocket stages, and space debris. This paper introduces the Light Curve Dataset Creator (LCDC), a Python-based toolkit designed to facilitate the preprocessing, analysis, and machine learning applications of light curve data. LCDC enables seamless integration with publicly available datasets, such as the newly introduced Mini Mega Tortora (MMT) database. Moreover, it offers data filtering, transformation, as well as feature extraction tooling. To demonstrate the toolkit's capabilities, we created the first standardized dataset for rocket body classification, RoBo6, which was used to train and evaluate several benchmark machine learning models, addressing the lack of reproducibility and comparability in recent studies. Furthermore, the toolkit enables advanced scientific analyses, such as surface characterization of the Atlas 2AS Centaur and the rotational dynamics of the Delta 4 rocket body, by streamlining data preprocessing, feature extraction, and visualization. These use cases highlight LCDC's potential to advance space debris characterization and promote sustainable space exploration. Additionally, they highlight the toolkit's ability to enable AI-focused research within the space debris community.

The transfer of a star's angular momentum to its atmosphere is a topic of considerable and wide-ranging interest in astrophysics. This letter considers the effect of kinetic and magnetic turbulence on the solar wind's angular momentum. The effects are quantified in a theoretical framework that employs Reynolds-averaged mean field magnetohydrodynamics, allowing for fluctuations of arbitrary amplitude. The model is restricted to the solar equatorial (\(r-\phi\)) plane with axial symmetry, which permits the effect of turbulence to be expressed in analytical form as a modification to the classic Weber & Davis (1967) theory, dependent on the \(r,\phi\) shear component of the Reynolds stress tensor. A solar wind simulation with turbulence transport modeling and Parker Solar Probe observations at the Alfv\'en surface are employed to quantify this turbulent modification to the solar wind's angular momentum, which is found to be ~ 3% - 10% and tends to be negative. Implications for solar and stellar rotational evolution are discussed.

The planned space-based gravitational wave detector, LISA, will provide a fundamentally new means of studying the orbital alignment of close white dwarf binaries. However, due to the inherent symmetry of their gravitational wave signals, a fourfold degeneracy arises in the transverse projections of their angular momentum vectors. In this paper, we demonstrate that by incorporating timing information from electromagnetic observations, such as radial velocity modulations and light curves, this degeneracy can be reduced to twofold.

Galactic rotation curves are crucial for understanding the distribution of mass in galaxies. Despite advances in precision observations, there are discrepancies between the inferred mass from luminosity and the observed rotational velocities, often attributed to dark matter. While traditional parametric models provide valuable insights, they struggle with complex galactic features like prominent bulges and non-circular motions. In this study, we apply artificial neural networks to generate robust, data-driven models, tailored to each galaxy, for the rotation curves of spiral galaxies using high-quality observational data. Our approach demonstrates that neural networks can effectively capture the intricate structure of rotation curves without relying on predefined astrophysical assumptions. By comparing the data-based models with the Navarro-Frenk-White model under two different assumptions for the stellar component, we classify galaxies based on the model that best fits their rotation curves, offering insights into the limitations and strengths of both theoretical and data-based methods. This work highlights the potential of machine learning techniques in identifying galaxies whose dynamics are not well captured by standard theoretical models, pointing to the need for more refined physical descriptions.

We propose a new method to determine the shape of the gravitational potential of the dark matter (DM) halo of the Milky Way (MW) with the galactocentric tangential velocities of a sample of hypervelocity stars (HVSs). We compute the trajectories of different samples of HVSs in a MW where the baryon distribution is axisymmetric and the DM potential either is spherical or is spheroidal or triaxial with radial-dependent axis ratios. We determine the shape of the DM potential with the distribution of the latitudinal velocity |v_{vartheta}| in axisymmetric Galactic potentials, or with the distribution of |v_{vartheta}| and of a function bar v_{varphi} of the azimuthal velocity in non-axisymmetric Galactic potentials. We recover the correct shape of the DM potential by comparing the distribution of |v_{vartheta}| and bar v_{varphi} against the corresponding distributions of mock samples of HVSs that traveled in DM halos of different shapes. We use the largest possible sample of sim 800 HVSs of 4~M_odot ejected with the Hills mechanism at a rate sim 10^{-4} yr^{-1}, currently outgoing, and located at more than 10 kpc from the Galactic center. In our ideal case of galactocentric velocities with null uncertainties and no observational limitations, our method recovers the correct shape of the DM potential with a success rate Sgtrsim 89% in axisymmetric Galactic potentials, and S > 96% in the explored non-axisymmetric cases. The unsuccessful cases yield axis ratios of the DM potential that are off by pm 0.1. The success rate decreases with decreasing sample size: for example, for a spherical DM halo, S drops from sim 98% to sim 38% when the sample size decreases from sim 800 to sim 40 HVSs. A robust determination of the shape of the DM potential thus requires the measure of the galactocentric velocity of a few hundred genuine HVSs.

Inferring dynamics from real-world experimental data is inherently ambiguous, as many plausible dynamical systems can explain the same positional observations at measurement times. For higher fidelity modeling of applications ranging from single-cell RNA to vortex dynamics and even flocking of birds, scientific observables increasingly also include velocity estimates that serve to resolve this issue. However, incorporating this rich information in a scalable manner, free of simulation or unnecessary approximations, has remained a difficult challenge. In this paper, we introduce Kinematic Interpolants (KI), a novel framework that extends the seminal methodology of stochastic interpolants to infer nonlinear dynamics across multiple snapshots in phase space, i.e., observables with position and velocity measurements. Empirically, we demonstrate that across several scientific datasets, KI achieves superior reconstruction of the underlying dynamics compared to existing baselines while requiring only a fraction of the training time.

We present the results from four stellar occultations by (486958) Arrokoth, the flyby target of the New Horizons extended mission. Three of the four efforts led to positive detections of the body, and all constrained the presence of rings and other debris, finding none. Twenty-five mobile stations were deployed for 2017 June 3 and augmented by fixed telescopes. There were no positive detections from this effort. The event on 2017 July 10 was observed by SOFIA with one very short chord. Twenty-four deployed stations on 2017 July 17 resulted in five chords that clearly showed a complicated shape consistent with a contact binary with rough dimensions of 20 by 30 km for the overall outline. A visible albedo of 10% was derived from these data. Twenty-two systems were deployed for the fourth event on 2018 Aug 4 and resulted in two chords. The combination of the occultation data and the flyby results provides a significant refinement of the rotation period, now estimated to be 15.9380 pm 0.0005 hours. The occultation data also provided high-precision astrometric constraints on the position of the object that were crucial for supporting the navigation for the New Horizons flyby. This work demonstrates an effective method for obtaining detailed size and shape information and probing for rings and dust on distant Kuiper Belt objects as well as being an important source of positional data that can aid in spacecraft navigation that is particularly useful for small and distant bodies.

While the temporal variations of the spectro-polarimetric nature of pulsars remains unexplored, this investigation offers significant potential for uncovering key insights into pulsar emission mechanisms, magnetic field geometry, and propagation effects within the magnetosphere. We developed a package for investigating time-varying spectral behavior for full Stokes parameters and demonstrate it on a millisecond pulsar (MSP) J2144-5237 in a binary system (orbital period ~10 days) using the Parkes UWL receiver. In this study we report rotation measure (RM) variation with orbital phase. We find that the temporal variations in the spectra of Stokes I, Q, and V are generally correlated throughout the orbit, while Stokes U exhibits intervals of both correlation and anticorrelation with Stokes I, depending on the orbital phase. We also provide a Poincare sphere representation of the polarization properties of J2144-5237, demonstrating a systematic temporal change of Poincare sphere location for the main component with orbital phase. To our knowledge, this is the first investigation of time-varying properties of the spectro-polarimetric nature of any pulsars or MSPs. Extending this study to probe the spectro-temporal nature of full Stokes data on a larger sample of MSPs or pulsars has the potential to provide vital information on emission mechanisms inside the magnetosphere, interstellar propagation effects, and binary interactions.

Next-generation telescopes will bring groundbreaking discoveries but they will also present new technological challenges. The Square Kilometre Array Observatory (SKAO) will be one of the most demanding scientific infrastructures, with a projected data output of 700 PB per year to be distributed to a network of SKA Regional Centres. Current tools are not fully suited to manage such massive data volumes, therefore, new research is required to transform science archives from data providers into service providers. In this paper we examine how a science archive can deliver advanced visualisation capabilities for the SKA science archive. In particular, we have conducted a thorough exploration of existing visualisation software for astronomy and other fields to identify tools capable of addressing Big Data requirements. Using selected technologies, we have developed a prototype archive that provides access to interactive visualisations of 3D radio data through web-based interfaces, adhering to International Virtual Observatory Alliance (IVOA) recommendations to favour interoperability and Open Science practices. In addition, we discuss how current IVOA recommendations support these visualisation capabilities and how they could be expanded. Our prototype archive includes a service to generate 3D models on the fly as a server operation, enabling remote visualisations in a flexible manner; for instance, a set of parameters can be used to customise the models and their visualisation. We have used SKA precursor and pathfinder data to test its usability and scalability, concluding that remote visualisation is a viable solution for handling high-volume data. However, our prototype is constrained by memory limitations, requiring techniques to reduce memory usage.

We consider the problem of embedding point cloud data sampled from an underlying manifold with an associated flow or velocity. Such data arises in many contexts where static snapshots of dynamic entities are measured, including in high-throughput biology such as single-cell transcriptomics. Existing embedding techniques either do not utilize velocity information or embed the coordinates and velocities independently, i.e., they either impose velocities on top of an existing point embedding or embed points within a prescribed vector field. Here we present FlowArtist, a neural network that embeds points while jointly learning a vector field around the points. The combination allows FlowArtist to better separate and visualize velocity-informed structures. Our results, on toy datasets and single-cell RNA velocity data, illustrate the value of utilizing coordinate and velocity information in tandem for embedding and visualizing high-dimensional data.

Automated Vehicles (AVs) promise significant advances in transportation. Critical to these improvements is understanding AVs' longitudinal behavior, relying heavily on real-world trajectory data. Existing open-source trajectory datasets of AV, however, often fall short in refinement, reliability, and completeness, hindering effective performance metrics analysis and model development. This study addresses these challenges by creating a Unified Longitudinal TRAjectory dataset for AVs (Ultra-AV) to analyze their microscopic longitudinal driving behaviors. This dataset compiles data from 13 distinct sources, encompassing various AV types, test sites, and experiment scenarios. We established a three-step data processing: 1. extraction of longitudinal trajectory data, 2. general data cleaning, and 3. data-specific cleaning to obtain the longitudinal trajectory data and car-following trajectory data. The validity of the processed data is affirmed through performance evaluations across safety, mobility, stability, and sustainability, along with an analysis of the relationships between variables in car-following models. Our work not only furnishes researchers with standardized data and metrics for longitudinal AV behavior studies but also sets guidelines for data collection and model development.

We present IF-D, a large-scale inertial dataset designed to enable self-supervised and foundational learning for IMU time series. IF-D comprises continuous, long-duration multichannel recordings (accelerometer, gyroscope, magnetometer) sampled at 200Hz using a UM7 IMU mounted inside a 3D-printed spherical enclosure that promotes diverse, free rotations during vehicle traversal. The collection spans approximately 135 minutes of recording, yielding around 1.6 million samples across nine sensor channels. We describe the data acquisition setup, preprocessing, and calibration procedures (six-orientation accelerometer calibration, stationary gyroscope bias estimation, and ellipsoid fitting for magnetometer hard-/soft-iron correction), and provide quantitative calibration results. IF-D is designed to mitigate platform specific motion bias and expose models to both physical dynamics and typical measurement noise, thereby facilitating robust representation learning and downstream tasks such as event detection, motion mode recognition, and inertial navigation.

We present a new cosmological, magnetohydrodynamical simulation for galaxy formation: TNG50, the third and final installment of the IllustrisTNG project. TNG50 evolves 2x2160^3 dark-matter particles and gas cells in a volume 50 comoving Mpc across. It hence reaches a numerical resolution typical of zoom-in simulations, with a baryonic element mass of 8.5x10^4 Msun and an average cell size of 70-140 parsecs in the star-forming regions of galaxies. Simultaneously, TNG50 samples ~700 (6,500) galaxies with stellar masses above 10^10 (10^8) Msun at z=1. Here we investigate the structural and kinematical evolution of star-forming galaxies across cosmic time (0 < z < 6). We quantify their sizes, disk heights, 3D shapes, and degree of rotational vs. dispersion-supported motions as traced by rest-frame V-band light (i.e. roughly stellar mass) and by Halpha light (i.e. star-forming and dense gas). The unprecedented resolution of TNG50 enables us to model galaxies with sub-kpc half-light radii and with <300-pc disk heights. Coupled with the large-volume statistics, we characterize a diverse, redshift- and mass-dependent structural and kinematical morphological mix of galaxies all the way to early epochs. Our model predicts that for star-forming galaxies the fraction of disk-like morphologies, based on 3D stellar shapes, increases with both cosmic time and galaxy stellar mass. Gas kinematics reveal that the vast majority of 10^9-11.5 Msun star-forming galaxies are rotationally-supported disks for most cosmic epochs (Vmax/sigma>2-3, z<5), being dynamically hotter at earlier epochs (z>1.5). Despite large velocity dispersion at high redshift, cold and dense gas in galaxies predominantly arranges in disky or elongated shapes at all times and masses; these gaseous components exhibit rotationally-dominated motions far exceeding the collisionless stellar bodies.

Simulations are the best approximation to experimental laboratories in astrophysics and cosmology. However, the complexity, richness, and large size of their outputs severely limit the interpretability of their predictions. We describe a new, unbiased, and machine learning based approach to obtaining useful scientific insights from a broad range of simulations. The method can be used on today's largest simulations and will be essential to solve the extreme data exploration and analysis challenges posed by the Exascale era. Furthermore, this concept is so flexible, that it will also enable explorative access to observed data. Our concept is based on applying nonlinear dimensionality reduction to learn compact representations of the data in a low-dimensional space. The simulation data is projected onto this space for interactive inspection, visual interpretation, sample selection, and local analysis. We present a prototype using a rotational invariant hyperspherical variational convolutional autoencoder, utilizing a power distribution in the latent space, and trained on galaxies from IllustrisTNG simulation. Thereby, we obtain a natural Hubble tuning fork like similarity space that can be visualized interactively on the surface of a sphere by exploiting the power of HiPS tilings in Aladin Lite.

