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Flying quadrotors in tight formations is a challenging problem. It is known that in the near-field airflow of a quadrotor, the aerodynamic effects induced by the propellers are complex and difficult to characterize. Although machine learning tools can potentially be used to derive models that capture these effects, these data-driven approaches can be sample inefficient and the resulting models often do not generalize as well as their first-principles counterparts. In this work, we propose a framework that combines the benefits of first-principles modeling and data-driven approaches to construct an accurate and sample efficient representation of the complex aerodynamic effects resulting from quadrotors flying in formation. The data-driven component within our model is lightweight, making it amenable for optimization-based control design. Through simulations and physical experiments, we show that incorporating the model into a novel learning-based nonlinear model predictive control (MPC) framework results in substantial performance improvements in terms of trajectory tracking and disturbance rejection. In particular, our framework significantly outperforms nominal MPC in physical experiments, achieving a 40.1% improvement in the average trajectory tracking errors and a 57.5% reduction in the maximum vertical separation errors. Our framework also achieves exceptional sample efficiency, using only a total of 46 seconds of flight data for training across both simulations and physical experiments. Furthermore, with our proposed framework, the quadrotors achieve an exceptionally tight formation, flying with an average separation of less than 1.5 body lengths throughout the flight. A video illustrating our framework and physical experiments is given here: https://youtu.be/Hv-0JiVoJGo, Comment: 7 pages, 5 figures

Machine learning models are advancing circuit design, particularly in analog circuits. They typically generate netlists that lack human interpretability. This is a problem as human designers heavily rely on the interpretability of circuit diagrams or schematics to intuitively understand, troubleshoot, and develop designs. Hence, to integrate domain knowledge effectively, it is crucial to translate ML-generated netlists into interpretable schematics quickly and accurately. We propose Schemato, a large language model (LLM) for netlist-to-schematic conversion. In particular, we consider our approach in the two settings of converting netlists to .asc files for LTSpice and LATEX files for CircuiTikz schematics. Experiments on our circuit dataset show that Schemato achieves up to 93% compilation success rate for the netlist-to-LaTeX conversion task, surpassing the 26% rate scored by the state-of-the-art LLMs. Furthermore, our experiments show that Schemato generates schematics with a mean structural similarity index measure that is 3xhigher than the best performing LLMs, therefore closer to the reference human design.

Designing integrated circuits involves substantial complexity, posing challenges in revealing its potential applications - from custom digital cells to analog circuits. Despite extensive research over the past decades in building versatile and automated frameworks, there remains open room to explore more computationally efficient AI-based solutions. This paper introduces the graph composer GraCo, a novel method for synthesizing integrated circuits using reinforcement learning (RL). GraCo learns to construct a graph step-by-step, which is then converted into a netlist and simulated with SPICE. We demonstrate that GraCo is highly configurable, enabling the incorporation of prior design knowledge into the framework. We formalize how this prior knowledge can be utilized and, in particular, show that applying consistency checks enhances the efficiency of the sampling process. To evaluate its performance, we compare GraCo to a random baseline, which is known to perform well for smaller design space problems. We demonstrate that GraCo can discover circuits for tasks such as generating standard cells, including the inverter and the two-input NAND (NAND2) gate. Compared to a random baseline, GraCo requires 5x fewer sampling steps to design an inverter and successfully synthesizes a NAND2 gate that is 2.5x faster.

We prove that for every odd $q\geq 3$, any $q$-query binary, possibly non-linear locally decodable code ($q$-LDC) $E:\{\pm1\}^k \rightarrow \{\pm1\}^n$ must satisfy $k \leq \tilde{O}(n^{1-2/q})$. For even $q$, this bound was established in a sequence of prior works. For $q=3$, the above bound was achieved in a recent work of Alrabiah, Guruswami, Kothari and Manohar using an argument that crucially exploits known exponential lower bounds for $2$-LDCs. Their strategy hits an inherent bottleneck for $q \geq 5$. Our key insight is identifying a general sufficient condition on the hypergraph of local decoding sets called $t$-approximate strong regularity. This condition demands that 1) the number of hyperedges containing any given subset of vertices of size $t$ (i.e., its co-degree) be equal to the same but arbitrary value $d_t$ up to a multiplicative constant slack, and 2) all other co-degrees be upper-bounded relative to $d_t$. This condition significantly generalizes related proposals in prior works that demand absolute upper bounds on all co-degrees. We give an argument based on spectral bounds on Kikuchi Matrices that lower bounds the blocklength of any LDC whose local decoding sets satisfy $t$-approximate strong regularity for any $t \leq q$. Crucially, unlike prior works, our argument works despite having no non-trivial absolute upper bound on the co-degrees of any set of vertices. To apply our argument to arbitrary $q$-LDCs, we give a new, greedy, approximate strong regularity decomposition that shows that arbitrary, dense enough hypergraphs can be partitioned (up to a small error) into approximately strongly regular pieces satisfying the required relative bounds on the co-degrees.

