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In this paper, we investigate the Hawking radiation of the quantum Oppenheimer- Snyde black hole with the tunneling scheme by Parikh and Wilczek. We calculate the emission rate of massless scalar particles. Compared to the traditional results within the framework of General Relativity, our findings include quantum correction terms arising from loop quantum gravity effects. Following the approach in [1, 2], we establish the entropy of the black hole. This entropy includes a logarithmic correction, which arises from quantum gravity effects. Our result is consistent with the well-known result in the context of quantum gravity., Comment: 7+1 pages, no figure

The daily measurements of the disc-integrated solar radio flux, observed by the Radio Solar Telescope Network (RSTN), at 245, 410, 610, 1415, 2695, 4995, and 8800 MHz during the time interval of 1989 January 1 to 2019 December 17, are used to investigate the temporal evolution of radial differential rotation of solar corona using the methods of Ensemble Empirical Mode Decomposition and wavelet analysis. Overall, the results reveal that over the 30-year period, the rotation rates for the observed solar radio flux within the frequency range of 245\textendash8800 MHz show an increase with frequency. This verifies the existence of the radial differential rotation of the solar corona over long timescales of nearly 3 solar cycles. Based on the radio emission mechanism, to some extent, the results can also serve as an indicator of how the rotation of the solar upper atmosphere varies with altitude within a specific range. From the temporal variation of rotation cycle lengths of radio flux, the coronal rotation at different altitudes from the low corona to approximately 1.3 $R_{\odot}$ exhibits complex temporal variations with the progression of the solar cycle. However, in this altitude range, over the past 30 years from 1989 to 2019, the coronal rotation consistently becomes gradually slower as the altitude increases. Finally, the EEMD method can extract rotation cycle signals from these highly randomized radio emissions, and so it can be used to investigate the rotation periods for the radio emissions at higher or lower frequencies., Comment: 18 pages, 6 figures, accepted for publication in ApJ

Federated Graph Learning (FGL) is a distributed machine learning paradigm based on graph neural networks, enabling secure and collaborative modeling of local graph data among clients. However, label noise can degrade the global model's generalization performance. Existing federated label noise learning methods, primarily focused on computer vision, often yield suboptimal results when applied to FGL. To address this, we propose a robust federated graph learning method with label noise, termed FedRGL. FedRGL introduces dual-perspective consistency noise node filtering, leveraging both the global model and subgraph structure under class-aware dynamic thresholds. To enhance client-side training, we incorporate graph contrastive learning, which improves encoder robustness and assigns high-confidence pseudo-labels to noisy nodes. Additionally, we measure model quality via predictive entropy of unlabeled nodes, enabling adaptive robust aggregation of the global model. Comparative experiments on multiple real-world graph datasets show that FedRGL outperforms 12 baseline methods across various noise rates, types, and numbers of clients.

This paper introduces a comprehensive artificial intelligence operating system tailored for low-altitude aviation applications, integrating cutting-edge technologies for enhanced performance, safety, and efficiency. The system comprises six core components: OrinFlight OS, a high-performance operating system optimized for real-time task execution; UnitedVision, a versatile visual processing module supporting advanced image analysis; UnitedSense, a multi-sensor fusion module providing precise environmental modeling; UnitedNavigator, a dynamic path-planning and navigation system; UnitedMatrix, enabling multi-drone coordination and task execution; and UnitedInSight, a ground station for monitoring and management. Complemented by the UA DevKit low-code platform, the system facilitates user-friendly customization and application development. Leveraging NVIDIA Orin's computational power and advanced AI algorithms, this system addresses complex challenges in modern aviation, offering robust solutions for navigation, perception, and collaborative operations. This work highlights the system's architecture, features, and potential applications, demonstrating its ability to meet the demands of intelligent aviation environments.

Recent advancements in all-in-one image restoration models have revolutionized the ability to address diverse degradations through a unified framework. However, parameters tied to specific tasks often remain inactive for other tasks, making mixture-of-experts (MoE) architectures a natural extension. Despite this, MoEs often show inconsistent behavior, with some experts unexpectedly generalizing across tasks while others struggle within their intended scope. This hinders leveraging MoEs' computational benefits by bypassing irrelevant experts during inference. We attribute this undesired behavior to the uniform and rigid architecture of traditional MoEs. To address this, we introduce ``complexity experts" -- flexible expert blocks with varying computational complexity and receptive fields. A key challenge is assigning tasks to each expert, as degradation complexity is unknown in advance. Thus, we execute tasks with a simple bias toward lower complexity. To our surprise, this preference effectively drives task-specific allocation, assigning tasks to experts with the appropriate complexity. Extensive experiments validate our approach, demonstrating the ability to bypass irrelevant experts during inference while maintaining superior performance. The proposed MoCE-IR model outperforms state-of-the-art methods, affirming its efficiency and practical applicability. The source will be publicly made available at \href{https://eduardzamfir.github.io/moceir/}{\texttt{eduardzamfir.github.io/MoCE-IR/}}

We fill a gap in the study of the Hausdorff dimension of the set of exact approximation order considered by Fregoli [Proc. Amer. Math. Soc. 152 (2024), no. 8, 3177--3182].

We introduce a general-purpose, human-in-the-loop dual dialogue system to support mental health care professionals. The system, co-designed with care providers, is conceptualized to assist them in interacting with care seekers rather than functioning as a fully automated dialogue system solution. The AI assistant within the system reduces the cognitive load of mental health care providers by proposing responses, analyzing conversations to extract pertinent themes, summarizing dialogues, and recommending localized relevant content and internet-based cognitive behavioral therapy exercises. These functionalities are achieved through a multi-agent system design, where each specialized, supportive agent is characterized by a large language model. In evaluating the multi-agent system, we focused specifically on the proposal of responses to emotionally distressed care seekers. We found that the proposed responses matched a reasonable human quality in demonstrating empathy, showing its appropriateness for augmenting the work of mental health care providers., Comment: Update: Render figures properly and update title

Thispaperaimstoresearchandimplementa real-timevideotargettrackingalgorithmbasedon ConvolutionalNeuralNetworks(CNN),enhancingthe accuracyandrobustnessoftargettrackingincomplex scenarios.Addressingthelimitationsoftraditionaltracking algorithmsinhandlingissuessuchastargetocclusion,morphologicalchanges,andbackgroundinterference,our approachintegratestargetdetectionandtrackingstrategies.It continuouslyupdatesthetargetmodelthroughanonline learningmechanismtoadapttochangesinthetarget's appearance.Experimentalresultsdemonstratethat,when dealingwithsituationsinvolvingrapidmotion,partial occlusion,andcomplexbackgrounds,theproposedalgorithm exhibitshighertrackingsuccessratesandlowerfailurerates comparedtoseveralmainstreamtrackingalgorithms.This studysuccessfullyappliesCNNtoreal-timevideotarget tracking,improvingtheaccuracyandstabilityofthetracking algorithmwhilemaintaininghighprocessingspeeds,thus meetingthedemandsofreal-timeapplications.Thisalgorithm isexpectedtoprovidenewsolutionsfortargettrackingtasksin videosurveillanceandintelligenttransportationdomains.