Do contemporary diffusion models preserve the class geometry of hyperspherical data? Standard diffusion models rely on isotropic Gaussian noise in the forward process, inherently favoring Euclidean spaces. However, many real-world problems involve non-Euclidean distributions, such as hyperspherical manifolds, where class-specific patterns are governed by angular geometry within hypercones. When modeled in Euclidean space, these angular subtleties are lost, leading to suboptimal generative performance. To address this limitation, we introduce HyperSphereDiff to align hyperspherical structures with directional noise, preserving class geometry and effectively capturing angular uncertainty. We demonstrate both theoretically and empirically that this approach aligns the generative process with the intrinsic geometry of hyperspherical data, resulting in more accurate and geometry-aware generative models. We evaluate our framework on four object datasets and two face datasets, showing that incorporating angular uncertainty better preserves the underlying hyperspherical manifold. Resources are available at: {https://github.com/IAB-IITJ/Harmonizing-Geometry-and-Uncertainty-Diffusion-with-Hyperspheres/}

Advances in time-resolved Particle Tracking Velocimetry (4D-PTV) techniques have been consistently revealed more accurate Lagrangian particle motions. A novel track initialisation technique as a complementary part of 4D-PTV, based on local temporal and spatial coherency of neighbour trajectories, is proposed. The proposed Lagrangian Coherent Track Initialisation (LCTI) applies physics-based Finite Time Lyapunov Exponent (FTLE) to build four frame coherent tracks. We locally determine the boundaries (i.e., ridges) of Lagrangian Coherent Structures (LCS) among neighbour trajectories by using FTLE to distinguish clusters of coherent motions. To evaluate the proposed technique, we created an open-access synthetic Lagrangian and Eulerian dataset of the wake downstream of a smooth cylinder at a Reynolds number equal to 3900 obtained from 3D Direct Numerical Simulation (DNS). The dataset is available to the public. Performance of the proposed method based on three characteristic parameters, temporal scale, particle concentration (i.e., density), and noise ratio, showed robust behaviour in finding true tracks compared to the recent initialisation algorithms. Sensitivity of LCTI to the number of untracked and wrong tracks are also discussed. We address the capability of using the proposed method as a function of a 4D-PTV scheme in the Lagrangian Particle Tracking challenge for a flow with high particle densities. Finally, the LCTI behaviour was assessed in a real jet impingement experiment. LCTI was found to be a reliable tracking tool in complex flow motions, with a strength revealed for flows with high particle concentrations.

We present QUIJOTE intensity and polarization maps in four frequency bands centred around 11, 13, 17 and 19GHz, and covering approximately 29000 deg^2, including most of the Northern sky region. These maps result from 9000 h of observations taken between May 2013 and June 2018 with the first QUIJOTE instrument (MFI), and have angular resolutions of around 1^circ, and sensitivities in polarization within the range 35-40 μK per 1-degree beam, being a factor sim 2-4 worse in intensity. We discuss the data processing pipeline employed, and the basic characteristics of the maps in terms of real space statistics and angular power spectra. A number of validation tests have been applied to characterise the accuracy of the calibration and the residual level of systematic effects, finding a conservative overall calibration uncertainty of 5%. We also discuss flux densities for four bright celestial sources (Tau A, Cas A, Cyg A and 3C274) which are often used as calibrators at microwave frequencies. The polarization signal in our maps is dominated by synchrotron emission. The distribution of spectral index values between the 11GHz and WMAP 23GHz map peaks at β=-3.09 with a standard deviation of 0.14. The measured BB/EE ratio at scales of ell=80 is 0.26pm 0.07 for a Galactic cut |b|>10^circ. We find a positive TE correlation for 11GHz at large angular scales (ell lesssim 50), while the EB and TB signals are consistent with zero in the multipole range 30 lesssim ell lesssim 150. The maps discussed in this paper are publicly available.

Accurate prediction of Lagrangian trajectories in turbulent flow remains challenging due to limited temporal information in transport functions. This paper shows that surrounding coherent motions sharing the same dynamics carry enough information to provide highly probable trajectories even from sparse temporal observations. The proposed coherent predictor builds on Lagrangian coherent structures (LCSs), the advective transport barriers that govern the cohesive motion of neighbouring particles. Coherent trajectories are quantified using a local segmentation with the finite-time Lyapunov exponents (FTLE). The coherent predictor incorporates information from the particle's position history and neighbouring coherent velocity and acceleration into a novel cost function to predict its trajectory. The proposed cost function follows a physics-informed approach where the position history acts as a data fidelity term and the coherent velocity and acceleration act as physics-based regularisation constraints. We assess our proposed approach using both three-dimensional (3D) synthetic and experimental data of the wake behind a smooth cylinder and two-dimensional (2D) homogeneous isotropic turbulent (HIT) flow. The coherent predictor is deemed generic due to its consistent behaviour regardless of flow dimensions, Reynolds number, and flow topology. Our results show that the optimal cost function parameters can be modelled from the measurement uncertainties, giving lower prediction error and uncertainty than current methods. We see direct signatures of flow topology on the prediction error map, including the cylinder leading edge boundary layer, the sideward shear layers, and the vortex formation structures. These topologies are marked by high Lagrangian gradients and 3D directional motions.

This paper tackles the challenge of real-time 3D trajectory prediction for UAVs, which is critical for applications such as aerial surveillance and defense. Existing prediction models that rely primarily on position data struggle with accuracy, especially when UAV movements fall outside the position domain used in training. Our research identifies a gap in utilizing velocity estimates, first-order dynamics, to better capture the dynamics and enhance prediction accuracy and generalizability in any position domain. To bridge this gap, we propose a new trajectory prediction method using Gated Recurrent Units (GRUs) within sequence-based neural networks. Unlike traditional methods that rely on RNNs or transformers, this approach forecasts future velocities and positions based on historical velocity data instead of positions. This is designed to enhance prediction accuracy and scalability, overcoming challenges faced by conventional models in handling complex UAV dynamics. The methodology employs both synthetic and real-world 3D UAV trajectory data, capturing a wide range of flight patterns, speeds, and agility. Synthetic data is generated using the Gazebo simulator and PX4 Autopilot, while real-world data comes from the UZH-FPV and Mid-Air drone racing datasets. The GRU-based models significantly outperform state-of-the-art RNN approaches, with a mean square error (MSE) as low as 2 x 10^-8. Overall, our findings confirm the effectiveness of incorporating velocity data in improving the accuracy of UAV trajectory predictions across both synthetic and real-world scenarios, in and out of position data distributions. Finally, we open-source our 5000 trajectories dataset and a ROS 2 package to facilitate the integration with existing ROS-based UAV systems.

We present a theoretical study of gravity waves generated by an anisotropic moving disturbance. We model the moving object by an elliptical pressure field of given aspect ratio mathcal W. We study the wake pattern as a function of mathcal W and the longitudinal hull Froude number Fr = V/gL, where V is the velocity, g the acceleration of gravity and L the size of the disturbance in the direction of motion. For large hull Froude numbers, we analytically show that the rescaled surface profiles for which mathcal W/Fr is kept constant coincide. In particular, the angle outside which the surface is essentially flat remains constant and equal to the Kelvin angle, and the angle corresponding to the maximum amplitude of the waves scales as mathcal W/Fr, thus showing that previous work on the wake's angle for isotropic objects can be extended to anisotropic objects of given aspect ratio. We then focus on the wave resistance and discuss its properties in the case of an elliptical Gaussian pressure field. We derive an analytical expression for the wave resistance in the limit of very elongated objects, and show that the position of the speed corresponding to the maximum wave resistance scales as gL/mathcal W.

We introduce a multi-fidelity estimator of covariance matrices that employs the log-Euclidean geometry of the symmetric positive-definite manifold. The estimator fuses samples from a hierarchy of data sources of differing fidelities and costs for variance reduction while guaranteeing definiteness, in contrast with previous approaches. The new estimator makes covariance estimation tractable in applications where simulation or data collection is expensive; to that end, we develop an optimal sample allocation scheme that minimizes the mean-squared error of the estimator given a fixed budget. Guaranteed definiteness is crucial to metric learning, data assimilation, and other downstream tasks. Evaluations of our approach using data from physical applications (heat conduction, fluid dynamics) demonstrate more accurate metric learning and speedups of more than one order of magnitude compared to benchmarks.

We present the RODEM Jet Datasets, a comprehensive collection of simulated large-radius jets designed to support the development and evaluation of machine-learning algorithms in particle physics. These datasets encompass a diverse range of jet sources, including quark/gluon jets, jets from the decay of W bosons, top quarks, and heavy new-physics particles. The datasets provide detailed substructure information, including jet kinematics, constituent kinematics, and track displacement details, enabling a wide range of applications in jet tagging, anomaly detection, and generative modelling.

A host of new low-frequency radio telescopes seek to measure the 21-cm transition of neutral hydrogen from the early universe. These telescopes have the potential to directly probe star and galaxy formation at redshifts 20 gtrsim z gtrsim 7, but are limited by the dynamic range they can achieve against foreground sources of low-frequency radio emission. Consequently, there is a growing demand for modern, high-fidelity maps of the sky at frequencies below 200 MHz for use in foreground modeling and removal. We describe a new widefield imaging technique for drift-scanning interferometers, Tikhonov-regularized m-mode analysis imaging. This technique constructs images of the entire sky in a single synthesis imaging step with exact treatment of widefield effects. We describe how the CLEAN algorithm can be adapted to deconvolve maps generated by m-mode analysis imaging. We demonstrate Tikhonov-regularized m-mode analysis imaging using the Owens Valley Long Wavelength Array (OVRO-LWA) by generating 8 new maps of the sky north of δ=-30^circ with 15 arcmin angular resolution, at frequencies evenly spaced between 36.528 MHz and 73.152 MHz, and sim800 mJy/beam thermal noise. These maps are a 10-fold improvement in angular resolution over existing full-sky maps at comparable frequencies, which have angular resolutions ge 2^circ. Each map is constructed exclusively from interferometric observations and does not represent the globally averaged sky brightness. Future improvements will incorporate total power radiometry, improved thermal noise, and improved angular resolution -- due to the planned expansion of the OVRO-LWA to 2.6 km baselines. These maps serve as a first step on the path to the use of more sophisticated foreground filters in 21-cm cosmology incorporating the measured angular and frequency structure of all foreground contaminants.

Operational forecasting of the ionosphere remains a critical space weather challenge due to sparse observations, complex coupling across geospatial layers, and a growing need for timely, accurate predictions that support Global Navigation Satellite System (GNSS), communications, aviation safety, as well as satellite operations. As part of the 2025 NASA Heliolab, we present a curated, open-access dataset that integrates diverse ionospheric and heliospheric measurements into a coherent, machine learning-ready structure, designed specifically to support next-generation forecasting models and address gaps in current operational frameworks. Our workflow integrates a large selection of data sources comprising Solar Dynamic Observatory data, solar irradiance indices (F10.7), solar wind parameters (velocity and interplanetary magnetic field), geomagnetic activity indices (Kp, AE, SYM-H), and NASA JPL's Global Ionospheric Maps of Total Electron Content (GIM-TEC). We also implement geospatially sparse data such as the TEC derived from the World-Wide GNSS Receiver Network and crowdsourced Android smartphone measurements. This novel heterogeneous dataset is temporally and spatially aligned into a single, modular data structure that supports both physical and data-driven modeling. Leveraging this dataset, we train and benchmark several spatiotemporal machine learning architectures for forecasting vertical TEC under both quiet and geomagnetically active conditions. This work presents an extensive dataset and modeling pipeline that enables exploration of not only ionospheric dynamics but also broader Sun-Earth interactions, supporting both scientific inquiry and operational forecasting efforts.

Fast moving celestial objects are characterized by velocities across the celestial sphere that significantly differ from the motions of background stars. In observational images, these objects exhibit distinct shapes, contrasting with the typical appearances of stars. Depending on the observational method employed, these celestial entities may be designated as near-Earth objects or asteroids. Historically, fast moving celestial objects have been observed using ground-based telescopes, where the relative stability of stars and Earth facilitated effective image differencing techniques alongside traditional fast moving celestial object detection and classification algorithms. However, the growing prevalence of space-based telescopes, along with their diverse observational modes, produces images with different properties, rendering conventional methods less effective. This paper presents a novel algorithm for detecting fast moving celestial objects within star fields. Our approach enhances state-of-the-art fast moving celestial object detection neural networks by transforming them into physical-inspired neural networks. These neural networks leverage the point spread function of the telescope and the specific observational mode as prior information; they can directly identify moving fast moving celestial objects within star fields without requiring additional training, thereby addressing the limitations of traditional techniques. Additionally, all neural networks are integrated using the mixture of experts technique, forming a comprehensive fast moving celestial object detection algorithm. We have evaluated our algorithm using simulated observational data that mimics various observations carried out by space based telescope scenarios and real observation images. Results demonstrate that our method effectively detects fast moving celestial objects across different observational modes.

Lagrangian turbulence lies at the core of numerous applied and fundamental problems related to the physics of dispersion and mixing in engineering, bio-fluids, atmosphere, oceans, and astrophysics. Despite exceptional theoretical, numerical, and experimental efforts conducted over the past thirty years, no existing models are capable of faithfully reproducing statistical and topological properties exhibited by particle trajectories in turbulence. We propose a machine learning approach, based on a state-of-the-art diffusion model, to generate single-particle trajectories in three-dimensional turbulence at high Reynolds numbers, thereby bypassing the need for direct numerical simulations or experiments to obtain reliable Lagrangian data. Our model demonstrates the ability to reproduce most statistical benchmarks across time scales, including the fat-tail distribution for velocity increments, the anomalous power law, and the increased intermittency around the dissipative scale. Slight deviations are observed below the dissipative scale, particularly in the acceleration and flatness statistics. Surprisingly, the model exhibits strong generalizability for extreme events, producing events of higher intensity and rarity that still match the realistic statistics. This paves the way for producing synthetic high-quality datasets for pre-training various downstream applications of Lagrangian turbulence.

The Jovian atmosphere contains a wide diversity of vortices, which have a large range of sizes, colors and forms in different dynamical regimes. The formation processes for these vortices is poorly understood, and aside from a few known, long-lived ovals, such as the Great Red Spot, and Oval BA, vortex stability and their temporal evolution are currently largely unknown. In this study, we use JunoCam data and a citizen-science project on Zooniverse to derive a catalog of vortices, some with repeated observations, through May 2018 to Sep 2021, and analyze their associated properties, such as size, location and color. We find that different colored vortices (binned as white, red, brown and dark), follow vastly different distributions in terms of their sizes and where they are found on the planet. We employ a simplified stability criterion using these vortices as a proxy, to derive a minimum Rossby deformation length for the planet of sim1800 km. We find that this value of L_d is largely constant throughout the atmosphere, and does not have an appreciable meridional gradient.

A stochastic gravitational wave background causes the apparent positions of distant sources to fluctuate, with angular deflections of order the characteristic strain amplitude of the gravitational waves. These fluctuations may be detectable with high precision astrometry, as first suggested by Braginsky et al. in 1990. Several researchers have made order of magnitude estimates of the upper limits obtainable on the gravitational wave spectrum \Omega_gw(f), at frequencies of order f ~ 1 yr^-1, both for the future space-based optical interferometry missions GAIA and SIM, and for VLBI interferometry in radio wavelengths with the SKA. For GAIA, tracking N ~ 10^6 quasars over a time of T ~ 1 yr with an angular accuracy of \Delta \theta ~ 10 \mu as would yield a sensitivity level of \Omega_gw ~ (\Delta \theta)^2/(N T^2 H_0^2) ~ 10^-6, which would be comparable with pulsar timing. In this paper we take a first step toward firming up these estimates by computing in detail the statistical properties of the angular deflections caused by a stochastic background. We compute analytically the two point correlation function of the deflections on the sphere, and the spectrum as a function of frequency and angular scale. The fluctuations are concentrated at low frequencies (for a scale invariant stochastic background), and at large angular scales, starting with the quadrupole. The magnetic-type and electric-type pieces of the fluctuations have equal amounts of power.

