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Autonomous motorsports aim to replicate the human racecar driver with software and sensors. As in traditional motorsports, Autonomous Racing Vehicles (ARVs) are pushed to their handling limits in multi-agent scenarios at extremely high ($\geq 150mph$) speeds. This Operational Design Domain (ODD) presents unique challenges across the autonomy stack. The Indy Autonomous Challenge (IAC) is an international competition aiming to advance autonomous vehicle development through ARV competitions. While far from challenging what a human racecar driver can do, the IAC is pushing the state of the art by facilitating full-sized ARV competitions. This paper details the MIT-Pitt-RW Team's approach to autonomous racing in the IAC. In this work, we present our modular and fast approach to agent detection, motion planning and controls to create an autonomy stack. We also provide analysis of the performance of the software stack in single and multi-agent scenarios for rapid deployment in a fast-paced competition environment. We also cover what did and did not work when deployed on a physical system the Dallara AV-21 platform and potential improvements to address these shortcomings. Finally, we convey lessons learned and discuss limitations and future directions for improvement., Comment: Published in Journal of Field Robotics

We present a method for generating video sequences with coherent motion between a pair of input key frames. We adapt a pretrained large-scale image-to-video diffusion model (originally trained to generate videos moving forward in time from a single input image) for key frame interpolation, i.e., to produce a video in between two input frames. We accomplish this adaptation through a lightweight fine-tuning technique that produces a version of the model that instead predicts videos moving backwards in time from a single input image. This model (along with the original forward-moving model) is subsequently used in a dual-directional diffusion sampling process that combines the overlapping model estimates starting from each of the two keyframes. Our experiments show that our method outperforms both existing diffusion-based methods and traditional frame interpolation techniques., Comment: project page: https://svd-keyframe-interpolation.github.io/

Reinforcement learning is a widely used approach to autonomous navigation, showing potential in various tasks and robotic setups. Still, it often struggles to reach distant goals when safety constraints are imposed (e.g., the wheeled robot is prohibited from moving close to the obstacles). One of the main reasons for poor performance in such setups, which is common in practice, is that the need to respect the safety constraints degrades the exploration capabilities of an RL agent. To this end, we introduce a novel learnable algorithm that is based on decomposing the initial problem into smaller sub-problems via intermediate goals, on the one hand, and respects the limit of the cumulative safety constraints, on the other hand -- SPEIS(Safe Policy Exploration Improvement via Subgoals). It comprises the two coupled policies trained end-to-end: subgoal and safe. The subgoal policy is trained to generate the subgoal based on the transitions from the buffer of the safe (main) policy that helps the safe policy to reach distant goals. Simultaneously, the safe policy maximizes its rewards while attempting not to violate the limit of the cumulative safety constraints, thus providing a certain level of safety. We evaluate SPEIS in a wide range of challenging (simulated) environments that involve different types of robots in two different environments: autonomous vehicles from the POLAMP environment and car, point, doggo, and sweep from the safety-gym environment. We demonstrate that our method consistently outperforms state-of-the-art competitors and can significantly reduce the collision rate while maintaining high success rates (higher by 80% compared to the best-performing methods)., Comment: 11 pages, 8 figures

We consider the problem of planning collision-free trajectories on distance fields. Our key observation is that querying a distance field at one configuration reveals a region of safe space whose radius is given by the distance value, obviating the need for additional collision checking within the safe region. We refer to such regions as safe bubbles, and show that safe bubbles can be obtained from any Lipschitz-continuous safety constraint. Inspired by sampling-based planning algorithms, we present three algorithms for constructing a safe bubble cover of free space, named bubble roadmap (BRM), rapidly exploring bubble graph (RBG), and expansive bubble graph (EBG). The bubble sampling algorithms are combined with a hierarchical planning method that first computes a discrete path of bubbles, followed by a continuous path within the bubbles computed via convex optimization. Experimental results show that the bubble-based methods yield up to 5- 10 times cost reduction relative to conventional baselines while simultaneously reducing computational efforts by orders of magnitude., Comment: 16 pages, 11 figures. Submitted to International Symposium on Robotics Research 2024

We have performed wide-field, ultra-low surface brightness H$\alpha$ emission line mapping around NGC 1068 with the newly commissioned Circumgalactic H$\alpha$ Spectrograph (\chas). NGC 1068 is notable for its active galactic nucleus, which globally ionizes gas in the disk and halo. Line-emitting diffuse ionized gas is distributed throughout the galactic disk and large-scale ionized filaments are found well beyond the disk, aligned with the cone angle of the central jet. We report the discovery of a new Ribbon of ionized gas around NGC 1068 beyond even the known outer filamentary structure, located 20 kpc from the galaxy. The H$\alpha$ surface brightness of this Ribbon is on the order of the bright Telluric lines, ranging from $[4-16]$ R with fainter regions on the order of the sky background continuum. Unlike previous extended emission, the Ribbon is not as well aligned with the current axis of the central jet. It is not associated with any galactic structure or known tidal features in the halo of NGC 1068, though it may originate from a larger distribution of unmapped neutral atomic or molecular gas in the halo. The morphology of the Ribbon emission in H$\alpha$ is correlated with extended UV emission around NGC 1068. H$\alpha$ to UV flux ratios in the Ribbon are comparable to extended emission line ratios in the halos of NGC 5128, NGC 253, and M82. The H$\alpha$ excess in the Ribbon gas suggests ionization by slow-shocks or a mixture of in-situ star formation and photoionization and collisional ionization processes., Comment: 18 pages, 5 figures, 4 tables, Accepted for publication in ApJ

Quantum computing has tremendous potential to overcome some of the fundamental limitations present in classical information processing. Yet, today's technological limitations in the quality and scaling prevent exploiting its full potential. Quantum computing based on superconducting quantum processing units (QPUs) is among the most promising approaches towards practical quantum advantage. In this article the basic technological approach of IQM Quantum Computers is described covering both the QPU and the rest of the full-stack quantum computer. In particular, the focus is on a 20-qubit quantum computer featuring the Garnet QPU and its architecture, which we will scale up to 150 qubits. We also present QPU and system-level benchmarks, including a median 2-qubit gate fidelity of 99.5% and genuinely entangling all 20 qubits in a Greenberger-Horne-Zeilinger (GHZ) state.

