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Natural language understanding for robotics can require substantial domain- and platform-specific engineering. For example, for mobile robots to pick-and-place objects in an environment to satisfy human commands, we can specify the language humans use to issue such commands, and connect concept words like red can to physical object properties. One way to alleviate this engineering for a new domain is to enable robots in human environments to adapt dynamically -- continually learning new language constructions and perceptual concepts. In this work, we present an end-to-end pipeline for translating natural language commands to discrete robot actions, and use clarification dialogs to jointly improve language parsing and concept grounding. We train and evaluate this agent in a virtual setting on Amazon Mechanical Turk, and we transfer the learned agent to a physical robot platform to demonstrate it in the real world. 

Abstract The Gravitational-Wave Transient Catalog (GWTC) is a collection of short-duration (transient) gravitational-wave signals identified by the LIGO–Virgo–KAGRA Collaboration in gravitational-wave data produced by the eponymous detectors. The catalog provides information about the identified candidates, such as the arrival time and amplitude of the signal and properties of the signal’s source as inferred from the observational data. GWTC is the data release of this dataset, and version 4.0 extends the catalog to include observations made during the first part of the fourth LIGO–Virgo–KAGRA observing run up until 2024 January 31. This Letter marks an introduction to a collection of articles related to this version of the catalog, GWTC-4.0. The collection of articles accompanying the catalog provides documentation of the methods used to analyze the data, summaries of the catalog of events, observational measurements drawn from the population, and detailed discussions of selected candidates. 

Active learning identifies data points from a pool of unlabeled examples whose labels, if made available, are most likely to improve the predictions of a supervised model. Most research on active learning assumes that an agent has access to the entire pool of unlabeled data and can ask for labels of any data points during an initial training phase. However, when incorporated in a larger task, an agent may only be able to query some subset of the unlabeled pool. An agent can also opportunistically query for labels that may be useful in the future, even if they are not immediately relevant. In this paper, we demonstrate that this type of opportunistic active learning can improve performance in grounding natural language descriptions of everyday objects---an important skill for home and office robots. We find, with a real robot in an object identification setting, that inquisitive behavior---asking users important questions about the meanings of words that may be off-topic for the current dialog---leads to identifying the correct object more often over time. 

Abstract We report the observation of gravitational waves from two binary black hole coalescences during the fourth observing run of the LIGO–Virgo–KAGRA detector network, GW241011 and GW241110. The sources of these two signals are characterized by rapid and precisely measured primary spins, nonnegligible spin–orbit misalignment, and unequal mass ratios between their constituent black holes. These properties are characteristic of binaries in which the more massive object was itself formed from a previous binary black hole merger and suggest that the sources of GW241011 and GW241110 may have formed in dense stellar environments in which repeated mergers can take place. As the third-loudest gravitational-wave event published to date, with a median network signal-to-noise ratio of 36.0, GW241011 furthermore yields stringent constraints on the Kerr nature of black holes, the multipolar structure of gravitational-wave generation, and the existence of ultralight bosons within the mass range 10⁻¹³–10⁻¹²eV. 

Abstract On 2023 November 23, the two LIGO observatories both detected GW231123, a gravitational-wave signal consistent with the merger of two black holes with masses $137_{-18}^{+23}{M}_{\odot }$and $101_{-50}^{+22}{M}_{\odot }$(90% credible intervals), at a luminosity distance of 0.7–4.1 Gpc, a redshift of $0.40_{-0.25}^{+0.27}$, and with a network signal-to-noise ratio of ∼20.7. Both black holes exhibit high spins— $0.90_{-0.19}^{+0.10}$and $0.80_{-0.52}^{+0.20}$, respectively. A massive black hole remnant is supported by an independent ringdown analysis. Some properties of GW231123 are subject to large systematic uncertainties, as indicated by differences in the inferred parameters between signal models. The primary black hole lies within or above the theorized mass gap where black holes between 60–130M_⊙should be rare, due to pair-instability mechanisms, while the secondary spans the gap. The observation of GW231123 therefore suggests the formation of black holes from channels beyond standard stellar collapse and that intermediate-mass black holes of mass ∼200M_⊙form through gravitational-wave-driven mergers. 

The gravitational-wave signal GW250114 was observed by the two LIGO detectors with a network matched-filter signal-to-noise ratio of 80. The signal was emitted by the coalescence of two black holes with near-equal masses $m_1={33.6}_{-0.8}^{+1.2}{M}_{\odot }$and $m_2={32.2}_{-1.3}^{+0.8}{M}_{\odot }$, and small spins ${\chi }_{1,2}\le 0.26$(90% credibility) and negligible eccentricity $e\le 0.03$. Postmerger data excluding the peak region are consistent with the dominant quadrupolar $(\ell =|m|=2)$mode of a Kerr black hole and its first overtone. We constrain the modes’ frequencies to $\pm 30\%$of the Kerr spectrum, providing a test of the remnant’s Kerr nature. We also examine Hawking’s area law, also known as the second law of black hole mechanics, which states that the total area of the black hole event horizons cannot decrease with time. A range of analyses that exclude up to five of the strongest merger cycles confirm that the remnant area is larger than the sum of the initial areas to high credibility.