A finite difference scheme is used to develop a numerical method to solve the flow of an unbounded viscoelastic fluid with zero to moderate inertia around a prolate spheroidal particle. The equations are written in prolate spheroidal coordinates, and the shape of the particle is exactly resolved as one of the coordinate surfaces representing the inner boundary of the computational domain. As the prolate spheroidal grid is naturally clustered near the particle surface, good resolution is obtained in the regions where the gradients of relevant flow variables are most significant. This coordinate system also allows large domain sizes with a reasonable number of mesh points to simulate unbounded fluid around a particle. Changing the aspect ratio of the inner computational boundary enables simulations of different particle shapes ranging from a sphere to a slender fiber. Numerical studies of the latter particle shape allow testing of slender body theories. The mass and momentum equations are solved with a Schur complement approach allowing us to solve the zero inertia case necessary to isolate the viscoelastic effects. The singularities associated with the coordinate system are overcome using L'Hopital's rule. A straightforward imposition of conditions representing a time-varying combination of linear flows on the outer boundary allows us to study various flows with the same computational domain geometry. {For the special but important case of zero fluid and particle inertia we obtain a novel formulation that satisfies the force- and torque-free constraint in an iteration-free manner.} The numerical method is demonstrated for various flows of Newtonian and viscoelastic fluids around spheres and spheroids (including those with large aspect ratio). Good agreement is demonstrated with existing theoretical and numerical results.

The angular power spectrum is a gauge-independent observable that is in principle the natural tool for analysing galaxy number counts. In practice, the problem is that the computational requirements for next-generation spectroscopic surveys such as Euclid and the Square Kilometre Array are currently unfeasible. We propose a new method to save computational time for spectroscopic angular power spectra. This hybrid method is modelled on the Fourier power spectrum approach of treating relatively thick redshift bins (redshift width ~0.1) as separate surveys. In the hybrid method, each thick bin is further subdivided into thin bins (redshift width ~0.01); all the correlations within each thick bin are computed, while cross-bin correlations beyond the thick bins are neglected. Constraints on cosmological parameters from the hybrid method are comparable to those from the standard galaxy power spectrum analysis - but they have the advantage that cosmic evolution, wide-angle and lensing effects are naturally included, while no Alcock-Paczynski correction is needed. The hybrid method delivers much tighter constraints than a 2D tomographic approach that is typical for photometric surveys, which considers only thick bins and the correlations between them. Furthermore, for standard cosmological parameters our method is not biased by neglecting the effects of lensing on number counts, while the tomographic method is strongly biased.

Virtual reality (VR) motion tracking and interaction data has become increasingly recognized as valuable for machine learning experiments for a variety of purposes, including predicting user identities, predicting user attributes like gender and age, predicting retention and learning, and more. However, there exist a limited number of publicly accessible VR motion datasets. In this paper, we present a new open-source dataset of 95 participants playing the SteamVR game Job Simulator. Additionally, we review existing datasets, detail our study procedure, describe our data collection process, list attributes of our dataset, and suggest future work, impact, and applications.

This paper introduces a high resolution, machine learning-ready heliophysics dataset derived from NASA's Solar Dynamics Observatory (SDO), specifically designed to advance machine learning (ML) applications in solar physics and space weather forecasting. The dataset includes processed imagery from the Atmospheric Imaging Assembly (AIA) and Helioseismic and Magnetic Imager (HMI), spanning a solar cycle from May 2010 to July 2024. To ensure suitability for ML tasks, the data has been preprocessed, including correction of spacecraft roll angles, orbital adjustments, exposure normalization, and degradation compensation. We also provide auxiliary application benchmark datasets complementing the core SDO dataset. These provide benchmark applications for central heliophysics and space weather tasks such as active region segmentation, active region emergence forecasting, coronal field extrapolation, solar flare prediction, solar EUV spectra prediction, and solar wind speed estimation. By establishing a unified, standardized data collection, this dataset aims to facilitate benchmarking, enhance reproducibility, and accelerate the development of AI-driven models for critical space weather prediction tasks, bridging gaps between solar physics, machine learning, and operational forecasting.

We continue our program of investigation of the proper motions of spectrally separated structures in the Herbig-Haro outflows with the aid of Fabry-Perot scanning interferometry. This work mainly focuses on the physical nature of various structures in the jets. The aim of the present study is to measure the proper motions of the previously discovered kinematically separated structures in the working surface of the HH 83 collimated outflow. We used observations from two epochs separated by 15 years, which were performed on the 6m telescope with Fabry-Perot scanning interferometer. We obtained images corresponding to different radial velocities for the two separate epochs, and used them to measure proper motions. In the course of our data analysis, we discovered a counter bow-shock of HH 83 flow with positive radial velocity, which makes this flow a relatively symmetric bipolar system. The second epoch observations confirm that the working surface of the flow is split into two structures with an exceptionally large (250 km\ s^{-1}) difference in radial velocity. The proper motions of these structures are almost equal, which suggests that they are physically connected. The asymmetry of the bow shock and the turning of proper motion vectors suggests a collision between the outflow and a dense cloud. The profile of the Halpha line for the directly invisible infrared source HH 83 IRS, obtained by integration of the data within the reflection nebula, suggests it to be of P Cyg type with a broad absorption component characteristic of the FU Ori like objects. If this object underwent an FU Ori type outburst, which created the HH 83 working surfaces, its eruption took place about 1500 years ago according to the kinematical age of the outflow.

We present new radio images of the supernova remnant (SNR) CTA 1 at 1420 and 408 MHz, and in the 21 cm line of H I observed with the Dominion Radio Astrophysical Observatory Synthesis Telescope and at 1420 MHz observed with the Effelsberg 100 m telescope. We confirm previously described continuum features and elaborate further on filamentary features identified using the high-resolution (1') maps from these new observations. We investigate the abrupt change in sign of rotation measure (RM) across the SNR, using the linear polarization observations in the four bands around 1420 MHz. Following X. H. Sun et al.'s (2011) investigation, we both confirm that the distribution of signs of the RMs for extragalactic sources in the area appears to match that of the shell, as well as combine the data from the four bands to estimate the relative depolarization and the intrinsic rotation measure of the SNR. We do not conclusively reject X. H. Sun et al.'s (2011) claim of a Faraday screen in the foreground causing the distribution of RMs that we observe; however, we do suggest an alternative explanation of a swept-up stellar wind from the progenitor star with a toroidal magnetic field. Finally, we expand on the analysis of the H I observations by applying the Rolling Hough Transform to isolate filamentary structure and better identify H I emission with the SNR. Further constraining the H I velocity channels associated with CTA 1, we use more recent Galactic rotation curves to calculate an updated kinematic distance of 1.09 +/- 0.2 kpc.

Gravitational waves from asymmetric mass-ratio black-hole binaries carry unique information about their astrophysical environment. For instance, the Laser Interferometer Space Antenna (LISA) could potentially measure the amplitude and slope of gas torques in binaries embedded in the accretion disks of Active Galactic Nuclei, helping differentiate competing accretion disk models. However, this relies on simplified analytic models, which do not account for the stochastic variability of torques seen in hydrodynamic simulations. In this work, we use hydrodynamic simulations to create gravitational waveforms for extreme and intermediate mass-ratio inspirals in the LISA band. We then analyze these simulated waveforms using simpler templates that assume analytic torques, without stochastic time variability. By performing realistic Bayesian parameter estimation, we find no bias at 90% confidence in the binary parameters; however, estimates of accretion disk parameters, such as torque amplitude and slope, may be biased. Typically, the posterior distribution is centered around the average value of the torques, but when stochastic variability is large, the posterior can indicate no torques, even though they are present in the simulation. Our results suggest that while simplified analytic torque models work well for estimating binary parameters, caution is needed when using them to infer properties of the accretion disk. This work moves towards a more realistic assessment of one of the LISA science objectives, i.e., probing the properties of the astrophysical environments of black holes.

The measurements of the temperature and polarisation anisotropies of the Cosmic Microwave Background (CMB) by the ESA Planck mission have strongly supported the current concordance model of cosmology. However, the latest cosmological data release from ESA Planck mission still has a powerful potential to test new data science algorithms and inference techniques. In this paper, we use advanced Machine Learning (ML) algorithms, such as Neural Networks (NNs), to discern among different underlying cosmological models at the angular power spectra level, using both temperature and polarisation Planck 18 data. We test two different models beyond LambdaCDM: a modified gravity model: the Hu-Sawicki model, and an alternative inflationary model: a feature-template in the primordial power spectrum. Furthermore, we also implemented an interpretability method based on SHAP values to evaluate the learning process and identify the most relevant elements that drive our architecture to certain outcomes. We find that our NN is able to distinguish between different angular power spectra successfully for both alternative models and LambdaCDM. We conclude by explaining how archival scientific data has still a strong potential to test novel data science algorithms that are interesting for the next generation of cosmological experiments.

The field of trajectory forecasting has grown significantly in recent years, partially owing to the release of numerous large-scale, real-world human trajectory datasets for autonomous vehicles (AVs) and pedestrian motion tracking. While such datasets have been a boon for the community, they each use custom and unique data formats and APIs, making it cumbersome for researchers to train and evaluate methods across multiple datasets. To remedy this, we present trajdata: a unified interface to multiple human trajectory datasets. At its core, trajdata provides a simple, uniform, and efficient representation and API for trajectory and map data. As a demonstration of its capabilities, in this work we conduct a comprehensive empirical evaluation of existing trajectory datasets, providing users with a rich understanding of the data underpinning much of current pedestrian and AV motion forecasting research, and proposing suggestions for future datasets from these insights. trajdata is permissively licensed (Apache 2.0) and can be accessed online at https://github.com/NVlabs/trajdata

This paper introduces MCTrack, a new 3D multi-object tracking method that achieves state-of-the-art (SOTA) performance across KITTI, nuScenes, and Waymo datasets. Addressing the gap in existing tracking paradigms, which often perform well on specific datasets but lack generalizability, MCTrack offers a unified solution. Additionally, we have standardized the format of perceptual results across various datasets, termed BaseVersion, facilitating researchers in the field of multi-object tracking (MOT) to concentrate on the core algorithmic development without the undue burden of data preprocessing. Finally, recognizing the limitations of current evaluation metrics, we propose a novel set that assesses motion information output, such as velocity and acceleration, crucial for downstream tasks. The source codes of the proposed method are available at this link: https://github.com/megvii-research/MCTrack}{https://github.com/megvii-research/MCTrack

We present new JWST-NIRSpec IFS data for the luminous infrared galaxy NGC7469: a nearby (70.6Mpc) active galaxy with a Sy 1.5 nucleus that drives a highly ionized gas outflow and a prominent nuclear star-forming ring. Using the superb sensitivity and high spatial resolution of the JWST instrument NIRSpec-IFS, we investigate the role of the Seyfert nucleus in the excitation and dynamics of the circumnuclear gas. Our analysis focuses on the [Fe ii], H2, and hydrogen recombination lines that trace the radiation/shocked-excited molecular and ionized ISM around the AGN. We investigate the gas excitation through H2/Br{\gamma} and [Fe ii]/Paeta emission line ratios and find that photoionization by the AGN dominates within the central 300 pc of the galaxy and together with a small region show ing signatures of shock-heated gas; these shock-heated regions are likely associated with a compact radio jet. In addition, the velocity field and velocity dispersion maps reveal complex gas kinematics. Rotation is the dominant feature, but we also identify non-circular motions consistent with gas inflows as traced by the velocity residuals and the spiral pattern in the Pa{\alpha} velocity dispersion map. The inflow is consistent with the mass outflow rate and two orders of magnitude higher than the AGN accretion rate. The compact nuclear radio jet has enough power to drive the highly ionized outflow. This scenario suggests that the inflow and outflow are in a self-regulating feeding-feedback process, with a contribution from the radio jet helping to drive the outflow.

We present the requirements, design and evaluation of the cryogenic continuously rotating half-wave plate (CHWP) for the Simons Observatory (SO). SO is a cosmic microwave background (CMB) polarization experiment at Parque Astron\'{o}mico Atacama in northern Chile that covers a wide range of angular scales using both small (0.42 m) and large (6 m) aperture telescopes. In particular, the small aperture telescopes (SATs) focus on large angular scales for primordial B-mode polarization. To this end, the SATs employ a CHWP to modulate the polarization of the incident light at 8 Hz, suppressing atmospheric 1/f noise and mitigating systematic uncertainties that would otherwise arise due to the differential response of detectors sensitive to orthogonal polarizations. The CHWP consists of a 505 mm diameter achromatic sapphire HWP and a cryogenic rotation mechanism, both of which are cooled down to sim50 K to reduce detector thermal loading. Under normal operation the HWP is suspended by a superconducting magnetic bearing and rotates with a constant 2 Hz frequency, controlled by an electromagnetic synchronous motor. We find that the number of superconductors and magnets that make up the superconducting magnetic bearing are important design parameters, especially for the rotation mechanism's vibration performance. The rotation angle is detected through an angular encoder with a noise level of 0.07 muradmathrm{s}. During a cooldown, the rotor is held in place by a grip-and-release mechanism that serves as both an alignment device and a thermal path. In this paper we provide an overview of the SO SAT CHWP: its requirements, hardware design, and laboratory performance.

Detecting the tiny Doppler shifts induced by Earth-mass planets in stellar radial-velocity measurements remains extremely challenging due to stellar activity. Many deep-learning methods performing well on simulated data remain difficult to apply reliably on real stellar spectra. The aim of this work is to develop a deep-learning framework that generalizes to real, unseen spectra and improves the detectability of Earth-mass planets in radial-velocity data. We train artificial neural networks on HARPS-N solar spectra with injected planetary signals, using physics-motivated spectral representations based on flux and line-formation temperature, together with their velocity gradients. Two training strategies are explored: hold-out testing and cross-validation. Model robustness is enhanced through genetic-algorithm-based hyperparameter optimization, and predictive uncertainty is quantified using Monte Carlo dropout. Our most precise neural network model reliably retrieves, under the cross-validation strategy, the amplitudes, phases, and orbital periods of planetary signals with amplitudes greater than or equal to 25 cm/s and periods between 10 and 550 days. In addition, in all cases tested here, the successfully recovered signals correspond to the most significant peaks in the periodograms of the Doppler-shift predictions. Temperature-based spectral-shell representations consistently outperform flux-based shells. We also release doppleriann, a Python package implementing the proposed framework. Our results demonstrate that combining physically motivated spectral representations with deep learning provides a promising pathway toward the detection of Earth-mass planets in radial-velocity data from real observations, supported by a modeling framework that is both physically grounded and statistically rigorous, incorporating uncertainty quantification and optimized training strategies.

