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Natural policy gradient (NPG) is a common policy optimization algorithm and can be viewed as mirror ascent in the space of probabilities. Recently, Vaswani et al. [2021] introduced a policy gradient method that corresponds to mirror ascent in the dual space of logits. We refine this algorithm, removing its need for a normalization across actions and analyze the resulting method (referred to as SPMA). For tabular MDPs, we prove that SPMA with a constant step-size matches the linear convergence of NPG and achieves a faster convergence than constant step-size (accelerated) softmax policy gradient. To handle large state-action spaces, we extend SPMA to use a log-linear policy parameterization. Unlike that for NPG, generalizing SPMA to the linear function approximation (FA) setting does not require compatible function approximation. Unlike MDPO, a practical generalization of NPG, SPMA with linear FA only requires solving convex softmax classification problems. We prove that SPMA achieves linear convergence to the neighbourhood of the optimal value function. We extend SPMA to handle non-linear FA and evaluate its empirical performance on the MuJoCo and Atari benchmarks. Our results demonstrate that SPMA consistently achieves similar or better performance compared to MDPO, PPO and TRPO.

Identifying appropriate manufacturing systems for products can be considered a pivotal manufacturing task that contributes to the optimization of operational and planning activities. It has gained importance in the food industry due to the distinct constraints and considerations posed by perishable and non-perishable items in this problem. Hence, this study proposes a new mathematical model - according to knowledge discovery as well as an assignment model to optimize manufacturing systems for perishable, non-perishable, and hybrid products tailored to meet their unique characteristics. In the presented model, three objective functions are taken into account: (1) minimizing the - production costs by assigning the products to the right set of manufacturing systems, (2) maximizing the product quality by assigning the products to the systems, and (3) minimizing the total - CO2 emissions of the machines. A numerical example is utilized to evaluate the performance of AUGMECON2VIKOR compared to AUGMECON2. The results show that AUGMECON2VIKOR obtains superior Pareto solutions across all objective functions. Furthermore, the sensitivity analysis explores the positive green impacts, influencing both cost and quality., Comment: 18th IFAC Symposium on Information Control Problems in Manufacturing (INCOM 2024)

In this paper, we present an unconditionally secure $N$-party comparison scheme based on Shamir secret sharing, utilizing the binary representation of private inputs to determine the $\max$ without disclosing any private inputs or intermediate results. Specifically, each party holds a private number and aims to ascertain the greatest number among the $N$ available private numbers without revealing its input, assuming that there are at most $T < \frac{N}{2}$ honest-but-curious parties. The proposed scheme demonstrates a lower computational complexity compared to existing schemes that can only compare two secret numbers at a time. To the best of our knowledge, our scheme is the only information-theoretically secure method for comparing $N$ private numbers without revealing either the private inputs or any intermediate results. We demonstrate that by modifying the proposed scheme, we can compute other well-known non-polynomial functions of the inputs, including the minimum, median, and rank. Additionally, in the proposed scheme, before the final reveal phase, each party possesses a share of the result, enabling the nodes to compute any polynomial function of the comparison result. We also explore various applications of the proposed comparison scheme, including federated learning., Comment: 11 pages, 4 figures

Few-shot Semantic Segmentation addresses the challenge of segmenting objects in query images with only a handful of annotated examples. However, many previous state-of-the-art methods either have to discard intricate local semantic features or suffer from high computational complexity. To address these challenges, we propose a new Few-shot Semantic Segmentation framework based on the transformer architecture. Our approach introduces the spatial transformer decoder and the contextual mask generation module to improve the relational understanding between support and query images. Moreover, we introduce a multi-scale decoder to refine the segmentation mask by incorporating features from different resolutions in a hierarchical manner. Additionally, our approach integrates global features from intermediate encoder stages to improve contextual understanding, while maintaining a lightweight structure to reduce complexity. This balance between performance and efficiency enables our method to achieve state-of-the-art results on benchmark datasets such as $PASCAL-5^i$ and $COCO-20^i$ in both 1-shot and 5-shot settings. Notably, our model with only 1.5 million parameters demonstrates competitive performance while overcoming limitations of existing methodologies. https://github.com/amirrezafateh/MSDNet

Implicit Neural Representation (INR), leveraging a neural network to transform coordinate input into corresponding attributes, has recently driven significant advances in several vision-related domains. However, the performance of INR is heavily influenced by the choice of the nonlinear activation function used in its multilayer perceptron (MLP) architecture. Multiple nonlinearities have been investigated; yet, current INRs face limitations in capturing high-frequency components, diverse signal types, and handling inverse problems. We have identified that these problems can be greatly alleviated by introducing a paradigm shift in INRs. We find that an architecture with learnable activations in initial layers can represent fine details in the underlying signals. Specifically, we propose SL$^{2}$A-INR, a hybrid network for INR with a single-layer learnable activation function, prompting the effectiveness of traditional ReLU-based MLPs. Our method performs superior across diverse tasks, including image representation, 3D shape reconstructions, inpainting, single image super-resolution, CT reconstruction, and novel view synthesis. Through comprehensive experiments, SL$^{2}$A-INR sets new benchmarks in accuracy, quality, and convergence rates for INR.

In a multi-modal system which combines thruster and legged locomotion such our state-of-the-art Harpy platform to perform dynamic locomotion. Therefore, it is very important to have a proper estimate of Thruster force. Harpy is a bipedal robot capable of legged-aerial locomotion using its legs and thrusters attached to its main frame. we can characterize thruster force using a thrust stand but it generally does not account for working conditions such as battery voltage. In this study, we present a momentum-based thruster force estimator. One of the key information required to estimate is terrain information. we show estimation results with and without terrain knowledge. In this work, we derive a conjugate momentum thruster force estimator and implement it on a numerical simulator that uses thruster force to perform thruster-assisted walking., Comment: Submitted to ACC 2025. arXiv admin note: text overlap with arXiv:2411.12968

Our work aims to make significant strides in understanding unexplored locomotion control paradigms based on the integration of posture manipulation and thrust vectoring. These techniques are commonly seen in nature, such as Chukar birds using their wings to run on a nearly vertical wall. In this work, we show quadratic programming with contact constraints which is then given to the whole body controller to map on robot states to produce a thruster-assisted slope walking controller for our state-of-the-art Harpy platform. Harpy is a bipedal robot capable of legged-aerial locomotion using its legs and thrusters attached to its main frame. The optimization-based walking controller has been used for dynamic locomotion such as slope walking, but the addition of thrusters to perform inclined slope walking has not been extensively explored. In this work, we derive a thruster-assisted bipedal walking with the quadratic programming (QP) controller and implement it in simulation to study its performance., Comment: Submitted to ACC2025. arXiv admin note: text overlap with arXiv:2406.14799