We consider the following comparative effectiveness scenario. There are two treatments for a particular medical condition: a randomized experiment has demonstrated mediocre effectiveness for the first treatment, while a non-randomized study of the second treatment reports a much higher success rate. On what grounds might one justifiably prefer the second treatment over the first treatment, given only the information from those two studies, including design details? This situation occurs in reality and warrants study. We consider a particular example involving studies of treatments for Crohn's disease. In order to help resolve these cases of asymmetric evidence, we make three contributions and apply them to our example. First, we demonstrate the potential to improve success rates above those found in a randomized trial, given heterogeneous effects. Second, we prove that deliberate treatment assignment can be more efficient than randomization when study results are to be transported to formulate an intervention policy on a wider population. Third, we provide formal conditions under which a temporal-discontinuity design approximates a randomized trial, and we introduce a novel design parameter to inform researchers about the strength of that approximation. Overall, our results indicate that while randomization certainly provides special advantages, other study designs such as temporal-discontinuity designs also have distinct advantages, and can produce valuable evidence that informs treatment decisions and intervention policy.

Rapid progress in quantum technology has transformed quantum computing and quantum information science from theoretical possibilities into tangible engineering challenges. Breakthroughs in quantum algorithms, quantum simulations, and quantum error correction are bringing useful quantum computation closer to fruition. These remarkable achievements have been facilitated by advances in quantum characterization, verification, and validation (QCVV). QCVV methods and protocols enable scientists and engineers to scrutinize, understand, and enhance the performance of quantum information-processing devices. In this Tutorial, we review the fundamental principles underpinning QCVV, and introduce a diverse array of QCVV tools used by quantum researchers. We define and explain QCVV's core models and concepts -- quantum states, measurements, and processes -- and illustrate how these building blocks are leveraged to examine a target system or operation. We survey and introduce protocols ranging from simple qubit characterization to advanced benchmarking methods. Along the way, we provide illustrated examples and detailed descriptions of the protocols, highlight the advantages and disadvantages of each, and discuss their potential scalability to future large-scale quantum computers. This Tutorial serves as a guidebook for researchers unfamiliar with the benchmarking and characterization of quantum computers, and also as a detailed reference for experienced practitioners.

This paper describes a physics-based end-to-end software simulation for image systems. We use the software to explore sensors designed to enhance performance in high dynamic range (HDR) environments, such as driving through daytime tunnels and under nighttime conditions. We synthesize physically realistic HDR spectral radiance images and use them as the input to digital twins that model the optics and sensors of different systems. This paper makes three main contributions: (a) We create a labeled (instance segmentation and depth), synthetic radiance dataset of HDR driving scenes. (b) We describe the development and validation of the end-to-end simulation framework. (c) We present a comparative analysis of two single-shot sensors designed for HDR. We open-source both the dataset and the software.

When modifying existing policies in high-risk settings, it is often necessary to ensure with high certainty that the newly proposed policy improves upon a baseline, such as the status quo. In this work, we consider the problem of safe policy improvement, where one only adopts a new policy if it is deemed to be better than the specified baseline with at least pre-specified probability. We focus on threshold policies, a ubiquitous class of policies with applications in economics, healthcare, and digital advertising. Existing methods rely on potentially underpowered safety checks and limit the opportunities for finding safe improvements, so too often they must revert to the baseline to maintain safety. We overcome these issues by leveraging the most powerful safety test in the asymptotic regime and allowing for multiple candidates to be tested for improvement over the baseline. We show that in adversarial settings, our approach controls the rate of adopting a policy worse than the baseline to the pre-specified error level, even in moderate sample sizes. We present CSPI and CSPI-MT, two novel heuristics for selecting cutoff(s) to maximize the policy improvement from baseline. We demonstrate through both synthetic and external datasets that our approaches improve both the detection rates of safe policies and the realized improvement, particularly under stringent safety requirements and low signal-to-noise conditions.

In the late stages of accretion leading up to the formation of planetesimals, particles grew to pebbles the size of 1-mm to tens of cm. That is the same size range that dominates the present-day comet mass loss. Meteoroids that size cause visible meteors on Earth. Here, we hypothesize that the size distribution and the physical and chemical properties of young meteoroid streams still contain information about the conditions in the solar nebula during these late stages of accretion. From observations of 47 young meteor showers, we find that freshly ejected meteoroids from long-period comets tend to have low bulk density and are distributed with equal surface area per log-mass interval (magnitude distribution index chi ~ 1.85), suggesting gentle accretion conditions. Jupiter-family comets, on the other hand, mostly produce meteoroids twice as dense and distributed with a steeper chi ~ 2.15 or even chi ~ 2.5, which implies that those pebbles grew from particles fragmenting in a collisional cascade or by catastrophic collisions, respectively. Both comet populations contain an admixture of compact materials that are sometimes sodium-poor, but Jupiter-family comets show a higher percentage (~8% on average) than long-period comet showers (~4%), and a wider range. While there are exceptions in both groups, the implication is that most long-period comets formed under gentle particle growth conditions, possibly near the 30 AU edge of the Trans Neptunian Disk, while most Jupiter family comets formed closer to the Sun where pebbles reached or passed the fragmentation barrier. This is possible if the Scattered Disk represents all objects scattered by Neptune during its migration, while the present-day outer Oort cloud formed only during and after the Sun had moved away from sibling stars., Comment: 82 pages, 14 figures, 3 tables

