Search

We present BehAV, a novel approach for autonomous robot navigation in outdoor scenes guided by human instructions and leveraging Vision Language Models (VLMs). Our method interprets human commands using a Large Language Model (LLM) and categorizes the instructions into navigation and behavioral guidelines. Navigation guidelines consist of directional commands (e.g., "move forward until") and associated landmarks (e.g., "the building with blue windows"), while behavioral guidelines encompass regulatory actions (e.g., "stay on") and their corresponding objects (e.g., "pavements"). We use VLMs for their zero-shot scene understanding capabilities to estimate landmark locations from RGB images for robot navigation. Further, we introduce a novel scene representation that utilizes VLMs to ground behavioral rules into a behavioral cost map. This cost map encodes the presence of behavioral objects within the scene and assigns costs based on their regulatory actions. The behavioral cost map is integrated with a LiDAR-based occupancy map for navigation. To navigate outdoor scenes while adhering to the instructed behaviors, we present an unconstrained Model Predictive Control (MPC)-based planner that prioritizes both reaching landmarks and following behavioral guidelines. We evaluate the performance of BehAV on a quadruped robot across diverse real-world scenarios, demonstrating a 22.49% improvement in alignment with human-teleoperated actions, as measured by Frechet distance, and achieving a 40% higher navigation success rate compared to state-of-the-art methods.

We present VLPG-Nav, a visual language navigation method for guiding robots to specified objects within household scenes. Unlike existing methods primarily focused on navigating the robot toward objects, our approach considers the additional challenge of centering the object within the robot's camera view. Our method builds a visual language pose graph (VLPG) that functions as a spatial map of VL embeddings. Given an open vocabulary object query, we plan a viewpoint for object navigation using the VLPG. Despite navigating to the viewpoint, real-world challenges like object occlusion, displacement, and the robot's localization error can prevent visibility. We build an object localization probability map that leverages the robot's current observations and prior VLPG. When the object isn't visible, the probability map is updated and an alternate viewpoint is computed. In addition, we propose an object-centering formulation that locally adjusts the robot's pose to center the object in the camera view. We evaluate the effectiveness of our approach through simulations and real-world experiments, evaluating its ability to successfully view and center the object within the camera field of view. VLPG-Nav demonstrates improved performance in locating the object, navigating around occlusions, and centering the object within the robot's camera view, outperforming the selected baselines in the evaluation metrics.

When subject to a non-local unitary evolution, qubits in a quantum circuit become increasingly entangled. Conversely, measurements applied to individual qubits lead to their disentanglement from the collective system. The extent of entanglement reduction depends on the frequency of local projective measurements. A delicate balance emerges between unitary evolution, which enhances entanglement, and measurements which diminish it. In the thermodynamic limit, there is a phase transition from volume law entanglement to area law entanglement at a critical value of measurement frequency. This phenomenon, occurring in hybrid quantum circuits with both unitary gates and measurements, is termed as measurement-induced phase transition (MIPT). We study the behavior of MIPT in circuits comprising of two qubit unitary gates parameterized by Cartan decomposition. We show that the entangling power and gate typicality of the two-qubit local unitaries employed in the circuit can be used to explain the behavior of global bipartite entanglement the circuit can sustain. When the two qubit gate throughout the circuit is the identity and measurements are the sole driver of the entanglement behavior, we obtain analytical estimate for the entanglement entropy that shows remarkable agreement with numerical simulations. We also find that the entangling power and gate typicality enable the classification of the two-qubit unitaries by different universality classes of phase transitions that can occur in the hybrid circuit. For all unitaries in a particular universality class, the transition from volume to area law of entanglement occurs with same exponent that characterizes the phase transition., Comment: 14 page, 14 figures

Quantum channels describe subsystem or open system evolution. Using the classical Koopman operator that evolves functions on phase space, 4 classical Koopman channels are identified that are analogs of the 4 possible quantum channels in a bipartite setting. Thus when the complete evolution has a quantum-classical correspondence the correspondence at the level of the subunitary channels can be studied. The channels, both classical and quantum can be interpreted as noisy single particle systems. Having parallel classical and quantum operators gives us new access to study fine details of these major limiting theories. Using a coupled kicked rotor as a generic example, we contrast and compare spectra of the quantum and classical channel. The largest nontrivial mode of the quantum channel is seen to be mostly determined by the stable parts of the classical phase space, even those that are surprisingly small in relation to the scale of an effective $\hbar$. In the case when the dynamics has a significant fraction of chaos the spectrum has a prominent annular density that is approximately described by the single-ring theorem of random matrix theory, and the ring shrinks in size when the classical limit is approached. However, the eigenvalues and modes that survive the classical limit seem to be either scarred by unstable manifolds or, if they exist, stable periodic orbits., Comment: 47 pages, 12 figures