The forthcoming sixth-generation (6G) industrial Internet-of-Things (IIoT) subnetworks are expected to support ultra-fast control communication cycles for numerous IoT devices. However, meeting the stringent requirements for low latency and high reliability poses significant challenges, particularly due to signal fading and physical obstructions. In this paper, we propose novel time division multiple access (TDMA) and frequency division multiple access (FDMA) communication protocols for cooperative transmission in IIoT subnetworks. These protocols leverage secondary access points (sAPs) as Decode-and-Forward (DF) and Amplify-and-Forward (AF) relays, enabling shorter cycle times while minimizing overall transmit power. A classification mechanism determines whether the highest-gain link for each IoT device is a single-hop or two-hop connection, and selects the corresponding sAP. We then formulate the problem of minimizing transmit power for DF/AF relaying while adhering to the delay and maximum power constraints. In the FDMA case, an additional constraint is introduced for bandwidth allocation to IoT devices during the first and second phases of cooperative transmission. To tackle the nonconvex problem, we employ the sequential parametric convex approximation (SPCA) method. We extend our analysis to a system model with reconfigurable intelligent surfaces (RISs), enabling transmission through direct and RIS-assisted channels, and optimizing for a multi-RIS scenario for comparative analysis. Simulation results show that our cooperative communication approach reduces the emitted power by up to 7.5 dB while maintaining an outage probability and a resource overflow rate below $10^{-6}$. While the RIS-based solution achieves greater power savings, the relay-based protocol outperforms RIS in terms of outage probability., Comment: arXiv admin note: text overlap with arXiv:2112.05989, arXiv:2005.00269 by other authors

The widespread adoption of deep learning across various industries has introduced substantial challenges, particularly in terms of model explainability and security. The inherent complexity of deep learning models, while contributing to their effectiveness, also renders them susceptible to adversarial attacks. Among these, backdoor attacks are especially concerning, as they involve surreptitiously embedding specific triggers within training data, causing the model to exhibit aberrant behavior when presented with input containing the triggers. Such attacks often exploit vulnerabilities in outsourced processes, compromising model integrity without affecting performance on clean (trigger-free) input data. In this paper, we present a comprehensive review of existing mitigation strategies designed to counter backdoor attacks in image recognition. We provide an in-depth analysis of the theoretical foundations, practical efficacy, and limitations of these approaches. In addition, we conduct an extensive benchmarking of sixteen state-of-the-art approaches against eight distinct backdoor attacks, utilizing three datasets, four model architectures, and three poisoning ratios. Our results, derived from 122,236 individual experiments, indicate that while many approaches provide some level of protection, their performance can vary considerably. Furthermore, when compared to two seminal approaches, most newer approaches do not demonstrate substantial improvements in overall performance or consistency across diverse settings. Drawing from these findings, we propose potential directions for developing more effective and generalizable defensive mechanisms in the future.

The nitrogen vacancy centre in diamond is a versatile color center widely used for magnetometry, quantum computing, and quantum communications. In this article, we develop a new magnetometer using an ensemble of nitrogen vacancy centers and the Faraday effect. The sensitivity of our magnetometer is $300~nT/ \sqrt{Hz}$. We argue that by using an optical cavity and a high purity diamond, sensitivities in the femtotesla level can be achieved., Comment: 5 pages, 4 figures

This systematic literature review paper explores perspectives on the ideal metaverse from user experience, business, and national levels, considering both academic and industry viewpoints. The study examines the metaverse as a sociotechnical imaginary, enabled collectively by virtual reality (VR), augmented reality (AR), and mixed reality (MR) technologies. Through a systematic literature review, n=144 records were included and by employing grounded theory for analysis of data, we developed three research models, which can guide researchers in examining the metaverse as a sociotechnical future of information technology. Designers can apply the metaverse user experience maturity model to develop more user-friendly services, while business strategists can use the metaverse business readiness model to assess their firms' current state and prepare for transformation. Additionally, policymakers and policy analysts can utilize the metaverse national competitiveness model to track their countries' competitiveness during this paradigm shift. The synthesis of the results also led to the development of practical assessment tools derived from these models that can guide researchers

We consider a class of Wasserstein distributionally robust Nash equilibrium problems, where agents construct heterogeneous data-driven Wasserstein ambiguity sets using private samples and radii, in line with their individual risk-averse behaviour. By leveraging relevant properties of this class of games, we show that equilibria of the original seemingly infinite-dimensional problem can be obtained as a solution to a finite-dimensional Nash equilibrium problem. We then reformulate the problem as a finite-dimensional variational inequality and establish the connection between the corresponding solution sets. Our reformulation has scalable behaviour with respect to the data size and maintains a fixed number of constraints, independently of the number of samples. To compute a solution, we leverage two algorithms, based on the golden ratio algorithm. The efficiency of both algorithmic schemes is corroborated through extensive simulation studies on an illustrative example and a stochastic portfolio allocation game, where behavioural coupling among investors is modeled., Comment: 14 pages, 5 figures

With the widespread adoption of digital devices equipped with cameras and the rapid development of Internet technology, numerous content-based image retrieval systems and novel image feature extraction techniques have emerged in recent years. This paper introduces a saliency map-based image retrieval approach using invariant Krawtchouk moments (SM-IKM) to enhance retrieval speed and accuracy. The proposed method applies a global contrast-based salient region detection algorithm to create a saliency map that effectively isolates the foreground from the background. It then combines multiple orders of invariant Krawtchouk moments (IKM) with local binary patterns (LBPs) and color histograms to comprehensively represent the foreground and background. Additionally, it incorporates LBPs derived from the saliency map to improve discriminative power, facilitating more precise image differentiation. A bag-of-visual-words (BoVW) model is employed to generate a codebook for classification and discrimination. By using compact IKMs in the BoVW framework and integrating a range of region-based feature-including color histograms, LBPs, and saliency map-enhanced LBPs, our proposed SM-IKM achieves efficient and accurate image retrieval. Extensive experiments on publicly available datasets, such as Caltech 101 and Wang, demonstrate that SM-IKM outperforms recent state-of-the-art retrieval methods. The source code for SM-IKM is available at github.com/arnejad/SMIKM.

