arXiv subjects

Brian Williams

Publications and source records attributed to Brian Williams.

At least 19 recordsLinked to original sources

arXiv2026

MoMo: Conditioned Contrastive Representation Learning for Preference-Modulated Planning

Temporally contrastive representation learning induces a latent structure capable of reducing long-horizon planning to inference in a low-dimensional linear system. However, existing contrastive planning work learns a single latent geometry which cannot distinguish multiple valid behaviors trading task efficiency against risk exposure for the same start-goal query. We introduce MoMo, a preference-conditioned contrastive planner allowing a scalar user preference to continuously modulate plan conservativeness at inference time, without retraining. MoMo learns a joint conditioning of the representation geometry and latent prediction operator via Feature-Wise Linear Modulation and low-rank neural modulation, respectively. We show that our formulation preserves the probability density ratio encoded in the representation space that is required for inference-driven contrastive planning, further retaining its inference-time efficiency. Across six environments, MoMo smoothly adapts plan safety according to user preferences, yielding improved temporal and preferential consistency over state augmentation baselines.

cs.LG↗

arXiv2025

Proper Motion of the Neutron Star in the Supernova Remnant G18.9-1.1

In this paper, we present the first direct measurement of the proper motion of the neutron star (NS) in the supernova remnant (SNR) G18.9-1.1 using a 15-year Chandra baseline. After correcting the observations' astrometric solutions using reference Gaia stars' positions, we measure a total proper motion of 24.7 $\pm$ 6.8 mas yr$^{-1}$ at an angle of $336^\circ \pm$ 16$^\circ$ east of north. Using the distance estimates from literature of 2.1 kpc and 3.8 kpc, this proper motion corresponds to Galactic rotation-corrected transverse velocities of 264d$_{2.1}$ $\pm$ 79 km s$^{-1}$ and 474d$_{3.8}$ $\pm$ 129 km s$^{-1}$, respectively. Our power ratio method analysis of SNR ejecta slightly favors the higher velocity, as multipole moments calculated from the back-evolved center using the farther distance are more consistent with values from other CCSNRs. The NS's motion is directly opposite the motion of bulk ejecta in G18.9$-$1.1, providing yet more evidence that NS kicks are generated via a conservation of momentum-like process between the NS and the ejecta, as has been observed in other SNRs.

astro-ph.HE↗

arXiv2025

Estimating Global Ejecta Mass Ratios in Tycho's SNR

In this work, as a follow-up to our similar analysis of Kepler's supernova remnant (SNR), we estimate total mass ratios of various ejecta elements in Tycho's SNR using Suzaku X-ray data. In our spectral analysis, we account for uncertainties arising from Suzaku's effective area calibration (5%-15%) and from the unknown filling factors of the various plasma components in our spectral model (1%-10%). We compare our calculated ejecta mass ratios to results from previous X-ray analyses of Tycho's SNR and to the nucleosynthesis results from Type Ia supernova simulations. Our estimated ejecta mass ratios for Tycho's SNR are only consistent with simulations that use a $\sim$90% attenuated $^{12}$C$+^{16}$O reaction rate (as for Kepler's SNR), are inconsistent with simulations involving a double detonation of a thick helium layer, and support a Type Ia explosion of normal luminosity where $\sim$85% of the ejecta has been heated by the reverse shock.