We present the first linear polarization measurements from the 2015 long-duration balloon flight of SPIDER, an experiment designed to map the polarization of the cosmic microwave background (CMB) on degree angular scales. Results from these measurements include maps and angular power spectra from observations of 4.8% of the sky at 95 and 150 GHz, along with the results of internal consistency tests on these data. While the polarized CMB anisotropy from primordial density perturbations is the dominant signal in this region of sky, Galactic dust emission is also detected with high significance; Galactic synchrotron emission is found to be negligible in the SPIDER bands. We employ two independent foreground-removal techniques in order to explore the sensitivity of the cosmological result to the assumptions made by each. The primary method uses a dust template derived from Planck data to subtract the Galactic dust signal. A second approach, employing a joint analysis of SPIDER and Planck data in the harmonic domain, assumes a modified-blackbody model for the spectral energy distribution of the dust with no constraint on its spatial morphology. Using a likelihood that jointly samples the template amplitude and r parameter space, we derive 95% upper limits on the primordial tensor-to-scalar ratio from Feldman-Cousins and Bayesian constructions, finding r<0.11 and r<0.19, respectively. Roughly half the uncertainty in r derives from noise associated with the template subtraction. New data at 280 GHz from SPIDER's second flight will complement the Planck polarization maps, providing powerful measurements of the polarized Galactic dust emission.

Magnetic fields in large scale structure filaments beyond galaxy clusters remain poorly understood. Superclusters offer a unique setting to study these low density environments, where weak signals make detection challenging. The Faraday rotation measure (RM) of polarized sources along supercluster lines of sight helps constrain magnetic field properties in these regions. This study aims to determine magnetic field intensity in low density environments within superclusters using RM measurements at different frequencies. We analyzed three nearby (z<0.1) superclusters, Corona Borealis, Hercules, and Leo, where polarization observations were available at 1.4 GHz and 144 MHz. Our catalogue includes 4497 polarized background sources with RM values from literature and unpublished 144 MHz data. We constructed 3D density cubes for each supercluster to estimate density at RM measurement locations. By grouping RM values into three density bins (outskirts, filaments, and nodes) we examined RM variance linked to mean density. We found an RM variance excess of 2.5 \pm 0.5 rad^2 m^{-4} between the lowest-density regions outside the supercluster and the low-density filamentary regions within. This suggests an intervening magnetic field in the supercluster filaments. Modeling the RM variance with a single scale, randomly oriented magnetic field, we constrained the line of sight magnetic field to B_{//} = 19^{+50}_{-8} nG after marginalizing over reversal scale and path length. Our findings align with previous studies of large scale structure filaments, suggesting that adiabatic compression alone (B_{||} \sim 2 nG) cannot fully explain the observed field strengths. Other amplification mechanisms likely contribute to the evolution of magnetic fields in superclusters.

We report the delivery to the Mikulski Archive for Space Telescopes of target pixel and light curve files for up to 160,000 targets selected from full-frame images (FFI) for each TESS Northern hemisphere observing sector. The data include calibrated target pixels, simple aperture photometry flux time series, and presearch data conditioning corrected flux time series. These data provide TESS users with high quality, uniform pipeline products for a selection of FFI targets, that would otherwise not be readily available. Additionally, we deliver cotrending basis vectors derived from the FFI targets to allow users to perform their own systematic error corrections. The selected targets include all 2-minute targets and additional targets selected from the TESS Input Catalog with a maximum of 10,000 targets per sector on each of the sixteen TESS CCDs. The data products are in the same format as the project-delivered files for the TESS 2-minute targets. All of the TESS-SPOC data products are available at the MAST as a High Level Science Product via https://doi.org/10.17909/t9-wpz1-8s54.

Flow matching generates data by integrating a learned velocity field, where the number of integration steps (NFE) directly determines inference cost. We analyze which properties of the velocity field govern integration error by decomposing the velocity Jacobian into its symmetric part S (strain rate) and antisymmetric part Omega (vorticity). We prove that strain and vorticity play different roles: strain controls exponential error amplification through the logarithmic norm, while vorticity contributes only linearly to the local truncation error. We further show that the optimal transport velocity field is irrotational and has zero material derivative, implying second-order Euler accuracy; for exact displacement interpolation, the associated Lagrangian particle dynamics are integrated exactly by Euler. Motivated by this analysis, we study weighted Jacobian regularization with strain weight alpha and vorticity weight beta. Experiments on 2D synthetic data confirm the main theoretical predictions, showing up to 2.7x lower integration error at NFE=5. Preliminary CIFAR-10 experiments show consistent trends, with a lightweight fine-tuning procedure improving FID by 14 percent at NFE=10 while preserving high-NFE quality.

One of the major priorities of international radio astronomy is to study the early universe through the detection of the 21 cm HI line from the epoch of reionisation (EoR). Due to the weak nature of the 21 cm signal, an important part in the detection of the EoR is removing contaminating foregrounds from our observations as they are multiple orders of magnitude brighter. In order to achieve this, sky maps spanning a wide range of frequencies and angular scales are required for calibration and foreground subtraction. Complementing the existing low-frequency sky maps, we have constructed a Southern Sky map through spherical harmonic transit interferometry utilising the engineering development array 2 (EDA2), a square kilometre array (SKA) low-frequency array prototype system. We use the m-mode formalism to create an all-sky map at 159MHz with an angular resolution of 3 degrees, with data from the (EDA2) providing information over +60 degrees to -90 degrees in declination. We also introduce a new method for visualising and quantifying how the baseline distribution of an interferometer maps to the spherical harmonics, and discuss how prior information can be used to constrain spherical harmonic components that the interferometer is not sensitive to.

Many dynamical processes unfold on the sphere but the default scientific machine learning architectures are Euclidean. Applying these architectures on a regular lat-lon grid causes problems: Cartesian convolutions become distorted at high latitude; 2D FFTs in Fourier neural operators incorrectly assume double periodicity; Cartesian positional encodings in ViTs distort spherical geodesic distances. Recent work moves towards natively spherical primitives, including spherical convolutions (e.g., DeepSphere or DISCO), Spherical Fourier Neural Operators (SFNOs), and geodesic attention. Here we propose Dandelion, a spherical version of Flower, a warp-based neural PDE solver. Layers of Dandelion predict a tangent-plane displacement and transport features along great circles. We obtain a U-Net-like structure by implementing hierarchical pooling entirely in the spherical-harmonic domain. There are thus no convolutions: spatial mixing is achieved only through spherical coordinate changes, or warps. To compare Dandelion with existing spherical architectures, we release an evolving benchmark suite of challenging, natively-spherical PDE datasets including a modified Galewsky jet, anomalous chained turbulence, Cahn-Hilliard decomposition, spherical Riemann shocks, Held-Suarez dry atmospheric transport and global ocean dynamics. This new benchmark fills the gap in existing spherical datasets which are either too small and stylized, or much too large (ERA5) for model iteration. Dandelion is best or second-best on every dataset, and the gap to non-warp baselines widens with resolution: at 256times 512, Dandelion and Flower2D occupy the top two slots in both single-step prediction and rollout.

We present a new approach to constructing and fitting dipoles and higher-order multipoles in synthetic galaxy samples over the sky. Within our Bayesian paradigm, we illustrate that this technique is robust to masked skies, allowing us to make credible inferences about the relative contributions of each multipole. We also show that dipoles can be recovered in surveys with small footprints, determining the requisite source counts required for concrete estimation of the dipole parameters. This work is motivated by recent probes of the cosmic dipole in galaxy catalogues. Namely, the kinematic dipole of the Cosmic Microwave Background, as arising from the motion of our heliocentric frame at approx 370 km,s^{-1}, implies that an analogous dipole should be observed in the number counts of galaxies in flux-density-limited samples. Recent studies have reported a dipole aligning with the kinematic dipole but with an anomalously large amplitude. Accordingly, our new technique will be important as forthcoming galaxy surveys are made available and for revisiting previous data.

This paper introduces an updated version of the well-known Virtual KITTI dataset which consists of 5 sequence clones from the KITTI tracking benchmark. In addition, the dataset provides different variants of these sequences such as modified weather conditions (e.g. fog, rain) or modified camera configurations (e.g. rotated by 15 degrees). For each sequence, we provide multiple sets of images containing RGB, depth, class segmentation, instance segmentation, flow, and scene flow data. Camera parameters and poses as well as vehicle locations are available as well. In order to showcase some of the dataset's capabilities, we ran multiple relevant experiments using state-of-the-art algorithms from the field of autonomous driving. The dataset is available for download at https://europe.naverlabs.com/Research/Computer-Vision/Proxy-Virtual-Worlds.

In this work we propose an analytical model that reproduces the core-bounds phase of gravitational waves (GW) of Rapidly Rotating (RR) from Core Collapse Supernovae (CCSNe), as a function of three parameters, the arrival time tau, the ratio of the kinetic and potential energy beta and a phenomenological parameter alpha related to rotation and equation of state (EOS). To validate the model we use 126 waveforms from the Richers catalog Richers_2017 selected with the criteria of exploring a range of rotation profiles, and involving EOS. To quantify the degree of accuracy of the proposed model, with a particular focus on the rotation parameter beta, we show that the average Fitting Factor (FF) between the simulated waveforms with the templates is 94.4\%. In order to estimate the parameters we propose a frequentist matched filtering approach in real interferometric noise which does not require assigning any priors. We use the Matched Filter (MF) technique, where we inject a bank of templates considering simulated colored Gaussian noise and the real noise of O3L1. For example for A300w6.00\_BHBLP at 10Kpc we obtain a standar deviation of sigma = 3.34times 10^{-3} for simulated colored Gaussian noise and sigma= 1.46times 10^{-2} for real noise. On the other hand, from the asymptotic expansion of the variance we obtain the theoretical minimum error for beta at 10 kpc and optimal orientation. The estimation error in this case is from 10^{-2} to 10^{-3} as beta increases. We show that the results of the estimation error of beta for the 3-parameter space (3D) is consistent with the single-parameter space (1D), which allows us to conclude that beta is decoupled from the others two parameters.

Given sparse observations of buoy velocities, oceanographers are interested in reconstructing ocean currents away from the buoys and identifying divergences in a current vector field. As a first and modular step, we focus on the time-stationary case - for instance, by restricting to short time periods. Since we expect current velocity to be a continuous but highly non-linear function of spatial location, Gaussian processes (GPs) offer an attractive model. But we show that applying a GP with a standard stationary kernel directly to buoy data can struggle at both current reconstruction and divergence identification, due to some physically unrealistic prior assumptions. To better reflect known physical properties of currents, we propose to instead put a standard stationary kernel on the divergence and curl-free components of a vector field obtained through a Helmholtz decomposition. We show that, because this decomposition relates to the original vector field just via mixed partial derivatives, we can still perform inference given the original data with only a small constant multiple of additional computational expense. We illustrate the benefits of our method with theory and experiments on synthetic and real ocean data.

We analyse scattered-light images at multiple epochs of the protoplanetary disc HD139614 taken with GPI and SPHERE instruments. We show that the azimuthal distribution of the surface brightness of the inner bright ring (13-21au) varies with time (likely caused by a structure in the inner-disc at sim1au) and constrain the timescale of this variation to be <11months. We show that inner arc (31-44au) is likely a spiral and tightly wound, measuring a pitch angle of 6.1pm1.2^circ. Additionally, we construct a physical model to explain the broad shadow across sim2/3 of the outer disc and the azimuthally asymmetric bright ring (which has a shadow not aligned with the broad shadow). We model the disc using 1D warp equations with a fast radiative transfer code to produce scattered-light images. We setup the disc as three annuli separated by gaps with an inclined perturbing planet between the inner two annuli. The planet causes the inner annuli to tilt and precess independently casting broad shadows across the outer (un-tilted) annulus. These shadows combine to produce a shadow across sim2/3 of the outer disc and an asymmetric bright ring which matches the observations of HD139614. The precession of the annuli is periodic (so the model matches the observations multiple times) with long precession time-scales (8.4times10^3 and 7.2times10^4years for the inner and middle annulus respectively) so the shadows are effectively static over accessible observational time-scales.

Recent space-borne and ground-based observations provide photometric measurements as time series. The effect of interstellar dust extinction in the near-infrared range is only 10% of that measured in the V band. However, the sensitivity of the light curve shape to the physical parameters in the near-infrared is much lower. So, interpreting these types of data sets requires new approaches like the different large-scale surveys, which create similar problems with big data. Using a selected data set, we provide a method for applying routines implemented in R to extract most information of measurements to determine physical parameters, which can also be used in automatic classification schemes and pipeline processing. We made a multivariate classification of 131 Cepheid light curves (LC) in J, H, and K colors, where all the LCs were represented in 20D parameter space in these colors separately. Performing a Principal Component Analysis (PCA), we got an orthogonal coordinate system and squared Euclidean distances between LCs, with 6 significant eigenvalues, reducing the 20-dimension to 6. We also estimated the optimal number of partitions of similar objects and found it to be equal to 7 in each color; their dependence on the period, absolute magnitude, amplitude, and metallicity are also discussed. We computed the Spearman rank correlations, showing that periods and absolute magnitudes correlate with the first three PCs significantly. The first two PC are also found to have a relationship with the amplitude, but the metallicity effects are only marginal. The method shown can be generalized and implemented in unsupervised classification schemes and analysis of mixed and biased samples. The analysis of our Classical Cepheid near-infrared LC sample showed that the J, H, K curves are insufficient for determination of stellar metallicity, with mass being the key factor shaping them.

Spacecraft collision avoidance procedures have become an essential part of satellite operations. Complex and constantly updated estimates of the collision risk between orbiting objects inform the various operators who can then plan risk mitigation measures. Such measures could be aided by the development of suitable machine learning models predicting, for example, the evolution of the collision risk in time. In an attempt to study this opportunity, the European Space Agency released, in October 2019, a large curated dataset containing information about close approach events, in the form of Conjunction Data Messages (CDMs), collected from 2015 to 2019. This dataset was used in the Spacecraft Collision Avoidance Challenge, a machine learning competition where participants had to build models to predict the final collision risk between orbiting objects. This paper describes the design and results of the competition and discusses the challenges and lessons learned when applying machine learning methods to this problem domain.

A faster than real time forecast system for solar wind and interplanetary magnetic field transients that is driven by hourly updated solar magnetograms is proposed to provide a continuous nowcast of the solar corona (<0.1AU) and 24-hours forecast of the solar wind at 1 AU by solving a full 3-D MHD model. This new model has been inspired by the concept of relativity of simultaneity used in the theory of special relativity. It is based on time transformation between two coordinate systems: the solar rest frame and a boosted system in which the current observations of the solar magnetic field and tomorrow's measurement of the solar wind at 1 AU are simultaneous. In this paper we derive the modified governing equations for both hydrodynamics (HD) and magnetohydrodynamics (MHD) and present a new numerical algorithm that only modifies the conserved quantities but preserves the original HD/MHD numerical flux. The proposed method enables an efficient numerical implementation, and thus a significantly longer forecast time than the traditional method.

Data-driven MoCap-to-radar models generate plausible micro-Doppler spectrograms, but do they actually learn the underlying physics? We introduce a physics-based interpretability framework to answer this question via two proposed complementary metrics: one measures alignment between model predictions and the physics-derived Doppler frequency, while the other tests whether predictions preserve the velocity-frequency relationship under velocity intervention. Both metrics require only MoCap input and model predictions, without access to measured radar data. Experiments across several model architectures reveal that low reconstruction error does not guarantee physical consistency: some, but not all, models achieve low error yet perform poorly on the two physics-based metrics. Further analysis shows that temporal attention is critical for transformer-based models to learn the underlying physics.

