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With the continuous development of deep learning, the field of repetitive action counting is gradually gaining notice from many researchers. Extraction of pose keypoints using human pose estimation networks is proven to be an effective pose-level method. However, existing pose-level methods suffer from the shortcomings that the single coordinate is not stable enough to handle action distortions due to changes in camera viewpoints, thus failing to accurately identify salient poses, and is vulnerable to misdetection during the transition from the exception to the actual action. To overcome these problems, we propose a simple but efficient Global Multi-geometric Feature Learning Network (GMFL-Net). Specifically, we design a MIA-Module that aims to improve information representation by fusing multi-geometric features, and learning the semantic similarity among the input multi-geometric features. Then, to improve the feature representation from a global perspective, we also design a GBFL-Module that enhances the inter-dependencies between point-wise and channel-wise elements and combines them with the rich local information generated by the MIA-Module to synthesise a comprehensive and most representative global feature representation. In addition, considering the insufficient existing dataset, we collect a new dataset called Countix-Fitness-pose (https://github.com/Wantong66/Countix-Fitness) which contains different cycle lengths and exceptions, a test set with longer duration, and annotate it with fine-grained annotations at the pose-level. We also add two new action classes, namely lunge and rope push-down. Finally, extensive experiments on the challenging RepCount-pose, UCFRep-pose, and Countix-Fitness-pose benchmarks show that our proposed GMFL-Net achieves state-of-the-art performance.

Black-box context-free grammar inference presents a significant challenge in many practical settings due to limited access to example programs. The state-of-the-art methods, Arvada and Treevada, employ heuristic approaches to generalize grammar rules, initiating from flat parse trees and exploring diverse generalization sequences. We have observed that these approaches suffer from low quality and readability, primarily because they process entire example strings, adding to the complexity and substantially slowing down computations. To overcome these limitations, we propose a novel method that segments example strings into smaller units and incrementally infers the grammar. Our approach, named Kedavra, has demonstrated superior grammar quality (enhanced precision and recall), faster runtime, and improved readability through empirical comparison.

Solid-state defects susceptible of spin manipulation hold great promise for scalable quantum technology. To broaden their utility, operating at room temperature and emitting in the telecom wavelength range are desired, eliminating cryogenic requirements and leveraging existing optical fiber infrastructure for transmitting the quantum information. To that end, we report that telecom single photon emitters (SPEs) in gallium nitride (GaN) exhibit optically detected magnetic resonance (ODMR) at room temperature. The analysis of ODMR as a function of magnetic field orientation enables the determination of the orientation of the spin quantization axis with respect to the GaN crystalline lattice. The optical transitions dynamics are analyzed to gain further insight into the transition rates dominating ODMR. Our findings, coupled with GaN's mature fabrication technology, could facilitate the realization of scalable quantum technology.

Recent advances in segmentation foundation models have enabled accurate and efficient segmentation across a wide range of natural images and videos, but their utility to medical data remains unclear. In this work, we first present a comprehensive benchmarking of the Segment Anything Model 2 (SAM2) across 11 medical image modalities and videos and point out its strengths and weaknesses by comparing it to SAM1 and MedSAM. Then, we develop a transfer learning pipeline and demonstrate SAM2 can be quickly adapted to medical domain by fine-tuning. Furthermore, we implement SAM2 as a 3D slicer plugin and Gradio API for efficient 3D image and video segmentation. The code has been made publicly available at \url{https://github.com/bowang-lab/MedSAM}.

The Sparse Vector Technique (SVT) is one of the most fundamental tools in differential privacy (DP). It works as a backbone for adaptive data analysis by answering a sequence of queries on a given dataset, and gleaning useful information in a privacy-preserving manner. Unlike the typical private query releases that directly publicize the noisy query results, SVT is less informative -- it keeps the noisy query results to itself and only reveals a binary bit for each query, indicating whether the query result surpasses a predefined threshold. To provide a rigorous DP guarantee for SVT, prior works in the literature adopt a conservative privacy analysis by assuming the direct disclosure of noisy query results as in typical private query releases. This approach, however, hinders SVT from achieving higher query accuracy due to an overestimation of the privacy risks, which further leads to an excessive noise injection using the Laplacian or Gaussian noise for perturbation. Motivated by this, we provide a new privacy analysis for SVT by considering its less informative nature. Our analysis results not only broaden the range of applicable noise types for perturbation in SVT, but also identify the exponential noise as optimal among all evaluated noises (which, however, is usually deemed non-applicable in prior works). The main challenge in applying exponential noise to SVT is mitigating the sub-optimal performance due to the bias introduced by noise distributions. To address this, we develop a utility-oriented optimal threshold correction method and an appending strategy, which enhances the performance of SVT by increasing the precision and recall, respectively. The effectiveness of our proposed methods is substantiated both theoretically and empirically, demonstrating significant improvements up to $50\%$ across evaluated metrics.