Purpose: Analyzing noninvasive longitudinal and multimodal data using artificial intelligence could potentially transform immunotherapy for cancer patients, paving the way towards precision medicine. Methods: In this study, we integrated pre- and on-treatment blood measurements, prescribed medications and CT-based volumes of organs from a large pan-cancer cohort of 694 patients treated with immunotherapy to predict short and long-term overall survival. By leveraging a combination of recent developments, different variants of our extended multimodal transformer-based simple temporal attention (MMTSimTA) network were trained end-to-end to predict mortality at three, six, nine and twelve months. These models were also compared to baseline methods incorporating intermediate and late fusion based integration methods. Results: The strongest prognostic performance was demonstrated using the extended transformer-based multimodal model with area under the curves (AUCs) of $0.84 \pm $0.04, $0.83 \pm $0.02, $0.82 \pm $0.02, $0.81 \pm $0.03 for 3-, 6-, 9-, and 12-month survival prediction, respectively. Conclusion: Our findings suggest that analyzing integrated early treatment data has potential for predicting survival of immunotherapy patients. Integrating complementary noninvasive modalities into a jointly trained model, using our extended transformer-based architecture, demonstrated an improved multimodal prognostic performance, especially in short term survival prediction.

EEG signals have emerged as a powerful tool in affective brain-computer interfaces, playing a crucial role in emotion recognition. However, current deep transfer learning-based methods for EEG recognition face challenges due to the reliance of both source and target data in model learning, which significantly affect model performance and generalization. To overcome this limitation, we propose a novel framework (PL-DCP) and introduce the concepts of feature disentanglement and prototype inference. The dual prototyping mechanism incorporates both domain and class prototypes: domain prototypes capture individual variations across subjects, while class prototypes represent the ideal class distributions within their respective domains. Importantly, the proposed PL-DCP framework operates exclusively with source data during training, meaning that target data remains completely unseen throughout the entire process. To address label noise, we employ a pairwise learning strategy that encodes proximity relationships between sample pairs, effectively reducing the influence of mislabeled data. Experimental validation on the SEED and SEED-IV datasets demonstrates that PL-DCP, despite not utilizing target data during training, achieves performance comparable to deep transfer learning methods that require both source and target data. This highlights the potential of PL-DCP as an effective and robust approach for EEG-based emotion recognition.

The atomic superfluid quantum interference device (ASQUID) with tunable Josephson junctions is theoretically investigated. ASQUID is a device that can be used for the detection of rotation. In this work we establish an analytical theory for the ASQUID using the tunneling Hamiltonian method and find two physical quantities that can be used for the rotation sensing. The first one is the critical population bias, which characterizes the transition between the self-trapping and the Josephson oscillation regimes and demonstrates a periodic modulation behavior due to the rotation of the system. We discuss the variation of critical population bias when the tunneling strengths of the junctions are tuned in different values, and find that the symmetric junctions are better choice than the asymmetric ones in terms of rotation sensing. Furthermore, how the initial phase difference between the two condensates affects the measurement of rotation is also discussed. Finally, we investigate the case of time-dependent junctions and find there is another physical quantity, named critical time, that can be used to detect the rotation., Comment: 6 pages, 5 figures

We introduce PhysMotion, a novel framework that leverages principled physics-based simulations to guide intermediate 3D representations generated from a single image and input conditions (e.g., applied force and torque), producing high-quality, physically plausible video generation. By utilizing continuum mechanics-based simulations as a prior knowledge, our approach addresses the limitations of traditional data-driven generative models and result in more consistent physically plausible motions. Our framework begins by reconstructing a feed-forward 3D Gaussian from a single image through geometry optimization. This representation is then time-stepped using a differentiable Material Point Method (MPM) with continuum mechanics-based elastoplasticity models, which provides a strong foundation for realistic dynamics, albeit at a coarse level of detail. To enhance the geometry, appearance and ensure spatiotemporal consistency, we refine the initial simulation using a text-to-image (T2I) diffusion model with cross-frame attention, resulting in a physically plausible video that retains intricate details comparable to the input image. We conduct comprehensive qualitative and quantitative evaluations to validate the efficacy of our method. Our project page is available at: https://supertan0204.github.io/physmotion_website/., Comment: Project Page: https://supertan0204.github.io/physmotion_website/

The widespread dissemination of hate speech, harassment, harmful and sexual content, and violence across websites and media platforms presents substantial challenges and provokes widespread concern among different sectors of society. Governments, educators, and parents are often at odds with media platforms about how to regulate, control, and limit the spread of such content. Technologies for detecting and censoring the media contents are a key solution to addressing these challenges. Techniques from natural language processing and computer vision have been used widely to automatically identify and filter out sensitive content such as offensive languages, violence, nudity, and addiction in both text, images, and videos, enabling platforms to enforce content policies at scale. However, existing methods still have limitations in achieving high detection accuracy with fewer false positives and false negatives. Therefore, more sophisticated algorithms for understanding the context of both text and image may open rooms for improvement in content censorship to build a more efficient censorship system. In this paper, we evaluate existing LLM-based content moderation solutions such as OpenAI moderation model and Llama-Guard3 and study their capabilities to detect sensitive contents. Additionally, we explore recent LLMs such as GPT, Gemini, and Llama in identifying inappropriate contents across media outlets. Various textual and visual datasets like X tweets, Amazon reviews, news articles, human photos, cartoons, sketches, and violence videos have been utilized for evaluation and comparison. The results demonstrate that LLMs outperform traditional techniques by achieving higher accuracy and lower false positive and false negative rates. This highlights the potential to integrate LLMs into websites, social media platforms, and video-sharing services for regulatory and content moderation purposes., Comment: 55 pages, 16 figures