Exploring high-latitude lunar regions presents an extremely challenging visual environment for robots. The low sunlight elevation angle and minimal light scattering result in a visual field dominated by a high dynamic range featuring long, dynamic shadows. Reproducing these conditions on Earth requires sophisticated simulators and specialized facilities. We introduce a unique dataset recorded at the LunaLab from the SnT - University of Luxembourg, an indoor test facility designed to replicate the optical characteristics of multiple lunar latitudes. Our dataset includes images, inertial measurements, and wheel odometry data from robots navigating seven distinct trajectories under multiple illumination scenarios, simulating high-latitude lunar conditions from dawn to nighttime with and without the aid of headlights, resulting in 88 distinct sequences containing a total of 1.3M images. Data was captured using a stereo RGB-inertial sensor, a monocular monochrome camera, and for the first time, a novel single-photon avalanche diode (SPAD) camera. We recorded both static and dynamic image sequences, with robots navigating at slow (5 cm/s) and fast (50 cm/s) speeds. All data is calibrated, synchronized, and timestamped, providing a valuable resource for validating perception tasks from vision-based autonomous navigation to scientific imaging for future lunar missions targeting high-latitude regions or those intended for robots operating across perceptually degraded environments. The dataset and all supplementary material can be accessed from and found at https://github.com/spaceuma/spice-hl3.

We present a multi-frequency polarimetric study of the radio-quiet Seyfert galaxy NGC 4235 using the upgraded Giant Metrewave Radio Telescope (uGMRT), aimed at constraining the Faraday rotation properties of its kpc-scale radio emission. This marks the first-ever analysis of polarization across two frequency bands of the uGMRT and the first constraints on rotation measure (RM) at lower frequencies for a weak radio source (17.1pm1.7 mJy at 1.3 GHz, 27.7pm2.8 mJy at 663 MHz). We detect linearly polarized radio emission associated with the `core' and the extended lobes of NGC 4235. Broadband polarimetric analysis yields an RM value of {sim200 rad m^{-2}} in the `core', indicating Faraday rotation by magnetized plasma external to the synchrotron-emitting regions. Using these RM constraints, we estimate an average electron density of the Faraday-rotating medium of sim3times10^{-2} cm^{-3} for a characteristic perturbation scale of sim0.3 parsec within an assumed magnetized region of size sim1.3 kpc, consistent with a diffuse magnetized sheath or AGN-driven wind. These results extend classical Faraday rotation diagnostics to the low-power, radio-quiet AGN regime and demonstrate the potential of uGMRT broadband polarimetry for probing magnetized environments in and around such AGN.

Time series data from observations of black hole ringdown gravitational waves are often analyzed in the time domain by using damped sinusoid models with acyclic boundary conditions. Data conditioning operations, including downsampling, filtering, and the choice of data segment duration, reduce the computational cost of such analyses and can improve numerical stability. Here we analyze simulated damped sinsuoid signals to illustrate how data conditioning operations, if not carefully applied, can undesirably alter the analysis' posterior distributions. We discuss how currently implemented downsampling and filtering methods, if applied too aggressively, can introduce systematic errors and skew tests of general relativity. These issues arise because current downsampling and filtering methods do not operate identically on the data and model. Alternative downsampling and filtering methods which identically operate on the data and model may be achievable, but we argue that the current operations can still be implemented safely. We also show that our preferred anti-alias filtering technique, which has an instantaneous frequency-domain response at its roll-off frequency, preserves the structure of posterior distributions better than other commonly used filters with transient frequency-domain responses. Lastly, we highlight that exceptionally long data segments may need to be analyzed in cases where thin lines in the noise power spectral density overlap with central signal frequencies. Our findings may be broadly applicable to any analysis of truncated time domain data with acyclic boundary conditions.

Active Galactic Nuclei (AGN) are some of the most luminous and extreme environments in the Universe. The central engines of AGN, believed to be super-massive black-holes, are fed by accretion discs threaded by magnetic fields within a dense magneto-ionic medium. We report our findings from polarimetric Very-long-baseline Interferometry (VLBI) observations of quasar NRAO150 taken in October 2022 using a combined network of the Very Long Baseline Array (VLBA) and Effelsberg 100-m Radio Telescope. These observations are the first co-temporal multi-frequency polarimetric VLBI observations of NRAO150 at frequencies above 15GHz. We use the new VLBI polarization calibration procedure, GPCAL, with polarization observations of frequencies of 12GHz, 15GHz, 24GHz, and 43GHz of NRAO150. From these observations, we measure Faraday rotation. Using our measurement of Faraday rotation, we also derive the intrinsic electric vector position angle (EVPA0) for the source. As a complementary measurement we determine the behavior of polarization as a function of observed frequency. The polarization from NRAO150 only comes from the core region, with a peak polarization intensity occurring at 24GHz. Across the core region of NRAO150 we see clear gradients in Faraday rotation and EVPA0 values that are aligned with the direction of the jet curving around the core region. We find that for the majority of the polarized region the polarization fraction is greater at higher frequencies, with intrinsic polarization fractions in the core 3%. The Faraday rotation gradients and circular patterns in EVPA0 are strong evidence for a helical/toroidal magnetic field, and the presence of low intrinsic polarization fractions indicate that the polarized emission and hence the helical/toroidal magnetic field, occur within the innermost jet.

Figures are essential for scientific communication, and the field of Visual Question Answering (VQA) aims to test the figure understanding capabilities of large multimodal models (LMMs). Here, we investigate the accuracy of several low-cost LMMs on domain-specific VQA tasks for astronomical images of the sky. As instrument for this task we build a domain-specific VQA dataset comprising 2001 partially-synthetic figures divided evenly between contour plots, real telescope images drawn from NASA's SkyView, and "fake" sky images which share the axes and angular scales of the real images but draw their colors from a gaussian mixture model, alongside 47357 questions. Each figure is released as pristine and with realistic page-aging degradations mimicking the historical astronomical corpus. Testing three low-cost proprietary LMMs, we find models frequently fail to answer domain-specific questions at high accuracy. An initial comparison with 104 human-verified, astrometrically tagged figures from historical journal publications shows similar median errors in angular extent. All code is available on GitHub: https://github.com/jnaiman/SkyImagesWASP2026 and dataset is available on HuggingFace: https://huggingface.co/datasets/ReadingTimeMachine/astro_sky_image_vqa.

The angular synchronization problem aims to accurately estimate (up to a constant additive phase) a set of unknown angles theta_1, dots, theta_nin[0, 2pi) from m noisy measurements of their offsets theta_i-theta_j ;mod ; 2pi. Applications include, for example, sensor network localization, phase retrieval, and distributed clock synchronization. An extension of the problem to the heterogeneous setting (dubbed k-synchronization) is to estimate k groups of angles simultaneously, given noisy observations (with unknown group assignment) from each group. Existing methods for angular synchronization usually perform poorly in high-noise regimes, which are common in applications. In this paper, we leverage neural networks for the angular synchronization problem, and its heterogeneous extension, by proposing GNNSync, a theoretically-grounded end-to-end trainable framework using directed graph neural networks. In addition, new loss functions are devised to encode synchronization objectives. Experimental results on extensive data sets demonstrate that GNNSync attains competitive, and often superior, performance against a comprehensive set of baselines for the angular synchronization problem and its extension, validating the robustness of GNNSync even at high noise levels.

We argue that high-quality motion data can steer tracking policies toward better optimization trajectories early in training. In this work, we introduce LIMMT (Less Is More for Motion Tracking). To our knowledge, this is the first data-centric study for physics-based humanoid motion tracking. We go beyond simply removing low-quality and erroneous clips, but define motion data quality through three dimensions: physics feasibility, diversity, and complexity. We show that even training with under 3% of AMASS yields better tracking performance than training with the full dataset. We further conduct data cleaning on the estimated web-sourced mocap data. Extensive experiments and analyses validate the effectiveness of our framework.

While machine-learned models are now routinely employed to facilitate astronomical inquiry, model inputs tend to be limited to a primary data source (namely images or time series) and, in the more advanced approaches, some metadata. Yet with the growing use of wide-field, multiplexed observational resources, individual sources of interest often have a broad range of observational modes available. Here we construct an astronomical multimodal dataset and propose AstroM^3, a self-supervised pre-training approach that enables a model to learn from multiple modalities simultaneously. Specifically, we extend the CLIP (Contrastive Language-Image Pretraining) model to a trimodal setting, allowing the integration of time-series photometry data, spectra, and astrophysical metadata. In a fine-tuning supervised setting, our results demonstrate that CLIP pre-training improves classification performance for time-series photometry, where accuracy increases from 84.6% to 91.5%. Furthermore, CLIP boosts classification accuracy by up to 12.6% when the availability of labeled data is limited, showing the effectiveness of leveraging larger corpora of unlabeled data. In addition to fine-tuned classification, we can use the trained model in other downstream tasks that are not explicitly contemplated during the construction of the self-supervised model. In particular we show the efficacy of using the learned embeddings for misclassifications identification, similarity search, and anomaly detection. One surprising highlight is the "rediscovery" of Mira subtypes and two Rotational variable subclasses using manifold learning and dimension reduction algorithm. To our knowledge this is the first construction of an n>2 mode model in astronomy. Extensions to n>3 modes is naturally anticipated with this approach.

Modern astronomical surveys, such as the Euclid mission, produce high-dimensional, multi-modal data sets that include imaging and spectroscopic information for millions of galaxies. These data serve as an ideal benchmark for large, pre-trained multi-modal models, which can leverage vast amounts of unlabelled data. In this work, we present the first exploration of Euclid data with AstroPT, an autoregressive multi-modal foundation model trained on approximately 300 000 optical and infrared Euclid images and spectral energy distributions (SEDs) from the first Euclid Quick Data Release. We compare self-supervised pre-training with baseline fully supervised training across several tasks: galaxy morphology classification; redshift estimation; similarity searches; and outlier detection. Our results show that: (a) AstroPT embeddings are highly informative, correlating with morphology and effectively isolating outliers; (b) including infrared data helps to isolate stars, but degrades the identification of edge-on galaxies, which are better captured by optical images; (c) simple fine-tuning of these embeddings for photometric redshift and stellar mass estimation outperforms a fully supervised approach, even when using only 1% of the training labels; and (d) incorporating SED data into AstroPT via a straightforward multi-modal token-chaining method improves photo-z predictions, and allow us to identify potentially more interesting anomalies (such as ringed or interacting galaxies) compared to a model pre-trained solely on imaging data.

This paper sets a new foundation for data-driven inertial navigation research, where the task is the estimation of positions and orientations of a moving subject from a sequence of IMU sensor measurements. More concretely, the paper presents 1) a new benchmark containing more than 40 hours of IMU sensor data from 100 human subjects with ground-truth 3D trajectories under natural human motions; 2) novel neural inertial navigation architectures, making significant improvements for challenging motion cases; and 3) qualitative and quantitative evaluations of the competing methods over three inertial navigation benchmarks. We will share the code and data to promote further research.

In the face of escalating climate changes, typhoon intensities and their ensuing damage have surged. Accurate trajectory prediction is crucial for effective damage control. Traditional physics-based models, while comprehensive, are computationally intensive and rely heavily on the expertise of forecasters. Contemporary data-driven methods often rely on reanalysis data, which can be considered to be the closest to the true representation of weather conditions. However, reanalysis data is not produced in real-time and requires time for adjustment because prediction models are calibrated with observational data. This reanalysis data, such as ERA5, falls short in challenging real-world situations. Optimal preparedness necessitates predictions at least 72 hours in advance, beyond the capabilities of standard physics models. In response to these constraints, we present an approach that harnesses real-time Unified Model (UM) data, sidestepping the limitations of reanalysis data. Our model provides predictions at 6-hour intervals for up to 72 hours in advance and outperforms both state-of-the-art data-driven methods and numerical weather prediction models. In line with our efforts to mitigate adversities inflicted by typhoons, we release our preprocessed PHYSICS TRACK dataset, which includes ERA5 reanalysis data, typhoon best-track, and UM forecast data.

We tackle the problem of estimating a Manhattan frame, i.e. three orthogonal vanishing points, and the unknown focal length of the camera, leveraging a prior vertical direction. The direction can come from an Inertial Measurement Unit that is a standard component of recent consumer devices, e.g., smartphones. We provide an exhaustive analysis of minimal line configurations and derive two new 2-line solvers, one of which does not suffer from singularities affecting existing solvers. Additionally, we design a new non-minimal method, running on an arbitrary number of lines, to boost the performance in local optimization. Combining all solvers in a hybrid robust estimator, our method achieves increased accuracy even with a rough prior. Experiments on synthetic and real-world datasets demonstrate the superior accuracy of our method compared to the state of the art, while having comparable runtimes. We further demonstrate the applicability of our solvers for relative rotation estimation. The code is available at https://github.com/cvg/VP-Estimation-with-Prior-Gravity.

Westerlund 1 (Wd1) is one of the Milky Way's most massive young clusters, in which heavy extinction and field contamination have historically hampered its kinematic characterization. We aim to assess Wd1's internal kinematics, dynamical state, and formation scenario. Using a robust 5D clustering approach, we identified 559 bona fide members. We modeled their proper motions via a 2D first-order Taylor expansion to derive the velocity gradient tensor, mapping expansion, rotation, and shear. Restricting the kinematic analysis to 524 stars with proper motion uncertainties <0.5~mas,yr^{-1}, we find at least 103 gravitationally unbound members, including 14 walkaway stars. The 2D analysis reveals a statistically significant divergence (>4σ) highlighting preferred expansion along the Galactic latitude (position angle 164^circpm10.1^circ). A detected cross-gradient (partial v_b / partial l = -0.41 pm 0.08 km s^{-1} pc^{-1}) provides a clear signature of shear on the plane of the sky. Wd1 does not behave as a single cohesive population, but comprises two decoupled subsystems: a stable, bound core in dynamical equilibrium and an escaping, unbound envelope. This prominent anisotropic expansion perpendicular to the Galactic plane has a kinematic timescale (Δt_{kin} = 2.08 pm 0.44 Myr) matching the independent orbital mid-plane crossing time (Δt_{orbit} = 2.10 pm 0.05 Myr). This temporal alignment indicates the expansion onset coincided with Wd1's Galactic disk passage, triggered either by internal dynamics (e.g., early supernova feedback) or external tidal perturbations. Finally, the robust unbound population demonstrates that active cluster dissolution is underway, driven by discrete dynamical ejection events rather than long-term stellar evaporation.