astro-ph.HE↗

arXiv2025

Very Late-Time JWST and Keck Spectra of the Oxygen-Rich Supernova 1995N

We present new {\it JWST}/MIRI MRS and Keck spectra of SN 1995N obtained in 2022--2023, more than 10,000 days after the supernova (SN) explosion. These spectra are among the latest direct detections of a core-collapse SN, both through emission lines in the optical and thermal continuum from infrared dust emission. The new infrared data show that dust heating from radiation produced by the ejecta interacting with circumstellar matter is still present, but greatly reduced from when SN 1995N was observed by the {\it Spitzer Space Telescope} and {\it WISE} in 2009/2010 and 2018, when the dust mass was estimated to be 0.4 M(Sun). New radiative-transfer modeling suggests that the dust mass and grain size may have increased between 2010 and 2023. The new data can alternatively be well fit with a dust mass of 0.4 M(Sun) and a much reduced heating source luminosity. The new late-time spectra show unusually strong oxygen forbidden lines, stronger than the H-alpha emission. This indicates that SN 1995N may have exploded as a stripped-envelope SN which then interacted with a massive H-rich circumstellar shell, changing it from intrinsically Type Ib/c to Type IIn. The late-time spectrum results when the reverse shock begins to excite the inner H-poor, O-rich ejecta. This change in the spectrum is rarely seen, but marks the start of the transition from SN to SN remnant.

astro-ph.SR↗

arXiv2025

Safe Multi-Agent Navigation guided by Goal-Conditioned Safe Reinforcement Learning

Safe navigation is essential for autonomous systems operating in hazardous environments. Traditional planning methods excel at long-horizon tasks but rely on a predefined graph with fixed distance metrics. In contrast, safe Reinforcement Learning (RL) can learn complex behaviors without relying on manual heuristics but fails to solve long-horizon tasks, particularly in goal-conditioned and multi-agent scenarios. In this paper, we introduce a novel method that integrates the strengths of both planning and safe RL. Our method leverages goal-conditioned RL and safe RL to learn a goal-conditioned policy for navigation while concurrently estimating cumulative distance and safety levels using learned value functions via an automated self-training algorithm. By constructing a graph with states from the replay buffer, our method prunes unsafe edges and generates a waypoint-based plan that the agent follows until reaching its goal, effectively balancing faster and safer routes over extended distances. Utilizing this unified high-level graph and a shared low-level goal-conditioned safe RL policy, we extend this approach to address the multi-agent safe navigation problem. In particular, we leverage Conflict-Based Search (CBS) to create waypoint-based plans for multiple agents allowing for their safe navigation over extended horizons. This integration enhances the scalability of goal-conditioned safe RL in multi-agent scenarios, enabling efficient coordination among agents. Extensive benchmarking against state-of-the-art baselines demonstrates the effectiveness of our method in achieving distance goals safely for multiple agents in complex and hazardous environments. Our code and further details about or work is available at https://safe-visual-mapf-mers.csail.mit.edu/.

cs.RO↗

arXiv2024

JWST/MIRI Observations of Newly Formed Dust in the Cold, Dense Shell of the Type IIn SN 2005ip

Dust from core-collapse supernovae (CCSNe), specifically Type IIP SNe, has been suggested to be a significant source of the dust observed in high-redshift galaxies. CCSNe eject large amounts of newly formed heavy elements, which can condense into dust grains in the cooling ejecta. However, infrared (IR) observations of typical CCSNe generally measure dust masses that are too small to account for the dust production needed at high redshifts. Type IIn SNe, classified by their dense circumstellar medium (CSM), are also known to exhibit strong IR emission from warm dust, but the dust origin and heating mechanism have generally remained unconstrained because of limited observational capabilities in the mid-IR. Here, we present a JWST/MIRI Medium Resolution Spectrograph (MRS) spectrum of the Type IIn SN 2005ip nearly 17 years post-explosion. The Type IIn SN 2005ip is one of the longest-lasting and most well-studied SNe observed to date. Combined with a Spitzer mid-IR spectrum of SN 2005ip obtained in 2008, this data set provides a rare 15-year baseline, allowing for a unique investigation of the evolution of dust. The JWST spectrum shows a new high-mass dust component ($\gtrsim0.08$ M$_{\odot}$) that is not present in the earlier Spitzer spectrum. Our analysis shows dust likely formed over the past 15 years in the cold, dense shell (CDS), between the forward and reverse shocks. There is also a smaller mass of carbonaceous dust ($\gtrsim0.005$ M$_{\odot}$) in the ejecta. These observations provide new insights into the role of SN dust production, particularly within the CDS, and its potential contribution to the rapid dust enrichment of the early Universe.