A new analysis of a sample of visual light curves of Mira variables is presented. The curves cover the past four decades and are selected from the AAVSO database as including a very large number of high-density and high-quality observations. The aim of the analysis is to offer a more precise, more quantitative and more systematic picture than available from earlier studies. The results corroborate earlier descriptions and reveal new correlations between the shapes of the light curves and the evolution of the star along the Asymptotic Giant Branch (AGB). A family of nearly sinusoidal curves associated with M spectral types and displaying no sign of having experienced third-dredge-up events, is identified with good confidence. A detailed study of its properties is presented and used to suggest possible interpretations. All other curves are clearly distinct from this family and usually start departing from it by displaying a broader luminosity minimum, progressively taking the form of a hump climbing the ascending branch as the star evolves along the AGB. The properties displayed by this hump are studied in some detail and possible interpretations are considered. New correlations between parameters defining the shape of the light curve and the state of the star are revealed; while the average trend is established with good confidence, deviations from it cause a significant scatter of the parameters defining the shapes of the curves. Comments aimed at shedding light on the underlying physics are presented together with speculative interpretations, in the hope that they could encourage and inspire new studies, in particular based on simulations using state-of-the-art models of the inner star dynamics., Comment: 30 pages, 23 figures

Evaluating massive-scale point cloud maps in Simultaneous Localization and Mapping (SLAM) remains challenging, primarily due to the absence of unified, robust and efficient evaluation frameworks. We present MapEval, an open-source framework for comprehensive quality assessment of point cloud maps, specifically addressing SLAM scenarios where ground truth map is inherently sparse compared to the mapped environment. Through systematic analysis of existing evaluation metrics in SLAM applications, we identify their fundamental limitations and establish clear guidelines for consistent map quality assessment. Building upon these insights, we propose a novel Gaussian-approximated Wasserstein distance in voxelized space, enabling two complementary metrics under the same error standard: Voxelized Average Wasserstein Distance (AWD) for global geometric accuracy and Spatial Consistency Score (SCS) for local consistency evaluation. This theoretical foundation leads to significant improvements in both robustness against noise and computational efficiency compared to conventional metrics. Extensive experiments on both simulated and real-world datasets demonstrate that MapEval achieves at least \SI{100}{}-\SI{500}{} times faster while maintaining evaluation integrity. The MapEval library\footnote{\texttt{https://github.com/JokerJohn/Cloud\_Map\_Evaluation}} will be publicly available to promote standardized map evaluation practices in the robotics community., Comment: 8 pages, 7 figures, 7 tables

This paper aims to address universal segmentation for image and video perception with the strong reasoning ability empowered by Visual Large Language Models (VLLMs). Despite significant progress in current unified segmentation methods, limitations in adaptation to both image and video scenarios, as well as the complex reasoning segmentation, make it difficult for them to handle various challenging instructions and achieve an accurate understanding of fine-grained vision-language correlations. We propose HyperSeg, the first VLLM-based universal segmentation model for pixel-level image and video perception, encompassing generic segmentation tasks and more complex reasoning perception tasks requiring powerful reasoning abilities and world knowledge. Besides, to fully leverage the recognition capabilities of VLLMs and the fine-grained visual information, HyperSeg incorporates hybrid entity recognition and fine-grained visual perceiver modules for various segmentation tasks. Combined with the temporal adapter, HyperSeg achieves a comprehensive understanding of temporal information. Experimental results validate the effectiveness of our insights in resolving universal image and video segmentation tasks, including the more complex reasoning perception tasks. Our code is available.

Object detection and semantic segmentation are both scene understanding tasks yet they differ in data structure and information level. Object detection requires box coordinates for object instances while semantic segmentation requires pixel-wise class labels. Making use of one task's information to train the other would be beneficial for multi-task partially supervised learning where each training example is annotated only for a single task, having the potential to expand training sets with different-task datasets. This paper studies various weak losses for partially annotated data in combination with existing supervised losses. We propose Box-for-Mask and Mask-for-Box strategies, and their combination BoMBo, to distil necessary information from one task annotations to train the other. Ablation studies and experimental results on VOC and COCO datasets show favorable results for the proposed idea. Source code and data splits can be found at https://github.com/lhoangan/multas., Comment: Accepted for publishing in BMVC 2024

Accurate identification of software vulnerabilities is crucial for system integrity. Vulnerability datasets, often derived from the National Vulnerability Database (NVD) or directly from GitHub, are essential for training machine learning models to detect these security flaws. However, these datasets frequently suffer from significant noise, typically 40% to 75%, due primarily to the automatic and indiscriminate labeling of all changes in vulnerability-fixing commits (VFCs) as vulnerability-related. This misclassification occurs because not all changes in a commit aimed at fixing vulnerabilities pertain to security threats; many are routine updates like bug fixes or test improvements. This paper introduces the first methodology that uses the Large Language Model (LLM) with a heuristic enhancement to automatically identify vulnerability-fixing changes from VFCs, achieving an F1-score of 0.82. VulSifter was applied to a large-scale study, where we conducted a crawl of 127,063 repositories on GitHub, resulting in the acquisition of 5,352,105 commits. VulSifter involves utilizing an LLM to comprehend code semantics and contextual information, while applying heuristics to filter out unrelated changes. We then developed CleanVul, a high-quality dataset comprising 11,632 functions using our LLM heuristic enhancement approach, demonstrating Correctness (90.6%) comparable to established datasets such as SVEN and PrimeVul. To evaluate the CleanVul dataset, we conducted experiments focusing on fine-tuning various LLMs on CleanVul and other high-quality datasets. Evaluation results reveal that LLMs fine-tuned on CleanVul not only exhibit enhanced accuracy but also superior generalization capabilities compared to those trained on uncleaned datasets. Specifically, models trained on CleanVul and tested on PrimeVul achieve accuracy higher than those trained and tested exclusively on PrimeVul.

