Search

Scaling up robot learning requires large and diverse datasets, and how to efficiently reuse collected data and transfer policies to new embodiments remains an open question. Emerging research such as the Open-X Embodiment (OXE) project has shown promise in leveraging skills by combining datasets including different robots. However, imbalances in the distribution of robot types and camera angles in many datasets make policies prone to overfit. To mitigate this issue, we propose RoVi-Aug, which leverages state-of-the-art image-to-image generative models to augment robot data by synthesizing demonstrations with different robots and camera views. Through extensive physical experiments, we show that, by training on robot- and viewpoint-augmented data, RoVi-Aug can zero-shot deploy on an unseen robot with significantly different camera angles. Compared to test-time adaptation algorithms such as Mirage, RoVi-Aug requires no extra processing at test time, does not assume known camera angles, and allows policy fine-tuning. Moreover, by co-training on both the original and augmented robot datasets, RoVi-Aug can learn multi-robot and multi-task policies, enabling more efficient transfer between robots and skills and improving success rates by up to 30%., Comment: CoRL 2024 (Oral)

We explore how to enhance next-token prediction models to perform in-context imitation learning on a real robot, where the robot executes new tasks by interpreting contextual information provided during the input phase, without updating its underlying policy parameters. We propose In-Context Robot Transformer (ICRT), a causal transformer that performs autoregressive prediction on sensorimotor trajectories without relying on any linguistic data or reward function. This formulation enables flexible and training-free execution of new tasks at test time, achieved by prompting the model with sensorimotor trajectories of the new task composing of image observations, actions and states tuples, collected through human teleoperation. Experiments with a Franka Emika robot demonstrate that the ICRT can adapt to new tasks specified by prompts, even in environment configurations that differ from both the prompt and the training data. In a multitask environment setup, ICRT significantly outperforms current state-of-the-art next-token prediction models in robotics on generalizing to unseen tasks. Code, checkpoints and data are available on https://icrt.dev/

The exponential growth of scientific literature necessitates advanced tools for effective knowledge exploration. We present Knowledge Navigator, a system designed to enhance exploratory search abilities by organizing and structuring the retrieved documents from broad topical queries into a navigable, two-level hierarchy of named and descriptive scientific topics and subtopics. This structured organization provides an overall view of the research themes in a domain, while also enabling iterative search and deeper knowledge discovery within specific subtopics by allowing users to refine their focus and retrieve additional relevant documents. Knowledge Navigator combines LLM capabilities with cluster-based methods to enable an effective browsing method. We demonstrate our approach's effectiveness through automatic and manual evaluations on two novel benchmarks, CLUSTREC-COVID and SCITOC. Our code, prompts, and benchmarks are made publicly available.

In the flavour of categorical quantum mechanics, we extend nonlocal games to allow quantum questions and answers, using quantum sets (special symmetric dagger Frobenius algebras) and the quantum functions of arXiv:1711.07945. Equations are presented using a diagrammatic calculus for tensor categories. To this quantum question and answer setting, we extend the standard definitions, including strategies, correlations, and synchronicity, and we use these definitions to extend results about synchronicity. We extend the graph homomorphism (isomorphism) game to quantum graphs, and show it is synchronous (bisynchronous) and that its perfect quantum-commuting (bi)strategies are quantum graph homomorphisms (isomorphisms). Our extended definitions agree with the existing quantum games literature, except in the case of synchronicity., Comment: 53 pages

In Gasket Assembly, a deformable gasket must be aligned and pressed into a narrow channel. This task is common for sealing surfaces in the manufacturing of automobiles, appliances, electronics, and other products. Gasket Assembly is a long-horizon, high-precision task and the gasket must align with the channel and be fully pressed in to achieve a secure fit. To compare approaches, we present 4 methods for Gasket Assembly: one policy from deep imitation learning and three procedural algorithms. We evaluate these methods with 100 physical trials. Results suggest that the Binary+ algorithm succeeds in 10/10 on the straight channel whereas the learned policy based on 250 human teleoperated demonstrations succeeds in 8/10 trials and is significantly slower. Code, CAD models, videos, and data can be found at https://berkeleyautomation.github.io/robot-gasket/, Comment: Content without Appendix accepted for IEEE CASE 2024