astro-ph.HE↗

arXiv2024

Multi-Agent Vulcan: An Information-Driven Multi-Agent Path Finding Approach

Scientists often search for phenomena of interest while exploring new environments. Autonomous vehicles are deployed to explore such areas where human-operated vehicles would be costly or dangerous. Online control of autonomous vehicles for information-gathering is called adaptive sampling and can be framed as a POMDP that uses information gain as its principal objective. While prior work focuses largely on single-agent scenarios, this paper confronts challenges unique to multi-agent adaptive sampling, such as avoiding redundant observations, preventing vehicle collision, and facilitating path planning under limited communication. We start with Multi-Agent Path Finding (MAPF) methods, which address collision avoidance by decomposing the MAPF problem into a series of single-agent path planning problems. We then present information-driven MAPF which addresses multi-agent information gain under limited communication. First, we introduce an admissible heuristic that relaxes mutual information gain to an additive function that can be evaluated as a set of independent single agent path planning problems. Second, we extend our approach to a distributed system that is robust to limited communication. When all agents are in range, the group plans jointly to maximize information. When some agents move out of range, communicating subgroups are formed and the subgroups plan independently. Since redundant observations are less likely when vehicles are far apart, this approach only incurs a small loss in information gain, resulting in an approach that gracefully transitions from full to partial communication. We evaluate our method against other adaptive sampling strategies across various scenarios, including real-world robotic applications. Our method was able to locate up to 200% more unique phenomena in certain scenarios, and each agent located its first unique phenomenon faster by up to 50%.

cs.MA↗

arXiv2024

Geophysical Observations of the 24 September 2023 OSIRIS-REx Sample Return Capsule Re-Entry

Sample Return Capsules (SRCs) entering Earth's atmosphere at hypervelocity from interplanetary space are a valuable resource for studying meteor phenomena. The 24 September 2023 arrival of the OSIRIS-REx (Origins, Spectral Interpretation, Resource Identification, and Security-Regolith Explorer) SRC provided an unprecedented chance for geophysical observations of a well-characterized source with known parameters, including timing and trajectory. A collaborative effort involving researchers from 16 institutions executed a carefully planned geophysical observational campaign at strategically chosen locations, deploying over 400 ground-based sensors encompassing infrasound, seismic, distributed acoustic sensing (DAS), and GPS technologies. Additionally, balloons equipped with infrasound sensors were launched to capture signals at higher altitudes. This campaign (the largest of its kind so far) yielded a wealth of invaluable data anticipated to fuel scientific inquiry for years to come. The success of the observational campaign is evidenced by the near-universal detection of signals across instruments, both proximal and distal. This paper presents a comprehensive overview of the collective scientific effort, field deployment, and preliminary findings. The early findings have the potential to inform future space missions and terrestrial campaigns, contributing to our understanding of meteoroid interactions with planetary atmospheres. Furthermore, the dataset collected during this campaign will improve entry and propagation models as well as augment the study of atmospheric dynamics and shock phenomena generated by meteoroids and similar sources.