In this paper, we propose a novel scheme to estimate the six dimensional (6D) motion parameters of dynamic target for monostatic integrated sensing and communications (ISAC) system. We first provide a generic ISAC framework for dynamic target sensing based on massive multiple input and multiple output (MIMO) array. Next, we derive the relationship between the sensing channel of ISAC base station (BS) and the 6D motion parameters of dynamic target. Then, we employ the array signal processing methods to estimate the horizontal angle, pitch angle, distance, and virtual velocity of dynamic target. Since the virtual velocities observed by different antennas are different, we adopt plane fitting to estimate the dynamic target's radial velocity, horizontal angular velocity, and pitch angular velocity from these virtual velocities. Simulation results demonstrate the effectiveness of the proposed 6D motion parameters estimation scheme, which also confirms a new finding that one single BS with massive MIMO array is capable of estimating the horizontal angular velocity and pitch angular velocity of dynamic target., Comment: arXiv admin note: substantial text overlap with arXiv:2312.16441

This paper aims to answer a fundamental question in the area of Integrated Sensing and Communications (ISAC): What is the optimal communication-centric ISAC waveform for ranging? Towards that end, we first established a generic framework to analyze the sensing performance of communication-centric ISAC waveforms built upon orthonormal signaling bases and random data symbols. Then, we evaluated their ranging performance by adopting both the periodic and aperiodic auto-correlation functions (P-ACF and A-ACF), and defined the expectation of the integrated sidelobe level (EISL) as a sensing performance metric. On top of that, we proved that among all communication waveforms with cyclic prefix (CP), the orthogonal frequency division multiplexing (OFDM) modulation is the only globally optimal waveform that achieves the lowest ranging sidelobe for quadrature amplitude modulation (QAM) and phase shift keying (PSK) constellations, in terms of both the EISL and the sidelobe level at each individual lag of the P-ACF. As a step forward, we proved that among all communication waveforms without CP, OFDM is a locally optimal waveform for QAM/PSK in the sense that it achieves a local minimum of the EISL of the A-ACF. Finally, we demonstrated by numerical results that under QAM/PSK constellations, there is no other orthogonal communication-centric waveform that achieves a lower ranging sidelobe level than that of the OFDM, in terms of both P-ACF and A-ACF cases., Comment: 14 pages, 12 figures, submitted to IEEE for possible publication

Integrated sensing and communications (ISAC) has opened up numerous game-changing opportunities for future wireless systems. In this paper, we develop a novel ISAC scheme that utilizes the diffusion model to sense the electromagnetic (EM) property of the target in a predetermined sensing area. Specifically, we first estimate the sensing channel by using both the communications and the sensing signals echoed back from the target. Then we employ the diffusion model to generate the point cloud that represents the target and thus enables 3D visualization of the target's EM property distribution. In order to minimize the mean Chamfer distance (MCD) between the ground truth and the estimated point clouds, we further design the communications and sensing beamforming matrices under the constraint of a maximum transmit power and a minimum communications achievable rate for each user equipment (UE). Simulation results demonstrate the efficacy of the proposed method in achieving high-quality reconstruction of the target's shape, relative permittivity, and conductivity. Besides, the proposed method can sense the EM property of the target effectively in any position of the sensing area.

Legged robot locomotion on sand slopes is challenging due to the complex dynamics of granular media and how the lack of solid surfaces can hinder locomotion. A promising strategy, inspired by ghost crabs and other organisms in nature, is to strategically interact with rocks, debris, and other obstacles to facilitate movement. To provide legged robots with this ability, we present a novel approach that leverages avalanche dynamics to indirectly manipulate objects on a granular slope. We use a Vision Transformer (ViT) to process image representations of granular dynamics and robot excavation actions. The ViT predicts object movement, which we use to determine which leg excavation action to execute. We collect training data from 100 real physical trials and, at test time, deploy our trained model in novel settings. Experimental results suggest that our model can accurately predict object movements and achieve a success rate $\geq 80\%$ in a variety of manipulation tasks with up to four obstacles, and can also generalize to objects with different physics properties. To our knowledge, this is the first paper to leverage granular media avalanche dynamics to indirectly manipulate objects on granular slopes. Supplementary material is available at https://sites.google.com/view/grain-corl2024/home., Comment: Submitted to CoRL 2024

It is fundamentally challenging for robots to serve as useful assistants in human environments because this requires addressing a spectrum of sub-problems across robotics, including perception, language understanding, reasoning, and planning. The recent advancements in Multimodal Large Language Models (MLLMs) have demonstrated their exceptional abilities in solving complex mathematical problems, mastering commonsense and abstract reasoning. This has led to the recent utilization of MLLMs as the brain in robotic systems, enabling these models to conduct high-level planning prior to triggering low-level control actions for task execution. However, it remains uncertain whether existing MLLMs are reliable in serving the brain role of robots. In this study, we introduce the first benchmark for evaluating Multimodal LLM for Robotic (MMRo) benchmark, which tests the capability of MLLMs for robot applications. Specifically, we identify four essential capabilities perception, task planning, visual reasoning, and safety measurement that MLLMs must possess to qualify as the robot's central processing unit. We have developed several scenarios for each capability, resulting in a total of 14 metrics for evaluation. We present experimental results for various MLLMs, including both commercial and open-source models, to assess the performance of existing systems. Our findings indicate that no single model excels in all areas, suggesting that current MLLMs are not yet trustworthy enough to serve as the cognitive core for robots. Our data can be found in https://mm-robobench.github.io/.