Opinion Dynamics is an interdisciplinary area of research. Psychology and Sociology have proposed models of how individuals form opinions and how social interactions influence this process. Socio-Physicists have interpreted patterns in opinion formation as arising from non-linearity in the underlying process, shaping the models. Agent-based modeling has offered a platform to study the Opinion Dynamics of large groups. This paper recasts recent models in opinion formation into a proper dynamical system, injecting the idea of clock time into evolving opinions. The time interval between successive receipts of new information (frequency of information receipts) becomes a factor to study. Social media has shrunk time intervals between information receipts, increasing their frequency. The recast models show that shorter intervals and larger networks increase an individual's propensity for polarization, defined as an inability to hold a neutral opinion. A Polarization number based on sociological parameters is proposed, with critical values beyond which individuals are prone to polarization, depending on psychological parameters. Reduced time intervals and larger interacting groups can push the Polarization number to critical values, contributing to polarization. The Extent of Polarization is defined as the width of the region around neutral within which an individual cannot hold an opinion. Results are reported for model parameters found in the literature. The findings offer an opportunity to adjust model parameters to align with empirical evidence, aiding the study of Opinion Dynamics in large social networks using Agent-Based Modeling., Comment: This article has been published in Complexity journal. For citation purposes, please refer to the final published version:https://doi.org/10.1155/2024/4742401

The effects of disorder and chaos on quantum many-body systems can be superficially similar, yet their interplay has not been sufficiently explored. This work finds a continuous phase transition when disorder breaks permutation symmetry, with details of the transition being controlled by the degree of chaos in the clean limit. The system changes from an area law entangled phase in the permutation symmetric subspace where collective variables exist to volume law entanglement in the full Hilbert space, beyond a critical strength of the disorder. The critical strength tends to zero when the original disorder free system is fully chaotic. We study this mainly via the scaling of the collective spin of non-equilibrium states which transit to have properties of what has been dubbed "deep Hilbert space". This has potential implications for general many body physics, as well as technologies such as transmon qubits.

Rapid advancements in high-throughput single-cell RNA-seq (scRNA-seq) technologies and experimental protocols have led to the generation of vast amounts of genomic data that populates several online databases and repositories. Here, we systematically examined large-scale scRNA-seq databases, categorizing them based on their scope and purpose such as general, tissue-specific databases, disease-specific databases, cancer-focused databases, and cell type-focused databases. Next, we discuss the technical and methodological challenges associated with curating large-scale scRNA-seq databases, along with current computational solutions. We argue that understanding scRNA-seq databases, including their limitations and assumptions, is crucial for effectively utilizing this data to make robust discoveries and identify novel biological insights. Furthermore, we propose that bridging the gap between computational and wet lab scientists through user-friendly web-based platforms is needed for democratizing access to single-cell data. These platforms would facilitate interdisciplinary research, enabling researchers from various disciplines to collaborate effectively. This review underscores the importance of leveraging computational approaches to unravel the complexities of single-cell data and offers a promising direction for future research in the field., Comment: 17 pages, 1 figure, 1 table

Cluttered bin-picking environments are challenging for pose estimation models. Despite the impressive progress enabled by deep learning, single-view RGB pose estimation models perform poorly in cluttered dynamic environments. Imbuing the rich temporal information contained in the video of scenes has the potential to enhance models ability to deal with the adverse effects of occlusion and the dynamic nature of the environments. Moreover, joint object detection and pose estimation models are better suited to leverage the co-dependent nature of the tasks for improving the accuracy of both tasks. To this end, we propose attention-based temporal fusion for multi-object 6D pose estimation that accumulates information across multiple frames of a video sequence. Our MOTPose method takes a sequence of images as input and performs joint object detection and pose estimation for all objects in one forward pass. It learns to aggregate both object embeddings and object parameters over multiple time steps using cross-attention-based fusion modules. We evaluate our method on the physically-realistic cluttered bin-picking dataset SynPick and the YCB-Video dataset and demonstrate improved pose estimation accuracy as well as better object detection accuracy