We predict the existence of $\alpha$ Ori B, a low-mass companion orbiting Betelgeuse. This is motivated by the presence of a 2170-day Long Secondary Period (LSP) in Betelgeuse's lightcurve, a periodicity $\approx5$ times longer than the star's 416 day fundamental radial pulsation mode. While binarity is currently the leading hypothesis for LSPs in general, the LSP and the radial velocity variation observed in Betelgeuse, taken together, necessitate a revision of the prevailing physical picture. The lightcurve-RV phase difference requires a companion to be behind Betelgeuse at the LSP luminosity minimum, 180 degrees out of phase with the system orientation associated with occultation. We demonstrate the consistency of this model with available observational constraints and identify tensions in all other proposed LSP hypotheses. Within this framework, we calculate a mass for $\alpha$ Ori B of $1.17\pm0.7\,M_\odot$ and an orbital separation of $1850\pm70\,R_\odot$, or $2.43^{+0.21}_{-0.32}$ times the radius of Betelgeuse. We then describe the features of the companion as constrained by the fundamental parameters of Betelgeuse and its orbital system, and discuss what would be required to confirm the companion's existence observationally., Comment: 16 pages, 4 figures, 2 tables, submitted to AAS Journals. Comments welcome

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

The 1st Workshop on Data Contamination (CONDA 2024) focuses on all relevant aspects of data contamination in natural language processing, where data contamination is understood as situations where evaluation data is included in pre-training corpora used to train large scale models, compromising evaluation results. The workshop fostered a shared task to collect evidence on data contamination in current available datasets and models. The goal of the shared task and associated database is to assist the community in understanding the extent of the problem and to assist researchers in avoiding reporting evaluation results on known contaminated resources. The shared task provides a structured, centralized public database for the collection of contamination evidence, open to contributions from the community via GitHub pool requests. This first compilation paper is based on 566 reported entries over 91 contaminated sources from a total of 23 contributors. The details of the individual contamination events are available in the platform. The platform continues to be online, open to contributions from the community., Comment: https://huggingface.co/spaces/CONDA-Workshop/Data-Contamination-Database

The article further develops and formalizes a theory of friendly dialogue in an AI System of Dr. Watson type, as proposed in our previous publication[4],[19]. The main principle of this type of AI is to guide the user toward a solution in a friendly manner, using questions based on the analysis of user input and data collected in the system.

Relativistic jets from a black hole (BH) following the core-collapse of a massive star (''collapsar'') is a leading model for gamma-ray bursts (GRBs). However, the two key ingredients for a Blandford-Znajek (BZ) powered jet $-$ rapid rotation and a strong magnetic field $-$ seem mutually exclusive. Strong fields in the progenitor star's core transport angular momentum outwards more quickly, slowing down the core before collapse. Using MESA stellar evolution models followed to core-collapse, we explicitly show that the small length-scale of the instabilities, likely responsible for angular momentum transport in the core (e.g., Tayler-Spruit), results in a low net magnetic flux fed to the BH horizon, far too small to power GRB jets. Instead, we propose a novel scenario in which collapsar BHs acquire their magnetic ''hair'' from their progenitor proto-neutron star (PNS), which is likely highly magnetized from an internal dynamo. We evaluate the conditions for the BH accretion disk to pin the PNS magnetosphere to its horizon immediately after the collapse. Our results show that the PNS's pre-collapse energy matches the excess energy in Ic-BL supernovae, while the nascent BH's spin and magnetic flux produce jets consistent with observed GRB characteristics. We map our MESA models to 3D general-relativistic magnetohydrodynamic simulations and confirm that accretion disks confine the strong magnetic flux initiated near a rotating BH, enabling the launch of successful GRB jets, whereas a slower spinning BH or one without a disk fails to do so. Our model indicates that standard GRB jets emerge whenever an accretion disk forms.

We present detailed multi-band photometric and spectroscopic observations and analysis of a rare core-collapse supernova SN 2021wvw, that includes photometric evolution up to 250 d and spectroscopic coverage up to 100 d post-explosion. A unique event that does not fit well within the general trends observed for Type II-P supernovae, SN 2021wvw shows an intermediate luminosity with a short plateau phase of just about 75 d, followed by a very sharp (~10 d) transition to the tail phase. Even in the velocity space, it lies at a lower velocity compared to a larger Type II sample. The observed peak absolute magnitude is -16.1 mag in r-band, and the nickel mass is well constrained to 0.020(6) Msol. Detailed hydrodynamical modeling using MESA+STELLA suggests a radially compact, low-metallicity, high-mass Red Supergiant progenitor (ZAMS mass=18 Msol), which exploded with ~0.2e51 erg/s leaving an ejecta mass of Mej~5 Msol. Significant late-time fallback during the shock propagation phase is also seen in progenitor+explosion models consistent with the light curve properties. As the faintest short-plateau supernova characterized to date, this event adds to the growing diversity of transitional events between the canonical ~100 d plateau Type IIP and stripped-envelope events., Comment: Accepted for publication in the Astrophysical Journal (18 pages, 13 figures, 4 tables)