Brain-inspired Spiking Neural Networks (SNNs) have attracted much attention due to their event-based computing and energy-efficient features. However, the spiking all-or-none nature has prevented direct training of SNNs for various applications. The surrogate gradient (SG) algorithm has recently enabled spiking neural networks to shine in neuromorphic hardware. However, introducing surrogate gradients has caused SNNs to lose their original sparsity, thus leading to the potential performance loss. In this paper, we first analyze the current problem of direct training using SGs and then propose Masked Surrogate Gradients (MSGs) to balance the effectiveness of training and the sparseness of the gradient, thereby improving the generalization ability of SNNs. Moreover, we introduce a temporally weighted output (TWO) method to decode the network output, reinforcing the importance of correct timesteps. Extensive experiments on diverse network structures and datasets show that training with MSG and TWO surpasses the SOTA technique.

The generic anisotropy is an important property in the study of Stanley-Reisner rings of homology spheres, which was introduced by Papadakis and Petrotou. This property can be used to prove the strong Lefschetz property as well as McMullen's $g$-conjecture for homology spheres. It is conjectured that for an arbitrary field $\mathbb{F}$, any $\mathbb{F}$-homology sphere is generically anisotropic over $\mathbb{F}$. In this paper, we prove this conjecture for all strongly edge decomposable spheres., Comment: 14 pages. arXiv admin note: text overlap with arXiv:2112.14493

In TDD mmWave massive MIMO systems, the downlink CSI can be attained through uplink channel estimation thanks to the uplink-downlink channel reciprocity. However, the channel aging issue is significant under high-mobility scenarios and thus necessitates frequent uplink channel estimation. In addition, large amounts of antennas and subcarriers lead to high-dimensional CSI matrices, aggravating the pilot training overhead. To systematically reduce the pilot overhead, a spatial, frequency, and temporal domain (3D) channel extrapolation framework is proposed in this paper. Considering the marginal effects of pilots in the spatial and frequency domains and the effectiveness of traditional knowledge-driven channel estimation methods, we first propose a knowledge-and-data driven spatial-frequency channel extrapolation network (KDD-SFCEN) for uplink channel estimation by exploiting the least square estimator for coarse channel estimation and joint spatial-frequency channel extrapolation to reduce the spatial-frequency domain pilot overhead. Then, resorting to the uplink-downlink channel reciprocity and temporal domain dependencies of downlink channels, a temporal uplink-downlink channel extrapolation network (TUDCEN) is proposed for slot-level channel extrapolation, aiming to enlarge the pilot signal period and thus reduce the temporal domain pilot overhead under high-mobility scenarios. Specifically, we propose the spatial-frequency sampling embedding module to reduce the representation dimension and consequent computational complexity, and we propose to exploit the autoregressive generative Transformer for generating downlink channels autoregressively. Numerical results demonstrate the superiority of the proposed framework in significantly reducing the pilot training overhead by more than 16 times and improving the system's spectral efficiency under high-mobility scenarios., Comment: 13 pages, 11 figures, 3 tables. This paper has been submitted to IEEE journal for possible publication

The expanding applications call for novel new-generation wide-bandgap semiconductors. Here, we show that a compound only composed of the ordinary elements Na and Cl, namely three-dimensional NaCl2 crystal, is a wide-bandgap semiconductor. This finding benefits from the breaking of conventional stoichiometry frameworks in the theoretical design, leading to the discovery of three-dimensional XY2 (X = Na, Li, K; Y = Cl, F, Br, I) crystals, with covalent bonds of Y pairs inducing the wide bandgap from 2.24 to 4.45 eV. Crucially, such an unexpected NaCl2 crystal was successfully synthesized under ambient conditions. The unconventional stoichiometric strategy with other chemical elements potentially yields more wide-bandgap semiconductors, offering the capability for bandgap tuning. These unconventional stoichiometric materials may also exhibit superconductivity, transparent inorganic electrides, high-energy-density, and beyond.

In this paper, we propose a novel integrated sensing and communications (ISAC) framework for the sixth generation (6G) mobile networks, in which we decompose the real physical world into static environment, dynamic targets, and various object materials. The ubiquitous static environment occupies the vast majority of the physical world, for which we design static environment reconstruction (SER) scheme to obtain the layout and point cloud information of static buildings. The dynamic targets floating in static environments create the spatiotemporal transition of the physical world, for which we design comprehensive dynamic target sensing (DTS) scheme to detect, estimate, track, image and recognize the dynamic targets in real-time. The object materials enrich the electromagnetic laws of the physical world, for which we develop object material recognition (OMR) scheme to estimate the electromagnetic coefficient of the objects. Besides, to integrate these sensing functions into existing communications systems, we discuss the interference issues and corresponding solutions for ISAC cellular networks. Furthermore, we develop an ISAC hardware prototype platform that can reconstruct the environmental maps and sense the dynamic targets while maintaining communications services. With all these designs, the proposed ISAC framework can support multifarious emerging applications, such as digital twins, low altitude economy, internet of vehicles, marine management, deformation monitoring, etc.

In this paper, we propose an environment sensing-aided beam prediction model for smart factory that can be transferred from given environments to a new environment. In particular, we first design a pre-training model that predicts the optimal beam by sensing the present environmental information. When encountering a new environment, it generally requires collecting a large amount of new training data to retrain the model, whose cost severely impedes the application of the designed pre-training model. Therefore, we next design a transfer learning strategy that fine-tunes the pre-trained model by limited labeled data of the new environment. Simulation results show that when the pre-trained model is fine-tuned by 30\% of labeled data from the new environment, the Top-10 beam prediction accuracy reaches 94\%. Moreover, compared with the way to completely re-training the prediction model, the amount of training data and the time cost of the proposed transfer learning strategy reduce 70\% and 75\% respectively.