Statistical hypothesis testing, as formalized by 20th Century statisticians and taught in college statistics courses, has been a cornerstone of 100 years of scientific progress. Nevertheless, the methodology is increasingly questioned in many scientific disciplines. We demonstrate in this paper how many of the worrisome aspects of statistical hypothesis testing can be ameliorated with concepts and methods from evidential analysis. The model family we treat is the familiar normal linear model with fixed effects, embracing multiple regression and analysis of variance, a warhorse of everyday science in labs and field stations. Questions about study design, the applicability of the null hypothesis, the effect size, error probabilities, evidence strength, and model misspecification become more naturally housed in an evidential setting. We provide a completely worked example featuring a 2-way analysis of variance., Comment: 465 pages, 3 figures

We specify a Turing machine $T_{\text{Mordell}}$ with the following properties. 1. On input $(K,C/K)$, with $K/\mathbb{Q}$ a number field and $C/K$ a smooth projective hyperbolic curve, if $T_{\text{Mordell}}$ terminates, then it outputs $C(K)$. 2. The Hodge, Tate, and Fontaine-Mazur conjectures imply that $T_{\text{Mordell}}$ always terminates. Similarly we specify a Turing machine $T_{\text{Shafarevich}}$ with the following properties. 1. On input $(g, K,S, d)$, with $g, d \in \mathbb{Z}^+$, $K/\mathbb{Q}$ a number field, and $S$ a finite set of places of $K$, if $T_{\text{Shafarevich}}$ terminates, then it outputs the finitely many polarized $g$-dimensional abelian varieties $A/K$, with polarization of degree $d$, having good reduction outside $S$. 2. The Hodge, Tate, and Fontaine-Mazur conjectures imply that $T_{\text{Shafarevich}}$ always terminates.

This paper provides a comprehensive analysis of Generative AI (GenAI) potential to revolutionise software coding through increased efficiency and reduced time span for writing code. It acknowledges the transformative power of GenAI in software code generation, while also cautioning against the inherent risks of bias and errors if left unchecked. Emphasising the irreplaceable value of traditional programming, it posits that GenAI is not a replacement but a complementary tool for writing software code. Ethical considerations are paramount with the paper advocating for stringent ethical guidelines to ensure GenAI serves the greater good and does not compromise on accountability in writing software code. It suggests a balanced approach, combining human oversight with AI's capabilities, to mitigate risks and enhance reliability. The paper concludes by proposing guidelines for GenAI utilisation in coding, which will empower developers to navigate its complexities and employ it responsibly. This approach addresses current ethical concerns and sets a foundation for the judicious use of GenAI in the future, ensuring its benefits are harnessed effectively while maintaining moral integrity.

We study the formation of breathers in multi-dimensional lattices with nonlocal coupling that decays algebraically. By variational methods, the exact relationship between various parameters (dimension, nonlinearity, nonlocal parameter $\alpha$) that defines positive excitation thresholds is characterized. At the anti-continuum regime, there exists a family of unique ground states that determines excitation thresholds. We not only characterize the sharp spatial decay of ground states, which varies continuously in $\alpha$, but also identify the time decay of dispersive waves, which undergoes a discontinuous transition in $\alpha$.

Wolf-Rayet stars (WRs) are evolved massive stars in the brief stage before they undergo core collapse. Not only are they rare, but they also can be particularly difficult to find due to the high extinction in the Galactic plane. This paper discusses the discovery of three new Galactic WRs previously classified as H$\alpha$ emission stars, but thanks to Gaia spectra, we were able to identify the broad, strong emission lines that characterize WRs. Using the Lowell Discovery Telescope and the DeVeny spectrograph, we obtained spectra for each star. Two are WC9s, and the third is a WN6 + O6.5 V binary. The latter is a known eclipsing system with a 4.4 day period from ASAS-SN data. We calculate absolute visual magnitudes for all three stars to be between -7 and -6, which is consistent with our expectations of these subtypes. These discoveries highlight the incompleteness of the WR census in our local volume of the Milky Way and suggest the potential for future Galactic WR discoveries from Gaia low-dispersion spectra. Furthermore, radial velocity studies of the newly found binary will provide direct mass estimates and orbital parameters, adding to our knowledge of the role that binarity plays in massive star evolution., Comment: Accepted for publication in the Astronomical Journal

Domain-specific question answering remains challenging for language models, given the deep technical knowledge required to answer questions correctly. This difficulty is amplified for smaller language models that cannot encode as much information in their parameters as larger models. The "Specializing Large Language Models for Telecom Networks" challenge aimed to enhance the performance of two small language models, Phi-2 and Falcon-7B in telecommunication question answering. In this paper, we present our question answering systems for this challenge. Our solutions achieved leading marks of 81.9% accuracy for Phi-2 and 57.3% for Falcon-7B. We have publicly released our code and fine-tuned models., Comment: 7 pages, 2 figures, and 8 tables. This paper has been accepted at the 2024 IEEE Global Communications (GLOBECOM) Workshops

The transition matrix, frequently abbreviated as T-matrix, contains the complete information in a linear approximation of how a spatially localized object scatters an incident field. The T-matrix is used to study the scattering response of an isolated object and describes the optical response of complex photonic materials made from ensembles of individual objects. T-matrices of certain common structures, potentially, have been repeatedly calculated all over the world again and again. This is not necessary and constitutes a major challenge for various reasons. First, the resources spent on their computation represent an unsustainable financial and ecological burden. Second, with the onset of machine learning, data is the gold of our era, and it should be freely available to everybody to address novel scientific challenges. Finally, the possibility of reproducing simulations could tremendously improve if the considered T-matrices could be shared. To address these challenges, we found it important to agree on a common data format for T-matrices and to enable their collection from different sources and distribution. This document aims to develop the specifications for storing T-matrices and associated metadata. The specifications should allow maximum freedom to accommodate as many use cases as possible without introducing any ambiguity in the stored data. The common format will assist in setting up a public database of T-matrices., Comment: Submitted to the Journal of Quantitative Spectroscopy and Radiative Transfer

This paper introduces an intelligent lecturing assistant (ILA) system that utilizes a knowledge graph to represent course content and optimal pedagogical strategies. The system is designed to support instructors in enhancing student learning through real-time analysis of voice, content, and teaching methods. As an initial investigation, we present a case study on lecture voice sentiment analysis, in which we developed a training set comprising over 3,000 one-minute lecture voice clips. Each clip was manually labeled as either engaging or non-engaging. Utilizing this dataset, we constructed and evaluated several classification models based on a variety of features extracted from the voice clips. The results demonstrate promising performance, achieving an F1-score of 90% for boring lectures on an independent set of over 800 test voice clips. This case study lays the groundwork for the development of a more sophisticated model that will integrate content analysis and pedagogical practices. Our ultimate goal is to aid instructors in teaching more engagingly and effectively by leveraging modern artificial intelligence techniques.