The language used by US courtroom actors in criminal trials has long been studied for biases. However, systematic studies for bias in high-stakes court trials have been difficult, due to the nuanced nature of bias and the legal expertise required. Large language models offer the possibility to automate annotation. But validating the computational approach requires both an understanding of how automated methods fit in existing annotation workflows and what they really offer. We present a case study of adding a computational model to a complex and high-stakes problem: identifying gender-biased language in US capital trials for women defendants. Our team of experienced death-penalty lawyers and NLP technologists pursue a three-phase study: first annotating manually, then training and evaluating computational models, and finally comparing expert annotations to model predictions. Unlike many typical NLP tasks, annotating for gender bias in months-long capital trials is complicated, with many individual judgment calls. Contrary to standard arguments for automation that are based on efficiency and scalability, legal experts find the computational models most useful in providing opportunities to reflect on their own bias in annotation and to build consensus on annotation rules. This experience suggests that seeking to replace experts with computational models for complex annotation is both unrealistic and undesirable. Rather, computational models offer valuable opportunities to assist the legal experts in annotation-based studies.

Current Text-to-Code models demonstrate impressive capabilities in generating executable code from natural language snippets. However, current studies focus on technical instructions and programmer-oriented language, and it is an open question whether these models can effectively translate natural language descriptions given by non-technical users and express complex goals, to an executable program that contains an intricate flow - composed of API access and control structures as loops, conditions, and sequences. To unlock the challenge of generating a complete program from a plain non-technical description we present NoviCode, a novel NL Programming task, which takes as input an API and a natural language description by a novice non-programmer and provides an executable program as output. To assess the efficacy of models on this task, we provide a novel benchmark accompanied by test suites wherein the generated program code is assessed not according to their form, but according to their functional execution. Our experiments show that, first, NoviCode is indeed a challenging task in the code synthesis domain, and that generating complex code from non-technical instructions goes beyond the current Text-to-Code paradigm. Second, we show that a novel approach wherein we align the NL utterances with the compositional hierarchical structure of the code, greatly enhances the performance of LLMs on this task, compared with the end-to-end Text-to-Code counterparts.

We derive the dimension-8 standard-model effective theory (SMEFT) contact terms relevant for vector-pair production at the LHC and lepton colliders. We first list the relevant dimension-8 massless SMEFT amplitudes, and then obtain the low-energy amplitudes using on-shell Higgsing. In all cases, the contributions we calculate are the leading-order contributions to 4-point contact-terms; the dimension-6 SMEFT merely corrects the three-point couplings entering the amplitudes. Since they are given in terms of physical quantities, namely momenta and polarizations, the results allow for a direct mapping of EFT effects to low-energy observables. The vector amplitudes are sensitive to both anomalous vector couplings and Higgs self-couplings. The left-handed fermion amplitudes feature SU(2) violating effects first generated at dimension-8. We also compare our results to HEFT predictions. Interestingly, the dimension-8 SMEFT populates almost all the novel structures generated by the dimension-8 HEFT.

At the start of the COVID-19 pandemic, home visiting programs were faced with an unprecedented challenge: How do you deliver home visiting services without visiting homes? One home visiting model--Child First--quickly pivoted to telehealth, offering caregivers the option to receive services virtually. Child First has since resumed delivering services primarily in person, but some pandemic-driven implementation changes remain. To understand the impact of the pandemic on the Child First model, the study team conducted surveys and interviews with Child First staff members, and interviews with caregivers who received Child First services, to answer the following research questions: (1) To what extent did the implementation of Child First services change since the start of the pandemic?; (2) How did Child First staff members report implementing core components of the model since the pandemic began?; and (3) How did Child First caregivers report on Child First services that they received since the pandemic began? Overall, the study team found that the implementation of the Child First model following the first three years of the pandemic remains largely consistent with pre-pandemic implementation, despite the unique challenges to home visiting posed by the pandemic.