The early detection of Alzheimer's disease (AD) requires the understanding of the relations between a wide range of disease-related features. Analyses that estimate these relations and evaluate their uncertainty are still rare. We address this gap by presenting a Bayesian approach using a Gaussian copula graphical model (GCGM). This model is able to estimate the relations between both continuous, discrete, and binary variables and compute the uncertainty of these estimates. Our method estimates the relations between brain-region specific gray matter volume and glucose uptake, amyloid levels, demographic information, and cognitive test scores. We applied our model to 1022 participants across different stages of AD. We found three indirect pathways through which old age reduces cognition: hippocampal volume loss, posterior cingulate cortex (PCC) volume loss, and amyloid accumulation. Corrected for other variables, we found that women perform better on cognitive tests, but also discovered four indirect pathways that dampen this association in women: lower hippocampal volume, lower PCC volume, more amyloid accumulation and less education. We found limited relations between brain-region specific glucose uptake and cognition, but did discover that the hippocampus and PCC volumes are related to cognition. These results showcase that the novel use of GCGMs can offer valuable insights into AD pathogenesis.

Articulated Frame Steering (AFS) vehicles are widely used in heavy-duty industries, where they often operate near operators and laborers. Therefore, designing safe controllers for AFS vehicles is essential. In this paper, we develop a Quadratic Program (QP)-based safety filter that ensures feasibility for AFS vehicles with affine actuator dynamics. To achieve this, we first derive the general equations of motion for AFS vehicles, incorporating affine actuator dynamics. We then introduce a novel High-Order Control Barrier Function (HOCBF) candidate with equal relative degrees for both system controls. Finally, we design a Parametric Adaptive HOCBF (PACBF) and an always-feasible, QP-based safety filter. Numerical simulations of AFS vehicle kinematics demonstrate the effectiveness of our approach.

Finding a controlled-invariant safe set for a given system with state and control constraints plays an important role in safety-critical systems. Current methods typically produce conservative solutions. In this paper, we introduce a method to generate controlled-invariant safe sets for nonlinear polynomial control-affine dynamical systems by using the notion of Control Barrier Certificates (CBCs). To this end, we relax CBC conditions into Sum of Squares (SOS) constraints, to be solved by an SOS program. We first assume a controlled-invariant safe set (although small) exists for the system. We then propose a method to iteratively enlarge the safe set. We theoretically prove that our method enlarges the safe set in each iteration. We also demonstrate the efficacy of our method through simulated numerical examples in 2D and 3D for single and multi-input dynamical systems and empirically show that our method produces a larger controlled-invariant safe set in these examples, compared to a state-of-the-art technique using Control Barrier Function (CBF).

By introducing ansatz and using a PDF at the $N^3LO$ approximation in this paper, we have studied the structure of the nucleons in generalized parton distributions (GPDs). For this purpose, the form factors and the electric radius of nucleons, as well as the quark's form factors, are calculated in this paper. These calculations give important new information about the nucleons and the distribution of partons within them. The results are analyzed, and to validate them, the abstract emphasizes the importance of comparing the results with existing research and experimental data. By varying the free appropriate parameters of the new ansatz, the study seeks to optimize the model, ensure its suitability for accurately describing the nucleon's internal structure, and provide valuable insights about the distribution of partons.

The growing demand for high-speed, reliable wireless connectivity in 6G networks necessitates innovative approaches to overcome the limitations of traditional Radio Access Network (RAN). Reconfigurable Intelligent Surface (RIS) and Network-Controlled Repeater (NCR) have emerged as promising technologies to address coverage challenges in high-frequency millimeter wave (mmW) bands by enhancing signal reach in environments susceptible to blockage and severe propagation losses. In this paper, we propose an optimized deployment framework aimed at minimizing infrastructure costs while ensuring full area coverage using only RIS and NCR. We formulate a cost-minimization optimization problem that integrates the deployment and configuration of these devices to achieve seamless coverage, particularly in dense urban scenarios. Simulation results confirm that this framework significantly reduces the network planning costs while guaranteeing full coverage, demonstrating RIS and NCR's viability as cost-effective solutions for next-generation network infrastructure., Comment: Submitted to IEEE International Conference on Communications 2025

Across many plasma applications, the underlying phenomena and interactions among the involved processes are known to exhibit three-dimensional characteristics. Furthermore, the global properties and evolution of plasma systems are often determined by a process called inverse energy cascade, where kinetic plasma processes at the microscopic scale interact and lead to macroscopic coherent structures. These structures can have a major impact on the stability of plasma discharges, with detrimental effects on the operation and performance of plasma technologies. Kinetic particle-in-cell (PIC) methods offer a sufficient level of fidelity to capture these processes and behaviors. However, three-dimensional PIC simulations that can cost-effectively overcome the curse of dimensionality and enable full-scale simulations of real-world time significance have remained elusive. Tackling the enormous computational cost issue associated with conventional PIC schemes, the computationally efficient reduced-order (RO) PIC approach provides a viable path to 3D simulations of real-size plasma systems. This part II paper builds upon the improvements to the RO-PIC's underpinning formulation discussed in part I and extends the novel "first-order" RO-PIC formulation to 3D. The resulting Quasi-3D (Q3D) implementation is rigorously verified in this paper, both at the module level of the Q3D reduced-dimension Poisson solver (RDPS) and at the global PIC code level. The plasma test cases employed correspond to 3D versions of the 2D configurations studied in Part I, including a 3D extension to the Diocotron instability problem. The detailed verifications of the Q3D RO-PIC confirm that it maintains the expected levels of cost-efficiency and accuracy, demonstrating the ability of the approach to indistinguishably reproduce full-3D simulation results at a fraction of the computational cost., Comment: 24 pages, 21 figures