Capturing pupil diameter is essential for assessing psychological and physiological states such as stress levels and cognitive load. However, the low resolution of images in eye datasets often hampers precise measurement. This study evaluates the impact of various upscaling methods, ranging from bicubic interpolation to advanced super-resolution, on pupil diameter predictions. We compare several pre-trained methods, including CodeFormer, GFPGAN, Real-ESRGAN, HAT, and SRResNet. Our findings suggest that pupil diameter prediction models trained on upscaled datasets are highly sensitive to the selected upscaling method and scale. Our results demonstrate that upscaling methods consistently enhance the accuracy of pupil diameter prediction models, highlighting the importance of upscaling in pupilometry. Overall, our work provides valuable insights for selecting upscaling techniques, paving the way for more accurate assessments in psychological and physiological research.

The growth rate of the GPU memory capacity has not been able to keep up with that of the size of large language models (LLMs), hindering the model training process. In particular, activations -- the intermediate tensors produced during forward propagation and reused in backward propagation -- dominate the GPU memory use. To address this challenge, we propose TBA to efficiently offload activations to high-capacity NVMe SSDs. This approach reduces GPU memory usage without impacting performance by adaptively overlapping data transfers with computation. TBA is compatible with popular deep learning frameworks like PyTorch, Megatron, and DeepSpeed, and it employs techniques such as tensor deduplication, forwarding, and adaptive offloading to further enhance efficiency. We conduct extensive experiments on GPT, BERT, and T5. Results demonstrate that TBA effectively reduces 47% of the activation peak memory usage. At the same time, TBA perfectly overlaps the I/O with the computation and incurs negligible performance overhead. We introduce the recompute-offload-keep (ROK) curve to compare the TBA offloading with other two tensor placement strategies, keeping activations in memory and layerwise full recomputation. We find that TBA achieves better memory savings than layerwise full recomputation while retaining the performance of keeping the activations in memory.

This paper proposes a new methodology for early validation of high-level requirements on cyber-physical systems with the aim of improving their quality and, thus, lowering chances of specification errors propagating into later stages of development where it is much more expensive to fix them. The paper presents a transformation of a real-world requirements specification of a medical device$-$a PCA pump$-$into an Event Calculus model that is then evaluated using answer set programming and the s(CASP) system. The evaluation under s(CASP) allowed deductive as well as abductive reasoning about the specified functionality of the PCA pump on the conceptual level with minimal implementation or design dependent influences, and led to fully-automatically detected nuanced violations of critical safety properties. Further, the paper discusses scalability and non-termination challenges that had to be faced in the evaluation and techniques proposed to (partially) solve them. Finally, ideas for improving s(CASP) to overcome its evaluation limitations that still persist as well as to increase its expressiveness are presented., Comment: Accepted for ICLP 2024

Large magnetic fields exist in magnetars and are produced in off-central heavy-ion collisions. For the latter, field strengths are estimated to be comparable to strong interaction scales. This fact has motivated many studies of QCD physics in large magnetic fields, ranging from various model studies to lattice QCD computations. We provide a selective overview of results stemming from chiral perturbation theory. These results are based solely on the pattern of spontaneous and explicit symmetry breaking of QCD in a magnetic field; accordingly, they constitute low-energy theorems that must be satisfied in any approach. A few discrepancies with models and tension with lattice data are highlighted., Comment: 6 pages, talk given at the 42nd International Conference on High Energy Physics (ICHEP2024), 18-24 July 2024, Prague, Czech Republic

Low-light image enhancement remains a challenging task in computer vision, with existing state-of-the-art models often limited by hardware constraints and computational inefficiencies, particularly in handling high-resolution images. Recent foundation models, such as transformers and diffusion models, despite their efficacy in various domains, are limited in use on edge devices due to their computational complexity and slow inference times. We introduce ExpoMamba, a novel architecture that integrates components of the frequency state space within a modified U-Net, offering a blend of efficiency and effectiveness. This model is specifically optimized to address mixed exposure challenges, a common issue in low-light image enhancement, while ensuring computational efficiency. Our experiments demonstrate that ExpoMamba enhances low-light images up to 2-3x faster than traditional models with an inference time of 36.6 ms and achieves a PSNR improvement of approximately 15-20% over competing models, making it highly suitable for real-time image processing applications.

It can be difficult to interpret a coefficient of an uncertain model. A slope coefficient of a regression model may change as covariates are added or removed from the model. In the context of high-dimensional data, there are too many model extensions to check. However, as we show here, it is possible to efficiently search, with a branch and bound algorithm, for maximum and minimum values of that adjusted slope coefficient over a discrete space of regularized regression models. Here we introduce our algorithm, along with supporting mathematical results, an example application, and a link to our computer code, to help researchers summarize high-dimensional data and assess the stability of regression coefficients in uncertain models.

