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Every robot built to date was predesigned by an external process, prior to deployment. Here we show a robot that actively participates in its own design during its lifetime. Starting from a randomly assembled body, and using only proprioceptive feedback, the robot dynamically “sculpts” itself into a new design through kinematic self-destruction: identifying redundant links within its body that inhibit its locomotion, and then thrashing those links against the surface until they break at the joint and fall off the body. It does so using a single autoregressive sequence model, a universal controller that learns in simulation when and how to simplify a robot’s body through self-destruction and then adaptively controls the reduced morphology. The optimized policy successfully transfers to reality and generalizes to previously unseen kinematic trees, generating forward locomotion that is more effective than otherwise equivalent policies that randomly remove links or cannot remove any. This suggests that self-designing robots may be more successful than predesigned robots in some cases, and that kinematic self-destruction, though reductive and irreversible, could provide a general adaptive strategy for a wide range of robots. 

SPT-3G+ is the next-generation camera for the South Pole Telescope (SPT). SPT is designed to measure the cosmic microwave background (CMB) and the mm/sub-mm sky. The planned focal plane consists of 34,000 microwave kinetic inductance detectors (MKIDs), divided among three observing bands centered at 220, 285, and 345 GHz. Each readout line is designed to measure 800 MKIDs over a 500 MHz bandwidth, which places stringent constraints on the accuracy of the frequency placement required to limit resonator collisions that reduce the overall detector yield. To meet this constraint, we are developing a two-step process that first optically maps the resonance to a physical pixel location, and then next trims the interdigitated capacitor (IDC) to adjust the resonator frequency. We present a cryogenic LED apparatus operable at 300 mK for the optical illumination of SPT-3G+ detector arrays. We demonstrate integration of the LED controls with the GHz readout electronics (RF-ICE) to take data on an array of prototype SPT-3G+ detectors. We show that this technique is useful for characterizing defects in the resonator frequency across the detector array and will allow for improvements in the detector yield. 

Objective. Dynamic positron emission tomography (PET) imaging, which can provide information on dynamic changes in physiological metabolism, is now widely used in clinical diagnosis and cancer treatment. However, the reconstruction from dynamic data is extremely challenging due to the limited counts received in individual frame, especially in ultra short frames. Recently, the unrolled modelbased deep learning methods have shown inspiring results for low-count PET image reconstruction with good interpretability. Nevertheless, the existing model-based deep learning methods mainly focus on the spatial correlations while ignore the temporal domain. Approach. In this paper, inspired by the learned primal dual (LPD) algorithm, we propose the spatio-temporal primal dual network (STPDnet) for dynamic low-count PET image reconstruction. Both spatial and temporal correlations are encoded by 3D convolution operators. The physical projection of PET is embedded in the iterative learning process of the network, which provides the physical constraints and enhances interpretability. Main results. The experiments of both simulation data and real rat scan data have shown that the proposed method can achieve substantial noise reduction in both temporal and spatial domains and outperform the maximum likelihood expectation maximization, spatio-temporal kernel method, LPD and FBPnet. Significance. Experimental results show STPDnet better reconstruction performance in the low count situation, which makes the proposed method particularly suitable in whole-body dynamic imaging and parametric PET imaging that require extreme short frames and usually suffer from high level of noise. 

We present the first constraints on multipole-dependent cosmic birefringence using CMB polarization data from the BK18 dataset, which combines observations from BICEP2, Array, and BICEP3 at frequencies of 95, 150, and 220 GHz. Photon coupling to an axionlike field leads to the rotation of CMB polarization, inducing nonzero $EB$ cross-correlations. We show that a multipole-dependent rotation $\beta (\ell )$ imprints a distinct signature in the polarization spectra that can be constrained. Specifically, we consider an early dark energy (EDE) scenario in which a pseudoscalar field couples to photons through a Chern-Simons interaction, generating a polarization rotation with multipole dependence. We introduce a phenomenological $\beta (\ell )$ as a step function, obtaining constraints on the step function size consistent with zero, with uncertainties less than $\sim 0.15°$ (68% CL). In addition, using multi-frequency $EE$ , $BB$ , and $EB$ cross spectra, along with robust BICEP/ foreground treatment and likelihood framework, we derive constraints on the axion-photon coupling amplitude $g$ for several choices of EDE parameters. For the baseline best-fit value $f_{\mathrm{EDE}}=0.087$ from the 2018 analysis, we obtain $g=0.11\pm 0.37$ (68% CL), consistent with previous limits. 

Cosmic birefringence is a hypothesized parity violation in electromagnetism that predicts a frequency-independent polarization rotation as light propagates. This would rotate the light from the Cosmic Microwave Background, producing an unexpected EB correlation. However, cosmic birefringence angle is degenerate with instrument polarization angle, and breaking this degeneracy requires an absolute polarization calibration. We calibrate the BICEP3 telescope (a 95GHz CMB polarimeter) by observing a rotating polarized source (RPS) with both the telescope and a small test receiver called the In-Situ Absolute Angle Calibrator (ISAAC). 

Abstract Millimeter-wave refracting telescopes targeting the degree-scale structure of the cosmic microwave background (CMB) have recently grown to diffraction-limited apertures of over 0.5 m. These instruments are entirely housed in vacuum cryostats to support their subkelvin bolometric detectors and to minimize radiative loading from thermal emission due to absorption loss in their transmissive optical elements. The large vacuum window is the only optical element in the system at ambient temperature, and therefore minimizing loss in the window is crucial for maximizing detector sensitivity. This motivates the use of low-loss polymer materials and a window as thin as practicable. However, the window must simultaneously meet the requirement to keep a sufficient vacuum, and therefore must limit gas permeation and remain mechanically robust against catastrophic failure under pressure. We report on the development of extremely thin composite polyethylene window technology that meets these goals. Two windows have been deployed for two full observing seasons on the BICEP3 and the 150 GHz BICEP Array receiver CMB telescopes at the South Pole. On BICEP3, the window has demonstrated a 6% improvement in detector sensitivity.