The particle-in-cell (PIC) method is a well-established and widely used kinetic plasma modelling approach that provides a hybrid Lagrangian-Eulerian approach to solve the plasma kinetic equation. Despite its power in capturing details of the underlying physics of plasmas, conventional PIC implementations are associated with a significant computational cost, rendering their applications for real-world plasma science and engineering challenges impractical. The acceleration of the PIC method has thus become a topic of high interest, with several approaches having been pursued to this end. Among these, the concept of reduced-order (RO) PIC simulations, first introduced in 2023, provides a uniquely flexible and computationally efficient framework for kinetic plasma modelling - characteristics verified extensively in various plasma configurations. In this two-part article, we report the latest progress achieved on RO-PIC. Part I article revisits the original RO-PIC formulation and introduces refinements that substantially enhance the cost-efficiency and accuracy of the method. We discuss these refinements in comparison against the original formulation, illustrating the progression to a "first-order" implementation from the baseline "zeroth-order" one. In a detailed step-by-step verification, we first test the newly updated reduced-dimension Poisson solver (RDPS) in the first-order RO-PIC against its zeroth-order counterpart using test-case Poisson problems. Next, comparing against the zeroth-order version, we examine the performance of the complete first-order RO-PIC code in two-dimensional plasma problems. The detailed verifications demonstrate that the improvements in the RO-PIC formulation enable the approach to provide full-2D-equivalent results at a substantially lower (up to an order of magnitude) computational cost compared to the zeroth-order RO-PIC., Comment: 29 pages, 24 figures

The Sherrington-Kirkpatrick spin-glass model used the replica symmetry method to find the phase transition of the system. In 1979-1980, Parisi proposed a solution based on replica symmetry breaking (RSB), which allowed him to identify the underlying phases of complex systems such as spin-glasses. Regardless of the method used for detection, the intrinsic phase of a system exists whether or not replicas are considered. We introduce a single replica method of spin-glass phase detection using the field's variation experienced by each spin in a system configuration. This method focuses on a single replica with quenched random couplings. Each spin inevitably observes a different field from the others. Our results show that the mean and variance of fields named "Spontaneous Configurational Field" experienced by spins are suitable indicators to explore different ferromagnetic, paramagnetic, and mixed phases. To classify different phases of the system with defined indicators we have developed an algorithm based on machine learning to analyze the desired samples.

Ultrasound (US) imaging is widely used in routine clinical practice due to its advantages of being radiation-free, cost-effective, and portable. However, the low reproducibility and quality of US images, combined with the scarcity of expert-level annotation, make the training of fully supervised segmentation models challenging. To address these issues, we propose a novel unsupervised anomaly detection framework based on a diffusion model that incorporates a synthetic anomaly (Synomaly) noise function and a multi-stage diffusion process. Synomaly noise introduces synthetic anomalies into healthy images during training, allowing the model to effectively learn anomaly removal. The multi-stage diffusion process is introduced to progressively denoise images, preserving fine details while improving the quality of anomaly-free reconstructions. The generated high-fidelity counterfactual healthy images can further enhance the interpretability of the segmentation models, as well as provide a reliable baseline for evaluating the extent of anomalies and supporting clinical decision-making. Notably, the unsupervised anomaly detection model is trained purely on healthy images, eliminating the need for anomalous training samples and pixel-level annotations. We validate the proposed approach on carotid US, brain MRI, and liver CT datasets. The experimental results demonstrate that the proposed framework outperforms existing state-of-the-art unsupervised anomaly detection methods, achieving performance comparable to fully supervised segmentation models in the US dataset. Additionally, ablation studies underline the importance of hyperparameter selection for Synomaly noise and the effectiveness of the multi-stage diffusion process in enhancing model performance.

How can we test AI performance? This question seems trivial, but it isn't. Standard benchmarks often have problems such as in-distribution and small-size test sets, oversimplified metrics, unfair comparisons, and short-term outcome pressure. As a consequence, good performance on standard benchmarks does not guarantee success in real-world scenarios. To address these problems, we present Touchstone, a large-scale collaborative segmentation benchmark of 9 types of abdominal organs. This benchmark is based on 5,195 training CT scans from 76 hospitals around the world and 5,903 testing CT scans from 11 additional hospitals. This diverse test set enhances the statistical significance of benchmark results and rigorously evaluates AI algorithms across various out-of-distribution scenarios. We invited 14 inventors of 19 AI algorithms to train their algorithms, while our team, as a third party, independently evaluated these algorithms on three test sets. In addition, we also evaluated pre-existing AI frameworks--which, differing from algorithms, are more flexible and can support different algorithms--including MONAI from NVIDIA, nnU-Net from DKFZ, and numerous other open-source frameworks. We are committed to expanding this benchmark to encourage more innovation of AI algorithms for the medical domain., Comment: Accepted to NeurIPS-2024

RNA is a vital biomolecule with numerous roles and functions within cells, and interest in targeting it for therapeutic purposes has grown significantly in recent years. However, fully understanding and predicting RNA behavior, particularly for applications in drug discovery, remains a challenge due to the complexity of RNA structures and interactions. While foundational models in biology have demonstrated success in modeling several biomolecules, especially proteins, achieving similar breakthroughs for RNA has proven more difficult. Current RNA models have yet to match the performance observed in the protein domain, leaving an important gap in computational biology. In this work, we present ChaRNABERT, a suite of sample and parameter-efficient RNA foundational models, that through a learnable tokenization process, are able to reach state-of-the-art performance on several tasks in established benchmarks. We extend its testing in relevant downstream tasks such as RNA-protein and aptamer-protein interaction prediction. Weights and inference code for ChaRNABERT-8M will be provided for academic research use. The other models will be available upon request., Comment: First version. Work in progress

A well known result of Brown and Halmos shows that the Toeplitz operators induced by $L^{\infty}(\mathbb T)$ symbols on the Hardy space of the unit disc $\mathbb D$ are characterized by the operator identity $T_{\bar{z}}AT_z=A,$ where $T_z, T_{\bar{z}}$ are the Toeplitz operators induced by the function $z$ and $\bar{z}$ on the unit circle $\mathbb T$ respectively. In this paper we introduce and study a class of Toeplitz operators on the Dirichlet space $\mathcal{D} _0$ induced by a symbol class $\mathcal T(\mathcal D _0)= \overline{H^{\infty}_0(\mathbb D)} + \mathcal M(\mathcal D_0 ),$ where $H^{\infty}_0(\mathbb D)$ denotes the set of all bounded analytic function on $\mathbb D$ vanishing at $0$ and $\mathcal M(\mathcal D _0)$ denotes the multiplier algebra of the Dirichlet space $\mathcal D_0.$ We find that the Toeplitz operators on the Dirichlet space $\mathcal D$ induced by the symbol class $\mathcal T(\mathcal D _0)$ is completely characterized by the operator identity $T_{\bar{z}}AT_z=A.$, Comment: 17 pages