Thermoelectric materials convert a temperature gradient into a voltage. This phenomenon is relatively well understood for inorganic materials, but much less so for organic semiconductors (OSs). These materials present a challenge because the strong thermal fluctuations of electronic coupling between the molecules result in partially delocalized charge carriers that cannot be treated with traditional theories for thermoelectricity. Here we develop a novel quantum dynamical simulation approach revealing in atomistic detail how the charge carrier wavefunction moves along a temperature gradient in an organic molecular crystal. We find that the wavefunction propagates from hot to cold in agreement with experiment and we obtain a Seebeck coefficient in good agreement with values obtained from experimental measurements that are also reported in this work. Detailed analysis of the dynamics reveals that the directional charge carrier motion is due to the gradient in thermal electronic disorder, more specifically in the spatial gradient of thermal fluctuations of electronic couplings. It causes an increase in the density of thermally accessible electronic states, the delocalization of states and the non-adiabatic coupling between states with decreasing temperature. As a result, the carrier wavefunction transitions with higher probability to a neighbouring electronic state towards the cold side compared to the hot side generating a thermoelectric current. Our dynamical perspective of thermoelectricity suggests that the temperature dependence of electronic disorder plays an important role in determining the magnitude of the Seebeck coefficient in this class of materials, opening new avenues for design of OSs with improved Seebeck coefficients.

The quantum Cram\'er-Rao bound for the joint estimation of the centroid and the separation between two incoherent point sources cannot be saturated. As such, the optimal measurements for extracting maximal information about both at the same time are not known. In this work, we ascertain these optimal measurements for an arbitrary point spread function, in the most relevant regime of a small separation between the sources. Our measurement can be adjusted within a set of tradeoffs, allowing more information to be extracted from the separation or the centroid while ensuring that the total information is the maximum possible., Comment: 5 pages; comments always welcome

Retrieval models are often evaluated on partially-annotated datasets. Each query is mapped to a few relevant texts and the remaining corpus is assumed to be irrelevant. As a result, models that successfully retrieve false negatives are punished in evaluation. Unfortunately, completely annotating all texts for every query is not resource efficient. In this work, we show that using partially-annotated datasets in evaluation can paint a distorted picture. We curate D-MERIT, a passage retrieval evaluation set from Wikipedia, aspiring to contain all relevant passages for each query. Queries describe a group (e.g., ``journals about linguistics'') and relevant passages are evidence that entities belong to the group (e.g., a passage indicating that Language is a journal about linguistics). We show that evaluating on a dataset containing annotations for only a subset of the relevant passages might result in misleading ranking of the retrieval systems and that as more relevant texts are included in the evaluation set, the rankings converge. We propose our dataset as a resource for evaluation and our study as a recommendation for balance between resource-efficiency and reliable evaluation when annotating evaluation sets for text retrieval., Comment: Our dataset can be downloaded from https://D-MERIT.github.io

We investigate optimal decision making under imperfect recall, that is, when an agent forgets information it once held before. An example is the absentminded driver game, as well as team games in which the members have limited communication capabilities. In the framework of extensive-form games with imperfect recall, we analyze the computational complexities of finding equilibria in multiplayer settings across three different solution concepts: Nash, multiselves based on evidential decision theory (EDT), and multiselves based on causal decision theory (CDT). We are interested in both exact and approximate solution computation. As special cases, we consider (1) single-player games, (2) two-player zero-sum games and relationships to maximin values, and (3) games without exogenous stochasticity (chance nodes). We relate these problems to the complexity classes P, PPAD, PLS, $\Sigma_2^P$ , $\exists$R, and $\exists \forall$R., Comment: Long version of the paper that got accepted to the Thirty-Third International Joint Conference on Artificial Intelligence (IJCAI 2024). 35 pages, 10 figures, 1 table

In this work, we develop a new hydrostatic reconstruction procedure to construct well-balanced schemes for one and multilayer shallow water flows, including wetting and drying. Initially, we derive the method for a path-conservative finite volume scheme and combine it with entropy conservative fluxes and suitable numerical dissipation to preserve an entropy inequality in the semi-discrete case. We then combine the novel hydrostatic reconstruction with a collocated nodal split-form discontinuous Galerkin spectral element method, extending the method to high-order and curvilinear meshes. The high-order method incorporates an additional positivity-limiter and is blended with a compatible subcell finite volume method to maintain well-balancedness at wet/dry fronts. We prove entropy stability, well-balancedness, and positivity-preservation for both methods. Numerical results for the high-order method validate the theoretical findings and demonstrate the robustness of the scheme., Comment: 28 pages, 10 figures, submitted to Journal of Computational Physics

Generative, multimodal artificial intelligence (GenAI) offers transformative potential across industries, but its misuse poses significant risks. Prior research has shed light on the potential of advanced AI systems to be exploited for malicious purposes. However, we still lack a concrete understanding of how GenAI models are specifically exploited or abused in practice, including the tactics employed to inflict harm. In this paper, we present a taxonomy of GenAI misuse tactics, informed by existing academic literature and a qualitative analysis of approximately 200 observed incidents of misuse reported between January 2023 and March 2024. Through this analysis, we illuminate key and novel patterns in misuse during this time period, including potential motivations, strategies, and how attackers leverage and abuse system capabilities across modalities (e.g. image, text, audio, video) in the wild.