Matrix sketching, aimed at approximating a matrix $\boldsymbol{A} \in \mathbb{R}^{N\times d}$ consisting of vector streams of length $N$ with a smaller sketching matrix $\boldsymbol{B} \in \mathbb{R}^{\ell\times d}, \ell \ll N$, has garnered increasing attention in fields such as large-scale data analytics and machine learning. A well-known deterministic matrix sketching method is the Frequent Directions algorithm, which achieves the optimal $O\left(\frac{d}{\varepsilon}\right)$ space bound and provides a covariance error guarantee of $\varepsilon = \lVert \boldsymbol{A}^\top \boldsymbol{A} - \boldsymbol{B}^\top \boldsymbol{B} \rVert_2/\lVert \boldsymbol{A} \rVert_F^2$. The matrix sketching problem becomes particularly interesting in the context of sliding windows, where the goal is to approximate the matrix $\boldsymbol{A}_W$, formed by input vectors over the most recent $N$ time units. However, despite recent efforts, whether achieving the optimal $O\left(\frac{d}{\varepsilon}\right)$ space bound on sliding windows is possible has remained an open question. In this paper, we introduce the DS-FD algorithm, which achieves the optimal $O\left(\frac{d}{\varepsilon}\right)$ space bound for matrix sketching over row-normalized, sequence-based sliding windows. We also present matching upper and lower space bounds for time-based and unnormalized sliding windows, demonstrating the generality and optimality of \dsfd across various sliding window models. This conclusively answers the open question regarding the optimal space bound for matrix sketching over sliding windows. Furthermore, we conduct extensive experiments with both synthetic and real-world datasets, validating our theoretical claims and thus confirming the correctness and effectiveness of our algorithm, both theoretically and empirically.

Let $BPU(n)$ be the classifying space of the projective unitary group $PU(n)$. We determine the integral cohomology ring of $BPU(4)$, and the Steenrod algebra structure of its mod $2$ cohomology., Comment: 25 pages

Integrated sensing and communication (ISAC) has opened up numerous game-changing opportunities for future wireless systems. In this paper, we develop a novel scheme that utilizes orthogonal frequency division multiplexing (OFDM) pilot signals to sense the electromagnetic (EM) property of the target and thus identify the materials of the target. Specifically, we first establish an EM wave propagation model with Maxwell equations, where the EM property of the target is captured by a closed-form expression of the channel. We then build the mathematical model for the relative permittivity and conductivity distribution (RPCD) within a predetermined region of interest shared by multiple base stations (BSs). Based on the EM wave propagation model, we propose an EM property sensing method, in which the RPCD can be reconstructed from compressive sensing techniques that exploits the joint sparsity structure of the EM property vector. We then develop a fusion algorithm to combine data from multiple BSs, which can enhance the reconstruction accuracy of EM property by efficiently integrating diverse measurements. Moreover, the fusion is performed at the feature level of RPCD and features low transmission overhead. We further design the pilot signals that can minimize the mutual coherence of the equivalent channels and enhance the diversity of incident EM wave patterns. Simulation results demonstrate the efficacy of the proposed method in achieving high-quality RPCD reconstruction and accurate material classification.

The use of deep learning (DL) for channel state information (CSI) feedback has garnered widespread attention across academia and industry. The mainstream DL architectures, e.g., CsiNet, deploy DL models on the base station (BS) side and the user equipment (UE) side, which are highly coupled and need to be trained jointly. However, two-sided DL models require collaborations between different network vendors and UE vendors, which entails considerable challenges in order to achieve consensus, e.g., model maintenance and responsibility. Furthermore, DL-based CSI feedback design invokes DL to reduce only the CSI feedback error, whereas jointly optimizing several modules at the transceivers would provide more significant gains. This article presents DL-based CSI feedback from the perspectives of one-sided model and joint multi-module learning. We herein introduce various novel one-sided CSI feedback architectures. In particular, the recently proposed CSI-PPPNet provides a one-sided one-for-all framework, which allows a DL model to deal with arbitrary CSI compression ratios. We review different joint multi-module learning methods, where the CSI feedback module is learned jointly with other modules including channel coding, channel estimation, pilot design and precoding design. Finally, future directions and challenges for DL-based CSI feedback are discussed, from the perspectives of inherent limitations of artificial intelligence (AI) and practical deployment issues.

Accurate forecasting of long-term time series has important applications for decision making and planning. However, it remains challenging to capture the long-term dependencies in time series data. To better extract long-term dependencies, We propose Multi Scale Dilated Convolution Network (MSDCN), a method that utilizes a shallow dilated convolution architecture to capture the period and trend characteristics of long time series. We design different convolution blocks with exponentially growing dilations and varying kernel sizes to sample time series data at different scales. Furthermore, we utilize traditional autoregressive model to capture the linear relationships within the data. To validate the effectiveness of the proposed approach, we conduct experiments on eight challenging long-term time series forecasting benchmark datasets. The experimental results show that our approach outperforms the prior state-of-the-art approaches and shows significant inference speed improvements compared to several strong baseline methods.