This paper presents a novel real-time, delay-aware cooperative perception system designed for intelligent mobility platforms operating in dynamic indoor environments. The system contains a network of multi-modal sensor nodes and a central node that collectively provide perception services to mobility platforms. The proposed Hierarchical Clustering Considering the Scanning Pattern and Ground Contacting Feature based Lidar Camera Fusion improve intra-node perception for crowded environment. The system also features delay-aware global perception to synchronize and aggregate data across nodes. To validate our approach, we introduced the Indoor Pedestrian Tracking dataset, compiled from data captured by two indoor sensor nodes. Our experiments, compared to baselines, demonstrate significant improvements in detection accuracy and robustness against delays. The dataset is available in the repository: https://github.com/NingMingHao/MVSLab-IndoorCooperativePerception

People with learning disabilities have a higher mortality rate and premature deaths compared to the general public, as reported in published research in the UK and other countries. This study analyses hospitalisations of 9,618 patients identified with learning disabilities and long-term conditions for the population of Wales using electronic health record (EHR) data sources from the SAIL Databank. We describe the demographic characteristics, prevalence of long-term conditions, medication history, hospital visits, and lifestyle history for our study cohort, and apply machine learning models to predict the length of hospital stays for this cohort. The random forest (RF) model achieved an Area Under the Curve (AUC) of 0.759 (males) and 0.756 (females), a false negative rate of 0.224 (males) and 0.229 (females), and a balanced accuracy of 0.690 (males) and 0.689 (females). After examining model performance across ethnic groups, two bias mitigation algorithms (threshold optimization and the reductions algorithm using an exponentiated gradient) were applied to minimise performance discrepancies. The threshold optimizer algorithm outperformed the reductions algorithm, achieving lower ranges in false positive rate and balanced accuracy for the male cohort across the ethnic groups. This study demonstrates the potential of applying machine learning models with effective bias mitigation approaches on EHR data sources to enable equitable prediction of hospital stays by addressing data imbalances across groups., Comment: 13 pages of article with 9 figures; Supplementary material follows after article with 27 pages and 27 figures

Autonomous Vehicle (AV) perception systems require more than simply seeing, via e.g., object detection or scene segmentation. They need a holistic understanding of what is happening within the scene for safe interaction with other road users. Few datasets exist for the purpose of developing and training algorithms to comprehend the actions of other road users. This paper presents ROAD-Waymo, an extensive dataset for the development and benchmarking of techniques for agent, action, location and event detection in road scenes, provided as a layer upon the (US) Waymo Open dataset. Considerably larger and more challenging than any existing dataset (and encompassing multiple cities), it comes with 198k annotated video frames, 54k agent tubes, 3.9M bounding boxes and a total of 12.4M labels. The integrity of the dataset has been confirmed and enhanced via a novel annotation pipeline designed for automatically identifying violations of requirements specifically designed for this dataset. As ROAD-Waymo is compatible with the original (UK) ROAD dataset, it provides the opportunity to tackle domain adaptation between real-world road scenarios in different countries within a novel benchmark: ROAD++.

In this work we present more comprehensive evaluations on our airborne Gimbal mounted inertial measurement unit (IMU) signal simulator which also considers flight dynamic model (FDM). A flexible IMU signal simulator is an enabling tool in design, development, improvement, test and verification of aided inertial navigation systems (INS). Efforts by other researchers had been concentrated on simulation of the strapdown INS (SINS) with the IMU rigidly attached to the moving body frame. However custom airborne surveying/mapping applications that need pointing and stabilizing camera or any other surveying sensor, require mounting the IMU beside the sensor on a Gimbal onboard the airframe. Hence the proposed Gimbal mounted IMU signal simulator is of interest whilst itself requires further analysis and verifications. Extended evaluation results in terms of both unit tests and functional/integration tests (using aided inertial navigation algorithms with variable/dynamic lever arms), verifies the simulator and its applicability for the mentioned tasks. We have further packaged and published our MATLAB code for the proposed simulator as an open source GitHub repository., Comment: 10 pages, 8 figures, 4 tables, Submitted to Journal of Aerospace Science and Technology (JAST)

This work considers the problem of sampling from a probability distribution known up to a normalization constant while satisfying a set of statistical constraints specified by the expected values of general nonlinear functions. This problem finds applications in, e.g., Bayesian inference, where it can constrain moments to evaluate counterfactual scenarios or enforce desiderata such as prediction fairness. Methods developed to handle support constraints, such as those based on mirror maps, barriers, and penalties, are not suited for this task. This work therefore relies on gradient descent-ascent dynamics in Wasserstein space to put forward a discrete-time primal-dual Langevin Monte Carlo algorithm (PD-LMC) that simultaneously constrains the target distribution and samples from it. We analyze the convergence of PD-LMC under standard assumptions on the target distribution and constraints, namely (strong) convexity and log-Sobolev inequalities. To do so, we bring classical optimization arguments for saddle-point algorithms to the geometry of Wasserstein space. We illustrate the relevance and effectiveness of PD-LMC in several applications., Comment: 39 pages, 14 figures. Published at NeurIPS 2024

Code translation transforms programs from one programming language (PL) to another. Several rule-based transpilers have been designed to automate code translation between different pairs of PLs. However, the rules can become obsolete as the PLs evolve and cannot generalize to other PLs. Recent studies have explored the automation of code translation using Large Language Models (LLMs). One key observation is that such techniques may work well for crafted benchmarks but fail to generalize to the scale and complexity of real-world projects with dependencies, custom types, PL-specific features, etc. We propose AlphaTrans, a neuro-symbolic approach to automate repository-level code translation. AlphaTrans translates both source and test code, and employs multiple levels of validation to ensure the translation preserves the functionality of the source program. To break down the problem for LLMs, AlphaTrans leverages program analysis to decompose the program into fragments and translates them in the reverse call order. We leveraged AlphaTrans to translate ten real-world open-source projects consisting of <836, 8575, 2719> classes, methods, and tests. AlphaTrans translated the entire repository of these projects consisting of 6899 source code fragments. 99.1% of the translated code fragments are syntactically correct, and AlphaTrans validates the translations' runtime behavior and functional correctness for 25.8%. On average, the integrated translation and validation take 36 hours to translate a project, showing its scalability in practice. For the syntactically or semantically incorrect translations, AlphaTrans generates a report including existing translation, stack trace, test errors, or assertion failures. We provided these artifacts to two developers to fix the translation bugs in four projects. They were able to fix the issues in 20.1 hours on average and achieve all passing tests.