Nonlinearity is a crucial characteristic for implementing hardware security primitives or neuromorphic computing systems. The main feature of all memristive devices is this nonlinear behavior observed in their current-voltage characteristics. To comprehend the nonlinear behavior, we have to understand the coexistence of resistive, capacitive, and inertia (virtual inductive) effects in these devices. These effects originate from corresponding physical and chemical processes in memristive devices. A physics-inspired compact model is employed to model and simulate interface-type RRAMs such as Au/BiFeO$_{3}$/Pt/Ti, Au/Nb$_{\rm x}$O$_{\rm y}$/Al$_{2}$O$_{3}$/Nb, while accounting for the modeling of capacitive and inertia effects. The simulated current-voltage characteristics align well with experimental data and accurately capture the non-zero crossing hysteresis generated by capacitive and inductive effects. This study examines the response of two devices to increasing frequencies, revealing a shift in their nonlinear behavior characterized by a reduced hysteresis range and increased chaotic behavior, as observed through internal state attractors. Fourier series analysis utilizing a sinusoidal input voltage of varying amplitudes and frequencies indicates harmonics or frequency components that considerably influence the functioning of RRAMs. Moreover, we propose and demonstrate the use of the frequency spectra as one of the fingerprints for memristive devices.

Object pose estimation is a long-standing problem in computer vision. Recently, attention-based vision transformer models have achieved state-of-the-art results in many computer vision applications. Exploiting the permutation-invariant nature of the attention mechanism, a family of vision transformer models formulate multi-object pose estimation as a set prediction problem. However, existing vision transformer models for multi-object pose estimation rely exclusively on the attention mechanism. Convolutional neural networks, on the other hand, hard-wire various inductive biases into their architecture. In this paper, we investigate incorporating inductive biases in vision transformer models for multi-object pose estimation, which facilitates learning long-range dependencies while circumventing the costly global attention. In particular, we use multi-resolution deformable attention, where the attention operation is performed only between a few deformed reference points. Furthermore, we propose a query aggregation mechanism that enables increasing the number of object queries without increasing the computational complexity. We evaluate the proposed model on the challenging YCB-Video dataset and report state-of-the-art results., Comment: IEEE International Conference on Robotic Computing (IRC), Laguna Hills, USA, December 2023

Foundation models possess strong capabilities in reasoning and memorizing across modalities. To further unleash the power of foundation models, we present FIND, a generalized interface for aligning foundation models' embeddings with unified image and dataset-level understanding spanning modality and granularity. As shown in the teaser figure, a lightweight transformer interface without tuning any foundation model weights is enough for segmentation, grounding, and retrieval in an interleaved manner. The proposed interface has the following favorable attributes: (1) Generalizable. It applies to various tasks spanning retrieval, segmentation, etc., under the same architecture and weights. (2) Interleavable. With the benefit of multi-task multi-modal training, the proposed interface creates an interleaved shared embedding space. (3) Extendable. The proposed interface is adaptive to new tasks, and new models. In light of the interleaved embedding space, we introduce FIND-Bench, which introduces new training and evaluation annotations to the COCO dataset for interleaved segmentation and retrieval. We are the first work aligning foundations models' embeddings for interleave understanding. Meanwhile, our approach achieves state-of-the-art performance on FIND-Bench and competitive performance on standard retrieval and segmentation settings., Comment: CODE: https://github.com/UX-Decoder/FIND

High-precision pulsar timing observations are limited in their accuracy by the jitter noise that appears in the arrival time of pulses. Therefore, it is important to systematically characterise the amplitude of the jitter noise and its variation with frequency. In this paper, we provide jitter measurements from low-frequency wideband observations of PSR J0437$-$4715 using data obtained as part of the Indian Pulsar Timing Array experiment. We were able to detect jitter in both the 300 - 500 MHz and 1260 - 1460 MHz observations of the upgraded Giant Metrewave Radio Telescope (uGMRT). The former is the first jitter measurement for this pulsar below 700 MHz, and the latter is in good agreement with results from previous studies. In addition, at 300 - 500 MHz, we investigated the frequency dependence of the jitter by calculating the jitter for each sub-banded arrival time of pulses. We found that the jitter amplitude increases with frequency. This trend is opposite as compared to previous studies, indicating that there is a turnover at intermediate frequencies. It will be possible to investigate this in more detail with uGMRT observations at 550 - 750 MHz and future high sensitive wideband observations from next generation telescopes, such as the Square Kilometre Array. We also explored the effect of jitter on the high precision dispersion measure (DM) measurements derived from short duration observations. We find that even though the DM precision will be better at lower frequencies due to the smaller amplitude of jitter noise, it will limit the DM precision for high signal-to-noise observations, which are of short durations. This limitation can be overcome by integrating for a long enough duration optimised for a given pulsar., Comment: 13 pages, 12 figures, 3 tables, accepted for Publication of the Astronomical Society of Australia