Squeezed light, with its quantum noise reduction capabilities, has emerged as a powerful resource in quantum information processing and precision metrology. To reach noise reduction levels such that a quantum advantage is achieved, off-chip squeezers are typically used. The development of on-chip squeezed light sources, particularly in nanophotonic platforms, has been challenging. We report 3.7 $\pm$ 0.2 dB of directly detected nanophotonic quantum squeezing using foundry-fabricated silicon nitride (Si$_3$N$_4$) microrings with an inferred squeezing level of 10.7 dB on-chip. The squeezing level is robust across multiple devices and pump detunings, and is consistent with the overcoupling degree without noticeable degradation from excess classical noise. We also offer insights to mitigate thermally-induced excess noise, that typically degrades squeezing, by using small-radius rings with a larger free spectral range (450 GHz) and consequently lower parametric oscillation thresholds. Our results demonstrate that Si$_3$N$_4$ is a viable platform for strong quantum noise reduction in a CMOS-compatible, scalable architecture.

We construct the first explicit two-sided vertex expanders that bypass the spectral barrier. Previously, the strongest known explicit vertex expanders were given by $d$-regular Ramanujan graphs, whose spectral properties imply that every small subset of vertices $S$ has at least $0.5d|S|$ distinct neighbors. However, it is possible to construct Ramanujan graphs containing a small set $S$ with no more than $0.5d|S|$ neighbors. In fact, no explicit construction was known to break the $0.5 d$-barrier. In this work, we give an explicit construction of an infinite family of $d$-regular graphs (for large enough $d$) where every small set expands by a factor of $\approx 0.6d$. More generally, for large enough $d_1,d_2$, we give an infinite family of $(d_1,d_2)$-biregular graphs where small sets on the left expand by a factor of $\approx 0.6d_1$, and small sets on the right expand by a factor of $\approx 0.6d_2$. In fact, our construction satisfies an even stronger property: small sets on the left and right have unique-neighbor expansion $0.6d_1$ and $0.6d_2$ respectively. Our construction follows the tripartite line product framework of Hsieh, McKenzie, Mohanty & Paredes, and instantiates it using the face-vertex incidence of the $4$-dimensional Ramanujan clique complex as its base component. As a key part of our analysis, we derive new bounds on the triangle density of small sets in the Ramanujan clique complex., Comment: 28 pages

This study aims to fill the gap by constructing a topic-aware comparable corpus of Mainland Chinese Mandarin and Taiwanese Mandarin from the social media in Mainland China and Taiwan, respectively. Using Dcard for Taiwanese Mandarin and Sina Weibo for Mainland Chinese, we create a comparable corpus that updates regularly and reflects modern language use on social media., Comment: 4 pages, 4 figures, presented at APCLC2018: ASIA-PACIFIC CORPUS LINGUISTICS CONFERENCE 2018

The human brain receives nutrients and oxygen through an intricate network of blood vessels. Pathology affecting small vessels, at the mesoscopic scale, represents a critical vulnerability within the cerebral blood supply and can lead to severe conditions, such as Cerebral Small Vessel Diseases. The advent of 7 Tesla MRI systems has enabled the acquisition of higher spatial resolution images, making it possible to visualise such vessels in the brain. However, the lack of publicly available annotated datasets has impeded the development of robust, machine learning-driven segmentation algorithms. To address this, the SMILE-UHURA challenge was organised. This challenge, held in conjunction with the ISBI 2023, in Cartagena de Indias, Colombia, aimed to provide a platform for researchers working on related topics. The SMILE-UHURA challenge addresses the gap in publicly available annotated datasets by providing an annotated dataset of Time-of-Flight angiography acquired with 7T MRI. This dataset was created through a combination of automated pre-segmentation and extensive manual refinement. In this manuscript, sixteen submitted methods and two baseline methods are compared both quantitatively and qualitatively on two different datasets: held-out test MRAs from the same dataset as the training data (with labels kept secret) and a separate 7T ToF MRA dataset where both input volumes and labels are kept secret. The results demonstrate that most of the submitted deep learning methods, trained on the provided training dataset, achieved reliable segmentation performance. Dice scores reached up to 0.838 $\pm$ 0.066 and 0.716 $\pm$ 0.125 on the respective datasets, with an average performance of up to 0.804 $\pm$ 0.15.

We present a verifier of quantum programs called AutoQ 2.0. Quantum programs extend quantum circuits (the domain of AutoQ 1.0) by classical control flow constructs, which enable users to describe advanced quantum algorithms in a formal and precise manner. The extension is highly non-trivial, as we needed to tackle both theoretical challenges (such as the treatment of measurement, the normalization problem, and lifting techniques for verification of classical programs with loops to the quantum world), and engineering issues (such as extending the input format with a~support for specifying loop invariants). We have successfully used AutoQ 2.0 to verify two types of advanced quantum programs that cannot be expressed using only quantum circuits: the \emph{repeat-until-success} (RUS) algorithm and the weak-measurement-based version of Grover's search algorithm. AutoQ 2.0 can efficiently verify all our benchmarks: all RUS algorithms were verified instantly and, for the weak-measurement-based version of Grover's search, we were able to handle the case of 100 qubits in $\sim$20 minutes., Comment: regular tool paper submitted to TACAS 2025