Logic synthesis is a crucial phase in the circuit design process, responsible for transforming hardware description language (HDL) designs into optimized netlists. However, traditional logic synthesis methods are computationally intensive, restricting their iterative use in refining chip designs. Recent advancements in large language models (LLMs), particularly those fine-tuned on programming languages, present a promising alternative. In this paper, we introduce VeriDistill, the first end-to-end machine learning model that directly processes raw Verilog code to predict circuit quality-of-result metrics. Our model employs a novel knowledge distillation method, transferring low-level circuit insights via graphs into the predictor based on LLM. Experiments show VeriDistill outperforms state-of-the-art baselines on large-scale Verilog datasets and demonstrates robust performance when evaluated on out-of-distribution datasets.

Error type information has been widely used to improve the performance of grammatical error correction (GEC) models, whether for generating corrections, re-ranking them, or combining GEC models. Combining GEC models that have complementary strengths in correcting different error types is very effective in producing better corrections. However, system combination incurs a high computational cost due to the need to run inference on the base systems before running the combination method itself. Therefore, it would be more efficient to have a single model with multiple sub-networks that specialize in correcting different error types. In this paper, we propose a mixture-of-experts model, MoECE, for grammatical error correction. Our model successfully achieves the performance of T5-XL with three times fewer effective parameters. Additionally, our model produces interpretable corrections by also identifying the error type during inference., Comment: Findings of EMNLP 2024

We introduce an approach to improve team performance in a Multi-Agent Multi-Armed Bandit (MAMAB) framework using Fastest Mixing Markov Chain (FMMC) and Fastest Distributed Linear Averaging (FDLA) optimization algorithms. The multi-agent team is represented using a fixed relational network and simulated using the Coop-UCB2 algorithm. The edge weights of the communication network directly impact the time taken to reach distributed consensus. Our goal is to shrink the timescale on which the convergence of the consensus occurs to achieve optimal team performance and maximize reward. Through our experiments, we show that the convergence to team consensus occurs slightly faster in large constrained networks., Comment: Accepted for publication in Modeling, Estimation, and Control Conference (MECC) 2024

Everyday decisions often involve many different levels. What connects these higher and lower level decisions hierarchy to one another determines how the cause(s) of failures are interpreted. It is hypothesized that decision confidence guides the assignment of blame to the correct level of hierarchy but this hypothesis has only been tested by manipulation of sensory evidence itself. We examined the consequences of modulating subjective confidence in hierarchical decision making via extra-sensory, social influence. Participants who made hierarchical, motion-plus-bandit decisions also received social information from a partner that advised the participant in the motion task. The strength of social advice -- independently from sensory signals -- modulated the likelihood of strategy change after negative feedback. Our findings therefore provide strong empirical evidence that subjective confidence per se acts as the bridge in assignment of credit and blame to various levels of decision hierarchy.

Hardware-level memory vulnerabilities severely threaten computing systems. However, hardware patching is inefficient or difficult postfabrication. We investigate the effectiveness of hardware fuzzing in detecting hardware memory vulnerabilities and highlight challenges and potential future research directions to enhance hardware fuzzing for memory safety.

Microarchitectural attacks represent a challenging and persistent threat to modern processors, exploiting inherent design vulnerabilities in processors to leak sensitive information or compromise systems. Of particular concern is the susceptibility of Speculative Execution, a fundamental part of performance enhancement, to such attacks. We introduce Specure, a novel pre-silicon verification method composing hardware fuzzing with Information Flow Tracking (IFT) to address speculative execution leakages. Integrating IFT enables two significant and non-trivial enhancements over the existing fuzzing approaches: i) automatic detection of microarchitectural information leakages vulnerabilities without golden model and ii) a novel Leakage Path coverage metric for efficient vulnerability detection. Specure identifies previously overlooked speculative execution vulnerabilities on the RISC-V BOOM processor and explores the vulnerability search space 6.45x faster than existing fuzzing techniques. Moreover, Specure detected known vulnerabilities 20x faster.

In this paper, we propose an accurate and robust perception module for Autonomous Vehicles (AVs) for drivable space extraction. Perception is crucial in autonomous driving, where many deep learning-based methods, while accurate on benchmark datasets, fail to generalize effectively, especially in diverse and unpredictable environments. Our work introduces a robust easy-to-generalize perception module that leverages LiDAR, camera, and HD map data fusion to deliver a safe and reliable drivable space in all weather conditions. We present an adaptive ground removal and curb detection method integrated with HD map data for enhanced obstacle detection reliability. Additionally, we propose an adaptive DBSCAN clustering algorithm optimized for precipitation noise, and a cost-effective LiDAR-camera frustum association that is resilient to calibration discrepancies. Our comprehensive drivable space representation incorporates all perception data, ensuring compatibility with vehicle dimensions and road regulations. This approach not only improves generalization and efficiency, but also significantly enhances safety in autonomous vehicle operations. Our approach is tested on a real dataset and its reliability is verified during the daily (including harsh snowy weather) operation of our autonomous shuttle, WATonoBus

We investigate a beyond Standard Model (SM) featuring four new fields. Three fields with different spins - scalar ($ S $), spinor ($ \psi $), and vector ($ V_{\mu} $) - together form the three-component dark matter (DM), while the fourth scalar field ($ \phi $) carries a unit charge under a dark $ U_{D}(1) $ gauge symmetry, enabling SM-DM interactions via the Higgs portal. Although the model maintains classical scale invariance, loop effects break electroweak symmetry. The parameter space is constrained by scale invariance, DM relic density, and direct detection results. Our study aims to identify feasible model regions and evaluate detectability in future experiments. We analyze processes like DM annihilations, semi-annihilations, and conversions, integrating them into Boltzmann equations to calculate DM abundances. Random parameter scans reveal regions compatible with current data, including constraints from direct detection experiments like XENONnT and PandaX-4T . Our results show the model's viability across a broad range of DM masses., Comment: 23 pages, 16 figures