Atomically precise graphene nanoribbons (GNRs) have a wide range of electronic properties that depend sensitively on their chemical structure. Several types of GNRs have been synthesized on metal surfaces through selective surface-catalyzed reactions. The resulting GNRs are adsorbed on the metal surface, which may lead to hybridization between the GNR orbitals and those of the substrate. This makes investigation of the intrinsic electronic properties of GNRs more difficult, and also rules out capacitive gating. Here we demonstrate the formation of a dielectric gold chloride adlayer that can intercalate underneath GNRs on the Au(111) surface. The intercalated gold chloride adlayer electronically decouples the GNRs from the metal and leads to a substantial hole doping of the GNRs. Our results introduce an easily accessible tool in the in situ characterization of GNRs grown on Au(111) that allows for exploration of their electronic properties in a heavily hole-doped regime., Comment: Supporting information follows the main text in the same file

Constructing vectorized high-definition maps from surround-view cameras has garnered significant attention in recent years. However, the commonly employed multi-stage sequential workflow in prevailing approaches often leads to the loss of early-stage information, particularly in perspective-view features. Usually, such loss is observed as an instance missing or shape mismatching in the final birds-eye-view predictions. To address this concern, we propose a novel approach, namely \textbf{HybriMap}, which effectively exploits clues from hybrid features to ensure the delivery of valuable information. Specifically, we design the Dual Enhancement Module, to enable both explicit integration and implicit modification under the guidance of hybrid features. Additionally, the perspective keypoints are utilized as supervision, further directing the feature enhancement process. Extensive experiments conducted on existing benchmarks have demonstrated the state-of-the-art performance of our proposed approach.

Edge detection is a long standing problem in computer vision. Recent deep learning based algorithms achieve state of-the-art performance in publicly available datasets. Despite the efficiency of these algorithms, their performance, however, relies heavily on the pretrained weights of the backbone network on the ImageNet dataset. This limits heavily the design space of deep learning based edge detectors. Whenever we want to devise a new model, we have to train this new model on the ImageNet dataset first, and then fine tune the model using the edge detection datasets. The comparison would be unfair otherwise. However, it is usually not feasible for many researchers to train a model on the ImageNet dataset due to the limited computation resources. In this work, we study the performance that can be achieved by state-of-the-art deep learning based edge detectors in publicly available datasets when they are trained from scratch, and devise a new network architecture, the multi-stream and multi scale fusion net (msmsfnet), for edge detection. We show in our experiments that by training all models from scratch to ensure the fairness of comparison, out model outperforms state-of-the art deep learning based edge detectors in three publicly available datasets.

Teeth localization, segmentation, and labeling in 2D images have great potential in modern dentistry to enhance dental diagnostics, treatment planning, and population-based studies on oral health. However, general instance segmentation frameworks are incompetent due to 1) the subtle differences between some teeth' shapes (e.g., maxillary first premolar and second premolar), 2) the teeth's position and shape variation across subjects, and 3) the presence of abnormalities in the dentition (e.g., caries and edentulism). To address these problems, we propose a ViT-based framework named TeethSEG, which consists of stacked Multi-Scale Aggregation (MSA) blocks and an Anthropic Prior Knowledge (APK) layer. Specifically, to compose the two modules, we design 1) a unique permutation-based upscaler to ensure high efficiency while establishing clear segmentation boundaries with 2) multi-head self/cross-gating layers to emphasize particular semantics meanwhile maintaining the divergence between token embeddings. Besides, we collect 3) the first open-sourced intraoral image dataset IO150K, which comprises over 150k intraoral photos, and all photos are annotated by orthodontists using a human-machine hybrid algorithm. Experiments on IO150K demonstrate that our TeethSEG outperforms the state-of-the-art segmentation models on dental image segmentation., Comment: This paper has been accepted by CVPR 2024

Channel charting, an unsupervised learning method that learns a low-dimensional representation from channel information to preserve geometrical property of physical space of user equipments (UEs), has drawn many attentions from both academic and industrial communities, because it can facilitate many downstream tasks, such as indoor localization, UE handover, beam management, and so on. However, many previous works mainly focus on charting that only preserves local geometry and use raw channel information to learn the chart, which do not consider the global geometry and are often computationally intensive and very time-consuming. Therefore, in this paper, a novel signature based approach for global channel charting with ultra low complexity is proposed. By using an iterated-integral based method called signature transform, a compact feature map and a novel distance metric are proposed, which enable channel charting with ultra low complexity and preserving both local and global geometry. We demonstrate the efficacy of our method using synthetic and open-source real-field datasets., Comment: accepted by IEEE ICC 2024 Workshops

Integrated sensing and communications (ISAC) has been deemed as a key technology for the sixth generation (6G) wireless communications systems. In this paper, we explore the inherent clustered nature of wireless users and design a multi-user based environment reconstruction scheme. Specifically, we first select users based on the estimation precision of channel's multipath, including the line-of-sight (LOS) and the non-line-of-sight (NLOS) paths, to enhance the accuracy of environment reconstruction. Then, we develop a fusion strategy that merges communications signalling with camera image to increase the accuracy and robustness of environment reconstruction. The simulation results demonstrate that the proposed algorithm can achieve a remarkable sensing accuracy of centimeter level, which is about 17 times better than the scheme without user selection. Meanwhile, the fusion of communications data and vision data leads to a threefold accuracy improvement over the image only method, especially under challenging weather conditions like raining and snowing.