Quantifying interaction strengths between state variables in dynamical systems is essential for understanding ecological networks. Within the empirical dynamic modeling approach, multivariate S-map infers the interaction Jacobian from time series data without assuming specific dynamical models. This approach enables the non-parametric statistical inference of interspecific interactions through state space reconstruction. However, deviations in the biological interpretation and numerical implementation of the interaction Jacobian from its mathematical definition pose challenges. We mathematically reintroduce the interaction Jacobian using differential quotients, uncovering two problems: (1) the mismatch between the interaction Jacobian and its biological meaning complicates comparisons between interspecific and intraspecific interactions; (2) the interaction Jacobian is not fully implemented in the parametric Jacobian numerically derived from given parametric models, especially using ordinary differential equations. As a result, model-based evaluations of S-map methods become inappropriate. To address these problems, (1) we propose adjusting the diagonal elements of the interaction Jacobian by subtracting 1 to resolve the comparability problem between inter- and intraspecific interaction strengths. Simulations of population dynamics showed that this adjustment prevents overestimation of intraspecific interaction strengths. (2) We introduce an alternative parametric Jacobian and then cumulative interaction strength (CIS), providing a more rigorous benchmark for evaluating S-map methods. Furthermore, we demonstrated that the numerical gap between CIS and the existing parametric Jacobian is substantial in realistic scenarios, suggesting CIS as preferred benchmark. These solutions offer a clearer framework for developing non-parametric approaches in ecological time series analysis., Comment: 39 pages, 5 figures and 2 tables

We report the detection of water vapor associated with main-belt comet 358P/PANSTARRS on UT 2024 January 8-9 using the NIRSPEC instrument aboard JWST. We derive a water production rate of Q(H2O)=(5.0+/-0.2)x10^25 molecules/s, marking only the second direct detection of sublimation products of any kind from a main-belt comet, after 238P/Read. Similar to 238P, we find a remarkable absence of hypervolatile species, finding Q(CO2)<7.6x10^22 molecules/s, corresponding to Q(CO2)/Q(H2O)<0.2%. Upper limits on CH3OH and CO emission are also estimated. Photometry from ground-based observations show that the dust coma brightened and faded slowly over ~250 days in 2023-2024, consistent with photometric behavior observed in 2012-2013, but also indicate a ~2.5x decline in the dust production rate between these two periods. Dynamical dust modeling shows that the coma's morphology as imaged by JWST's NIRCAM instrument on 2023 November 22 can be reproduced by asymmetric dust emission from a nucleus with a mid-range obliquity (~80 deg) with a steady-state mass loss rate of ~0.8 kg/s. Finally, we find similar Afrho-to-gas ratios of log10(Afrho/Q(H2O))=-24.8+/-0.2 for 358P and log10(Afrho/QH2O)=-24.4+/-0.2 for 238P, suggesting that Afrho could serve as an effective proxy for estimating water production rates in other active main-belt comets. The confirmation of water vapor outgassing in both main-belt comets observed by JWST to date reinforces the use of recurrent activity near perihelion as an indicator of sublimation-driven activity in active asteroids., Comment: 32 pages, 13 figures. Accepted for publication in The Planetary Science Journal

Multimodal foundation models, such as Gemini and ChatGPT, have revolutionized human-machine interactions by seamlessly integrating various forms of data. Developing a universal spoken language model that comprehends a wide range of natural language instructions is critical for bridging communication gaps and facilitating more intuitive interactions. However, the absence of a comprehensive evaluation benchmark poses a significant challenge. We present Dynamic-SUPERB Phase-2, an open and evolving benchmark for the comprehensive evaluation of instruction-based universal speech models. Building upon the first generation, this second version incorporates 125 new tasks contributed collaboratively by the global research community, expanding the benchmark to a total of 180 tasks, making it the largest benchmark for speech and audio evaluation. While the first generation of Dynamic-SUPERB was limited to classification tasks, Dynamic-SUPERB Phase-2 broadens its evaluation capabilities by introducing a wide array of novel and diverse tasks, including regression and sequence generation, across speech, music, and environmental audio. Evaluation results indicate that none of the models performed well universally. SALMONN-13B excelled in English ASR, while WavLLM demonstrated high accuracy in emotion recognition, but current models still require further innovations to handle a broader range of tasks. We will soon open-source all task data and the evaluation pipeline.

