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Context. For all the amides detected in the interstellar medium (ISM), the corresponding nitriles or isonitriles have also been detected in the ISM, some of which have relatively high abundances. Among the abundant nitriles for which the corresponding amide has not yet been detected is cyanoacetylene (HCCCN), whose amide counterpart is propiolamide (HCCC(O)NH 2 ). Aims. With the aim of supporting searches for this amide in the ISM, we provide a complete rotational study of propiolamide from 6 to 440 GHz. Methods. Time-domain Fourier transform microwave spectroscopy under supersonic expansion conditions between 6 and 18 GHz was used to accurately measure and analyze ground-state rotational transitions with resolved hyperfine structure arising from nuclear quadrupole coupling interactions of the 14 N nucleus. We combined this technique with the frequency-domain room-temperature millimeter wave and submillimeter wave spectroscopies from 75 to 440 GHz in order to record and assign the rotational spectra in the ground state and in the low-lying excited vibrational states. We used the ReMoCA spectral line survey performed with the Atacama Large Millimeter/submillimeter Array toward the star-forming region Sgr B2(N) to search for propiolamide. Results. We identified and measured more than 5500 distinct frequency lines of propiolamide in the laboratory. These lines were fitted using an effective semi-rigid rotor Hamiltonian with nuclear quadrupole coupling interactions taken into consideration. We obtained accurate sets of spectroscopic parameters for the ground state and the three low-lying excited vibrational states. We report the nondetection of propiolamide toward the hot cores Sgr B2(N1S) and Sgr B2(N2). We find that propiolamide is at least 50 and 13 times less abundant than acetamide in Sgr B2(N1S) and Sgr B2(N2), respectively, indicating that the abundance difference between both amides is more pronounced by at least a factor of 8 and 2, respectively, than for their corresponding nitriles. Conclusions. Although propiolamide has yet to be included in astrochemical modeling networks, the observed upper limit to the ratio of propiolamide to acetamide seems consistent with the ratios of related species as determined from past simulations. The comprehensive spectroscopic data presented in this paper will aid future astronomical searches. 

A key challenge in complex visuomotor control is learning abstract representations that are ef- fective for specifying goals, planning, and gen- eralization. To this end, we introduce universal planning networks (UPN). UPNs embed differen- tiable planning within a goal-directed policy. This planning computation unrolls a forward model in a latent space and infers an optimal action plan through gradient descent trajectory optimization. The plan-by-gradient-descent process and its un- derlying representations are learned end-to-end to directly optimize a supervised imitation learning objective. We find that the representations learned are not only effective for goal-directed visual imi- tation via gradient-based trajectory optimization, but can also provide a metric for specifying goals using images. The learned representations can be leveraged to specify distance-based rewards to reach new target states for model-free reinforce- ment learning, resulting in substantially more ef- fective learning when solving new tasks described via image-based goals. We were able to achieve successful transfer of visuomotor planning strate- gies across robots with significantly different mor- phologies and actuation capabilities.