In this paper, we propose a new model to learn Adaptive Kernel-based Representations (AKBR) for graph classification. Unlike state-of-the-art R-convolution graph kernels that are defined by merely counting any pair of isomorphic substructures between graphs and cannot provide an end-to-end learning mechanism for the classifier, the proposed AKBR approach aims to define an end-to-end representation learning model to construct an adaptive kernel matrix for graphs. To this end, we commence by leveraging a novel feature-channel attention mechanism to capture the interdependencies between different substructure invariants of original graphs. The proposed AKBR model can thus effectively identify the structural importance of different substructures, and compute the R-convolution kernel between pairwise graphs associated with the more significant substructures specified by their structural attentions. Since each row of the resulting kernel matrix can be theoretically seen as the embedding vector of a sample graph, the proposed AKBR model is able to directly employ the resulting kernel matrix as the graph feature matrix and input it into the classifier for classification (i.e., the SoftMax layer), naturally providing an end-to-end learning architecture between the kernel computation as well as the classifier. Experimental results show that the proposed AKBR model outperforms existing state-of-the-art graph kernels and deep learning methods on standard graph benchmarks.

Integrated sensing and communication (ISAC) has become a promising technology for future communication system. In this paper, we consider a millimeter wave system over high mobility scenario, and propose a novel simultaneous transmission and reflection reconfigurable intelligent surface (STAR-RIS) aided ISAC scheme. To improve the communication service of the in-vehicle user equipment (UE) and simultaneously track and sense the vehicle with the help of nearby roadside units (RSUs), a STAR-RIS is equipped on the outside surface of the vehicle. Firstly, an efficient transmission structure is developed, where a number of training sequences with orthogonal precoders and combiners are respectively utilized at BS and RSUs for channel parameter extraction. Then, the near-field static channel model between the STAR-RIS and in-vehicle UE as well as the far-field time-frequency selective BS-RIS-RSUs channel model are characterized. By utilizing the multidimensional orthogonal matching pursuit (MOMP) algorithm, the cascaded channel parameters of the BS-RIS-RSUs links can be obtained at the RSUs. Thus, the vehicle localization and its velocity measurement can be acquired by jointly utilizing these extracted cascaded channel parameters of all RSUs. Note that the MOMP algorithm can be further utilized to extract the channel parameters of the BS-RIS-UE link for communication. With the help of sensing results, the phase shifts of the STAR-RIS are delicately designed, which can significantly improve the received signal strength for both the RSUs and the in-vehicle UE, and can finally enhance the sensing and communication performance. Moreover, the trade-off for sensing and communication is designed by optimizing the energy splitting factors of the STAR-RIS. Finally, simulation results are provided to validate the feasibility and effectiveness of our proposed STAR-RIS aided ISAC scheme., Comment: 14 pages, 11 figures

This paper presents a selective review of statistical computation methods for massive data analysis. A huge amount of statistical methods for massive data computation have been rapidly developed in the past decades. In this work, we focus on three categories of statistical computation methods: (1) distributed computing, (2) subsampling methods, and (3) minibatch gradient techniques. The first class of literature is about distributed computing and focuses on the situation, where the dataset size is too huge to be comfortably handled by one single computer. In this case, a distributed computation system with multiple computers has to be utilized. The second class of literature is about subsampling methods and concerns about the situation, where the sample size of dataset is small enough to be placed on one single computer but too large to be easily processed by its memory as a whole. The last class of literature studies those minibatch gradient related optimization techniques, which have been extensively used for optimizing various deep learning models.

The accurate construction of tokamak equilibria, which is critical for the effective control and optimization of plasma configurations, depends on the precise distribution of magnetic fields and magnetic fluxes. Equilibrium fitting codes, such as EFIT relying on traditional equilibrium algorithms, require solving the GS equation by iterations based on the least square method constrained with measured magnetic signals. The iterative methods face numerous challenges and complexities in the pursuit of equilibrium optimization. Furthermore, these methodologies heavily depend on the expertise and practical experience, demanding substantial resource allocation in personnel and time. This paper reconstructs magnetic equilibria for the EAST tokamak based on artificial neural networks through a supervised learning method. We use a fully connected neural network to replace the GS equation and reconstruct the poloidal magnetic flux distribution by training the model based on EAST datasets. The training set, validation set, and testing set are partitioned randomly from the dataset of poloidal magnetic flux distributions of the EAST experiments in 2016 and 2017 years. The feasibility of the neural network model is verified by comparing it to the offline EFIT results. It is found that the neural network algorithm based on the supervised machine learning method can accurately predict the location of different closed magnetic flux surfaces at a high efficiency. The similarities of the predicted X-point position and last closed magnetic surface are both 98%. The Pearson coherence of the predicted q profiles is 92%. Compared with the target value, the model results show the potential of the neural network model for practical use in plasma modeling and real-time control of tokamak operations., Comment: 24 pages, 10 figures

Multimodal Large Language Models (MLLMs) have showcased impressive skills in tasks related to visual understanding and reasoning. Yet, their widespread application faces obstacles due to the high computational demands during both the training and inference phases, restricting their use to a limited audience within the research and user communities. In this paper, we investigate the design aspects of Multimodal Small Language Models (MSLMs) and propose an efficient multimodal assistant named Mipha, which is designed to create synergy among various aspects: visual representation, language models, and optimization strategies. We show that without increasing the volume of training data, our Mipha-3B outperforms the state-of-the-art large MLLMs, especially LLaVA-1.5-13B, on multiple benchmarks. Through detailed discussion, we provide insights and guidelines for developing strong MSLMs that rival the capabilities of MLLMs. Our code is available at https://github.com/zhuyiche/llava-phi.