We present GazeGen, a user interaction system that generates visual content (images and videos) for locations indicated by the user's eye gaze. GazeGen allows intuitive manipulation of visual content by targeting regions of interest with gaze. Using advanced techniques in object detection and generative AI, GazeGen performs gaze-controlled image adding/deleting, repositioning, and surface style changes of image objects, and converts static images into videos. Central to GazeGen is the DFT Gaze (Distilled and Fine-Tuned Gaze) agent, an ultra-lightweight model with only 281K parameters, performing accurate real-time gaze predictions tailored to individual users' eyes on small edge devices. GazeGen is the first system to combine visual content generation with real-time gaze estimation, made possible exclusively by DFT Gaze. This real-time gaze estimation enables various visual content generation tasks, all controlled by the user's gaze. The input for DFT Gaze is the user's eye images, while the inputs for visual content generation are the user's view and the predicted gaze point from DFT Gaze. To achieve efficient gaze predictions, we derive the small model from a large model (10x larger) via novel knowledge distillation and personal adaptation techniques. We integrate knowledge distillation with a masked autoencoder, developing a compact yet powerful gaze estimation model. This model is further fine-tuned with Adapters, enabling highly accurate and personalized gaze predictions with minimal user input. DFT Gaze ensures low-latency and precise gaze tracking, supporting a wide range of gaze-driven tasks. We validate the performance of DFT Gaze on AEA and OpenEDS2020 benchmarks, demonstrating low angular gaze error and low latency on the edge device (Raspberry Pi 4). Furthermore, we describe applications of GazeGen, illustrating its versatility and effectiveness in various usage scenarios., Comment: 12 pages, 10 figures

A self-correcting quantum memory is a type of quantum error correcting code that can correct errors passively through cooling. A major open question in the field is whether self-correcting quantum memories can exist in 3D. In this work, we propose two candidate constructions for 3D self-correcting quantum memories. The first construction is an extension of Haah's code, which retains translation invariance. The second construction is based on fractals with greater flexibility in its design. Additionally, we review existing 3D quantum codes and suggest that they are not self-correcting.

Geometrically local quantum codes, which are error-correcting codes embedded in $\mathbb{R}^D$ with the checks only acting on qubits within a fixed spatial distance, have garnered significant interest. Recently, it has been demonstrated how to achieve geometrically local codes that maximize both the dimension and the distance, as well as the energy barrier of the code. In this work, we focus on the constructions involving subdivision and show that they have an almost linear time decoder, obtained by combining the decoder of the outer good qLDPC code and a generalized version of the Union-Find decoder. This provides the first decoder for an optimal 3D geometrically local code. We also consider the decoder under random circuit level noise and demonstrate the existence of a finite threshold error rate., Comment: 26 pages

We study the activity evolution of the main-belt comet 324P/La Sagra over time and the properties of its emitted dust. We performed aperture photometry on images taken by a wide range of telescopes at optical and thermal infrared wavelengths between 2010 and 2021. We derived the combined scattering cross section of the nucleus and dust (when present) as a function of time, and we derived the thermal emission properties. Fitting an IAU H-G phase function to the data obtained when 324P was likely inactive, we derived an absolute nucleus magnitude $H_R = (18.4 \pm 0.5)$ mag using $G = 0.15 \pm 0.12$. The activity of 324P/La Sagra during the 2015 perihelion passage has significantly decreased compared to the previous perihelion passage in 2010, and it decreased even further during the 2021 perihelion passage. This decrease in activity may be attributed to mantling or to the depletion of volatile substances. The $Af\rho$ profile analysis of the coma of the main-belt comet suggests a near-perihelion transition from a lower-activity pre-perihelion to a higher-activity post-perihelion steady state. We calculate a dust geometric albedo in the range of (2 - 45)%, which prevents us from constraining the spectral type of 324P/La Sagra, but we found an indication of dust superheating at 4.5 micrometers.

Pretrained Large Language Models (LLMs) require post-training methods such as supervised fine-tuning (SFT) on instruction-response pairs to enable instruction following. However, this process can potentially harm existing capabilities learned during pretraining. In this paper, we investigate the loss of context awareness after SFT, defined as the capability to extract and understand information from the user-provided context and respond accordingly. We are the first to identify and show that the loss of context-awareness appears on instruction-finetuned LLMs when the chat template is applied to the input prompts. We identify the performance decline is partially caused by the bias embedded into the chat template to focus less on the user-provided context. Based on these observations, we propose two methods to mitigate the loss of context awareness in instruct models: post-hoc attention steering on user prompts and conditional instruction fine-tuning with a context-dependency indicator. Empirical experiments on 4 context-dependent downstream tasks and 3 pretrained LLMs of different sizes show that our methods effectively mitigates the loss of context awareness without compromising the general ability to follow instructions. Our findings also strongly advocate the necessity to carefully benchmark context awareness after instruction fine-tuning.