Design fictions allow us to prototype the future. They enable us to interrogate emerging or non-existent technologies and examine their implications. We present three design fictions that probe the potential consequences of operationalizing a mutual theory of mind (MToM) between human users and one (or more) AI agents. We use these fictions to explore many aspects of MToM, including how models of the other party are shaped through interaction, how discrepancies between these models lead to breakdowns, and how models of a human's knowledge and skills enable AI agents to act in their stead. We examine these aspects through two lenses: a utopian lens in which MToM enhances human-human interactions and leads to synergistic human-AI collaborations, and a dystopian lens in which a faulty or misaligned MToM leads to problematic outcomes. Our work provides an aspirational vision for human-centered MToM research while simultaneously warning of the consequences when implemented incorrectly., Comment: 11 pages. Published in Proceedings of Workshop on Theory of Mind in Human-AI Interaction at CHI 2024

Multiple planets undergoing disk migration may be captured into a chain of mean-motion resonances with the innermost planet parked near the disk's inner edge. Subsequent dynamical evolution may disrupt these resonances, leading to the non-resonant configurations typically observed among {\it Kepler} planets that are Gyrs old. In this scenario, resonant configurations are expected to be more common in younger systems. This prediction can now be tested, thanks to recent discoveries of young planets, particularly those in stellar clusters, by NASA's {\it TESS} mission. We divided the known planetary systems into three age groups: young ($<$100-Myr-old), adolescent (0.1-1-Gyr-old), and mature ($>1$-Gyr-old). The fraction of neighboring planet pairs having period ratios within a few percent of a first-order commensurability (e.g.~4:3, 3:2, or 2:1) is 70$\pm$15\% for young pairs, 24$\pm$8\% for adolescent pairs, and 15$\pm$2\% for mature pairs. The fraction of systems with at least one nearly commensurable pair (either first or second-order) is 86$\pm13$\% among young systems, 38$\pm12$\% for adolescent systems, and 23$\pm3$\% for mature systems. First-order commensurabilities prevail across all age groups, with an admixture of second-order commensurabilities. Commensurabilities are more common in systems with high planet multiplicity and low mutual inclinations. Observed period ratios often deviate from perfect commensurability by $\sim$1\% even among young planets, too large to be explained by resonant repulsion with equilibrium eccentricity tides. We also find that super-Earths in the radius gap ($1.5-1.9R_\oplus$) are less likely to be near-resonant (11.9$\pm2.0\%$) compared to Earth-sized planets ($R_p<1R_\oplus$; 25.3$\pm4.4\%$) or mini-Neptunes ($1.9R_\oplus \leq R_p<2.5R_\oplus$; 14.4$\pm1.8\%$)., Comment: 17 pages, 9 figures, accepted to AAS

The spectral properties of electrons confined in a wire-like quasi-one-dimensional (1D) elongated quantum dot (EQD) coupler between silicon qubits, are investigated with a newly developed valley-augmented unrestricted Hartree-Fock (va-UHF) method, generalized to include the valley degree of freedom treated as an isospin, allowing calculations for a large number of electrons. The lower energy symmetry-broken solutions of the self-consistent generalized Pople-Nesbet equations exhibit, for a confinement that has been modeled after an experimentally fabricated one in silicon, formation of Wigner-molecular polymeric (longitudinal) chains, initiating through charge accumulation at the edges of the finite-length quasi-1D wire. An increasing number of parallel zig-zag chains form as the number of electrons loaded into the confinement is increased, with the formation of newly added chains determined by the strength of the transverse harmonic confinement. The broken-symmetry va-UHF solutions, subsequently augmented by the quantum-mechanically required parity-restoration, go beyond the va-UHF single-determinant solution, predicting formation of entangled Wigner-molecular chains whose charge distributions obliterate the zig-zag organization of the broken-symmetry solutions. The symmetry-restored va-UHF methodology enables systematic investigations of multi-electron complex nano-scale confined structures that could be targeted for future imaging microscopy experiments in silicon and other materials (e.g., 1D domain walls in TMD materials), and quantum information utilization., Comment: 10 pages, 10 color figures. Accepted for publication in Physical Review Applied. For related papers, see https://sites.gatech.edu/cyannouleas/