Nonreciprocity, which denotes the asymmetric or even unidirectional transmission of light, constitutes the cornerstone of modern photonic circuits. In the realm of photonic devices, it has been widely utilized in isolators, circulators and so on. Recent topology in artificial materials, an unprecedented degree of freedom, has been proposed to solve the effect of impurities on nonreciprocal transmission. However, in view of the bulk-edge correspondence, the spatial width of the transmission channel with uniform field distribution is quite narrow and needs further exploration. In this paper, we proposed a one-way valley-locked waveguide with a large channel in an all-dielectric photonic crystal. Quite different from the topological edge modes, the unidirectional property of our waveguide comes from the bulk modes with valley-lock, which can fully utilize the whole dimension of the structure with an efficiency of 100%. Additionally, the electrical field is uniformly distributed across the entire channel, which opens a new avenue for low-loss nonreciprocity devices., Comment: 16 pages and 5 figures

This technical report presents a diffusion model based framework for face swapping between two portrait images. The basic framework consists of three components, i.e., IP-Adapter, ControlNet, and Stable Diffusion's inpainting pipeline, for face feature encoding, multi-conditional generation, and face inpainting respectively. Besides, I introduce facial guidance optimization and CodeFormer based blending to further improve the generation quality. Specifically, we engage a recent light-weighted customization method (i.e., DreamBooth-LoRA), to guarantee the identity consistency by 1) using a rare identifier "sks" to represent the source identity, and 2) injecting the image features of source portrait into each cross-attention layer like the text features. Then I resort to the strong inpainting ability of Stable Diffusion, and utilize canny image and face detection annotation of the target portrait as the conditions, to guide ContorlNet's generation and align source portrait with the target portrait. To further correct face alignment, we add the facial guidance loss to optimize the text embedding during the sample generation. The code is available at: https://github.com/somuchtome/Faceswap

The question "Can machines think?" and the Turing Test to assess whether machines could achieve human-level intelligence is one of the roots of AI. With the philosophical argument "I think, therefore I am", this paper challenge the idea of a "thinking machine" supported by current AIs since there is no sense of self in them. Current artificial intelligence is only seemingly intelligent information processing and does not truly understand or be subjectively aware of oneself and perceive the world with the self as human intelligence does. In this paper, we introduce a Brain-inspired and Self-based Artificial Intelligence (BriSe AI) paradigm. This BriSe AI paradigm is dedicated to coordinating various cognitive functions and learning strategies in a self-organized manner to build human-level AI models and robotic applications. Specifically, BriSe AI emphasizes the crucial role of the Self in shaping the future AI, rooted with a practical hierarchical Self framework, including Perception and Learning, Bodily Self, Autonomous Self, Social Self, and Conceptual Self. The hierarchical framework of the Self highlights self-based environment perception, self-bodily modeling, autonomous interaction with the environment, social interaction and collaboration with others, and even more abstract understanding of the Self. Furthermore, the positive mutual promotion and support among multiple levels of Self, as well as between Self and learning, enhance the BriSe AI's conscious understanding of information and flexible adaptation to complex environments, serving as a driving force propelling BriSe AI towards real Artificial General Intelligence.

One-on-one tutoring is an effective instructional method for enhancing learning, yet its efficacy hinges on tutor competencies. Novice math tutors often prioritize content-specific guidance, neglecting aspects such as social-emotional learning. Social-emotional learning promotes equity and inclusion and nurturing relationships with students, which is crucial for holistic student development. Assessing the competencies of tutors accurately and efficiently can drive the development of tailored tutor training programs. However, evaluating novice tutor ability during real-time tutoring remains challenging as it typically requires experts-in-the-loop. To address this challenge, this preliminary study aims to harness Generative Pre-trained Transformers (GPT), such as GPT-3.5 and GPT-4 models, to automatically assess tutors' ability of using social-emotional tutoring strategies. Moreover, this study also reports on the financial dimensions and considerations of employing these models in real-time and at scale for automated assessment. The current study examined four prompting strategies: two basic Zero-shot prompt strategies, Tree of Thought prompt, and Retrieval-Augmented Generator (RAG) based prompt. The results indicate that the RAG prompt demonstrated more accurate performance (assessed by the level of hallucination and correctness in the generated assessment texts) and lower financial costs than the other strategies evaluated. These findings inform the development of personalized tutor training interventions to enhance the the educational effectiveness of tutored learning., Comment: 11 page Workshop paper, AAAI2024 Workshop on AI for Education - Bridging Innovation and Responsibility, Large Language Model, Personalized Tutor Training, Automatic Assessment