We study the null geodesics in the extremal Kerr-Newman exterior. We clarify the roots of the radial potential and obtain the parameter space of the azimuthal angular momentum and the Carter constant of the light rays for varieties of the orbits. It is known that one of the unique features of extremal black holes for the null geodesics is the existence of the stable double root at the horizon, giving rise to the stable spherical motion. For the black hole's spin $a

With a focus on natural language processing (NLP) and the role of large language models (LLMs), we explore the intersection of machine learning, deep learning, and artificial intelligence. As artificial intelligence continues to revolutionize fields from healthcare to finance, NLP techniques such as tokenization, text classification, and entity recognition are essential for processing and understanding human language. This paper discusses advanced data preprocessing techniques and the use of frameworks like Hugging Face for implementing transformer-based models. Additionally, it highlights challenges such as handling multilingual data, reducing bias, and ensuring model robustness. By addressing key aspects of data processing and model fine-tuning, this work aims to provide insights into deploying effective and ethically sound AI solutions., Comment: 255 pages

This paper addresses a novel \emph{cost-sensitive} distributionally robust log-optimal portfolio problem, where the investor faces \emph{ambiguous} return distributions, and a general convex transaction cost model is incorporated. The uncertainty in the return distribution is quantified using the \emph{Wasserstein} metric, which captures distributional ambiguity. We establish conditions that ensure robustly survivable trades for all distributions in the Wasserstein ball under convex transaction costs. By leveraging duality theory, we approximate the infinite-dimensional distributionally robust optimization problem with a finite convex program, enabling computational tractability for mid-sized portfolios. Empirical studies using S\&P 500 data validate our theoretical framework: without transaction costs, the optimal portfolio converges to an equal-weighted allocation, while with transaction costs, the portfolio shifts slightly towards the risk-free asset, reflecting the trade-off between cost considerations and optimal allocation., Comment: Submitted for possible publication

Low-rank adaption (LoRA) is a widely used parameter-efficient finetuning method for LLM that reduces memory requirements. However, current LoRA optimizers lack transformation invariance, meaning the actual updates to the weights depends on how the two LoRA factors are scaled or rotated. This deficiency leads to inefficient learning and sub-optimal solutions in practice. This paper introduces LoRA-RITE, a novel adaptive matrix preconditioning method for LoRA optimization, which can achieve transformation invariance and remain computationally efficient. We provide theoretical analysis to demonstrate the benefit of our method and conduct experiments on various LLM tasks with different models including Gemma 2B, 7B, and mT5-XXL. The results demonstrate consistent improvements against existing optimizers. For example, replacing Adam with LoRA-RITE during LoRA fine-tuning of Gemma-2B yielded 4.6\% accuracy gain on Super-Natural Instructions and 3.5\% accuracy gain across other four LLM benchmarks (HellaSwag, ArcChallenge, GSM8K, OpenBookQA).

Digital Signal Processing (DSP) and Digital Image Processing (DIP) with Machine Learning (ML) and Deep Learning (DL) are popular research areas in Computer Vision and related fields. We highlight transformative applications in image enhancement, filtering techniques, and pattern recognition. By integrating frameworks like the Discrete Fourier Transform (DFT), Z-Transform, and Fourier Transform methods, we enable robust data manipulation and feature extraction essential for AI-driven tasks. Using Python, we implement algorithms that optimize real-time data processing, forming a foundation for scalable, high-performance solutions in computer vision. This work illustrates the potential of ML and DL to advance DSP and DIP methodologies, contributing to artificial intelligence, automated feature extraction, and applications across diverse domains., Comment: 293 pages

Context. The formation of stars has been subject to extensive studies in the past decades from molecular cloud to protoplanetary disk scales. It is still not fully understood how the surrounding material in a protostellar system, that often shows asymmetric structures with complex kinematic properties, feeds the central protostar(s) and their disk(s). Aims. We study the spatial morphology and kinematic properties of the molecular gas surrounding the IRS3A and IRS3B protostellar systems in the L1448N region located in the Perseus molecular cloud. Methods. We present 1 mm NOEMA observations of the PRODIGE large program and analyze the kinematic properties of molecular lines. Given the complexity of the spectral profiles, the lines are fitted with up to three Gaussian velocity components. The clustering algorithm DBSCAN is used to disentangle the velocity components into the underlying physical structure. Results. We discover an extended gas bridge (~3000 au) surrounding both the IRS3A and IRS3B systems in six molecular line tracers (C18O, SO, DCN, H2CO, HC3N, and CH3OH). This gas bridge is oriented along the northeast-southwest direction and shows clear velocity gradients on the order of 100 km/s/pc towards the IRS3A system. We find that the observed velocity profile is consistent with analytical streamline models of gravitational infall towards IRS3A. The high-velocity C18O (2-1) emission towards IRS3A indicates a protostellar mass of ~1.2 Msun. Conclusions. While high angular resolution continuum data often show IRS3A and IRS3B in isolation, molecular gas observations reveal that these systems are still embedded within a large-scale mass reservoir with a complex spatial morphology as well as velocity profiles. The kinematic properties of the extended gas bridge are consistent with gravitational infall toward the IRS3A protostar., Comment: 16 pages, 10 figures; accepted for publication in A&A