astro-ph.EP↗

arXiv2023

Serendipitous detection of the dusty Type IIL SN 1980K with JWST/MIRI

We present mid-infrared (mid-IR) imaging of the Type IIL supernova (SN) 1980K with the James Webb Space Telescope (JWST) more than 40 yr post-explosion. SN 1980K, located in the nearby ($D\approx7$ Mpc) "SN factory" galaxy NGC 6946, was serendipitously captured in JWST/MIRI images taken of the field of SN 2004et in the same galaxy. SN 1980K serves as a promising candidate for studying the transitional phase between young SNe and older SN remnants and also provides a great opportunity to investigate its the close environment. SN 1980K can be identified as a clear and bright point source in all eight MIRI filters from F560W up to F2550W. We fit analytical dust models to the mid-IR spectral energy distribution that reveal a large amount ($M_d \approx 0.002 {M}_{\odot}$) of Si-dominated dust at $T_{dust}\approx 150$ K (accompanied by a hotter dust/gas component), and also computed numerical SED dust models. Radiative transfer modeling of a late-time optical spectrum obtained recently with Keck discloses that an even larger ($\sim 0.24-0.58~{M}_{\odot}$) amount of dust is needed in order for selective extinction to explain the asymmetric line profile shapes observed in SN 1980K. As a conclusion, with JWST, we may see i) pre-existing circumstellar dust heated collisionally (or, partly radiatively), analogous to the equatorial ring of SN 1987A, or ii) the mid-IR component of the presumed newly-formed dust, accompanied by much more colder dust present in the ejecta (as suggested by the late-time the optical spectra).

astro-ph.HE↗

arXiv2023

Iterated Piecewise Affine (IPA) Approximation for Language Modeling

In this work, we demonstrate the application of a first-order Taylor expansion to approximate a generic function $F: R^{n \times m} \to R^{n \times m}$ and utilize it in language modeling. To enhance the basic Taylor expansion, we introduce iteration and piecewise modeling, leading us to name the algorithm the Iterative Piecewise Affine (IPA) approximation. The final algorithm exhibits interesting resemblances to the Transformers decoder architecture. By comparing parameter arrangements in IPA and Transformers, we observe a strikingly similar performance, with IPA outperforming Transformers by 1.5\% in the next token prediction task with cross-entropy loss for smaller sequence lengths.

cs.CL↗

arXiv2023

Convex Risk Bounded Continuous-Time Trajectory Planning and Tube Design in Uncertain Nonconvex Environments

In this paper, we address the trajectory planning problem in uncertain nonconvex static and dynamic environments that contain obstacles with probabilistic location, size, and geometry. To address this problem, we provide a risk bounded trajectory planning method that looks for continuous-time trajectories with guaranteed bounded risk over the planning time horizon. Risk is defined as the probability of collision with uncertain obstacles. Existing approaches to address risk bounded trajectory planning problems either are limited to Gaussian uncertainties and convex obstacles or rely on sampling-based methods that need uncertainty samples and time discretization. To address the risk bounded trajectory planning problem, we leverage the notion of risk contours to transform the risk bounded planning problem into a deterministic optimization problem. Risk contours are the set of all points in the uncertain environment with guaranteed bounded risk. The obtained deterministic optimization is, in general, nonlinear and nonconvex time-varying optimization. We provide convex methods based on sum-of-squares optimization to efficiently solve the obtained nonconvex time-varying optimization problem and obtain the continuous-time risk bounded trajectories without time discretization. The provided approach deals with arbitrary (and known) probabilistic uncertainties, nonconvex and nonlinear, static and dynamic obstacles, and is suitable for online trajectory planning problems. In addition, we provide convex methods based on sum-of-squares optimization to build the max-sized tube with respect to its parameterization along the trajectory so that any state inside the tube is guaranteed to have bounded risk.

cs.AI↗

arXiv2023

LACoS-BLOOM: Low-rank Adaptation with Contrastive objective on 8 bits Siamese-BLOOM

Text embeddings are useful features for several NLP applications, such as sentence similarity, text clustering, and semantic search. In this paper, we present a Low-rank Adaptation with a Contrastive objective on top of 8-bit Siamese-BLOOM, a multilingual large language model optimized to produce semantically meaningful word embeddings. The innovation is threefold. First, we cast BLOOM weights to 8-bit values. Second, we fine-tune BLOOM with a scalable adapter (LoRA) and 8-bit Adam optimizer for sentence similarity classification. Third, we apply a Siamese architecture on BLOOM model with a contrastive objective to ease the multi-lingual labeled data scarcity. The experiment results show the quality of learned embeddings from LACoS-BLOOM is proportional to the number of model parameters and the amount of unlabeled training data. With the parameter efficient fine-tuning design, we are able to run BLOOM 7.1 billion parameters end-to-end on a single GPU machine with 32GB memory. Compared to previous solution Sentence-BERT, we achieve significant improvement on both English and multi-lingual STS tasks.