Optical surfaces represented by second-degree polynomials (quadratic or conics) are ubiquitous in optics. We revisit the equations of the conic shapes in the context of grazing incidence optics, gathering together the curves commonly used in x-ray instruments and synchrotron beamlines. We present the equations for paraboloids, ellipsoids, and hyperboloids in a common and consistent notation. We develop the transformations from centered systems that are commonly used to describe conics and their axes of symmetry, to local coordinate systems centered on the off-axis mirror surfaces. The equations presented are directly applicable to ray tracing, fabrication, and metrology calculations. They can also be used to study misalignments, movement tolerances, and aberrations of optical surfaces., Comment: 16 pages, 6 figures, 5 Tables

Earlier, we introduced Partial Quantifier Elimination (PQE). It is a $\mathit{generalization}$ of regular quantifier elimination where one can take a $\mathit{part}$ of the formula out of the scope of quantifiers. We apply PQE to CNF formulas of propositional logic with existential quantifiers. The appeal of PQE is that many problems like equivalence checking and model checking can be solved in terms of PQE and the latter can be very efficient. The main flaw of current PQE solvers is that they do not $\mathit{reuse}$ learned information. The problem here is that these PQE solvers are based on the notion of clause redundancy and the latter is a $\mathit{structural}$ rather than $\mathit{semantic}$ property. In this paper, we provide two important theoretical results that enable reusing the information learned by a PQE solver. Such reusing can dramatically boost the efficiency of PQE like conflict clause learning boosts SAT solving., Comment: arXiv admin note: text overlap with arXiv:2403.05928

Core collapse initial conditions are a bottleneck in understanding the explosion mechanism(s) of massive stars. Stellar evolution codes struggle after carbon burning, and either stop or adopt numerical simplifications missing crucial physics. The use of small nuclear reaction networks (NRN) that account for energy production but bypass weak reactions is typical, but insufficient to study the dynamics of the collapse. We advise against the use of progenitors computed with small NRN in expensive multi-dimensional simulations of core collapse, bounce, (jet formation), and explosion., Comment: accepted by RNAAS, input/output available at https://doi.org/10.5281/zenodo.11375523, code at https://github.com/mathren/CHE_net_comparison

Advances in generative AI (GenAI) have raised concerns about detecting and discerning AI-generated content from human-generated content. Most existing literature assumes a paradigm where 'expert' organized disinformation creators and flawed AI models deceive 'ordinary' users. Based on longitudinal ethnographic research with misinformation creators and consumers between 2022-2023, we instead find that GenAI supports bricolage work, where non-experts increasingly use GenAI to remix, repackage, and (re)produce content to meet their personal needs and desires. This research yielded four key findings: First, participants primarily used GenAI for creation, rather than truth-seeking. Second, a spreading 'influencer millionaire' narrative drove participants to become content creators, using GenAI as a productivity tool to generate a volume of (often misinformative) content. Third, GenAI lowered the barrier to entry for content creation across modalities, enticing consumers to become creators and significantly increasing existing creators' output. Finally, participants used Gen AI to learn and deploy marketing tactics to expand engagement and monetize their content. We argue for shifting analysis from the public as consumers of AI content to bricoleurs who use GenAI creatively, often without a detailed understanding of its underlying technology. We analyze how these understudied emergent uses of GenAI produce new or accelerated misinformation harms, and their implications for AI products, platforms and policies., Comment: 44 pages, 25 figures

Eruptive mass loss in massive stars is known to occur, but the mechanism(s) are not yet well-understood. One proposed physical explanation appeals to opacity-driven super-Eddington luminosities in stellar envelopes. Here, we present a 1D model for eruptive mass loss and implement this model in the MESA stellar evolution code. The model identifies regions in the star where the energy associated with a locally super-Eddington luminosity exceeds the binding energy of the overlaying envelope. The material above such regions is ejected from the star. Stars with masses $10-100~M_\odot$ at solar and SMC metallicities are evolved through core helium burning, with and without this new eruptive mass-loss scheme. We find that eruptive mass loss of up to $\sim10^{-2}~M_\odot \mathrm{yr}^{-1}$ can be driven by this mechanism, and occurs in a vertical band on the HR diagram between $3.5 \lesssim \log(T_\mathrm{eff}/\mathrm{K}) \lesssim 4.0$. This predicted eruptive mass loss prevents stars of initial masses $\gtrsim20~M_\odot$ from evolving to become red supergiants, with the stars instead ending their lives as blue supergiants, and therefore offers a possible explanation for the observed lack of red supergiants in that mass regime., Comment: 16 pages, 9 figures, submitted to ApJ

Dynamic manipulation of free-end cables has applications for cable management in homes, warehouses and manufacturing plants. We present a supervised learning approach for dynamic manipulation of free-end cables, focusing on the problem of getting the cable endpoint to a designated target position, which may lie outside the reachable workspace of the robot end effector. We present a simulator, tune it to closely match experiments with physical cables, and then collect training data for learning dynamic cable manipulation. We evaluate with 3 cables and a physical UR5 robot. Results over 32x5 trials on 3 cables suggest that a physical UR5 robot can attain a median error distance ranging from 22% to 35% of the cable length among cables, outperforming an analytic baseline by 21% and a Gaussian Process baseline by 7% with lower interquartile range (IQR).