Optical two-way time and frequency transfer is an enabling technology that has applications ranging from fundamental investigations of relativity to the operation of global navigation satellite systems. While fiber frequency combs have demonstrated the most stable optical links, they are not ideal for applications that require very low SWaP-C. Here, we demonstrate two-way time and frequency transfer using electro-optic combs that have a direct path to full chip-scale integration. This two-way electro-optic time and frequency transfer system demonstrated instabilities as low as 15 fs at 1 s of averaging time. These results show a pathway to highly stable, agile and low SWaP-C time transfer networks., Comment: 7 pages, 5 figures

Single-shot quantum error correction has the potential to speed up quantum computations by removing the need for multiple rounds of syndrome extraction in order to be fault-tolerant. Using Quantinuum's H2 trapped-ion quantum computer, we implement the [[33,1,4]] 4D surface code and perform the first experimental demonstration of single-shot quantum error correction with bare ancilla qubits. We conduct memory experiments comparing the 2D and 4D surface codes and find that despite differences in qubit use and syndrome extraction circuit depth, the 4D surface code matches or outperforms the 2D surface code in both the fault-tolerant and single-shot regimes.

The robustness of neural networks is paramount in safety-critical applications. While most current robustness verification methods assess the worst-case output under the assumption that the input space is known, identifying a verifiable input space $\mathcal{C}$, where no adversarial examples exist, is crucial for effective model selection, robustness evaluation, and the development of reliable control strategies. To address this challenge, we introduce a novel framework, $\texttt{LEVIS}$, comprising $\texttt{LEVIS}$-$\alpha$ and $\texttt{LEVIS}$-$\beta$. $\texttt{LEVIS}$-$\alpha$ locates the largest possible verifiable ball within the central region of $\mathcal{C}$ that intersects at least two boundaries. In contrast, $\texttt{LEVIS}$-$\beta$ integrates multiple verifiable balls to encapsulate the entirety of the verifiable space comprehensively. Our contributions are threefold: (1) We propose $\texttt{LEVIS}$ equipped with three pioneering techniques that identify the maximum verifiable ball and the nearest adversarial point along collinear or orthogonal directions. (2) We offer a theoretical analysis elucidating the properties of the verifiable balls acquired through $\texttt{LEVIS}$-$\alpha$ and $\texttt{LEVIS}$-$\beta$. (3) We validate our methodology across diverse applications, including electrical power flow regression and image classification, showcasing performance enhancements and visualizations of the searching characteristics.

It is of scientific interest to identify essential biomarkers in biological processes underlying diseases to facilitate precision medicine. Factor analysis (FA) has long been used to address this goal: by assuming latent biological pathways drive the activity of measurable biomarkers, a biomarker is more influential if its absolute factor loading is larger. Although correlation between biomarkers has been properly handled under this framework, correlation between latent pathways are often overlooked, as one classical assumption in FA is the independence between factors. However, this assumption may not be realistic in the context of pathways, as existing biological knowledge suggests that pathways interact with one another rather than functioning independently. Motivated by sparsely and irregularly collected longitudinal measurements of metabolites in a COVID-19 study of large sample size, we propose a dynamic factor analysis model that can account for the potential cross-correlations between pathways, through a multi-output Gaussian processes (MOGP) prior on the factor trajectories. To mitigate against overfitting caused by sparsity of longitudinal measurements, we introduce a roughness penalty upon MOGP hyperparameters and allow for non-zero mean functions. To estimate these hyperparameters, we develop a stochastic expectation maximization (StEM) algorithm that scales well to the large sample size. In our simulation studies, StEM leads across all sample sizes considered to a more accurate and stable estimate of the MOGP hyperparameters than a comparator algorithm used in previous research. Application to the motivating example identifies a kynurenine pathway that affects the clinical severity of patients with COVID-19. In particular, a novel biomarker taurine is discovered, which has been receiving increased attention clinically, yet its role was overlooked in a previous analysis.

Suppose that $\mathcal{E}$ is a vector bundle on a smooth projective variety $X$. Given a family of curves $C$ on $X$, we study how the Harder-Narasimhan filtration of $\mathcal{E}|_{C}$ changes as we vary $C$ in our family. Heuristically we expect that the locus where the slopes in the Harder-Narasimhan filtration jump by $\mu$ should have codimension which depends linearly on $\mu$. We identify the geometric properties which determine whether or not this expected behavior holds. We then apply our results to study rank $2$ bundles on $\mathbb{P}^{2}$ and to study singular loci of moduli spaces of curves., Comment: 45 pages

With the pervasiveness of Stochastic Shortest-Path (SSP) problems in high-risk industries, such as last-mile autonomous delivery and supply chain management, robust planning algorithms are crucial for ensuring successful task completion while mitigating hazardous outcomes. Mainstream chance-constrained incremental sampling techniques for solving SSP problems tend to be overly conservative and typically do not consider the likelihood of undesirable tail events. We propose an alternative risk-aware approach inspired by the asymptotically-optimal Rapidly-Exploring Random Trees (RRT*) planning algorithm, which selects nodes along path segments with minimal Conditional Value-at-Risk (CVaR). Our motivation rests on the step-wise coherence of the CVaR risk measure and the optimal substructure of the SSP problem. Thus, optimizing with respect to the CVaR at each sampling iteration necessarily leads to an optimal path in the limit of the sample size. We validate our approach via numerical path planning experiments in a two-dimensional grid world with obstacles and stochastic path-segment lengths. Our simulation results show that incorporating risk into the tree growth process yields paths with lengths that are significantly less sensitive to variations in the noise parameter, or equivalently, paths that are more robust to environmental uncertainty. Algorithmic analyses reveal similar query time and memory space complexity to the baseline RRT* procedure, with only a marginal increase in processing time. This increase is offset by significantly lower noise sensitivity and reduced planner failure rates., Comment: Accepted for presentation at the 2024 IEEE Conference on Decision and Control (CDC)

Reward machines allow the definition of rewards for temporally extended tasks and behaviors. Specifying "informative" reward machines can be challenging. One way to address this is to generate reward machines from a high-level abstract description of the learning environment, using techniques such as AI planning. However, previous planning-based approaches generate a reward machine based on a single (sequential or partial-order) plan, and do not allow maximum flexibility to the learning agent. In this paper we propose a new approach to synthesising reward machines which is based on the set of partial order plans for a goal. We prove that learning using such "maximally permissive" reward machines results in higher rewards than learning using RMs based on a single plan. We present experimental results which support our theoretical claims by showing that our approach obtains higher rewards than the single-plan approach in practice., Comment: Paper accepted for publication at the European Conference on Artificial Intelligence (ECAI) 2024