We present Buffer Anytime, a framework for estimation of depth and normal maps (which we call geometric buffers) from video that eliminates the need for paired video--depth and video--normal training data. Instead of relying on large-scale annotated video datasets, we demonstrate high-quality video buffer estimation by leveraging single-image priors with temporal consistency constraints. Our zero-shot training strategy combines state-of-the-art image estimation models based on optical flow smoothness through a hybrid loss function, implemented via a lightweight temporal attention architecture. Applied to leading image models like Depth Anything V2 and Marigold-E2E-FT, our approach significantly improves temporal consistency while maintaining accuracy. Experiments show that our method not only outperforms image-based approaches but also achieves results comparable to state-of-the-art video models trained on large-scale paired video datasets, despite using no such paired video data.

In this paper, we present DM-Calib, a diffusion-based approach for estimating pinhole camera intrinsic parameters from a single input image. Monocular camera calibration is essential for many 3D vision tasks. However, most existing methods depend on handcrafted assumptions or are constrained by limited training data, resulting in poor generalization across diverse real-world images. Recent advancements in stable diffusion models, trained on massive data, have shown the ability to generate high-quality images with varied characteristics. Emerging evidence indicates that these models implicitly capture the relationship between camera focal length and image content. Building on this insight, we explore how to leverage the powerful priors of diffusion models for monocular pinhole camera calibration. Specifically, we introduce a new image-based representation, termed Camera Image, which losslessly encodes the numerical camera intrinsics and integrates seamlessly with the diffusion framework. Using this representation, we reformulate the problem of estimating camera intrinsics as the generation of a dense Camera Image conditioned on an input image. By fine-tuning a stable diffusion model to generate a Camera Image from a single RGB input, we can extract camera intrinsics via a RANSAC operation. We further demonstrate that our monocular calibration method enhances performance across various 3D tasks, including zero-shot metric depth estimation, 3D metrology, pose estimation and sparse-view reconstruction. Extensive experiments on multiple public datasets show that our approach significantly outperforms baselines and provides broad benefits to 3D vision tasks. Code is available at https://github.com/JunyuanDeng/DM-Calib.

According to the Schr\"odinger-Poisson equations, fuzzy dark matter (FDM) can form a stable equilibrium configuration, the so-called FDM soliton. In principle, given the FDM particle mass, the profile of FDM soliton is fixed. In practice, however, there is a great diversity of structures in the Universe. In this paper, we enumerate some possible causes of such diversity, such as the effects of the gravitoelectric field, the gravitomagnetic field, an extra denser and compact FDM soliton and an ellipsoidal baryon background. And we find that the effects of the gravitomagnetic field are very weak but the effects of the others are considerable., Comment: 11 pages, 6 figures

We propose a novel zero-order control barrier function (ZOCBF) for sampled-data systems to ensure system safety. Our formulation generalizes conventional control barrier functions and straightforwardly handles safety constraints with high-relative degrees or those that explicitly depend on both system states and inputs. The proposed ZOCBF condition does not require any differentiation operation. Instead, it involves computing the difference of the ZOCBF values at two consecutive sampling instants. We propose three numerical approaches to enforce the ZOCBF condition, tailored to different problem settings and available computational resources. We demonstrate the effectiveness of our approach through a collision avoidance example and a rollover prevention example on uneven terrains., Comment: Submitted to ACC 2025

Accurate diagnosis and prognosis assisted by pathology images are essential for cancer treatment selection and planning. Despite the recent trend of adopting deep-learning approaches for analyzing complex pathology images, they fall short as they often overlook the domain-expert understanding of tissue structure and cell composition. In this work, we focus on a challenging Open-ended Pathology VQA (PathVQA-Open) task and propose a novel framework named Path-RAG, which leverages HistoCartography to retrieve relevant domain knowledge from pathology images and significantly improves performance on PathVQA-Open. Admitting the complexity of pathology image analysis, Path-RAG adopts a human-centered AI approach by retrieving domain knowledge using HistoCartography to select the relevant patches from pathology images. Our experiments suggest that domain guidance can significantly boost the accuracy of LLaVA-Med from 38% to 47%, with a notable gain of 28% for H&E-stained pathology images in the PathVQA-Open dataset. For longer-form question and answer pairs, our model consistently achieves significant improvements of 32.5% in ARCH-Open PubMed and 30.6% in ARCH-Open Books on H\&E images. Our code and dataset is available here (https://github.com/embedded-robotics/path-rag).

The deterministic generation of robust soliton comb has significant meaning for the optical frequency combs to be widely used in various applications. As a novel form of microcomb, Soliton crystal holds the advantages of easy generation, high conversion efficiency, and excellent thermal robustness. Here, we report the turnkey deterministic generation of "Palm-like" soliton crystal with a free-running scheme. The robustness of the turnkey soliton crystal generation is also investigated in multiple aspects, including the success rate, the thermal robustness, and the long-term stability. The experiment results reveal our turnkey soliton crystal can achieve nearly a 100% success rate with a power variation less than 1.5 dB over one hundred trials of two samples, is insensitive to thermal effect, and is robust to the environment during four-hour laboratory time., Comment: 10 pages, 5 figures

Traditional offline redundancy resolution of trajectories for redundant manipulators involves computing inverse kinematic solutions for Cartesian space paths, constraining the manipulator to a fixed path without real-time adjustments. Online redundancy resolution can achieve real-time adjustment of paths, but it cannot consider subsequent path points, leading to the possibility of the manipulator being forced to stop mid-motion due to joint constraints. To address this, this paper introduces a dynamic programming-based offline redundancy resolution for redundant manipulators along prescribed paths with real-time adjustment. The proposed method allows the manipulator to move along a prescribed path while implementing real-time adjustment along the normal to the path. Using Dynamic Programming, the proposed approach computes a global maximum for the variation of adjustment coefficients. As long as the coefficient variation between adjacent sampling path points does not exceed this limit, the algorithm provides the next path point's joint angles based on the current joint angles, enabling the end-effector to achieve the adjusted Cartesian pose. The main innovation of this paper lies in augmenting traditional offline optimal planning with real-time adjustment capabilities, achieving a fusion of offline planning and online planning.