In this letter, we address the task of adaptive sampling to model vector fields. When modeling environmental phenomena with a robot, gathering high resolution information can be resource intensive. Actively gathering data and modeling flows with the data is a more efficient alternative. However, in such scenarios, data is often sparse and thus requires flow modeling techniques that are effective at capturing the relevant dynamical features of the flow to ensure high prediction accuracy of the resulting models. To accomplish this effectively, regions with high informative value must be identified. We propose EnKode, an active sampling approach based on Koopman Operator theory and ensemble methods that can build high quality flow models and effectively estimate model uncertainty. For modeling complex flows, EnKode provides comparable or better estimates of unsampled flow regions than Gaussian Process Regression models with hyperparameter optimization. Additionally, our active sensing scheme provides more accurate flow estimates than comparable strategies that rely on uniform sampling. We evaluate EnKode using three common benchmarking systems: the Bickley Jet, Lid-Driven Cavity flow with an obstacle, and real ocean currents from the National Oceanic and Atmospheric Administration (NOAA)., Comment: This work has been submitted to the IEEE for possible publication

We present the results of a search for gravitational-wave transients associated with core-collapse supernova SN 2023ixf, which was observed in the galaxy Messier 101 via optical emission on 2023 May 19th, during the LIGO-Virgo-KAGRA 15th Engineering Run. We define a five-day on-source window during which an accompanying gravitational-wave signal may have occurred. No gravitational waves have been identified in data when at least two gravitational-wave observatories were operating, which covered $\sim 14\%$ of this five-day window. We report the search detection efficiency for various possible gravitational-wave emission models. Considering the distance to M101 (6.7 Mpc), we derive constraints on the gravitational-wave emission mechanism of core-collapse supernovae across a broad frequency spectrum, ranging from 50 Hz to 2 kHz where we assume the GW emission occurred when coincident data are available in the on-source window. Considering an ellipsoid model for a rotating proto-neutron star, our search is sensitive to gravitational-wave energy $1 \times 10^{-5} M_{\odot} c^2$ and luminosity $4 \times 10^{-5} M_{\odot} c^2/\text{s}$ for a source emitting at 50 Hz. These constraints are around an order of magnitude more stringent than those obtained so far with gravitational-wave data. The constraint on the ellipticity of the proto-neutron star that is formed is as low as $1.04$, at frequencies above $1200$ Hz, surpassing results from SN 2019ejj., Comment: Main paper: 6 pages, 4 figures and 1 table. Total with appendices: 20 pages, 4 figures, and 1 table

DNA-encoded library (DEL) screening has revolutionized the detection of protein-ligand interactions through read counts, enabling rapid exploration of vast chemical spaces. However, noise in read counts, stemming from nonspecific interactions, can mislead this exploration process. We present DEL-Ranking, a novel distribution-correction denoising framework that addresses these challenges. Our approach introduces two key innovations: (1) a novel ranking loss that rectifies relative magnitude relationships between read counts, enabling the learning of causal features determining activity levels, and (2) an iterative algorithm employing self-training and consistency loss to establish model coherence between activity label and read count predictions. Furthermore, we contribute three new DEL screening datasets, the first to comprehensively include multi-dimensional molecular representations, protein-ligand enrichment values, and their activity labels. These datasets mitigate data scarcity issues in AI-driven DEL screening research. Rigorous evaluation on diverse DEL datasets demonstrates DEL-Ranking's superior performance across multiple correlation metrics, with significant improvements in binding affinity prediction accuracy. Our model exhibits zero-shot generalization ability across different protein targets and successfully identifies potential motifs determining compound binding affinity. This work advances DEL screening analysis and provides valuable resources for future research in this area.

Continuum robots, known for their high flexibility and adaptability, offer immense potential for applications such as medical surgery, confined-space inspections, and wearable devices. However, their non-linear elastic nature and complex kinematics present significant challenges in digital modeling and visualization. Identifying the modal shape coefficients of specific robot configuration often requires plenty of physical experiments, which is time-consuming and robot-specific. To address this issue, this research proposes a computational framework that utilizes evolutionary algorithm (EA) to simplify the coefficient identification process. Our method starts by generating datasets using Lie group kinematics and physics-based simulations, defining both ideal configurations and models to be optimized. With the deployment of EA solver, the deviations were iteratively minimized through two fitness objectives \textemdash mean square error of shape deviation (\(\text{MSE}_1\)) and tool center point (TCP) vector deviation (\(\text{MSE}_2\)) \textemdash to align the robot's backbone curve with the desired configuration. Built on the Computer-Aided Design (CAD) platform Grasshopper, this framework provides real-time visualization suitable for development of continuum robots. Results show that this integrated method achieves precise alignment and effective identification. Overall, the objective of this research aims to reduce the modeling complexity of continuum robots, enabling precise, efficient virtual simulation before robot programming and implementation., Comment: 12 pages, 20 figures, 1 demo link