Multimodal large language models (LLMs) have achieved notable success across various domains, while research in the medical field has largely focused on unimodal images. Meanwhile, current general-domain multimodal models for videos still lack the capabilities to understand and engage in conversations about surgical videos. One major contributing factor is the absence of datasets in the surgical field. In this paper, we create a new dataset, Surg-QA, consisting of 102,000 surgical video-instruction pairs, the largest of its kind so far. To build such a dataset, we propose a novel two-stage question-answer generation pipeline with LLM to learn surgical knowledge in a structured manner from the publicly available surgical lecture videos. The pipeline breaks down the generation process into two stages to significantly reduce the task complexity, allowing us to use a more affordable, locally deployed open-source LLM than the premium paid LLM services. It also mitigates the risk of LLM hallucinations during question-answer generation, thereby enhancing the overall quality of the generated data. We further train LLaVA-Surg, a novel vision-language conversational assistant capable of answering open-ended questions about surgical videos, on this Surg-QA dataset, and conduct comprehensive evaluations on zero-shot surgical video question-answering tasks. We show that LLaVA-Surg significantly outperforms all previous general-domain models, demonstrating exceptional multimodal conversational skills in answering open-ended questions about surgical videos. We will release our code, model, and the instruction-tuning dataset.

Anonymity is an important principle online. However, malicious actors have long used misleading identities to conduct fraud, spread disinformation, and carry out other deceptive schemes. With the advent of increasingly capable AI, bad actors can amplify the potential scale and effectiveness of their operations, intensifying the challenge of balancing anonymity and trustworthiness online. In this paper, we analyze the value of a new tool to address this challenge: "personhood credentials" (PHCs), digital credentials that empower users to demonstrate that they are real people -- not AIs -- to online services, without disclosing any personal information. Such credentials can be issued by a range of trusted institutions -- governments or otherwise. A PHC system, according to our definition, could be local or global, and does not need to be biometrics-based. Two trends in AI contribute to the urgency of the challenge: AI's increasing indistinguishability from people online (i.e., lifelike content and avatars, agentic activity), and AI's increasing scalability (i.e., cost-effectiveness, accessibility). Drawing on a long history of research into anonymous credentials and "proof-of-personhood" systems, personhood credentials give people a way to signal their trustworthiness on online platforms, and offer service providers new tools for reducing misuse by bad actors. In contrast, existing countermeasures to automated deception -- such as CAPTCHAs -- are inadequate against sophisticated AI, while stringent identity verification solutions are insufficiently private for many use-cases. After surveying the benefits of personhood credentials, we also examine deployment risks and design challenges. We conclude with actionable next steps for policymakers, technologists, and standards bodies to consider in consultation with the public., Comment: 63 pages, 7 figures, 5 tables; minor additions to acknowledgments and wording changes for clarity; corrected typo

We present and analyze the extensive optical broadband photometry of the Type II SN 2023ixf up to one year after explosion. We find that, when compared to two pre-existing model grids, the pseudo-bolometric light curve is consistent with drastically different combinations of progenitor and explosion properties. This may be an effect of known degeneracies in Type IIP light-curve models. We independently compute a large grid of ${\tt MESA+STELLA}$ single-star progenitor and light-curve models with various zero-age main-sequence masses, mass-loss efficiencies, and convective efficiencies. Using the observed progenitor variability as an additional constraint, we select stellar models consistent with the pulsation period and explode them according to previously established scaling laws to match plateau properties. Our hydrodynamic modeling indicates that SN 2023ixf is most consistent with a moderate-energy ($E_{\rm exp}\approx7\times10^{50}$ erg) explosion of an initially high-mass red supergiant progenitor ($\gtrsim 17\ M_{\odot}$) that lost a significant amount of mass in its prior evolution, leaving a low-mass hydrogen envelope ($\lesssim 3\ M_{\odot}$) at the time of explosion, with a radius $\gtrsim 950\ R_{\odot}$ and a synthesized $^{56}$Ni mass of $0.07\ M_{\odot}$. We posit that previous mass transfer in a binary system may have stripped the envelope of SN 2023ixf's progenitor. The analysis method with pulsation period presented in this work offers a way to break degeneracies in light-curve modeling in the future, particularly with the upcoming Vera C.~Rubin Observatory Legacy Survey of Space and Time, when a record of progenitor variability will be more common., Comment: 18 pages, 7 figures, submitted to ApJ. Comments welcome

We present a characterization of the Hamiltonians that generate optimal-speed unitary time evolution and the associated dynamical trajectory, where the initial states are either pure states or quasi-pure quantum states. We construct the manifold of pure states as an orbit under the conjugation action of the Lie group $\SU(n)$ on the manifold of one-dimensional orthogonal projectors, obtaining an isometry with the flag manifold $\SU(n)/\textnormal{S}(\textnormal{U}(1)\times \textnormal{U}(n-1 ))$. From this construction, we show that Hamiltonians generating optimal-speed time evolution are fully characterized by equigeodesic vectors of $\SU(n)/\textnormal{S}(\textnormal{U}(1)\times \textnormal{U}(n-1))$. We later extend that result to quasi-pure quantum states., Comment: 14 pages

