Hi-Val: Iterative Learning of Hierarchical Value Functions for Policy Generation

Task decomposition is effective in manifold applications where the global complexity of a problem makes planning and decision-making too demanding. This is true, for example, in high-dimensional robotics domains, where (1) unpredictabilities and modeling limitations typically prevent the manual specification of robust behaviors, and (2) learning an action policy is challenging due to the curse of dimensionality. In this work, we borrow the concept of Hierarchical Task Networks (HTNs) to decompose the learning procedure, and we exploit Upper Confidence Tree (UCT) search to introduce HOP, a novel iterative algorithm for hierarchical optimistic planning with learned value functions. To obtain better generalization and generate policies, HOP simultaneously learns and uses action values. These are used to formalize constraints within the search space and to reduce the dimensionality of the problem. We evaluate our algorithm both on a fetching task using a simulated 7-DOF KUKA light weight arm and, on a pick and delivery task with a Pioneer robot

Strong Nebular Line Ratios in the Spectra of z~2-3 Star-forming Galaxies: First Results from KBSS-MOSFIRE

We present initial results of a deep near-IR spectroscopic survey covering the 15 fields of the Keck Baryonic Structure Survey (KBSS) using MOSFIRE on the Keck 1 telescope, focusing on a sample of 251 galaxies with redshifts 2.0< z < 2.6, star-formation rates 2 < SFR < 200 M_sun/yr, and stellar masses 8.6 < log(M*/M_sun) < 11.4, with high-quality spectra in both H- and K-band atmospheric windows. We show unambiguously that the locus of z~2.3 galaxies in the "BPT" nebular diagnostic diagram exhibits a disjoint, yet similarly tight, relationship between the ratios [NII]6585/Halpha and [OIII]/Hbeta as compared to local galaxies. Using photoionization models, we argue that the offset of the z~2.3 locus relative to z~ 0 is explained by a combination of harder ionizing radiation field, higher ionization parameter, and higher N/O at a given O/H than applies to most local galaxies, and that the position of a galaxy along the z~2.3 star-forming BPT locus is surprisingly insensitive to gas-phase oxygen abundance. The observed nebular emission line ratios are most easily reproduced by models in which the net ionizing radiation field resembles a blackbody with effective temperature T_eff = 50000-60000 K and N/O close to the solar value at all O/H. We critically assess the applicability of commonly-used strong line indices for estimating gas-phase metallicities, and consider the implications of the small intrinsic scatter in the empirical relationship between excitation-sensitive line indices and stellar mass (i.e., the "mass-metallicity" relation), at z~2.3.Comment: 41 pages, 25 figures, accepted for publication in the Astrophysical Journal. Version with full-resolution figures available at http://www.astro.caltech.edu/~ccs/mos_bpt_submit.pd

Testing Diagnostics of Nuclear Activity and Star Formation in Galaxies at z>1

We present some of the first science data with the new Keck/MOSFIRE instrument to test the effectiveness of different AGN/SF diagnostics at z~1.5. MOSFIRE spectra were obtained in three H-band multi-slit masks in the GOODS-S field, resulting in two hour exposures of 36 emission-line galaxies. We compare X-ray data with the traditional emission-line ratio diagnostics and the alternative mass-excitation and color-excitation diagrams, combining new MOSFIRE infrared data with previous HST/WFC3 infrared spectra (from the 3D-HST survey) and multiwavelength photometry. We demonstrate that a high [OIII]/Hb ratio is insufficient as an AGN indicator at z>1. For the four X-ray detected galaxies, the classic diagnostics ([OIII]/Hb vs. [NII]/Ha and [SII]/Ha) remain consistent with X-ray AGN/SF classification. The X-ray data also suggest that "composite" galaxies (with intermediate AGN/SF classification) host bona-fide AGNs. Nearly 2/3 of the z~1.5 emission-line galaxies have nuclear activity detected by either X-rays or the classic diagnostics. Compared to the X-ray and line ratio classifications, the mass-excitation method remains effective at z>1, but we show that the color-excitation method requires a new calibration to successfully identify AGNs at these redshifts.Comment: 7 pages, 4 figures. Accepted to ApJ Letter

The SED Machine: a robotic spectrograph for fast transient classification

Current time domain facilities are finding several hundreds of transient astronomical events a year. The discovery rate is expected to increase in the future as soon as new surveys such as the Zwicky Transient Facility (ZTF) and the Large Synoptic Sky Survey (LSST) come on line. At the present time, the rate at which transients are classified is approximately one order or magnitude lower than the discovery rate, leading to an increasing "follow-up drought". Existing telescopes with moderate aperture can help address this deficit when equipped with spectrographs optimized for spectral classification. Here, we provide an overview of the design, operations and first results of the Spectral Energy Distribution Machine (SEDM), operating on the Palomar 60-inch telescope (P60). The instrument is optimized for classification and high observing efficiency. It combines a low-resolution (R$\sim$100) integral field unit (IFU) spectrograph with "Rainbow Camera" (RC), a multi-band field acquisition camera which also serves as multi-band (ugri) photometer. The SEDM was commissioned during the operation of the intermediate Palomar Transient Factory (iPTF) and has already proved lived up to its promise. The success of the SEDM demonstrates the value of spectrographs optimized to spectral classification. Introduction of similar spectrographs on existing telescopes will help alleviate the follow-up drought and thereby accelerate the rate of discoveries.Comment: 21 pages, 20 figure