This paper proposes a redundancy resolution algorithm for a redundant manipulator based on dynamic programming. This algorithm can compute the desired joint angles at each point on a pre-planned discrete path in Cartesian space, while ensuring that the angles, velocities, and accelerations of each joint do not exceed the manipulator's constraints. We obtain the analytical solution to the inverse kinematics problem of the manipulator using a parameterization method, transforming the redundancy resolution problem into an optimization problem of determining the parameters at each path point. The constraints on joint velocity and acceleration serve as constraints for the optimization problem. Then all feasible inverse kinematic solutions for each pose under the joint angle constraints of the manipulator are obtained through parameterization methods, and the globally optimal solution to this problem is obtained through the dynamic programming algorithm. On the other hand, if a feasible joint-space path satisfying the constraints does not exist, the proposed algorithm can compute the minimum number of breakpoints required for the path and partition the path with as few breakpoints as possible to facilitate the manipulator's operation along the path. The algorithm can also determine the optimal selection of breakpoints to minimize the global cost function, rather than simply interrupting when the manipulator is unable to continue operating. The proposed algorithm is tested using a manipulator produced by a certain manufacturer, demonstrating the effectiveness of the algorithm.

Reward modeling is crucial for aligning large language models (LLMs) with human preferences, especially in reinforcement learning from human feedback (RLHF). However, current reward models mainly produce scalar scores and struggle to incorporate critiques in a natural language format. We hypothesize that predicting both critiques and the scalar reward would improve reward modeling ability. Motivated by this, we propose Critic-RM, a framework that improves reward models using self-generated critiques without extra supervision. Critic-RM employs a two-stage process: generating and filtering high-quality critiques, followed by joint fine-tuning on reward prediction and critique generation. Experiments across benchmarks show that Critic-RM improves reward modeling accuracy by 3.7%-7.3% compared to standard reward models and LLM judges, demonstrating strong performance and data efficiency. Additional studies further validate the effectiveness of generated critiques in rectifying flawed reasoning steps with 2.5%-3.2% gains in improving reasoning accuracy., Comment: 20 pages

Assessment and evaluation have long been critical challenges in artificial intelligence (AI) and natural language processing (NLP). However, traditional methods, whether matching-based or embedding-based, often fall short of judging subtle attributes and delivering satisfactory results. Recent advancements in Large Language Models (LLMs) inspire the "LLM-as-a-judge" paradigm, where LLMs are leveraged to perform scoring, ranking, or selection across various tasks and applications. This paper provides a comprehensive survey of LLM-based judgment and assessment, offering an in-depth overview to advance this emerging field. We begin by giving detailed definitions from both input and output perspectives. Then we introduce a comprehensive taxonomy to explore LLM-as-a-judge from three dimensions: what to judge, how to judge and where to judge. Finally, we compile benchmarks for evaluating LLM-as-a-judge and highlight key challenges and promising directions, aiming to provide valuable insights and inspire future research in this promising research area. Paper list and more resources about LLM-as-a-judge can be found at \url{https://github.com/llm-as-a-judge/Awesome-LLM-as-a-judge} and \url{https://llm-as-a-judge.github.io}., Comment: v3: add missing citations; 32 pages, 5 figures

Isolated planetary-mass objects share their mass range with planets but do not orbit a star. They lack the necessary mass to support fusion in their cores and thermally radiate their heat from formation as they cool, primarily at infrared wavelengths. Many isolated planetary-mass objects show variations in their infrared brightness consistent with non-uniform atmospheric features modulated by their rotation. SIMP J013656.5+093347.3 is a rapidly rotating isolated planetary-mass object, and previous infrared monitoring suggests complex atmospheric features rotating in and out of view. The physical nature of these features is not well understood, with clouds, temperature variations, thermochemical instabilities, and infrared-emitting aurora all proposed as contributing mechanisms. Here we report JWST time-resolved low-resolution spectroscopy from 0.8 - 11 micron of SIMP J013656.5+093347.3 which supports the presence of three specific features in the atmosphere: clouds, hot spots, and changing carbon chemistry. We show that no single mechanism can explain the variations in the time-resolved spectra. When combined with previous studies of this object indicating patchy clouds and aurorae, these measurements reveal the rich complexity of the atmosphere of SIMP J013656.5+093347.3. Gas giant planets in the solar system, specifically Jupiter and Saturn, also have multiple cloud layers and high-altitude hot spots, suggesting these phenomena are also present in worlds both within and beyond our solar-system., Comment: Accepted to ApJ Letters

We investigate whether the Pre-Big Bang (PBB) scenario from string cosmology can explain the stochastic gravitational wave background signal reported in the NANOGrav 15-year dataset. Using Bayesian analysis techniques, we constrain the key parameters of the PBB model by comparing its theoretical predictions with the observed data. Our analysis yields $\beta = -0.12^{+0.06}_{-0.21}$ ($90\%$ credible interval) for the dilaton-dynamics parameter, which lies outside the theoretically allowed range $0 \leq \beta < 3$ with more than $5\sigma$ confidence. Additionally, model comparison strongly favors a simple power-law spectrum over the PBB scenario, with a Bayes factor of approximately $468$. These results demonstrate that the PBB scenario, in its current formulation, cannot adequately explain the NANOGrav observations, highlighting the need for either significant modifications to the model or alternative explanations for the observed signal., Comment: V3, 8 pages, 3 figures, references added, typo corrected

How Supernova Remnant (SNR) shocks impact nearby molecular clouds is still poorly observationally constrained. It is unclear if SNRs can positively or negatively affect clouds star formation potential. We have studied the dense gas morphology and kinematics toward the Infrared Dark Cloud (IRDC) G034.77-00.55, shock-interacting with the SNR W44, to identify evidence of early stage star formation induced by the shock. We have used high-angular resolution N2H+(1-0) images across G034.77-00.55, obtained with ALMA. N2H+ is a well known tracer of dense and cold material, optimal to identify gas with the highest potential to harbour star formation. The N2H+ emission is distributed into two elongated structures, one toward the dense ridge at the edge of the source and one toward the inner cloud. Both elongations are spatially associated with well-defined mass-surface density features. The velocities of the gas in the two structures i.e., 38-41 km s-1 and 41-43 km s-1 are consistent with the lowest velocities of the J- and C-type parts of the SNR-driven shock, respectively. A third velocity component is present at 43-45.5 km s-1. The dense gas shows a fragmented morphology with core-like fragments of scales consistent with the Jeans lengths, masses $\sim$1-20 M$_{\odot}$, densities (n(H$_2$)$\geq$10$^5$ cm$^{-3}$) sufficient to host star formation in free-fall time scales (few 10$^4$ yr) and with virial parameters that hint toward possible collapse. The W44 driven shock may have swept up the encountered material which is now seen as a dense ridge, almost detached from the main cloud, and an elongation within the inner cloud, well constrained in both N2H+ emission and mass surface density. This shock compressed material may have then fragmented into cores that are either in a starless or pre-stellar stage. Additional observations are needed to confirm this scenario and the nature of the cores., Comment: 12 pages, 8 figures, accepted for publication in A&A