We utilize serendipitous observations from the Asteroid Terrestrial-impact Last Alert System (ATLAS) and the Zwicky Transient Facility (ZTF) in addition to targeted follow-up observations from the Las Cumbres Observatory (LCO) and Liverpool Telescope to analyze the first observed instance of cometary activity by the newly-discovered Jupiter-family comet C/2023 RN3 (ATLAS), whose orbital dynamics place it close to residing on a Centaur-like orbit. Across our 7-month baseline, we observe an epoch of cometary activity commencing in August 2023 with an increase in brightness of >5.4 mag. The lightcurve of 2023 RN3 indicates the presence of continuous cometary activity across our observations, suggesting the onset of a new period of sustained activity. We find no evidence of any outbursts on top of the observed brightening, nor do we find any significant color evolution across our observations. 2023 RN3 is visibly extended in LCO and Liverpool Telescope observations, indicating the presence of a spatially-extended coma. Numerical integration of 2023 RN3's orbit reveals the comet to have recently undergone a slight increase in semimajor axis due to a planetary encounter with Jupiter, however whether this orbital change could trigger 2023 RN3's cometary activity is unclear. Our estimate for the maximum dust production metric of Afrho ~400 cm is consistent with previous measurements for the Jupiter-family comet and Centaur populations., Comment: 20 pages, 9 figures

Entanglement is an essential resource for various quantum-information tasks. When a target system shares entanglement with another memory system and is stored reliably, one can use entanglement at a later time -- this is quantum memory. In practice, entanglement can be exceedingly fragile during a system's evolution. In particular, no entanglement can survive when a so-called entanglement-breaking channel acts on the target system. Are entanglement-breaking channels really useless for maintaining entanglement? As a single channel, this is certainly the case; it cannot be useful for quantum memory. However, in this work, we show that putting together two entanglement-breaking channels in a broadcasting scenario can activate their ability to maintain entanglement -- the channel's quantum memory resource can be super-activated., Comment: 4+3 pages, 2 figures

We analyze contextual representations in neural autoregressive language models, emphasizing long-range contexts that span several thousand tokens. Our methodology employs a perturbation setup and the metric \emph{Anisotropy-Calibrated Cosine Similarity}, to capture the degree of contextualization of long-range patterns from the perspective of representation geometry. We begin the analysis with a case study on standard decoder-only Transformers, demonstrating that similar perplexity can exhibit markedly different downstream task performance, which can be explained by the difference in contextualization of long-range content. Next, we extend the analysis to other models, covering recent novel architectural designs and various training configurations. The representation-level results illustrate a reduced capacity for high-complexity (i.e., less compressible) sequences across architectures, and that fully recurrent models rely heavily on local context, whereas hybrid models more effectively encode the entire sequence structure. Finally, preliminary analysis of model size and training configurations on the encoding of long-range context suggest potential directions for improving existing language models., Comment: 17 pages, 9 figures

The multiplicities of positive and negative pions, kaons and unidentified hadrons produced in deep-inelastic scattering are measured in bins of the Bjorken scaling variable $x$, the relative virtual-photon energy $y$ and the fraction of the virtual-photon energy transferred to the final-state hadron $z$. Data were obtained by the COMPASS Collaboration using a 160 GeV muon beam of both electric charges and a liquid hydrogen target. These measurements cover the kinematic domain with photon virtuality $Q^2 > 1$ (GeV/$c)^2$, $0.004 < x < 0.4$, $0.1 < y < 0.7$ and $0.2 < z < 0.85$, in accordance with the kinematic domain used in earlier published COMPASS multiplicity measurements with an isoscalar target. The calculation of radiative corrections was improved by using the Monte Carlo generator DJANGOH, which results in up to 12\% larger corrections in the low-$x$ region., Comment: 19 pages, 29 figures

Quantum-centric supercomputing presents a compelling framework for large-scale hybrid quantum-classical tasks. Although quantum machine learning (QML) offers theoretical benefits in various applications, challenges such as large-size data encoding in the input stage and the reliance on quantum resources in the inference stage limit its practicality for tasks like fine-tuning large language models (LLMs). Quantum parameter generation, a novel approach of QML, addresses these limitations by using quantum neural networks (QNNs) to generate classical model weights (parameters) exclusively during training, thereby decoupling inference from quantum hardware. In this work, we introduce Quantum Parameter Adaptation (QPA) in the framework of quantum parameter generation, which integrates QNNs with a classical multi-layer perceptron mapping model to generate parameters for fine-tuning methods. Using Gemma-2 and GPT-2 as case studies, QPA demonstrates significant parameter reduction for parameter-efficient fine-tuning methods, such as Low-Rank Adaptation (LoRA), while maintaining comparable or improved performance in text generation tasks. Specifically, QPA reduces the number of parameters to $52.06\%$ of the original LoRA for GPT-2 with a slight performance gain of $0.75\%$, and to $16.84\%$ for Gemma-2, with a marginal performance improvement of $0.07\%$. These results highlight QPA's ability to achieve efficient parameter reduction without sacrificing performance in the quantum parameter generation framework. This work showcases the potential of quantum-enhanced parameter reduction, offering a scalable quantum-classical solution for fine-tuning LLMs while preserving the feasibility of inference on classical hardware., Comment: 21 pages, 6 figures