Stochastic diffusion is the noisy and uncertain process through which dynamics like epidemics, or agents like animal species, disperse over a larger area. Understanding these processes is becoming increasingly important as we attempt to better prepare for potential pandemics and as species ranges shift in response to climate change. Unfortunately, modeling of stochastic diffusion is mostly done through inaccurate deterministic tools that fail to capture the random nature of dispersal or else through expensive computational simulations. In particular, standard tools fail to fully capture the heterogeneity of the area over which this diffusion occurs. Rural areas with low population density require different epidemic models than urban areas; likewise, the edges of a species range require us to explicitly track low integer numbers of individuals rather than vague averages. In this work, we introduce a series of new tools called "mean-FLAME" models that track stochastic dispersion using approximate master equations that explicitly follow the probability distribution of an area of interest over all of its possible states, up to states that are active enough to be approximated using a mean-field model. In one limit, this approach is locally exact if we explicitly track enough states, and in the other limit collapses back to traditional deterministic models if we track no state explicitly. Applying this approach, we show how deterministic tools fail to capture the uncertainty around the speed of nonlinear dynamical processes. This is especially true for marginal areas that are close to unsuitable for diffusion, like the edge of a species range or epidemics in small populations. Capturing the uncertainty in such areas is key to producing accurate forecasts and guiding potential interventions., Comment: For supplemental appendix, see "Ancillary files" under "Access paper" on the right

This paper describes CMU's submission to the IWSLT 2024 Simultaneous Speech Translation (SST) task for translating English speech to German text in a streaming manner. Our end-to-end speech-to-text (ST) system integrates the WavLM speech encoder, a modality adapter, and the Llama2-7B-Base model as the decoder. We employ a two-stage training approach: initially, we align the representations of speech and text, followed by full fine-tuning. Both stages are trained on MuST-c v2 data with cross-entropy loss. We adapt our offline ST model for SST using a simple fixed hold-n policy. Experiments show that our model obtains an offline BLEU score of 31.1 and a BLEU score of 29.5 under 2 seconds latency on the MuST-C-v2 tst-COMMON.

The analysis of students' emotions and behaviors is crucial for enhancing learning outcomes and personalizing educational experiences. Traditional methods often rely on intrusive visual and physiological data collection, posing privacy concerns and scalability issues. This paper proposes a novel method leveraging large language models (LLMs) and prompt engineering to analyze textual data from students. Our approach utilizes tailored prompts to guide LLMs in detecting emotional and engagement states, providing a non-intrusive and scalable solution. We conducted experiments using Qwen, ChatGPT, Claude2, and GPT-4, comparing our method against baseline models and chain-of-thought (CoT) prompting. Results demonstrate that our method significantly outperforms the baselines in both accuracy and contextual understanding. This study highlights the potential of LLMs combined with prompt engineering to offer practical and effective tools for educational emotion and behavior analysis., Comment: 8 pages

We present here the current state of a collection of promising ultraviolet technologies in preparation for the Habitable Worlds Observatory. Working with experts representing a significant number of groups working in the ultraviolet, we summarize some of the leading science drivers, present an argument for a 100 nm blue wavelength cutoff, and gather current state of the art of UV technologies. We present the state of the art of contamination control, a crucial piece of the UV instrument plan. We explore next steps with individual technologies, as well as present paths forward with systems level testing and development.

We present a novel filtering algorithm that employs Bayesian transfer learning to address the challenges posed by mismatched intensity of the noise in a pair of sensors, each of which tracks an object using a nonlinear dynamic system model. In this setting, the primary sensor experiences a higher noise intensity in tracking the object than the source sensor. To improve the estimation accuracy of the primary sensor, we propose a framework that integrates Bayesian transfer learning into an Unscented Kalman Filter (UKF) and a Cubature Kalman Filter (CKF). In this approach, the parameters of the predicted observations in the source sensor are transferred to the primary sensor and used as an additional prior in the filtering process. Our simulation results show that the transfer learning approach significantly outperforms the conventional isolated UKF and CKF. Comparisons to a form of measurement vector fusion are also presented., Comment: 22 pages, 7 figures, 2 tables

Defining distances over finite fields formally by $||x-y||:=(x_1-y_1)^2+\cdots + (x_d-y_d)^2$ for $x,y\in \mathbb{F}_q^d$, distance problems naturally arise in analogy to those studied by Erd\H{o}s and Falconer in Euclidean space. Given a graph $G$ and a set $E\subseteq \mathbb{F}_q^2$, let $\Delta_G(E)$ be the generalized distance set corresponding to $G$. In the case when $G$ is the complete graph on $k+1$ vertices, Bennett, Hart, Iosevich, Pakianathan, and Rudnev showed that when $|E|\geq q^{d-\frac{d-1}{k+1}}$, it follows that $|\Delta_G(E)|\geq cq^{\binom{k+1}{2}}$. In the case when $k=d=2$, the threshold can be improved to $|E|\geq q^{\frac{8}{5}}$. Moreover, Jardine, Iosevich, and McDonald showed that in the case when $G$ is a tree with $k+1$ vertices, then whenever $E\subseteq \mathbb{F}_q^d$, $d\geq 2$ satisfies $|E|\geq C_kq^{\frac{d+1}{2}}$, it follows that $\Delta_G(E)=\mathbb{F}_q^k$. In this paper, we present a technique which enables us to study certain graphs with both rigid and non-rigid components. In particular, we show that for $E\subseteq \mathbb{F}_q^2$, $q=p^n$, $n$ odd, $p\equiv 3 \ \text{mod} \ 4$, and $G$ is the graph consisting of two triangles joined at a vertex, then whenever $|E|\geq q^{\frac{12}{7}}$, it follows that $|\Delta_G(E)|\geq cq^6$., Comment: 14 pages, 3 figures

We take the first step towards incorporating compound nuclear observables at astrophysically-relevant energies into the experimental evidence used to constrain optical models, by propagating the uncertainty in two global optical potentials, one phenomenological and one microscopic, to correlated fission observables using the Monte Carlo Hauser-Feshbach formalism. We compare to historic and recent experimental data, and find that the parametric optical model uncertainty in neutron-fragment correlated observables is significant in observables involving neutron energies and multiplicities. Different phenomenological and microscopic potentials disagree, both with experiment and with eachcother, which we attribute to the extrapolation of the phenomenological models away from stability, and to the limitations of the nuclear matter folding approach for the microscopic model. We comment on the role of the optical model in future efforts to globally optimize fission models.