To improve the convergence speed and optimization accuracy of the Dung Beetle Optimizer (DBO), this paper proposes an improved algorithm based on circle mapping and longitudinal-horizontal crossover strategy (CICRDBO). First, the Circle method is used to map the initial population to increase diversity. Second, the longitudinal-horizontal crossover strategy is applied to enhance the global search ability by ensuring the position updates of the dung beetle. Simulations were conducted on 10 benchmark test functions, and the results demonstrate that the improved algorithm performs well in both convergence speed and optimization accuracy. The improved algorithm is further applied to the hyperparameter selection of the Random Forest classification algorithm for binary classification prediction in the retail industry. Various combination comparisons prove the practicality of the improved algorithm, followed by SHapley Additive exPlanations (SHAP) analysis.

Urban spatio-temporal (ST) forecasting is crucial for various urban applications such as intelligent scheduling and trip planning. Previous studies focus on modeling ST correlations among urban locations in offline settings, which often neglect the non-stationary nature of urban ST data, particularly, distribution shifts over time. This oversight can lead to degraded performance in real-world scenarios. In this paper, we first analyze the distribution shifts in urban ST data, and then introduce DOST, a novel online continual learning framework tailored for ST data characteristics. DOST employs an adaptive ST network equipped with a variable-independent adapter to address the unique distribution shifts at each urban location dynamically. Further, to accommodate the gradual nature of these shifts, we also develop an awake-hibernate learning strategy that intermittently fine-tunes the adapter during the online phase to reduce computational overhead. This strategy integrates a streaming memory update mechanism designed for urban ST sequential data, enabling effective network adaptation to new patterns while preventing catastrophic forgetting. Experimental results confirm DOST's superiority over state-of-the-art models on four real-world datasets, providing online forecasts within an average of 0.1 seconds and achieving a 12.89% reduction in forecast errors compared to baseline models.

Transformer models have gained significant attention due to their power in machine learning tasks. Their extensive deployment has raised concerns about the potential leakage of sensitive information during inference. However, when being applied to Transformers, existing approaches based on secure two-party computation (2PC) bring about efficiency limitations in two folds: (1) resource-intensive matrix multiplications in linear layers, and (2) complex non-linear activation functions like $\mathsf{GELU}$ and $\mathsf{Softmax}$. This work presents a new two-party inference framework $\mathsf{Nimbus}$ for Transformer models. For the linear layer, we propose a new 2PC paradigm along with an encoding approach to securely compute matrix multiplications based on an outer-product insight, which achieves $2.9\times \sim 12.5\times$ performance improvements compared to the state-of-the-art (SOTA) protocol. For the non-linear layer, through a new observation of utilizing the input distribution, we propose an approach of low-degree polynomial approximation for $\mathsf{GELU}$ and $\mathsf{Softmax}$, which improves the performance of the SOTA polynomial approximation by $2.9\times \sim 4.0\times$, where the average accuracy loss of our approach is 0.08\% compared to the non-2PC inference without privacy. Compared with the SOTA two-party inference, $\mathsf{Nimbus}$ improves the end-to-end performance of \bert{} inference by $2.7\times \sim 4.7\times$ across different network settings., Comment: Accepted by NIPS 2024

Laser excitation of thorium-229 nuclei in doped wide bandgap crystals has been demonstrated recently, opening the possibility of developing ultrastable solid-state clocks and sensitive searches for new physics. We develop a quantitative theory of the internal conversion of isomeric thorium-229 in solid-state hosts. The internal conversion of the isomer proceeds by resonantly exciting a valence band electron to a defect state, accompanied by multi-phonon emission. We demonstrate that, if the process is energetically allowed, it generally quenches the isomer on timescales much faster than the isomer's radiative lifetime, despite thorium being in the +4 charge state in the valence band.

Accurate and consistent evaluation is crucial for decision-making across numerous fields, yet it remains a challenging task due to inherent subjectivity, variability, and scale. Large Language Models (LLMs) have achieved remarkable success across diverse domains, leading to the emergence of "LLM-as-a-Judge," where LLMs are employed as evaluators for complex tasks. With their ability to process diverse data types and provide scalable, cost-effective, and consistent assessments, LLMs present a compelling alternative to traditional expert-driven evaluations. However, ensuring the reliability of LLM-as-a-Judge systems remains a significant challenge that requires careful design and standardization. This paper provides a comprehensive survey of LLM-as-a-Judge, addressing the core question: How can reliable LLM-as-a-Judge systems be built? We explore strategies to enhance reliability, including improving consistency, mitigating biases, and adapting to diverse assessment scenarios. Additionally, we propose methodologies for evaluating the reliability of LLM-as-a-Judge systems, supported by a novel benchmark designed for this purpose. To advance the development and real-world deployment of LLM-as-a-Judge systems, we also discussed practical applications, challenges, and future directions. This survey serves as a foundational reference for researchers and practitioners in this rapidly evolving field., Comment: 33 pages, 9 figures. arXiv admin note: text overlap with arXiv:2310.05470 by other authors

Organs-at-risk segmentation is critical for ensuring the safety and precision of radiotherapy and surgical procedures. However, existing methods for organs-at-risk image segmentation often suffer from uncertainties and biases in target selection, as well as insufficient model validation experiments, limiting their generality and reliability in practical applications. To address these issues, we propose an innovative cascaded network architecture called the Multi-scale Cascaded Fusing Network (MCFNet), which effectively captures complex multi-scale and multi-resolution features. MCFNet includes a Sharp Extraction Backbone and a Flexible Connection Backbone, which respectively enhance feature extraction in the downsampling and skip-connection stages. This design not only improves segmentation accuracy but also ensures computational efficiency, enabling precise detail capture even in low-resolution images. We conduct experiments using the A6000 GPU on diverse datasets from 671 patients, including 36,131 image-mask pairs across 10 different datasets. MCFNet demonstrates strong robustness, performing consistently well across 10 datasets. Additionally, MCFNet exhibits excellent generalizability, maintaining high accuracy in different clinical scenarios. We also introduce an adaptive loss aggregation strategy to further optimize the model training process, improving both segmentation accuracy and efficiency. Through extensive validation, MCFNet demonstrates superior performance compared to existing methods, providing more reliable image-guided support. Our solution aims to significantly improve the precision and safety of radiotherapy and surgical procedures, advancing personalized treatment. The code has been made available on GitHub:https://github.com/Henry991115/MCFNet.