Identifying and understanding the co-occurrence of multiple long-term conditions (MLTC) in individuals with intellectual disabilities (ID) is vital for effective healthcare management. These individuals often face earlier onset and higher prevalence of MLTCs, yet specific co-occurrence patterns remain unexplored. This study applies an unsupervised approach to characterise MLTC clusters based on shared disease trajectories using electronic health records (EHRs) from 13069 individuals with ID in Wales (2000-2021). Disease associations and temporal directionality were assessed, followed by spectral clustering to group shared trajectories. The population consisted of 52.3% males and 47.7% females, with an average of 4.5 conditions per patient. Males under 45 formed a single cluster dominated by neurological conditions (32.4%), while males above 45 had three clusters, the largest characterised circulatory (51.8%). Females under 45 formed one cluster with digestive conditions (24.6%) as most prevalent, while those aged 45 and older showed two clusters: one dominated by circulatory (34.1%), and the other by digestive (25.9%) and musculoskeletal (21.9%) system conditions. Mental illness, epilepsy, and reflux were common across groups. These clusters offer insights into disease progression in individuals with ID, informing targeted interventions and personalised healthcare strategies.

Text-to-image diffusion models, such as Stable Diffusion and DALL-E, are capable of generating high-quality, diverse, and realistic images from textual prompts. However, they sometimes struggle to accurately depict specific entities described in prompts, a limitation known as the entity missing problem in compositional generation. While prior studies suggested that adjusting cross-attention maps during the denoising process could alleviate this problem, they did not systematically investigate which objective functions could best address it. This study examines three potential causes of the entity-missing problem, focusing on cross-attention dynamics: (1) insufficient attention intensity for certain entities, (2) overly broad attention spread, and (3) excessive overlap between attention maps of different entities. We found that reducing overlap in attention maps between entities can effectively minimize the rate of entity missing. Specifically, we hypothesize that tokens related to specific entities compete for attention on certain image regions during the denoising process, which can lead to divided attention across tokens and prevent accurate representation of each entity. To address this issue, we introduced four loss functions, Intersection over Union (IoU), center-of-mass (CoM) distance, Kullback-Leibler (KL) divergence, and clustering compactness (CC) to regulate attention overlap during denoising steps without the need for retraining. Experimental results across a wide variety of benchmarks reveal that these proposed training-free methods significantly improve compositional accuracy, outperforming previous approaches in visual question answering (VQA), captioning scores, CLIP similarity, and human evaluations. Notably, these methods improved human evaluation scores by 9% over the best baseline, demonstrating substantial improvements in compositional alignment.

This paper investigates a novel lossy compression framework operating under logarithmic loss, designed to handle situations where the reconstruction distribution diverges from the source distribution. This framework is especially relevant for applications that require joint compression and retrieval, and in scenarios involving distributional shifts due to processing. We show that the proposed formulation extends the classical minimum entropy coupling framework by integrating a bottleneck, allowing for a controlled degree of stochasticity in the coupling. We explore the decomposition of the Minimum Entropy Coupling with Bottleneck (MEC-B) into two distinct optimization problems: Entropy-Bounded Information Maximization (EBIM) for the encoder, and Minimum Entropy Coupling (MEC) for the decoder. Through extensive analysis, we provide a greedy algorithm for EBIM with guaranteed performance, and characterize the optimal solution near functional mappings, yielding significant theoretical insights into the structural complexity of this problem. Furthermore, we illustrate the practical application of MEC-B through experiments in Markov Coding Games (MCGs) under rate limits. These games simulate a communication scenario within a Markov Decision Process, where an agent must transmit a compressed message from a sender to a receiver through its actions. Our experiments highlight the trade-offs between MDP rewards and receiver accuracy across various compression rates, showcasing the efficacy of our method compared to conventional compression baseline., Comment: 38th Conference on Neural Information Processing Systems (NeurIPS 2024) - Spotlight

GPT-4o is an autoregressive omni model that accepts as input any combination of text, audio, image, and video, and generates any combination of text, audio, and image outputs. It's trained end-to-end across text, vision, and audio, meaning all inputs and outputs are processed by the same neural network. GPT-4o can respond to audio inputs in as little as 232 milliseconds, with an average of 320 milliseconds, which is similar to human response time in conversation. It matches GPT-4 Turbo performance on text in English and code, with significant improvement on text in non-English languages, while also being much faster and 50\% cheaper in the API. GPT-4o is especially better at vision and audio understanding compared to existing models. In line with our commitment to building AI safely and consistent with our voluntary commitments to the White House, we are sharing the GPT-4o System Card, which includes our Preparedness Framework evaluations. In this System Card, we provide a detailed look at GPT-4o's capabilities, limitations, and safety evaluations across multiple categories, focusing on speech-to-speech while also evaluating text and image capabilities, and measures we've implemented to ensure the model is safe and aligned. We also include third-party assessments on dangerous capabilities, as well as discussion of potential societal impacts of GPT-4o's text and vision capabilities.

Cardiovascular diseases are best diagnosed using multiple modalities that assess both the heart's electrical and mechanical functions. While effective, imaging techniques like echocardiography and nuclear imaging are costly and not widely accessible. More affordable technologies, such as simultaneous electrocardiography (ECG) and phonocardiography (PCG), may provide valuable insights into electromechanical coupling and could be useful for prescreening in low-resource settings. Using physical stress test data from the EPHNOGRAM ECG-PCG dataset, collected from 23 healthy male subjects (age: 25.4+/-1.9 yrs), we investigated electromechanical intervals (RR, QT, systolic, and diastolic) and their interactions during exercise, along with hysteresis between cardiac electrical activity and mechanical responses. Time delay analysis revealed distinct temporal relationships between QT, systolic, and diastolic intervals, with RR as the primary driver. The diastolic interval showed near-synchrony with RR, while QT responded to RR interval changes with an average delay of 10.5s, and the systolic interval responded more slowly, with an average delay of 28.3s. We examined QT-RR, systolic-RR, and diastolic-RR hysteresis, finding narrower loops for diastolic RR and wider loops for systolic RR. Significant correlations (average:0.75) were found between heart rate changes and hysteresis loop areas, suggesting the equivalent circular area diameter as a promising biomarker for cardiac function under exercise stress. Deep learning models, including Long Short-Term Memory and Convolutional Neural Networks, estimated the QT, systolic, and diastolic intervals from RR data, confirming the nonlinear relationship between RR and other intervals. Findings highlight a significant cardiac memory effect, linking ECG and PCG morphology and timing to heart rate history.