cs.CL↗

arXiv2023

Non-Gaussian Uncertainty Minimization Based Control of Stochastic Nonlinear Robotic Systems

In this paper, we consider the closed-loop control problem of nonlinear robotic systems in the presence of probabilistic uncertainties and disturbances. More precisely, we design a state feedback controller that minimizes deviations of the states of the system from the nominal state trajectories due to uncertainties and disturbances. Existing approaches to address the control problem of probabilistic systems are limited to particular classes of uncertainties and systems such as Gaussian uncertainties and processes and linearized systems. We present an approach that deals with nonlinear dynamics models and arbitrary known probabilistic uncertainties. We formulate the controller design problem as an optimization problem in terms of statistics of the probability distributions including moments and characteristic functions. In particular, in the provided optimization problem, we use moments and characteristic functions to propagate uncertainties throughout the nonlinear motion model of robotic systems. In order to reduce the tracking deviations, we minimize the uncertainty of the probabilistic states around the nominal trajectory by minimizing the trace and the determinant of the covariance matrix of the probabilistic states. To obtain the state feedback gains, we solve deterministic optimization problems in terms of moments, characteristic functions, and state feedback gains using off-the-shelf interior-point optimization solvers. To illustrate the performance of the proposed method, we compare our method with existing probabilistic control methods.

cs.RO↗

arXiv2023

Real-Time Tube-Based Non-Gaussian Risk Bounded Motion Planning for Stochastic Nonlinear Systems in Uncertain Environments via Motion Primitives

We consider the motion planning problem for stochastic nonlinear systems in uncertain environments. More precisely, in this problem the robot has stochastic nonlinear dynamics and uncertain initial locations, and the environment contains multiple dynamic uncertain obstacles. Obstacles can be of arbitrary shape, can deform, and can move. All uncertainties do not necessarily have Gaussian distribution. This general setting has been considered and solved in [1]. In addition to the assumptions above, in this paper, we consider long-term tasks, where the planning method in [1] would fail, as the uncertainty of the system states grows too large over a long time horizon. Unlike [1], we present a real-time online motion planning algorithm. We build discrete-time motion primitives and their corresponding continuous-time tubes offline, so that almost all system states of each motion primitive are guaranteed to stay inside the corresponding tube. We convert probabilistic safety constraints into a set of deterministic constraints called risk contours. During online execution, we verify the safety of the tubes against deterministic risk contours using sum-of-squares (SOS) programming. The provided SOS-based method verifies the safety of the tube in the presence of uncertain obstacles without the need for uncertainty samples and time discretization in real-time. By bounding the probability the system states staying inside the tube and bounding the probability of the tube colliding with obstacles, our approach guarantees bounded probability of system states colliding with obstacles. We demonstrate our approach on several long-term robotics tasks.

cs.RO↗

arXiv2023

Chance-Constrained Trajectory Optimization for High-DOF Robots in Uncertain Environments

Many practical applications of robotics require systems that can operate safely despite uncertainty. In the context of motion planning, two types of uncertainty are particularly important when planning safe robot trajectories. The first is environmental uncertainty -- uncertainty in the locations of nearby obstacles, stemming from sensor noise or (in the case of obstacles' future locations) prediction error. The second class of uncertainty is uncertainty in the robots own state, typically caused by tracking or estimation error. To achieve high levels of safety, it is necessary for robots to consider both of these sources of uncertainty. In this paper, we propose a risk-bounded trajectory optimization algorithm, known as Sequential Convex Optimization with Risk Optimization (SCORA), to solve chance-constrained motion planning problems despite both environmental uncertainty and tracking error. Through experiments in simulation, we demonstrate that SCORA significantly outperforms state-of-the-art risk-aware motion planners both in planning time and in the safety of the resulting trajectories.