Two interesting phenomena for the construction of quantum states are that of mutually unbiased bases and that of balanced states. We explore a constructive approach to each phenomenon that involves orthogonal polynomials on the unit circle. In the case of mutually unbiased bases, we show that this approach does not produce such bases. In the case of balanced states, we provide examples of pairs of orthonormal bases and states that are balanced with respect to them. We also consider extensions of these ideas to the infinite dimensional setting.

In this work, we describe the design and architecture of the open-source Quantum Engine Compiler (qe-compiler) currently used in production for IBM Quantum systems. The qe-compiler is built using LLVM's Multi-Level Intermediate Representation (MLIR) framework and includes definitions for several dialects to represent parameterized quantum computation at multiple levels of abstraction. The compiler also provides Python bindings and a diagnostic system. An open-source LALR lexer and parser built using Bison and Flex generates an Abstract Syntax Tree that is translated to a high-level MLIR dialect. An extensible hierarchical target system for modeling the heterogeneous nature of control systems at compilation time is included. Target-based and generic compilation passes are added using a pipeline interface to translate the input down to low-level intermediate representations (including LLVM IR) and can take advantage of LLVM backends and tooling to generate machine executable binaries. The qe-compiler is built to be extensible, maintainable, performant, and scalable to support the future of quantum computing., Comment: To be published in the proceedings of the IEEE International Conference on Quantum Computing and Engineering 2024 (QCE24)

The field of aging and longevity research is overwhelmed by vast amounts of data, calling for the use of Artificial Intelligence (AI), including Large Language Models (LLMs), for the evaluation of geroprotective interventions. Such evaluations should be correct, useful, comprehensive, explainable, and they should consider causality, interdisciplinarity, adherence to standards, longitudinal data and known aging biology. In particular, comprehensive analyses should go beyond comparing data based on canonical biomedical databases, suggesting the use of AI to interpret changes in biomarkers and outcomes. Our requirements motivate the use of LLMs with Knowledge Graphs and dedicated workflows employing, e.g., Retrieval-Augmented Generation. While naive trust in the responses of AI tools can cause harm, adding our requirements to LLM queries can improve response quality, calling for benchmarking efforts and justifying the informed use of LLMs for advice on longevity interventions., Comment: 11 pages, 1 Figure, 1 Table

Speculative decoding has emerged as a widely adopted method to accelerate large language model inference without sacrificing the quality of the model outputs. While this technique has facilitated notable speed improvements by enabling parallel sequence verification, its efficiency remains inherently limited by the reliance on incremental token generation in existing draft models. To overcome this limitation, this paper proposes an adaptation of speculative decoding which uses discrete diffusion models to generate draft sequences. This allows parallelization of both the drafting and verification steps, providing significant speed-ups to the inference process. Our proposed approach, Speculative Diffusion Decoding (SpecDiff), is validated on standard language generation benchmarks and empirically demonstrated to provide a up to 8.7x speed-up over standard generation processes and up to 2.5x speed-up over existing speculative decoding approaches.

Humans rely on ankle torque to maintain standing balance, particularly in the presence of small to moderate perturbations. Reductions in maximum torque (MT) production and maximum rate of torque development (MRTD) occur at the ankle with age, diminishing stability. Ankle exoskeletons are powered orthotic devices that may assist older adults by compensating for reduced muscle force and power production capabilities. They may also be able to assist with ankle strategies used for balance. However, no studies have investigated the effect of such devices on balance in older adults. Here, we model the effect ankle exoskeletons have on stability in physics-based models of healthy young and old adults, focusing on the mitigation of age-related deficits such as reduced MT and MRTD. We show that an ankle exoskeleton moderately reduces feasible stability boundaries in users who have full ankle strength. For individuals with age-related deficits, there is a trade-off. While exoskeletons augment stability in low velocity conditions, they reduce stability in some high velocity conditions. Our results suggest that well-established control strategies must still be experimentally validated in older adults., Comment: 14 pages, 7 figures

Financial report generation using general purpose large language models (LLMs) pose two major challenges namely, the lack of compound sentences and hallucinations. Advanced prompt engineering and retrieval augmented generation (RAG) techniques are limited in scope for curing these writing style discrepancies. In this work we propose a novel two-stage fine-tuning (FT) process wherein public domain financial reports are processed into prompt-completions and augmented using simple LLM prompts to then enable sectional financial report generation using minimal instructions and tabular data inputs. The proposed fine-tuning process exploits the self-learning capability of LLMs by allowing hallucinations in the first stage and showing the corrections in the second stage. Our proposed fine-tuning framework results doubles the number of correct questions answers and reduces hallucinations by over 50%. Additionally, the two-stage FT model has lower perplexity, improved ROUGE, TER and BLEU scores, higher creativity and knowledge density with lower uncertainty and cross entropy. Thus, the proposed framework can be generalized to domain specific fine-tuning tasks at minimized tuning costs., Comment: 9 pages, 13 figures, 5 tables, conference

Mixed effects models are among the most commonly used statistical methods for the exploration of multispecies data. In recent years, also Joint Species Distribution Models and Generalized Linear Latent Variale Models have gained in popularity when the goal is to incorporate residual covariation between species that cannot be explained due to measured environmental covariates. Few software implementations of such models exist that can additionally incorporate phylogenetic information, and those that exist tend to utilize Markov chain Monte Carlo methods for estimation, so that model fitting takes a long time. In this article we develop new methods for quickly and flexibly fitting phylogenetic mixed models, potentially incorporating residual covariation between species using latent variables, with the possibility to estimate the strength of phylogenetic structuring in species responses per environmental covariate, and while incorporating correlation between different covariate effects. By combining Variational approximations with a reduced rank matrix normal covariance structure, Nearest Neighbours Gaussian Processes, and parallel computation, phylogenetic mixed models can be fitted much more quickly than the current state-of-the-art. Two simulation studies demonstrate that the proposed combination of approximations is not only fast, but also enjoys high accuracy. Finally, we demonstrate use of the method with a real world dataset of wood-decaying fungi.