A sample of 60,410 bona fide optical quasars with astrometric proper motions in Gaia EDR3 and spectroscopic redshifts above 0.5 in an oval 8400 square degree area of the sky is constructed. Using orthogonal Zernike functions of polar coordinates, the proper motion fields are fitted in a weighted least-squares adjustment of the entire sample and of six equal bins of sorted redshifts. The overall fit with 37 Zernike functions reveals a statistically significant pattern, which is likely to be of instrumental origin. The main feature of this pattern is a chain of peaks and dips mostly in the R.A. component with an amplitude of 25~muas yr^{-1}. This field is subtracted from each of the six analogous fits for quasars grouped by redshifts covering the range 0.5 through 7.03, with median values 0.72, 1.00, 1.25, 1.52, 1.83, 2.34. The resulting residual patterns are noisier, with formal uncertainties up to 8~muas yr^{-1} in the central part of the area. We detect a single high-confidence Zernike term for R.A. proper motion components of quasars with redshifts around 1.52 representing a general gradient of 30 muas yr^{-1} over 150degr on the sky. We do not find any small- or medium-scale systemic variations of the residual proper motion field as functions of redshift above the 2.5,sigma significance level.

Geometry foundation models recover camera poses and dense geometry from a set of images with a feed-forward network, but they expect pinhole images. That assumption is inside the backbone too: the positional encoding and the training loss both bind an image position to a direction in space, and both depend on the lens. We condition both on the dense ray field, the unit direction through every pixel, which describes any central camera without a lens type, distortion coefficients or a bound on field of view. Angular coordinates give the rotary encoding the measured ray angle of each patch, evaluated per view, and solid-angle weighting scales the point loss by the area each pixel covers on the sphere, so neither the encoding nor the supervision depends on the lens. Any3R is therefore a feed-forward model that takes any central camera, and is robust to mixing many camera types per scene, with no retraining per lens. On a benchmark of thirteen central cameras across three datasets, where every method reconstructs with its own predicted camera poses, it is the most consistently accurate method. Any3R enables scalable 3D reconstruction from heterogeneous crowdsourced and archival imagery collections sourced across diverse camera types. Project page: https://jingong-chen.github.io/Any3R/

The Flooded Road Environments Dataset (FRED) is, to our knowledge, the first multi-modal autonomous driving dataset specifically targeting the collection of data from scenarios involving water hazards on the road. The dataset contains images from a 2.3 MP FLIR Blackfly USB3 camera, 64-beam 360^circ point clouds from an Ouster OS1-64 LiDAR, and data from an iXblue ATLANS-C IMU corrected by a Geoflex RTK GNSS, from five separate locations captured both during and after flooding events. The data has been released in two formats: a KITTI-style format for easy integration with existing data tools, and the RTMaps format for direct replay of the vehicle's data capture. We provide semantic labels to enable the training and evaluation of both single-sensor and sensor-fusion methods for water hazard detection. Position and velocity, as well as data captured under dry conditions, are provided to enable the development of location-based detection methods that may incorporate maps, and to evaluate other tasks such as localisation and SLAM.

We study the bar pattern speeds and corotation radii of 225 barred galaxies, using IFU data from MaNGA and the Tremaine-Weinberg method. Our sample, which is divided between strongly and weakly barred galaxies identified via Galaxy Zoo, is the largest that this method has been applied to. We find lower pattern speeds for strongly barred galaxies than for weakly barred galaxies. As simulations show that the pattern speed decreases as the bar exchanges angular momentum with its host, these results suggest that strong bars are more evolved than weak bars. Interestingly, the corotation radius is not different between weakly and strongly barred galaxies, despite being proportional to bar length. We also find that the corotation radius is significantly different between quenching and star forming galaxies. Additionally, we find that strongly barred galaxies have significantly lower values for R, the ratio between the corotation radius and the bar radius, than weakly barred galaxies, despite a big overlap in both distributions. This ratio classifies bars into ultrafast bars (R < 1.0; 11% of our sample), fast bars (1.0 < R < 1.4; 27%) and slow bars (R > 1.4; 62%). Simulations show that R is correlated with the bar formation mechanism, so our results suggest that strong bars are more likely to be formed by different mechanisms than weak bars. Finally, we find a lower fraction of ultrafast bars than most other studies, which decreases the recently claimed tension with {\Lambda}CDM. However, the median value of R is still lower than what is predicted by simulations.

High-fidelity scientific simulations are now producing unprecedented amounts of data, creating a storage and analysis bottleneck. A single simulation can generate tremendous data volumes, often forcing researchers to discard valuable information. A prime example of this is plasma turbulence described by the gyrokinetic equations: nonlinear, multiscale, and 5D in phase space. It constitutes one of the most computationally demanding frontiers of modern science, with runs taking weeks and yielding tens of terabytes of data dumps. The increasing storage demands underscore the importance of compression. However, reconstructed snapshots do not necessarily preserve essential physical quantities. We present a spatiotemporal evaluation pipeline, accounting for structural phenomena and multi-scale transient fluctuations to assess the degree of physical fidelity. Indeed, we find that various compression techniques lack preservation of both spatial mode structure and temporal turbulence characteristics. Therefore, we explore Physics-Informed Neural Compression (PINC), which incorporates physics-informed losses tailored to gyrokinetics and enables extreme compressions ratios of over 70,000x. Entropy coding on top of PINC further pushes it to 120,000x. This direction provides a viable and scalable solution to the prohibitive storage demands of gyrokinetics, enabling post-hoc analyses that were previously infeasible.

We consider the problem of forecasting motion from a single image, i.e., predicting how objects in the world are likely to move, without the ability to observe other parameters such as the object velocities or the forces applied to them. We formulate this task as conditional generation of dense trajectory grids with a model that closely follows the architecture of modern video generators but outputs motion trajectories instead of pixels. This approach captures scene-wide dynamics and uncertainty, yielding more accurate and diverse predictions than prior regressors and generators. We extensively evaluate our method on simulated data, demonstrate its effectiveness on downstream applications such as robotics, and show promising accuracy on real-world intuitive physics datasets. Although recent state-of-the-art video generators are often regarded as world models, we show that they struggle with forecasting motion from a single image, even in simple physical scenarios such as falling blocks or mechanical object interactions, despite fine-tuning on such data. We show that this limitation arises from the overhead of generating pixels rather than directly modeling motion.

We extend our previous work on applying CMB techniques to the mapping of gravitational-wave backgrounds to backgrounds which have non-GR polarisations. Our analysis and results are presented in the context of pulsar-timing array observations, but the overarching methods are general, and can be easily applied to LIGO or eLISA observations using appropriately modified response functions. Analytic expressions for the pulsar-timing response to gravitational waves with non-GR polarisation are given for each mode of a spin-weighted spherical-harmonic decomposition of the background, which permit the signal to be mapped across the sky to any desired resolution. We also derive the pulsar-timing overlap reduction functions for the various non-GR polarisations, finding analytic forms for anisotropic backgrounds with scalar-transverse ("breathing") and vector-longitudinal polarisations, and a semi-analytic form for scalar-longitudinal backgrounds. Our results indicate that pulsar-timing observations will be completely insensitive to scalar-transverse mode anisotropies in the polarisation amplitude beyond dipole, and anisotropies in the power beyond quadrupole. Analogously to our previous findings that pulsar-timing observations lack sensitivity to tensor-curl modes for a transverse-traceless tensor background, we also find insensitivity to vector-curl modes for a vector-longitudinal background.

Planetary exploration using aerial assets has the potential for unprecedented scientific discoveries on Mars. While NASA's Mars helicopter Ingenuity proved flight in Martian atmosphere is possible, future Mars rotorcraft will require advanced navigation capabilities for long-range flights. One such critical capability is Map-based Localization (MbL) which registers an onboard image to a reference map during flight to mitigate cumulative drift from visual odometry. However, significant illumination differences between rotorcraft observations and a reference map prove challenging for traditional MbL systems, restricting the operational window of the vehicle. In this work, we investigate a new MbL system and propose Geo-LoFTR, a geometry-aided deep learning model for image registration that is more robust under large illumination differences than prior models. The system is supported by a custom simulation framework that uses real orbital maps to produce large amounts of realistic images of the Martian terrain. Comprehensive evaluations show that our proposed system outperforms prior MbL efforts in terms of localization accuracy under significant lighting and scale variations. Furthermore, we demonstrate the validity of our approach across a simulated Martian day and on real Mars imagery. Code and datasets are available at: https://dpisanti.github.io/geo-loftr/.

This paper proposes a novel data-driven approach for inertial navigation, which learns to estimate trajectories of natural human motions just from an inertial measurement unit (IMU) in every smartphone. The key observation is that human motions are repetitive and consist of a few major modes (e.g., standing, walking, or turning). Our algorithm regresses a velocity vector from the history of linear accelerations and angular velocities, then corrects low-frequency bias in the linear accelerations, which are integrated twice to estimate positions. We have acquired training data with ground-truth motions across multiple human subjects and multiple phone placements (e.g., in a bag or a hand). The qualitatively and quantitatively evaluations have demonstrated that our algorithm has surprisingly shown comparable results to full Visual Inertial navigation. To our knowledge, this paper is the first to integrate sophisticated machine learning techniques with inertial navigation, potentially opening up a new line of research in the domain of data-driven inertial navigation. We will publicly share our code and data to facilitate further research.

We present the S-Band Polarization All Sky Survey (S-PASS), a survey of polarized radio emission over the southern sky at Dec~< -1^circ taken with the Parkes radio telescope at 2.3~GHz. The main aim was to observe at a frequency high enough to avoid strong depolarization at intermediate Galactic latitudes (still present at 1.4 GHz) to study Galactic magnetism, but low enough to retain ample Signal-to-Noise ratio (S/N) at high latitudes for extragalactic and cosmological science. We developed a new scanning strategy based on long azimuth scans, and a corresponding map-making procedure to make recovery of the overall mean signal of Stokes Q and U possible, a long-standing problem with polarization observations. We describe the scanning strategy, map-making procedure, and validation tests. The overall mean signal is recovered with a precision better than 0.5\%. The maps have a mean sensitivity of 0.81 mK on beam--size scales and show clear polarized signals, typically to within a few degrees of the Galactic plane, with ample S/N everywhere (the typical signal in low emission regions is 13 mK, and 98.6\% of the pixels have S/N > 3). The largest depolarization areas are in the inner Galaxy, associated with the Sagittarius Arm. We have also computed a Rotation Measure map combining S-PASS with archival data from the WMAP and Planck experiments. A Stokes I map has been generated, with a sensitivity limited to the confusion level of 9 mK.

With the advent of deep learning for computer vision tasks, the need for accurately labeled data in large volumes is vital for any application. The increasingly available large amounts of solar image data generated by the Solar Dynamic Observatory (SDO) mission make this domain particularly interesting for the development and testing of deep learning systems. The currently available labeled solar data is generated by the SDO mission's Feature Finding Team's (FFT) specialized detection modules. The major drawback of these modules is that detection and labeling is performed with a cadence of every 4 to 12 hours, depending on the module. Since SDO image data products are created every 10 seconds, there is a considerable gap between labeled observations and the continuous data stream. In order to address this shortcoming, we trained a deep regression network to track the movement of two solar phenomena: Active Region and Coronal Hole events. To the best of our knowledge, this is the first attempt of solar event tracking using a deep learning approach. Since it is impossible to fully evaluate the performance of the suggested event tracks with the original data (only partial ground truth is available), we demonstrate with several metrics the effectiveness of our approach. With the purpose of generating continuously labeled solar image data, we present this feasibility analysis showing the great promise of deep regression networks for this task.

We present the NPIPE processing pipeline, which produces calibrated frequency maps in temperature and polarization from data from the Planck Low Frequency Instrument (LFI) and High Frequency Instrument (HFI) using high-performance computers. NPIPE represents a natural evolution of previous Planck analysis efforts, and combines some of the most powerful features of the separate LFI and HFI analysis pipelines. The net effect of the improvements is lower levels of noise and systematics in both frequency and component maps at essentially all angular scales, as well as notably improved internal consistency between the various frequency channels. Based on the NPIPE maps, we present the first estimate of the Solar dipole determined through component separation across all nine Planck frequencies. The amplitude is (3366.6 pm 2.7)μK, consistent with, albeit slightly higher than, earlier estimates. From the large-scale polarization data, we derive an updated estimate of the optical depth of reionization of τ= 0.051 pm 0.006, which appears robust with respect to data and sky cuts. There are 600 complete signal, noise and systematics simulations of the full-frequency and detector-set maps. As a Planck first, these simulations include full time-domain processing of the beam-convolved CMB anisotropies. The release of NPIPE maps and simulations is accompanied with a complete suite of raw and processed time-ordered data and the software, scripts, auxiliary data, and parameter files needed to improve further on the analysis and to run matching simulations.

We present cosmological parameter results from the final full-mission Planck measurements of the CMB anisotropies. We find good consistency with the standard spatially-flat 6-parameter LambdaCDM cosmology having a power-law spectrum of adiabatic scalar perturbations (denoted "base LambdaCDM" in this paper), from polarization, temperature, and lensing, separately and in combination. A combined analysis gives dark matter density Omega_c h^2 = 0.120pm 0.001, baryon density Omega_b h^2 = 0.0224pm 0.0001, scalar spectral index n_s = 0.965pm 0.004, and optical depth tau = 0.054pm 0.007 (in this abstract we quote 68,% confidence regions on measured parameters and 95,% on upper limits). The angular acoustic scale is measured to 0.03,% precision, with 100theta_*=1.0411pm 0.0003. These results are only weakly dependent on the cosmological model and remain stable, with somewhat increased errors, in many commonly considered extensions. Assuming the base-LambdaCDM cosmology, the inferred late-Universe parameters are: Hubble constant H_0 = (67.4pm 0.5)km/s/Mpc; matter density parameter Omega_m = 0.315pm 0.007; and matter fluctuation amplitude sigma_8 = 0.811pm 0.006. We find no compelling evidence for extensions to the base-LambdaCDM model. Combining with BAO we constrain the effective extra relativistic degrees of freedom to be N_{rm eff} = 2.99pm 0.17, and the neutrino mass is tightly constrained to sum m_nu< 0.12eV. The CMB spectra continue to prefer higher lensing amplitudes than predicted in base -LambdaCDM at over 2,sigma, which pulls some parameters that affect the lensing amplitude away from the base-LambdaCDM model; however, this is not supported by the lensing reconstruction or (in models that also change the background geometry) BAO data. (Abridged)

Reconstructing dynamic driving scenes from recorded sensor data supports closed-loop evaluation of autonomous driving systems by synthesizing observations beyond the original trajectory. Unlike cameras and LiDAR, radar measures radial velocity directly through Doppler. Yet existing radar novel-view synthesis fails to exploit this capability: methods addressing dynamic scenes reconstruct only range-azimuth tensors, while methods that render Doppler assume static scenes. Moreover, because radar processing spreads each reflection across multiple bins, existing representations absorb this spread into scene geometry, causing it to render incorrectly when the viewpoint moves. We present DyRAD, which models dynamic driving scenes using static background reflectors and motion-tracked dynamic point reflectors to render complete range-azimuth-Doppler (RAD) tensors. Reflector velocities are derived from object tracks and projected onto the line of sight, making Doppler both a rendered output and supervision for those tracks. Crucially, we render reflectors through a fixed analytic point-spread function (PSF) derived from the radar's signal-processing chain, preventing sensor-induced spread from being baked into the scene representation. Beyond improving scene reconstruction, this separation also enables zero-shot sensor-configuration transfer, allowing the same reconstructed scene to be rendered under different radar specifications without refitting. We evaluate DyRAD on RADIal, Boreas, and a synthetic benchmark across both on-path poses and displaced viewpoints untested by prior work. On RADIal, DyRAD recovers radar detections in 90.7% of reference-detected objects, compared with 26.9% for the strongest baseline.