In this paper, we conduct a comprehensive investigation into the weak cosmic censorship conjecture (WCCC) for Reissner-Nordstr\"om (R-N) AdS black holes that are influenced by Perfect Fluid Dark Matter (PFDM). Our study is framed within the context of Conformal Field Theory (CFT) thermodynamics. We delve into the principles of energy flux and mass-energy equivalence to explore the interplay between the weak gravity conjecture (WGC) and the WCCC. Our analysis begins by examining the interaction between incoming and outgoing energy fluxes, which induces changes in the black hole's properties. By applying the first law of thermodynamics, we assess the validity of the second law in these dynamic scenarios. We also consider equilibrium conditions that involve both absorption and superradiance processes. Utilizing the framework of black hole thermodynamics within CFT, we demonstrate that the WCCC is upheld if the black hole is in or near an extremal state, particularly when it is subjected to radiation and particle absorption. This finding is significant as it reinforces the robustness of the WCCC under these specific conditions. Furthermore, we uncover additional insights by employing mass-energy equivalence principles and conducting second-order approximations near the extremality state. Specifically, we find that when a black hole radiates and its central charge surpasses the scaled electric charge, the emitted superradiant particles adhere to the WGC. This adherence results in the black hole moving away from its extremal state, thereby maintaining the WCCC.

We consider multi-draft speculative sampling, where the proposal sequences are sampled independently from different draft models. At each step, a token-level draft selection scheme takes a list of valid tokens as input and produces an output token whose distribution matches that of the target model. Previous works have demonstrated that the optimal scheme (which maximizes the probability of accepting one of the input tokens) can be cast as a solution to a linear program. In this work we show that the optimal scheme can be decomposed into a two-step solution: in the first step an importance sampling (IS) type scheme is used to select one intermediate token; in the second step (single-draft) speculative sampling is applied to generate the output token. For the case of two identical draft models we further 1) establish a necessary and sufficient condition on the distributions of the target and draft models for the acceptance probability to equal one and 2) provide an explicit expression for the optimal acceptance probability. Our theoretical analysis also motives a new class of token-level selection scheme based on weighted importance sampling. Our experimental results demonstrate consistent improvements in the achievable block efficiency and token rates over baseline schemes in a number of scenarios.

In cybersecurity, security analysts face the challenge of mitigating newly discovered vulnerabilities in real-time, with over 300,000 Common Vulnerabilities and Exposures (CVEs) identified since 1999. The sheer volume of known vulnerabilities complicates the detection of patterns for unknown threats. While LLMs can assist, they often hallucinate and lack alignment with recent threats. Over 25,000 vulnerabilities have been identified so far in 2024, which are introduced after popular LLMs' (e.g., GPT-4) training data cutoff. This raises a major challenge of leveraging LLMs in cybersecurity, where accuracy and up-to-date information are paramount. In this work, we aim to improve the adaptation of LLMs in vulnerability analysis by mimicking how analysts perform such tasks. We propose ProveRAG, an LLM-powered system designed to assist in rapidly analyzing CVEs with automated retrieval augmentation of web data while self-evaluating its responses with verifiable evidence. ProveRAG incorporates a self-critique mechanism to help alleviate omission and hallucination common in the output of LLMs applied in cybersecurity applications. The system cross-references data from verifiable sources (NVD and CWE), giving analysts confidence in the actionable insights provided. Our results indicate that ProveRAG excels in delivering verifiable evidence to the user with over 99% and 97% accuracy in exploitation and mitigation strategies, respectively. This system outperforms direct prompting and chunking retrieval in vulnerability analysis by overcoming temporal and context-window limitations. ProveRAG guides analysts to secure their systems more effectively while documenting the process for future audits.

Large Language Models with chain-of-thought prompting, such as OpenAI-o1, have shown impressive capabilities in natural language inference tasks. However, Multi-hop Question Answering (MHQA) remains challenging for many existing models due to issues like hallucination, error propagation, and limited context length. To address these challenges and enhance LLMs' performance on MHQA, we propose the Self-Guiding prompting Finite State Machine (SG-FSM), designed to strengthen multi-hop reasoning abilities. Unlike traditional chain-of-thought methods, SG-FSM tackles MHQA by iteratively breaking down complex questions into sub-questions, correcting itself to improve accuracy. It processes one sub-question at a time, dynamically deciding the next step based on the current context and results, functioning much like an automaton. Experiments across various benchmarks demonstrate the effectiveness of our approach, outperforming strong baselines on challenging datasets such as Musique. SG-FSM reduces hallucination, enabling recovery of the correct final answer despite intermediate errors. It also improves adherence to specified output formats, simplifying evaluation significantly.

Involving subject matter experts in prompt engineering can guide LLM outputs toward more helpful, accurate, and tailored content that meets the diverse needs of different domains. However, iterating towards effective prompts can be challenging without adequate interface support for systematic experimentation within specific task contexts. In this work, we introduce PromptHive, a collaborative interface for prompt authoring, designed to better connect domain knowledge with prompt engineering through features that encourage rapid iteration on prompt variations. We conducted an evaluation study with ten subject matter experts in math and validated our design through two collaborative prompt-writing sessions and a learning gain study with 358 learners. Our results elucidate the prompt iteration process and validate the tool's usability, enabling non-AI experts to craft prompts that generate content comparable to human-authored materials while reducing perceived cognitive load by half and shortening the authoring process from several months to just a few hours.

We explore the problem of distributed Hypothesis Testing (DHT) against independence, focusing specifically on Binary Symmetric Sources (BSS). Our investigation aims to characterize the optimal quantizer among binary linear codes, with the objective of identifying optimal error probabilities under the Neyman-Pearson (NP) criterion for short code-length regime. We define optimality as the direct minimization of analytical expressions of error probabilities using an alternating optimization (AO) algorithm. Additionally, we provide lower and upper bounds on error probabilities, leading to the derivation of error exponents applicable to large code-length regime. Numerical results are presented to demonstrate that, with the proposed algorithm, binary linear codes with an optimal covering radius perform near-optimally for the independence test in DHT., Comment: 10 pages, 3 figures, 1 pseudo code, 1 table, ITW 2024, accepted to be presented