This paper details a technical plan for building a clinical case database for Traditional Chinese Medicine (TCM) using web scraping. Leveraging multiple platforms, including 360doc, we gathered over 5,000 TCM clinical cases, performed data cleaning, and structured the dataset with crucial fields such as patient details, pathogenesis, syndromes, and annotations. Using the $Baidu\_ERNIE\_Speed\_128K$ API, we removed redundant information and generated the final answers through the $DeepSeekv2$ API, outputting results in standard JSON format. We optimized data recall with RAG and rerank techniques during retrieval and developed a hybrid matching scheme. By combining two-stage retrieval method with keyword matching via Jieba, we significantly enhanced the accuracy of model outputs.

A study of $\it{\Lambda}_{\it{b}}^\rm{0}$ and $\it{\Xi}_{\it{b}}^\rm{0}$ decays to $\it{\Lambda} h^{+} h^{\prime -}$ $(h^{(\prime)}=\pi, K)$ is performed using $pp$ collision data collected by the LHCb experiment during LHC Runs 1$-$2, corresponding to an integrated luminosity of $9~\rm{fb}^{-1}$. The branching fractions for these decays are measured using the $\it{\Lambda}_{\it{b}}^\rm{0}\to\it{\Lambda}_{\it{c}}^+(\to\it{\Lambda}\pi^+)\pi^-$ decay as control channel. The decays $\it{\Lambda}_{\it{b}}^\rm{0}\to\it{\Lambda}\pi^+\pi^-$ and $\it{\Xi}_{\it{b}}^\rm{0}\to\it{\Lambda}K^-\pi^+$ are observed for the first time. For decay modes with sufficient signal yields, $CP$ asymmetries are measured in the full and localized regions of the final-state phase space. Evidence is found for $CP$ violation in the $\it{\Lambda}_{\it{b}}^\rm{0}\to\it{\Lambda}K^+K^-$ decay, interpreted as originating primarily from an asymmetric $\it{\Lambda}_{\it{b}}^\rm{0} \to \it{N}^{*+} \it{K}^-$ decay amplitude. The measured $CP$ asymmetries for the other decays are compatible with zero., Comment: All figures and tables, along with any supplementary material and additional information, are available at https://cern.ch/lhcbproject/Publications/p/LHCb-PAPER-2024-043.html (LHCb public pages)

Developing an interpretable system for generating reports in chest X-ray (CXR) analysis is becoming increasingly crucial in Computer-aided Diagnosis (CAD) systems, enabling radiologists to comprehend the decisions made by these systems. Despite the growth of diverse datasets and methods focusing on report generation, there remains a notable gap in how closely these models' generated reports align with the interpretations of real radiologists. In this study, we tackle this challenge by initially introducing Fine-Grained CXR (FG-CXR) dataset, which provides fine-grained paired information between the captions generated by radiologists and the corresponding gaze attention heatmaps for each anatomy. Unlike existing datasets that include a raw sequence of gaze alongside a report, with significant misalignment between gaze location and report content, our FG-CXR dataset offers a more grained alignment between gaze attention and diagnosis transcript. Furthermore, our analysis reveals that simply applying black-box image captioning methods to generate reports cannot adequately explain which information in CXR is utilized and how long needs to attend to accurately generate reports. Consequently, we propose a novel explainable radiologist's attention generator network (Gen-XAI) that mimics the diagnosis process of radiologists, explicitly constraining its output to closely align with both radiologist's gaze attention and transcript. Finally, we perform extensive experiments to illustrate the effectiveness of our method. Our datasets and checkpoint is available at https://github.com/UARK-AICV/FG-CXR., Comment: ACCV 2024

Multi-source logs provide a comprehensive overview of ongoing system activities, allowing for in-depth analysis to detect potential threats. A practical approach for threat detection involves explicit extraction of entity triples (subject, action, object) towards building provenance graphs to facilitate the analysis of system behavior. However, current log parsing methods mainly focus on retrieving parameters and events from raw logs while approaches based on entity extraction are limited to processing a single type of log. To address these gaps, we contribute with a novel unified framework, coined UTLParser. UTLParser adopts semantic analysis to construct causal graphs by merging multiple sub-graphs from individual log sources in labeled log dataset. It leverages domain knowledge in threat hunting such as Points of Interest. We further explore log generation delays and provide interfaces for optimized temporal graph querying. Our experiments showcase that UTLParser overcomes drawbacks of other log parsing methods. Furthermore, UTLParser precisely extracts explicit causal threat information while being compatible with enormous downstream tasks.

We report on a blinded search for dark matter with single- and few-electron signals in the first science run of XENONnT relying on a novel detector response framework that is physics-model-dependent. We derive 90\% confidence upper limits for dark matter-electron interactions. Heavy and light mediator cases are considered for the standard halo model and dark matter up-scattered in the Sun. We set stringent new limits on dark matter-electron scattering via a heavy mediator with a mass within 10-20\,MeV/$c^2$ and electron absorption of axion-like particles and dark photons for $m_\chi$ below 0.186\,keV/$c^2$., Comment: 9 pages, 5 figures

In this paper, we introduce OminiControl, a highly versatile and parameter-efficient framework that integrates image conditions into pre-trained Diffusion Transformer (DiT) models. At its core, OminiControl leverages a parameter reuse mechanism, enabling the DiT to encode image conditions using itself as a powerful backbone and process them with its flexible multi-modal attention processors. Unlike existing methods, which rely heavily on additional encoder modules with complex architectures, OminiControl (1) effectively and efficiently incorporates injected image conditions with only ~0.1% additional parameters, and (2) addresses a wide range of image conditioning tasks in a unified manner, including subject-driven generation and spatially-aligned conditions such as edges, depth, and more. Remarkably, these capabilities are achieved by training on images generated by the DiT itself, which is particularly beneficial for subject-driven generation. Extensive evaluations demonstrate that OminiControl outperforms existing UNet-based and DiT-adapted models in both subject-driven and spatially-aligned conditional generation. Additionally, we release our training dataset, Subjects200K, a diverse collection of over 200,000 identity-consistent images, along with an efficient data synthesis pipeline to advance research in subject-consistent generation.