We propose a novel approach for a machine-learning-based detection of the type Ia supernovae using photometric information. Unlike other approaches, only real observation data is used during training. Despite being trained on a relatively small sample, the method shows good results on real data from the Open Supernovae Catalog. We also investigate model transfer from the PLAsTiCC simulations train dataset to real data application, and the reverse, and find the performance significantly decreases in both cases, highlighting the existing differences between simulated and real data.

Automatically extracting the geometric content from the hundreds of thousands of diagrams drawn in historical manuscripts would enable historians to study the diffusion of astronomical knowledge on a global scale. However, state-of-the-art vectorization methods, often designed to tackle modern data, are not adapted to the complexity and diversity of historical astronomical diagrams. Our contribution is thus twofold. First, we introduce a unique dataset of 303 astronomical diagrams from diverse traditions, ranging from the XIIth to the XVIIIth century, annotated with more than 3000 line segments, circles and arcs. Second, we develop a model that builds on DINO-DETR to enable the prediction of multiple geometric primitives. We show that it can be trained solely on synthetic data and accurately predict primitives on our challenging dataset. Our approach widely improves over the LETR baseline, which is restricted to lines, by introducing a meaningful parametrization for multiple primitives, jointly training for detection and parameter refinement, using deformable attention and training on rich synthetic data. Our dataset and code are available on our webpage.

Latent flow matching for image generation usually transports Gaussian noise to variational autoencoder latents along linear paths. Both endpoints, however, concentrate in thin spherical shells, and a Euclidean chord leaves those shells even when preprocessing aligns their radii. By decomposing each latent token into radial and angular components, we show through component-swap probes that decoded perceptual and semantic content is carried predominantly by direction, with radius contributing much less. We therefore project data latents onto a fixed token radius, use the radial projection of Gaussian noise as the spherical prior, finetune the decoder with the encoder frozen, and replace linear interpolation with spherical linear interpolation. The resulting geodesic paths stay on the sphere at every timestep, and their velocity targets are purely angular by construction. Under matched training, the method consistently improves class-conditional ImageNet-256 FID across different image tokenizers, leaves the diffusion architecture unchanged, and requires no auxiliary encoder or representation-alignment objective.

Machine learning (ML) offers transformative potential for computational fluid dynamics (CFD), promising to accelerate simulations, improve turbulence modelling, and enable real-time flow prediction and control-capabilities that could fundamentally change how engineers approach fluid dynamics problems. However, the exploration of ML in fluid dynamics is critically hampered by the scarcity of large, diverse, and high-fidelity datasets suitable for training robust models. This limitation is particularly acute for highly turbulent flows, which dominate practical engineering applications yet remain computationally prohibitive to simulate at scale. High-Reynolds number turbulent datasets are essential for ML models to learn the complex, multi-scale physics characteristic of real-world flows, enabling generalisation beyond the simplified, low-Reynolds number regimes often represented in existing datasets. This paper introduces WAKESET, a novel, large-scale CFD dataset of highly turbulent flows, designed to address this critical gap. The dataset captures the complex hydrodynamic interactions during the underwater recovery of an autonomous underwater vehicle by a larger extra-large uncrewed underwater vehicle. It comprises 1,091 high-fidelity Reynolds-Averaged Navier-Stokes simulations, augmented to 4,364 instances, covering a wide operational envelope of speeds (up to Reynolds numbers of 1.09 x 10^8) and turning angles. This work details the motivation for this new dataset by reviewing existing resources, outlines the hydrodynamic modelling and validation underpinning its creation, and describes its structure. The dataset's focus on a practical engineering problem, its scale, and its high turbulence characteristics make it a valuable resource for developing and benchmarking ML models for flow field prediction, surrogate modelling, and autonomous navigation in complex underwater environments.

Does the environment of a galaxy directly influence the kinematics of its bar? We present observational evidence that bars in high-density environments exhibit significantly slower rotation rates than bars in low-density environments. Galactic bars are central, extended structures composed of stars, dust and gas, present in approximately 30 to 70 per cent of luminous spiral galaxies in the local Universe. Recent simulation studies have suggested that the environment can influence the bar rotation rate, R, which is used to classify bars as either fast (1leq R leq1.4) or slow (R gt 1.4). We use estimates of R obtained with the Tremaine-Weinberg method applied to Integral Field Unit spectroscopy from MaNGA and CALIFA. After cross-matching these with the projected neighbour density, logΣ, we retain 286 galaxies. The analysis reveals that bars in high-density environments are significantly slower (median R = 1.67^{+0.72}_{-0.42}) compared to bars in low-density environments (median R = 1.37^{+0.51}_{-0.34}); Anderson-Darling p-value of p_{AD}= 0.002 (3.1,σ). This study marks the first empirical test of the hypothesis that fast bars are formed by global instabilities in isolated galaxies, while slow bars are triggered by tidal interactions in dense environments, in agreement with predictions from numerous N-body simulations. Future studies would benefit from a larger sample of galaxies with reliable Integral Field Unit data, required to measure bar rotation rates. Specifically, more data are necessary to study the environmental influence on bar formation within dense settings (i.e. groups, clusters and filaments).

Fast, geometry-generalizing surrogates for unsteady flow remain challenging. We present a time-dependent, geometry-aware Deep Operator Network that predicts velocity fields for moderate-Re flows around parametric and non-parametric shapes. The model encodes geometry via a signed distance field (SDF) trunk and flow history via a CNN branch, trained on 841 high-fidelity simulations. On held-out shapes, it attains sim 5% relative L2 single-step error and up to 1000X speedups over CFD. We provide physics-centric rollout diagnostics, including phase error at probes and divergence norms, to quantify long-horizon fidelity. These reveal accurate near-term transients but error accumulation in fine-scale wakes, most pronounced for sharp-cornered geometries. We analyze failure modes and outline practical mitigations. Code, splits, and scripts are openly released at: https://github.com/baskargroup/TimeDependent-DeepONet to support reproducibility and benchmarking.

This work presents an extended version of the Vehicle Energy Dataset (VED), which is a openly released large-scale dataset for vehicle energy consumption analysis. Compared with its original version, the extended VED (eVED) dataset is enhanced with accurate vehicle trip GPS coordinates, serving as a basis to associate the VED trip records with external information, e.g., road speed limit and intersections, from accessible map services to accumulate attributes that is essential in analyzing vehicle energy consumption. In particularly, we calibrate all the GPS trace records in the original VED data, upon which we associated the VED data with attributes extracted from the Geographic Information System (QGIS), the Overpass API, the Open Street Map API, and Google Maps API. The associated attributes include 12,609,170 records of road elevation, 12,203,044 of speed limit, 12,281,719 of speed limit with direction (in case the road is bi-directional), 584,551 of intersections, 429,638 of bus stop, 312,196 of crossings, 195,856 of traffic signals, 29,397 of stop signs, 5,848 of turning loops, 4,053 of railway crossings (level crossing), 3,554 of turning circles, and 2,938 of motorway junctions. With the accurate GPS coordinates and enriched features of the vehicle trip record, the obtained eVED dataset can provide a precise and abundant medium to feed a learning engine, especially a deep learning engine that is more demanding on data sufficiency and richness. Moreover, our software work for data calibration and enrichment can be reused to generate further vehicle trip datasets for specific user cases, contributing to deep insights into vehicle behaviors and traffic dynamics analyses. We anticipate that the eVED dataset and our data enrichment software can serve the academic and industrial automotive section as apparatus in developing future technologies.

We perform 3D radiation-magnetohydrodynamic simulations of the evolution of the fallback debris after a tidal disruption event. We focus on studying the effects of magnetic fields on the formation and early evolution of the accretion flow. We find that large magnetic fields can increase the debris stream thickness, moderately reducing the efficiency of the radiative acceleration of outflows during the first self-intersecting collisions. As gas accumulates and the collisions happen instead between the infalling stream and the accretion flow, magnetized and nonmagnetized systems evolve similarly at these early times: radiation-driven outflows dominate early after the initial stream-stream collision and a few days later, the accretion rate exceeds the mass outflow rate. We find that the MRI does not play a significant role in angular momentum transport and dissipation. Nor do we find evidence of a magnetocentrifugal driven outflow. Instead, collisions continue to dissipate kinetic energy into radiation that launches outflows and powers TDE luminosities reaching Lsim4-6times10^{44} erg s^{-1}. Shock-driven outflows and inflows redistribute angular momentum throughout the extent (sim50 r_s) of the forming eccentric disk. Even in the presence of magnetic stresses, the accretion flow remains mostly eccentric with esim0.2-0.3 for rlesssim8r_s and esim0.4-0.5 for 10lesssim r,(r_s)lesssim50. Lastly, we find a polar angle-dependent density structure compatible with the viewing-angle effect, along with an additional azimuthal angle dependence established by the collisions.

The Boreas dataset was collected by driving a repeated route over the course of one year, resulting in stark seasonal variations and adverse weather conditions such as rain and falling snow. In total, the Boreas dataset includes over 350km of driving data featuring a 128-channel Velodyne Alpha Prime lidar, a 360^circ Navtech CIR304-H scanning radar, a 5MP FLIR Blackfly S camera, and centimetre-accurate post-processed ground truth poses. Our dataset will support live leaderboards for odometry, metric localization, and 3D object detection. The dataset and development kit are available at https://www.boreas.utias.utoronto.ca

Time series data and their time-frequency representation from gravitational-wave interferometers present multiple opportunities for the use of artificial intelligence methods associated with signal and image processing. Closely connected with this is the real-time aspect associated with gravitational-wave interferometers and the astrophysical observations they perform; the discovery potential of these instruments can be significantly enhanced when data processing can be achieved in O(1s) timescales. In this work, we introduce a novel signal and noise identification tool based on the YOLO (You Only Look Once) object detection framework. For its application into gravitational waves, we will refer to it as GW-YOLO. This tool can provide scene identification capabilities and essential information regarding whether an observed transient is any combination of noise and signal. Additionally, it supplies detailed time-frequency coordinates of the detected objects in the form of pixel masks, an essential property that can be used to understand and characterize astrophysical sources, as well as instrumental noise. The simultaneous identification of noise and signal, combined with precise pixel-level localization, represents a significant advancement in gravitational-wave data analysis. Our approach yields a 50\% detection efficiency for binary black hole signals at a signal-to-noise ratio (SNR) of 15 when such signals overlap with transient noise artifacts. When noise artifacts overlap with binary neutron star signals, our algorithm attains 50\% detection efficiency at an SNR of 30. This presents the first quantitative assessment of the ability to detect astrophysical events overlapping with realistic, instrument noise present in gravitational-wave interferometers.

We present the B-fields mapped in IRDC G34.43+0.24 using 850\,μm polarized dust emission observed with the POL-2 instrument at JCMT. We examine the magnetic field geometries and strengths in the northern, central, and southern regions of the filament. The overall field geometry is ordered and aligned closely perpendicular to the filament's main axis, particularly in regions containing the central clumps MM1 and MM2, whereas MM3 in the north has field orientations aligned with its major axis. The overall field orientations are uniform at large (POL-2 at 14arcsec and SHARP at 10arcsec) to small scales (TADPOL at 2.5arcsec and SMA at 1.5arcsec) in the MM1 and MM2 regions. SHARP/CSO observations in MM3 at 350\,μm from Tang et al. show a similar trend as seen in our POL-2 observations. TADPOL observations demonstrate a well-defined field geometry in MM1/MM2 consistent with MHD simulations of accreting filaments. We obtained a plane-of-sky magnetic field strength of 470pm190\,μG, 100pm40\,μG, and 60pm34\,μG in the central, northern and southern regions of G34, respectively, using the updated Davis-Chandrasekhar-Fermi relation. The estimated value of field strength, combined with column density and velocity dispersion values available in the literature, suggests G34 to be marginally critical with criticality parameter rm λ values 0.8pm0.4, 1.1pm0.8, and 0.9pm0.5 in the central, northern, and southern regions, respectively. The turbulent motions in G34 are sub-Alfvénic with Alfvénic Mach numbers of 0.34pm0.13, 0.53pm0.30, and 0.49pm0.26 in the three regions. The observed aligned B-fields in G34.43+0.24 are consistent with theoretical models suggesting that B-fields play an important role in guiding the contraction of the cloud driven by gravity.

The observation of the shadow of the supermassive black hole M87^{*} by the Event Horizon Telescope (EHT) is sensitive to the spacetime geometry near the circular photon orbit and beyond, and it thus has the potential to test general relativity in the strong field regime. Obstacles to this program, however, include degeneracies between putative deviations from general relativity and both the description of the accretion flow and the uncertainties on "calibration parameters", such as e.g. the mass and spin of the black hole. In this work, we introduce a formalism, based on a principal component analysis, capable of reconstructing the black hole metric (i.e. the "signal") in an agnostic way, while subtracting the "foreground" due to the uncertainties in the calibration parameters and the modelling of the accretion flow. We apply our technique to simulated mock data for spherically symmetric black holes surrounded by a thick accretion disk. We show that separation of signal and foreground may be possible with next generation EHT-like experiments.

This study investigates the application of deep residual networks for predicting the dynamics of interacting three-dimensional rigid bodies. We present a framework combining a 3D physics simulator implemented in C++ with a deep learning model constructed using PyTorch. The simulator generates training data encompassing linear and angular motion, elastic collisions, fluid friction, gravitational effects, and damping. Our deep residual network, consisting of an input layer, multiple residual blocks, and an output layer, is designed to handle the complexities of 3D dynamics. We evaluate the network's performance using a datasetof 10,000 simulated scenarios, each involving 3-5 interacting rigid bodies. The model achieves a mean squared error of 0.015 for position predictions and 0.022 for orientation predictions, representing a 25% improvement over baseline methods. Our results demonstrate the network's ability to capture intricate physical interactions, with particular success in predicting elastic collisions and rotational dynamics. This work significantly contributes to physics-informed machine learning by showcasing the immense potential of deep residual networks in modeling complex 3D physical systems. We discuss our approach's limitations and propose future directions for improving generalization to more diverse object shapes and materials.

We demonstrate several techniques to encourage practical uses of neural networks for fluid flow estimation. In the present paper, three perspectives which are remaining challenges for applications of machine learning to fluid dynamics are considered: 1. interpretability of machine-learned results, 2. bulking out of training data, and 3. generalizability of neural networks. For the interpretability, we first demonstrate two methods to observe the internal procedure of neural networks, i.e., visualization of hidden layers and application of gradient-weighted class activation mapping (Grad-CAM), applied to canonical fluid flow estimation problems -- (1) drag coefficient estimation of a cylinder wake and (2) velocity estimation from particle images. It is exemplified that both approaches can successfully tell us evidences of the great capability of machine learning-based estimations. We then utilize some techniques to bulk out training data for super-resolution analysis and temporal prediction for cylinder wake and NOAA sea surface temperature data to demonstrate that sufficient training of neural networks with limited amount of training data can be achieved for fluid flow problems. The generalizability of machine learning model is also discussed by accounting for the perspectives of inter/extrapolation of training data, considering super-resolution of wakes behind two parallel cylinders. We find that various flow patterns generated by complex interaction between two cylinders can be reconstructed well, even for the test configurations regarding the distance factor. The present paper can be a significant step toward practical uses of neural networks for both laminar and turbulent flow problems.