cs.RO↗

arXiv2023

JWST Discovery of Dust Reservoirs in Nearby Type IIP Supernovae 2004et and 2017eaw

Supernova (SN) explosions have been sought for decades as a possible source of dust in the Universe, providing the seeds of galaxies, stars, and planetary systems. SN 1987A offers one of the most promising examples of significant SN dust formation, but until the James Webb Space Telescope (JWST), instruments have traditionally lacked the sensitivity at both late times (>1 yr post-explosion) and longer wavelengths (i.e., >10 um) to detect analogous dust reservoirs. Here we present JWST/MIRI observations of two historic Type IIP SNe, 2004et and SN 2017eaw, at nearly 18 and 5 yr post-explosion, respectively. We fit the spectral energy distributions as functions of dust mass and temperature, from which we are able to constrain the dust geometry, origin, and heating mechanism. We place a 90% confidence lower limit on the dust masses for SNe 2004et and 2017eaw of >0.014 and >4e-4 M_sun, respectively. More dust may exist at even colder temperatures or may be obscured by high optical depths. We conclude dust formation in the ejecta to be the most plausible and consistent scenario. The observed dust is radiatively heated to ~100-150 K by ongoing shock interaction with the circumstellar medium. Regardless of the best fit or heating mechanism adopted, the inferred dust mass for SN 2004et is the second highest (next to SN 1987A) inferred dust mass in extragalactic SNe thus far, promoting the prospect of SNe as potential significant sources of dust in the Universe.

astro-ph.HE↗

arXiv2022

Karyotype AI for Precision Oncology

We present a machine learning method capable of accurately detecting chromosome abnormalities that cause blood cancers directly from microscope images of the metaphase stage of cell division. The pipeline is built on a series of fine-tuned Vision Transformers. Current state of the art (and standard clinical practice) requires expensive, manual expert analysis, whereas our pipeline takes only 15 seconds per metaphase image. Using a novel pretraining-finetuning strategy to mitigate the challenge of data scarcity, we achieve a high precision-recall score of 94% AUC for the clinically significant del(5q) and t(9;22) anomalies. Our method also unlocks zero-shot detection of rare aberrations based on model latent embeddings. The ability to quickly, accurately, and scalably diagnose genetic abnormalities directly from metaphase images could transform karyotyping practice and improve patient outcomes. We will make code publicly available.

q-bio.QM↗

arXiv2022

Multi-Agent Chance-Constrained Stochastic Shortest Path with Application to Risk-Aware Intelligent Intersection

In transportation networks, where traffic lights have traditionally been used for vehicle coordination, intersections act as natural bottlenecks. A formidable challenge for existing automated intersections lies in detecting and reasoning about uncertainty from the operating environment and human-driven vehicles. In this paper, we propose a risk-aware intelligent intersection system for autonomous vehicles (AVs) as well as human-driven vehicles (HVs). We cast the problem as a novel class of Multi-agent Chance-Constrained Stochastic Shortest Path (MCC-SSP) problems and devise an exact Integer Linear Programming (ILP) formulation that is scalable in the number of agents' interaction points (e.g., potential collision points at the intersection). In particular, when the number of agents within an interaction point is small, which is often the case in intersections, the ILP has a polynomial number of variables and constraints. To further improve the running time performance, we show that the collision risk computation can be performed offline. Additionally, a trajectory optimization workflow is provided to generate risk-aware trajectories for any given intersection. The proposed framework is implemented in CARLA simulator and evaluated under a fully autonomous intersection with AVs only as well as in a hybrid setup with a signalized intersection for HVs and an intelligent scheme for AVs. As verified via simulations, the featured approach improves intersection's efficiency by up to $200\%$ while also conforming to the specified tunable risk threshold.

cs.AI↗