The number of scientific articles produced every year is growing rapidly. Providing quality control over them is crucial for scientists and, ultimately, for the public good. In modern science, this process is largely delegated to peer review -- a distributed procedure in which each submission is evaluated by several independent experts in the field. Peer review is widely used, yet it is hard, time-consuming, and prone to error. Since the artifacts involved in peer review -- manuscripts, reviews, discussions -- are largely text-based, Natural Language Processing has great potential to improve reviewing. As the emergence of large language models (LLMs) has enabled NLP assistance for many new tasks, the discussion on machine-assisted peer review is picking up the pace. Yet, where exactly is help needed, where can NLP help, and where should it stand aside? The goal of our paper is to provide a foundation for the future efforts in NLP for peer-reviewing assistance. We discuss peer review as a general process, exemplified by reviewing at AI conferences. We detail each step of the process from manuscript submission to camera-ready revision, and discuss the associated challenges and opportunities for NLP assistance, illustrated by existing work. We then turn to the big challenges in NLP for peer review as a whole, including data acquisition and licensing, operationalization and experimentation, and ethical issues. To help consolidate community efforts, we create a companion repository that aggregates key datasets pertaining to peer review. Finally, we issue a detailed call for action for the scientific community, NLP and AI researchers, policymakers, and funding bodies to help bring the research in NLP for peer review forward. We hope that our work will help set the agenda for research in machine-assisted scientific quality control in the age of AI, within the NLP community and beyond.

In this work, we present SuFIA, the first framework for natural language-guided augmented dexterity for robotic surgical assistants. SuFIA incorporates the strong reasoning capabilities of large language models (LLMs) with perception modules to implement high-level planning and low-level control of a robot for surgical sub-task execution. This enables a learning-free approach to surgical augmented dexterity without any in-context examples or motion primitives. SuFIA uses a human-in-the-loop paradigm by restoring control to the surgeon in the case of insufficient information, mitigating unexpected errors for mission-critical tasks. We evaluate SuFIA on four surgical sub-tasks in a simulation environment and two sub-tasks on a physical surgical robotic platform in the lab, demonstrating its ability to perform common surgical sub-tasks through supervised autonomous operation under challenging physical and workspace conditions. Project website: orbit-surgical.github.io/sufia

We conducted an in-person ethnography in India and the US to investigate how young people (18-24) trusted online content, with a focus on generative AI (GenAI). We had four key findings about how young people use GenAI and determine what to trust online. First, when online, we found participants fluidly shifted between mindsets and emotional states, which we term "information modes." Second, these information modes shaped how and why participants trust GenAI and how they applied literacy skills. In the modes where they spent most of their time, they eschewed literacy skills. Third, with the advent of GenAI, participants imported existing trust heuristics from familiar online contexts into their interactions with GenAI. Fourth, although study participants had reservations about GenAI, they saw it as a requisite tool to adopt to keep up with the times. Participants valued efficiency above all else, and used GenAI to further their goals quickly at the expense of accuracy. Our findings suggest that young people spend the majority of their time online not concerned with truth because they are seeking only to pass the time. As a result, literacy interventions should be designed to intervene at the right time, to match users' distinct information modes, and to work with their existing fact-checking practices., Comment: 14 pages

Imitation learning is a promising paradigm for training robot control policies, but these policies can suffer from distribution shift, where the conditions at evaluation time differ from those in the training data. A popular approach for increasing policy robustness to distribution shift is interactive imitation learning (i.e., DAgger and variants), where a human operator provides corrective interventions during policy rollouts. However, collecting a sufficient amount of interventions to cover the distribution of policy mistakes can be burdensome for human operators. We propose IntervenGen (I-Gen), a novel data generation system that can autonomously produce a large set of corrective interventions with rich coverage of the state space from a small number of human interventions. We apply I-Gen to 4 simulated environments and 1 physical environment with object pose estimation error and show that it can increase policy robustness by up to 39x with only 10 human interventions. Videos and more results are available at https://sites.google.com/view/intervengen2024.