As a sequel to [Duan-Shu-Yao], we introduce here a category $\mathscr{LC}$ arising from the BGG category $\mathcal{O}$ defined in [Duan-Shu-Yao] for Lie algebras of polynomial vector fields. The objects of $\mathscr{LC}$ are so-called Lie-Cartan modules which admit both Lie-module structure and compatible $R$-module structure ($R$ denotes the corresponding polynomial ring). This terminology is natural, coming from affine connections in differential geometry through which the structure sheaves in topology and the vector fields in geometry are integrated for differential manifolds. In this paper, we study Lie-Cartan modules and their categorical and cohomology properties. The category $\mathscr{LC}$ is abelian, and a ``highest weight category" with depths. Notably, the set of co-standard objects in the category $\mathcal{O}$ turns out to represent the isomorphism classes of simple objects of $\mathscr{LC}$. We then establish the cohomology for this category (called the $\mathscr{uLC}$-cohomology), extending Chevalley-Eilenberg cohomology theory. Another notable result says that in the fundamental case $\mathfrak{g}= W(n)$, the extension ring $\text{Ext}^\bullet_{\mathscr{uLC}}(R,R)$ for the polynomial algebra $R$ in the $\mathscr{uLC}$-cohomology is isomorphic to the usual cohomology ring $H^\bullet(\mathfrak{gl}(n))$ of the general linear Lie algebra $\mathfrak{gl}(n)$., Comment: 32 pages, comments welcome

In this paper, we presented a detailed single pulse and polarization study of PSR J0614+2229 based on the archived data observed on 2019 August 15 (MJD 58710) and September 12 (MJD 58738) using the Ultra-wideband Low-frequency Receiver on the Parkes radio telescope. The single-pulse sequences show that this pulsar switches between two emission states, in which the emission of state A occurs earlier than that of state B in pulse longitude. We found that the variation in relative brightness between the two states is related to time and both states follow a simple power law very well. Based on the phase-aligned multi-frequency profiles, we found that there is a significant difference in the distributions of spectral index across the emission regions of the two states. Furthermore, we obtained the emission height evolution for the two emission states and found that, at a fixed frequency, the emission height of state A is higher than that of state B. What is even more interesting is that the emission heights of both states A and B have not changed with frequency. Our results suggest that the mode switching of this pulsar is possibly caused by changes in the emission heights that alter the distributions of spectral index across the emission regions of states A and B resulting in the frequency-dependent behaviors, i.e., intensity and pulse width.

Convolutional Neural Networks (CNNs) and Transformers have been the most popular architectures for biomedical image segmentation, but both of them have limited ability to handle long-range dependencies because of inherent locality or computational complexity. To address this challenge, we introduce U-Mamba, a general-purpose network for biomedical image segmentation. Inspired by the State Space Sequence Models (SSMs), a new family of deep sequence models known for their strong capability in handling long sequences, we design a hybrid CNN-SSM block that integrates the local feature extraction power of convolutional layers with the abilities of SSMs for capturing the long-range dependency. Moreover, U-Mamba enjoys a self-configuring mechanism, allowing it to automatically adapt to various datasets without manual intervention. We conduct extensive experiments on four diverse tasks, including the 3D abdominal organ segmentation in CT and MR images, instrument segmentation in endoscopy images, and cell segmentation in microscopy images. The results reveal that U-Mamba outperforms state-of-the-art CNN-based and Transformer-based segmentation networks across all tasks. This opens new avenues for efficient long-range dependency modeling in biomedical image analysis. The code, models, and data are publicly available at https://wanglab.ai/u-mamba.html.

The language-conditioned robotic manipulation aims to transfer natural language instructions into executable actions, from simple pick-and-place to tasks requiring intent recognition and visual reasoning. Inspired by the dual process theory in cognitive science, which suggests two parallel systems of fast and slow thinking in human decision-making, we introduce Robotics with Fast and Slow Thinking (RFST), a framework that mimics human cognitive architecture to classify tasks and makes decisions on two systems based on instruction types. Our RFST consists of two key components: 1) an instruction discriminator to determine which system should be activated based on the current user instruction, and 2) a slow-thinking system that is comprised of a fine-tuned vision language model aligned with the policy networks, which allows the robot to recognize user intention or perform reasoning tasks. To assess our methodology, we built a dataset featuring real-world trajectories, capturing actions ranging from spontaneous impulses to tasks requiring deliberate contemplation. Our results, both in simulation and real-world scenarios, confirm that our approach adeptly manages intricate tasks that demand intent recognition and reasoning. The project is available at https://jlm-z.github.io/RSFT/, Comment: accepted to ICRA2024

Recently, Jiang et al. proposed several new classes of quaternary sequences with low autocorrelation and high linear complexity by using the inverse Gray mapping (JAMC, \textbf{69} (2023): 689--706). In this paper, we estimate the 4-adic complexity of these quaternary sequences. Our results show that these sequences have large 4-adic complexity to resist the attack of the rational approximation algorithm.

Humans interpret scenes by recognizing both the identities and positions of objects in their observations. For a robot to perform tasks such as \enquote{pick and place}, understanding both what the objects are and where they are located is crucial. While the former has been extensively discussed in the literature that uses the large language model to enrich the text descriptions, the latter remains underexplored. In this work, we introduce the \textit{Object-Centric Instruction Augmentation (OCI)} framework to augment highly semantic and information-dense language instruction with position cues. We utilize a Multi-modal Large Language Model (MLLM) to weave knowledge of object locations into natural language instruction, thus aiding the policy network in mastering actions for versatile manipulation. Additionally, we present a feature reuse mechanism to integrate the vision-language features from off-the-shelf pre-trained MLLM into policy networks. Through a series of simulated and real-world robotic tasks, we demonstrate that robotic manipulator imitation policies trained with our enhanced instructions outperform those relying solely on traditional language instructions., Comment: accepted to ICRA2024