Keck-I MOSFIRE spectroscopy of compact star-forming galaxies at z≳\gtrsim2: High velocity dispersions in progenitors of compact quiescent galaxies

We present Keck-I MOSFIRE near-infrared spectroscopy for a sample of 13 compact star-forming galaxies (SFGs) at redshift $2\leq z \leq2.5$ with star formation rates of SFR$\sim$100M$_{\odot}$ y$^{-1}$ and masses of log(M/M$_{\odot}$)$\sim10.8$. Their high integrated gas velocity dispersions of $\sigma_{\rm{int}}$=230$^{+40}_{-30}$ km s$^{-1}$, as measured from emission lines of H$_{\alpha}$ and [OIII], and the resultant M$_{\star}-\sigma_{\rm{int}}$ relation and M$_{\star}$$-$M$_{\rm{dyn}}$ all match well to those of compact quiescent galaxies at $z\sim2$, as measured from stellar absorption lines. Since log(M$_{\star}$/M$_{\rm{dyn}}$)$=-0.06\pm0.2$ dex, these compact SFGs appear to be dynamically relaxed and more evolved, i.e., more depleted in gas and dark matter ($<$13$^{+17}_{-13}$\%) than their non-compact SFG counterparts at the same epoch. Without infusion of external gas, depletion timescales are short, less than $\sim$300 Myr. This discovery adds another link to our new dynamical chain of evidence that compact SFGs at $z\gtrsim2$ are already losing gas to become the immediate progenitors of compact quiescent galaxies by $z\sim2$.Comment: 12 pages, 7 figures, submitted to Ap

Galaxy Luminosity Functions to z~1: DEEP2 vs. COMBO-17 and Implications for Red Galaxy Formation

The DEEP2 and COMBO-17 surveys are used to study the evolution of the luminosity function of red and blue galaxies to $z \sim 1$. Schechter function fits show that, since $z = 1$, $M^*_B$ dims by $\sim$ 1.3 mag per unit redshift for both color classes, $\phi^*$ of blue galaxies shows little change, while $\phi^*$ for red galaxies has formally nearly quadrupled. At face value, the number density of blue galaxies has remained roughly constant since $z = 1$, whereas that of red galaxies has been rising. Luminosity densities support both conclusions, but we note that most red-galaxy evolution occurs between our data and local surveys and in our highest redshift bin, where the data are weakest. We discuss the implications of having most red galaxies emerge after $z = 1$ from precursors among the blue population, taking into account the properties of local and distant E/S0s. We suggest a ``mixed'' scenario in which some blue galaxies have their star-formation quenched in gas-rich mergers, migrate to the red sequence with a variety of masses, and merge further on the red sequence in one or more purely stellar mergers. E/S0s of a given mass today will have formed via different routes, in a manner that may help to explain the fundamental plane and other local scaling laws.Comment: Submitted to ApJ. 73 pages, 12 figures. Part II of a two-paper series. The entire paper is available as a single postscript file at: http://www.ucolick.org/~cnaw/paper2_submitted.ps.g

Testing Diagnostics of Nuclear Activity and Star Formation in Galaxies at \u3cem\u3ez\u3c/em\u3e \u3e 1

We present some of the first science data with the new Keck/MOSFIRE instrument to test the effectiveness of different AGN/SF diagnostics at z ~ 1.5. MOSFIRE spectra were obtained in three H-band multi-slit masks in the GOODS-S field, resulting in 2 hr exposures of 36 emission-line galaxies. We compare X-ray data with the traditional emission-line ratio diagnostics and the alternative mass-excitation and color-excitation diagrams, combining new MOSFIRE infrared data with previous HST/WFC3 infrared spectra (from the 3D-HST survey) and multiwavelength photometry. We demonstrate that a high [O III]/Hβ ratio is insufficient as an active galactic nucleus (AGN) indicator at z \u3e 1. For the four X-ray-detected galaxies, the classic diagnostics ([O III]/Hβ versus [N II]/Hα and [S II]/Hα) remain consistent with X-ray AGN/SF classification. The X-ray data also suggest that composite galaxies (with intermediate AGN/SF classification) host bona fide AGNs. Nearly ~2/3 of the z ~ 1.5 emission-line galaxies have nuclear activity detected by either X-rays or the classic diagnostics. Compared to the X-ray and line ratio classifications, the mass-excitation method remains effective at z \u3e 1, but we show that the color-excitation method requires a new calibration to successfully identify AGNs at these redshifts