The rapid advancement of deep learning has intensified the need for comprehensive data for use by autonomous driving algorithms. High-quality datasets are crucial for the development of effective data-driven autonomous driving solutions. Next-generation autonomous driving datasets must be multimodal, incorporating data from advanced sensors that feature extensive data coverage, detailed annotations, and diverse scene representation. To address this need, we present OmniHD-Scenes, a large-scale multimodal dataset that provides comprehensive omnidirectional high-definition data. The OmniHD-Scenes dataset combines data from 128-beam LiDAR, six cameras, and six 4D imaging radar systems to achieve full environmental perception. The dataset comprises 1501 clips, each approximately 30-s long, totaling more than 450K synchronized frames and more than 5.85 million synchronized sensor data points. We also propose a novel 4D annotation pipeline. To date, we have annotated 200 clips with more than 514K precise 3D bounding boxes. These clips also include semantic segmentation annotations for static scene elements. Additionally, we introduce a novel automated pipeline for generation of the dense occupancy ground truth, which effectively leverages information from non-key frames. Alongside the proposed dataset, we establish comprehensive evaluation metrics, baseline models, and benchmarks for 3D detection and semantic occupancy prediction. These benchmarks utilize surround-view cameras and 4D imaging radar to explore cost-effective sensor solutions for autonomous driving applications. Extensive experiments demonstrate the effectiveness of our low-cost sensor configuration and its robustness under adverse conditions. Data will be released at https://www.2077ai.com/OmniHD-Scenes.

The peculiar velocities of biased tracers of the cosmic density field contain important information about the growth of large scale structure and generate anisotropy in the observed clustering of galaxies. Using N-body data, we show that velocity expansions for halo redshift-space power spectra are converged at the percent-level at perturbative scales for most line-of-sight angles mu when the first three pairwise velocity moments are included, and that the third moment is well-approximated by a counterterm-like contribution. We compute these pairwise-velocity statistics in Fourier space using both Eulerian and Lagrangian one-loop perturbation theory using a cubic bias scheme and a complete set of counterterms and stochastic contributions. We compare the models and show that our models fit both real-space velocity statistics and redshift-space power spectra for both halos and a mock sample of galaxies at sub-percent level on perturbative scales using consistent sets of parameters, making them appealing choices for the upcoming era of spectroscopic, peculiar-velocity and kSZ surveys.

Radio detection is now an established technique for the study of ultra-high-energy (UHE) cosmic rays with energies above sim10^{17} eV. The next-generation of radio experiments aims to extend this technique to the observation of UHE earth-skimming neutrinos, which requires the detection of very inclined extensive air showers (EAS). In this article we present a new reconstruction method for the arrival direction and the energy of EAS. It combines a point-source-like description of the radio wavefront with a phenomenological model: the Angular Distribution Function (ADF). The ADF describes the angular distribution of the radio signal amplitude in the 50-200 MHz frequency range, with a particular focus on the Cherenkov angle, a crucial feature of the radio amplitude pattern. The method is applicable to showers with zenith angles larger than 60^circ, and in principle up to neutrino-induced showers with up-going trajectories. It is tested here on a simulated data set of EAS induced by cosmic rays. A resolution better than 4 arc-minutes (0.07^circ) is achieved on arrival direction, as well as an intrinsic resolution of 5% on the electromagnetic energy, and around 15% on the primary energy.

We present a multi-modal dataset collected in a soybean crop field, comprising over two hours of recorded data from sensors such as stereo infrared camera, color camera, accelerometer, gyroscope, magnetometer, GNSS (Single Point Positioning, Real-Time Kinematic and Post-Processed Kinematic), and wheel odometry. This dataset captures key challenges inherent to robotics in agricultural environments, including variations in natural lighting, motion blur, rough terrain, and long, perceptually aliased sequences. By addressing these complexities, the dataset aims to support the development and benchmarking of advanced algorithms for localization, mapping, perception, and navigation in agricultural robotics. The platform and data collection system is designed to meet the key requirements for evaluating multi-modal SLAM systems, including hardware synchronization of sensors, 6-DOF ground truth and loops on long trajectories. We run multimodal state-of-the art SLAM methods on the dataset, showcasing the existing limitations in their application on agricultural settings. The dataset and utilities to work with it are released on https://cifasis.github.io/rosariov2/.

Rapid advancement of machine learning solutions has often coincided with the production of a test public data set. Such datasets reduce the largest barrier to entry for tackling a problem -- procuring data -- while also providing a benchmark to compare different solutions. Furthermore, large datasets have been used to train high-performing feature finders which are then used in new approaches to problems beyond that initially defined. In order to encourage the rapid development in the analysis of data collected using liquid argon time projection chambers, a class of particle detectors used in high energy physics experiments, we have produced the PILArNet, first 2D and 3D open dataset to be used for a couple of key analysis tasks. The initial dataset presented in this paper contains 300,000 samples simulated and recorded in three different volume sizes. The dataset is stored efficiently in sparse 2D and 3D matrix format with auxiliary information about simulated particles in the volume, and is made available for public research use. In this paper we describe the dataset, tasks, and the method used to procure the sample.

Using solar-cycle long helioseismic measurements of meridional and zonal flows in the near-surface shear layer (NSSL) of the Sun, we study their spatio-temporal variations and connections to active regions. We find that near-surface inflows towards active latitudes are part of a local circulation with an outflow away from them at depths around 0.97 R, which is also the location where the deviations in the radial gradient of rotation change sign. These results, together with opposite-signed changes over latitude and depth in the above quantities observed during the solar minimum period, point to the action of the Coriolis force on large-scale flows as the primary cause of changes in the rotation gradient within the NSSL. We also find that such Coriolis force-mediated changes in near-surface flows towards active latitudes only marginally change the amplitude of zonal flow and hence are not likely to be its driving force. Our measurements typically achieve a high signal-to-noise ratio (>5σ) for near-surface flows but can drop to 3σ near the base (0.95 R) of the NSSL. Close agreements between the depth profiles of changes in rotation gradient and in meridional flows measured from quite different global and local helioseismic techniques, respectively, show that the results are not dependent on the analysis techniques.

Effective self-supervised learning (SSL) techniques have been key to unlocking large datasets for representation learning. While many promising methods have been developed using online corpora and captioned photographs, their application to scientific domains, where data encodes highly specialized knowledge, remains a challenge. Liquid Argon Time Projection Chambers (LArTPCs) provide high-resolution 3D imaging for fundamental physics, but analysis of their sparse, complex point cloud data often relies on supervised methods trained on large simulations, introducing potential biases. We introduce the Point-based Liquid Argon Masked Autoencoder (PoLAr-MAE), applying masked point modeling to unlabeled LArTPC images using domain-specific volumetric tokenization and energy prediction. We show this SSL approach learns physically meaningful trajectory representations directly from data. This yields remarkable data efficiency: fine-tuning on just 100 labeled events achieves track/shower semantic segmentation performance comparable to the state-of-the-art supervised baseline trained on >100,000 events. Furthermore, internal attention maps exhibit emergent instance segmentation of particle trajectories. While challenges remain, particularly for fine-grained features, we make concrete SSL's potential for building a foundation model for LArTPC image analysis capable of serving as a common base for all data reconstruction tasks. To facilitate further progress, we release PILArNet-M, a large dataset of 1M LArTPC events. Project site: https://youngsm.com/polarmae.

Recent work with JWST has demonstrated its capability to identify and chemically characterize multiple populations in globular clusters down to the H-burning limit. In this study, we explore the kinematics of multiple populations in the globular cluster 47 Tucanae by combining data from JWST, HST, and Gaia. We analyzed velocity dispersion and anisotropy profiles from the cluster center out to sim10R_h. Our findings indicate that while 1G stars are isotropic, 2G stars are significantly radially anisotropic. These results align with the predictions of simulations of the dynamical evolution of clusters where 2G stars are initially more centrally concentrated than 1G stars. Furthermore, we subdivided the 2G population into two subpopulations: 2G_A and 2G_B, with the latter being more chemically extreme. We compared their dynamical profiles and found no significant differences. For the first time, we measured the degree of energy equipartition among the multiple populations of 47 Tucanae. Overall, within the analyzed radial range (sim2-4R_h), both populations exhibit a low degree of energy equipartition. The most significant differences between 1G and 2G stars are observed in the tangential velocity component, where 2G stars are characterized by a stronger degree of energy equipartition than 1G stars. In the radial component, the behavior of 1G and 2G stars is more variable, with differences largely dependent on radius. Finally, our analysis reveals that the ratio of rotational velocity to velocity dispersion is larger for the 2G population, while 1G stars exhibit higher skewness in their tangential proper motions, providing further evidence of differences in the kinematic properties of the 1G and 2G populations.

We introduce M2DGR: a novel large-scale dataset collected by a ground robot with a full sensor-suite including six fish-eye and one sky-pointing RGB cameras, an infrared camera, an event camera, a Visual-Inertial Sensor (VI-sensor), an inertial measurement unit (IMU), a LiDAR, a consumer-grade Global Navigation Satellite System (GNSS) receiver and a GNSS-IMU navigation system with real-time kinematic (RTK) signals. All those sensors were well-calibrated and synchronized, and their data were recorded simultaneously. The ground truth trajectories were obtained by the motion capture device, a laser 3D tracker, and an RTK receiver. The dataset comprises 36 sequences (about 1TB) captured in diverse scenarios including both indoor and outdoor environments. We evaluate state-of-the-art SLAM algorithms on M2DGR. Results show that existing solutions perform poorly in some scenarios. For the benefit of the research community, we make the dataset and tools public. The webpage of our project is https://github.com/SJTU-ViSYS/M2DGR.

Spiral density waves are ubiquitous phenomena in differentially rotating flows. They are non-modal, non-axisymmetric perturbations that, due to shear in the background flow, possess time-evolving wavenumbers, frequencies, and amplitudes. In global simulations of optically thin, low-luminosity black-hole accretion flows, the excitation of such waves leads to spiral patterns in the plasma density that influence the morphology of the emission region. As such, the observed variabilities of such accretion flows are expected to be affected by the behavior of spiral density waves. Thus far, investigations of spiral density waves in accretion flows have exclusively used the assumption that the accretion-flow plasmas are in local thermodynamic equilibrium (LTE) at all times. In reality, hot and diffuse accretion-flow plasmas are expected to deviate far from LTE, and should be modeled accordingly. Here, we employ a combination of kinetic and fluid models to describe spiral density wave propagation, damping, and excitation in a collisionless shearing sheet, which more accurately represents the plasma conditions of low-luminosity accretion flows than do models that assume LTE. We find that micro-physical plasma instabilities are especially important in determining how spiral density waves behave, because the weak particle scattering that they induce leads to appreciable viscous damping. Observational implications of these results include reduced emission-region variability, which may improve agreement between Event Horizon Telescope (EHT) observations and simulation/theory, as well as a reduction in emission-region pattern speeds compared to simulations employing LTE, which bears on the interpretation of eventual EHT movies.

This paper we present our vision and ongoing work for a novel dataset designed to advance research into the interoperability of intelligent vehicles and infrastructure, specifically aimed at enhancing cooperative perception and interaction in the realm of public transportation. Unlike conventional datasets centered on ego-vehicle data, this approach encompasses both a stationary sensor tower and a moving vehicle, each equipped with cameras, LiDARs, and GNSS, while the vehicle additionally includes an inertial navigation system. Our setup features comprehensive calibration and time synchronization, ensuring seamless and accurate sensor data fusion crucial for studying complex, dynamic scenes. Emphasizing public transportation, the dataset targets to include scenes like bus station maneuvers and driving on dedicated bus lanes, reflecting the specifics of small public buses. We introduce the open-source ".4mse" file format for the new dataset, accompanied by a research kit. This kit provides tools such as ego-motion compensation or LiDAR-to-camera projection enabling advanced research on intelligent vehicle-infrastructure integration. Our approach does not include annotations; however, we plan to implement automatically generated labels sourced from state-of-the-art public repositories. Several aspects are still up for discussion, and timely feedback from the community would be greatly appreciated. A sneak preview on one data frame will be available at a Google Colab Notebook. Moreover, we will use the related GitHub Repository to collect remarks and suggestions.

Collective motion in fish schools exemplifies emergent self-organization in active matter systems, yet computational tools for simulating and analyzing these dynamics remain fragmented across research groups. We present dewi-kadita, an open-source Python library implementing the three-dimensional Couzin zone-based model with comprehensive entropy diagnostics tailored for marine collective behavior research. The library introduces seven information-theoretic metrics -- school cohesion entropy, polarization entropy, depth stratification entropy, angular momentum entropy, nearest-neighbor entropy, velocity correlation entropy, and school shape entropy -- that characterize distinct organizational features inaccessible to classical order parameters. These metrics combine into an Oceanic Schooling Index (OSI) providing a single scalar measure of collective disorder. Validation across four canonical configurations (swarm, torus, dynamic parallel, highly parallel) confirms correct reproduction of known phase behaviors: the swarm maintains disorder with polarization P < 0.1 and OSI approx 0.71, while the highly parallel state achieves P = 0.998 with OSI = 0.24 and velocity correlation entropy vanishing to zero. The entropy framework successfully discriminates the torus and dynamic parallel configurations that exhibit comparable order parameter magnitudes through different organizational mechanisms. Numba just-in-time (JIT) compilation accelerates pairwise interaction calculations by 10--100times, enabling simulations of 150--250 agents over 1000--2000 time steps within five minutes on standard workstation hardware. NetCDF4 output ensures interoperability with oceanographic analysis tools. The library addresses the need for standardized, reproducible infrastructure in collective behavior modeling analogous to established molecular dynamics codes.

This paper presents a novel end-to-end deep learning framework for real-time inertial attitude estimation using 6DoF IMU measurements. Inertial Measurement Units are widely used in various applications, including engineering and medical sciences. However, traditional filters used for attitude estimation suffer from poor generalization over different motion patterns and environmental disturbances. To address this problem, we propose two deep learning models that incorporate accelerometer and gyroscope readings as inputs. These models are designed to be generalized to different motion patterns, sampling rates, and environmental disturbances. Our models consist of convolutional neural network layers combined with Bi-Directional Long-Short Term Memory followed by a Fully Forward Neural Network to estimate the quaternion. We evaluate the proposed method on seven publicly available datasets, totaling more than 120 hours and 200 kilometers of IMU measurements. Our results show that the proposed method outperforms state-of-the-art methods in terms of accuracy and robustness. Additionally, our framework demonstrates superior generalization over various motion characteristics and sensor sampling rates. Overall, this paper provides a comprehensive and reliable solution for real-time inertial attitude estimation using 6DoF IMUs, which has significant implications for a wide range of applications.