Open-source software serves as a foundation for the internet and the cyber supply chain, but its exploitation is becoming increasingly prevalent. While advances in vulnerability detection for OSS have been significant, prior research has largely focused on static code analysis, often neglecting runtime indicators. To address this shortfall, we created a comprehensive dataset spanning five ecosystems, capturing features generated during the execution of packages and libraries in isolated environments. The dataset includes 9,461 package reports, of which 1,962 are identified as malicious, and encompasses both static and dynamic features such as files, sockets, commands, and DNS records. Each report is labeled with verified information and detailed sub-labels for attack types, facilitating the identification of malicious indicators when source code is unavailable. This dataset supports runtime detection, enhances detection model training, and enables efficient comparative analysis across ecosystems, contributing to the strengthening of supply chain security.

Contrastive learning has proven instrumental in learning unbiased representations of data, especially in complex environments characterized by high-cardinality and high-dimensional sensitive information. However, existing approaches within this setting require predefined modelling assumptions of bias-causing interactions that limit the model's ability to learn debiased representations. In this work, we propose a new method for fair contrastive learning that employs an attention mechanism to model bias-causing interactions, enabling the learning of a fairer and semantically richer embedding space. In particular, our attention mechanism avoids bias-causing samples that confound the model and focuses on bias-reducing samples that help learn semantically meaningful representations. We verify the advantages of our method against existing baselines in fair contrastive learning and show that our approach can significantly boost bias removal from learned representations without compromising downstream accuracy.

Recent advances in autonomous driving systems have shifted towards reducing reliance on high-definition maps (HDMaps) due to the huge costs of annotation and maintenance. Instead, researchers are focusing on online vectorized HDMap construction using on-board sensors. However, sensor-only approaches still face challenges in long-range perception due to the restricted views imposed by the mounting angles of onboard cameras, just as human drivers also rely on bird's-eye-view navigation maps for a comprehensive understanding of road structures. To address these issues, we propose to train the perception model to "see" standard definition maps (SDMaps). We encode SDMap elements into neural spatial map representations and instance tokens, and then incorporate such complementary features as prior information to improve the bird's eye view (BEV) feature for lane geometry and topology decoding. Based on the lane segment representation framework, the model simultaneously predicts lanes, centrelines and their topology. To further enhance the ability of geometry prediction and topology reasoning, we also use a topology-guided decoder to refine the predictions by exploiting the mutual relationships between topological and geometric features. We perform extensive experiments on OpenLane-V2 datasets to validate the proposed method. The results show that our model outperforms state-of-the-art methods by a large margin, with gains of +6.7 and +9.1 on the mAP and topology metrics. Our analysis also reveals that models trained with SDMap noise augmentation exhibit enhanced robustness., Comment: 17 pages, 7 figures, and 7 tables

We obtain the precise Fourier dimension of the Gaussian multiplicative chaos on the unit interval. Our main result confirms a conjecture of Garban-Vargas., Comment: This is the first version of our work on Fourier dimension of GMC. New version with more comprehensive and simpler proof, together with illustrative pictures and applications, generalizations of the main result will be updated soon

Real-time visual feedback is essential for tetherless control of remotely operated vehicles, particularly during inspection and manipulation tasks. Though acoustic communication is the preferred choice for medium-range communication underwater, its limited bandwidth renders it impractical to transmit images or videos in real-time. To address this, we propose a model-based image compression technique that leverages prior mission information. Our approach employs trained machine-learning based novel view synthesis models, and uses gradient descent optimization to refine latent representations to help generate compressible differences between camera images and rendered images. We evaluate the proposed compression technique using a dataset from an artificial ocean basin, demonstrating superior compression ratios and image quality over existing techniques. Moreover, our method exhibits robustness to introduction of new objects within the scene, highlighting its potential for advancing tetherless remotely operated vehicle operations., Comment: Preprint submitted to IEEE Journal of Oceanic Engineering

Neural network force field models such as DeePMD have enabled highly efficient large-scale molecular dynamics simulations with ab initio accuracy. However, building such models heavily depends on the training data obtained by costly electronic structure calculations, thereby it is crucial to carefully select and label the most representative configurations during model training to improve both extrapolation capability and training efficiency. To address this challenge, based on the Kalman filter theory we propose the Kalman Prediction Uncertainty (KPU) to quantify uncertainty of the model's prediction. With KPU we design the Active Learning by KPU (ALKPU) method, which can efficiently select representative configurations that should be labelled during model training. We prove that ALKPU locally leads to the fastest reduction of model's uncertainty, which reveals its rationality as a general active learning method. We test the ALKPU method using various physical system simulations and demonstrate that it can efficiently coverage the system's configuration space. Our work demonstrates the benefits of ALKPU as a novel active learning method, enhancing training efficiency and reducing computational resource demands.

The resource overhead required to achieve net computational benefits from quantum error correction (QEC) limits its utility while current systems remain constrained in size, despite exceptional progress in experimental demonstrations. In this paper, we demonstrate that the strategic application of QEC primitives without logical encoding can yield significant advantages on superconducting processors--relative to any alternative error-reduction strategy--while only requiring modest overhead. We first present a novel protocol for implementing long-range CNOT gates that relies on a unitarily-prepared Greenberger-Horne-Zeilinger (GHZ) state as well as a unitary disentangling step; the protocol natively introduces an error-detection process using the disentangled qubits as flags. We demonstrate that it achieves state-of-the-art gate fidelities of over 85% across up to 40 lattice sites, significantly and consistently outperforming the best alternative measurement-based protocol without introducing any additional ancilla qubits. We then apply sparse stabilizer measurements to generate large GHZ states by detecting bit-flip and amplitude-damping errors. Employing this technique in combination with deterministic error suppression, we generate a 75-qubit GHZ state exhibiting genuine multipartite entanglement, the largest reported to date. The generation requires no more than 9 ancilla qubits and the fraction of samples discarded due to errors grows no higher than 78%, far lower than previous discard fractions required for tests using comparable numbers of fully encoded qubits. This work in total represents compelling evidence that adopting QEC primitives on current-generation devices can deliver substantial net benefits., Comment: 8 pages, 5 figures (main text) + 9 pages, 10 figures (supplementary)