This paper focuses on the opportunities and the ethical and societal risks posed by advanced AI assistants. We define advanced AI assistants as artificial agents with natural language interfaces, whose function is to plan and execute sequences of actions on behalf of a user, across one or more domains, in line with the user's expectations. The paper starts by considering the technology itself, providing an overview of AI assistants, their technical foundations and potential range of applications. It then explores questions around AI value alignment, well-being, safety and malicious uses. Extending the circle of inquiry further, we next consider the relationship between advanced AI assistants and individual users in more detail, exploring topics such as manipulation and persuasion, anthropomorphism, appropriate relationships, trust and privacy. With this analysis in place, we consider the deployment of advanced assistants at a societal scale, focusing on cooperation, equity and access, misinformation, economic impact, the environment and how best to evaluate advanced AI assistants. Finally, we conclude by providing a range of recommendations for researchers, developers, policymakers and public stakeholders.

Physics-based simulations have accelerated progress in robot learning for driving, manipulation, and locomotion. Yet, a fast, accurate, and robust surgical simulation environment remains a challenge. In this paper, we present ORBIT-Surgical, a physics-based surgical robot simulation framework with photorealistic rendering in NVIDIA Omniverse. We provide 14 benchmark surgical tasks for the da Vinci Research Kit (dVRK) and Smart Tissue Autonomous Robot (STAR) which represent common subtasks in surgical training. ORBIT-Surgical leverages GPU parallelization to train reinforcement learning and imitation learning algorithms to facilitate study of robot learning to augment human surgical skills. ORBIT-Surgical also facilitates realistic synthetic data generation for active perception tasks. We demonstrate ORBIT-Surgical sim-to-real transfer of learned policies onto a physical dVRK robot. Project website: orbit-surgical.github.io

Scatter-gather dynamic-memory-access (SG-DMA) is utilized in applications that require high bandwidth and low latency data transfers between memory and peripherals, where data blocks, described using buffer descriptors (BDs), are distributed throughout the memory system. The data transfer organization and requirements of a Trapped-Ion Quantum Computer (TIQC) possess characteristics similar to those targeted by SG-DMA. In particular, the ion qubits in a TIQC are manipulated by applying control sequences consisting primarily of modulated laser pulses. These optical pulses are defined by parameters that are (re)configured by the electrical control system. Variations in the operating environment and equipment make it necessary to create and run a wide range of control sequence permutations, which can be well represented as BD regions distributed across the main memory. In this paper, we experimentally evaluate the latency and throughput of SG-DMA on Xilinx radiofrequency SoC (RFSoC) devices under a variety of BD and payload sizes as a means of determining the benefits and limitations of an RFSoC system architecture for TIQC applications., Comment: 13 pages, 11 figures

The task of reading comprehension (RC), often implemented as context-based question answering (QA), provides a primary means to assess language models' natural language understanding (NLU) capabilities. Yet, when applied to large language models (LLMs) with extensive built-in world knowledge, this method can be deceptive. If the context aligns with the LLMs' internal knowledge, it is hard to discern whether the models' answers stem from context comprehension or from LLMs' internal information. Conversely, using data that conflicts with the models' knowledge creates erroneous trends which distort the results. To address this issue, we suggest to use RC on imaginary data, based on fictitious facts and entities. This task is entirely independent of the models' world knowledge, enabling us to evaluate LLMs' linguistic abilities without the interference of parametric knowledge. Testing ChatGPT, GPT-4, LLaMA 2 and Mixtral on such imaginary data, we uncover a class of linguistic phenomena posing a challenge to current LLMs, involving thinking in terms of alternative, hypothetical scenarios. While all the models handle simple affirmative and negative contexts with high accuracy, they are much more prone to error when dealing with modal and conditional contexts. Crucially, these phenomena also trigger the LLMs' vulnerability to knowledge-conflicts again. In particular, while some models prove virtually unaffected by knowledge conflicts in affirmative and negative contexts, when faced with more semantically involved modal and conditional environments, they often fail to separate the text from their internal knowledge.

We present STITCH: an augmented dexterity pipeline that performs Suture Throws Including Thread Coordination and Handoffs. STITCH iteratively performs needle insertion, thread sweeping, needle extraction, suture cinching, needle handover, and needle pose correction with failure recovery policies. We introduce a novel visual 6D needle pose estimation framework using a stereo camera pair and new suturing motion primitives. We compare STITCH to baselines, including a proprioception-only and a policy without visual servoing. In physical experiments across 15 trials, STITCH achieves an average of 2.93 sutures without human intervention and 4.47 sutures with human intervention. See https://sites.google.com/berkeley.edu/stitch for code and supplemental materials.