The magnetar SGR 1935+2154 is the only known Galactic source of fast radio bursts (FRBs). FRBs from SGR 1935+2154 were first detected by CHIME/FRB and STARE2 in 2020 April, after the conclusion of the LIGO, Virgo, and KAGRA Collaborations' O3 observing run. Here we analyze four periods of gravitational wave (GW) data from the GEO600 detector coincident with four periods of FRB activity detected by CHIME/FRB, as well as X-ray glitches and X-ray bursts detected by NICER and NuSTAR close to the time of one of the FRBs. We do not detect any significant GW emission from any of the events. Instead, using a short-duration GW search (for bursts $\leq$ 1 s) we derive 50\% (90\%) upper limits of $10^{48}$ ($10^{49}$) erg for GWs at 300 Hz and $10^{49}$ ($10^{50}$) erg at 2 kHz, and constrain the GW-to-radio energy ratio to $\leq 10^{14} - 10^{16}$. We also derive upper limits from a long-duration search for bursts with durations between 1 and 10 s. These represent the strictest upper limits on concurrent GW emission from FRBs., Comment: 15 pages of text including references, 4 figures, 5 tables

Diffusion and flow-matching models achieve remarkable generative performance but at the cost of many sampling steps, this slows inference and limits applicability to time-critical tasks. The ReFlow procedure can accelerate sampling by straightening generation trajectories. However, ReFlow is an iterative procedure, typically requiring training on simulated data, and results in reduced sample quality. To mitigate sample deterioration, we examine the design space of ReFlow and highlight potential pitfalls in prior heuristic practices. We then propose seven improvements for training dynamics, learning and inference, which are verified with thorough ablation studies on CIFAR10 $32 \times 32$, AFHQv2 $64 \times 64$, and FFHQ $64 \times 64$. Combining all our techniques, we achieve state-of-the-art FID scores (without / with guidance, resp.) for fast generation via neural ODEs: $2.23$ / $1.98$ on CIFAR10, $2.30$ / $1.91$ on AFHQv2, $2.84$ / $2.67$ on FFHQ, and $3.49$ / $1.74$ on ImageNet-64, all with merely $9$ neural function evaluations.

Network pruning has emerged as a potential solution to make LLMs cheaper to deploy. However, existing LLM pruning approaches universally rely on the C4 dataset as the calibration data for calculating pruning scores, leaving its optimality unexplored. In this study, we evaluate the choice of calibration data on LLM pruning, across a wide range of datasets that are most commonly used in LLM training and evaluation, including four pertaining datasets as well as three categories of downstream tasks encompassing nine datasets. Each downstream dataset is prompted with In-Context Learning (ICL) and Chain-of-Thought (CoT), respectively. Besides the already intriguing observation that the choice of calibration data significantly impacts the performance of pruned LLMs, our results also uncover several subtle and often unexpected findings, summarized as follows: (1) C4 is not the optimal choice for LLM pruning, even among commonly used pre-training datasets; (2) arithmetic datasets, when used as calibration data, performs on par or even better than pre-training datasets; (3) pruning with downstream datasets does not necessarily help the corresponding downstream task, compared to pre-training data; (4) ICL is widely beneficial to all data categories, whereas CoT is only useful on certain tasks. Our findings shed light on the importance of carefully selecting calibration data for LLM pruning and pave the way for more efficient deployment of these powerful models in real-world applications. We release our code at: https://github.com/abx393/llm-pruning-calibration-data., Comment: EMNLP 2024

The piecewise-stationary bandit problem is an important variant of the multi-armed bandit problem that further considers abrupt changes in the reward distributions. The main theme of the problem is the trade-off between exploration for detecting environment changes and exploitation of traditional bandit algorithms. While this problem has been extensively investigated, existing works either assume knowledge about the number of change points $M$ or require extremely high computational complexity. In this work, we revisit the piecewise-stationary bandit problem from a minimalist perspective. We propose a novel and generic exploration mechanism, called diminishing exploration, which eliminates the need for knowledge about $M$ and can be used in conjunction with an existing change detection-based algorithm to achieve near-optimal regret scaling. Simulation results show that despite oblivious of $M$, equipping existing algorithms with the proposed diminishing exploration generally achieves better empirical regret than the traditional uniform exploration.

Understanding the computational complexity of learning efficient classical programs in various learning models has been a fundamental and important question in classical computational learning theory. In this work, we study the computational complexity of quantum state learning, which can be seen as a quantum generalization of distributional learning introduced by Kearns et.al [STOC94]. Previous works by Chung and Lin [TQC21], and B\u{a}descu and O$'$Donnell [STOC21] study the sample complexity of the quantum state learning and show that polynomial copies are sufficient if unknown quantum states are promised efficiently generatable. However, their algorithms are inefficient, and the computational complexity of this learning problem remains unresolved. In this work, we study the computational complexity of quantum state learning when the states are promised to be efficiently generatable. We show that if unknown quantum states are promised to be pure states and efficiently generateable, then there exists a quantum polynomial time algorithm $A$ and a language $L \in PP$ such that $A^L$ can learn its classical description. We also observe the connection between the hardness of learning quantum states and quantum cryptography. We show that the existence of one-way state generators with pure state outputs is equivalent to the average-case hardness of learning pure states. Additionally, we show that the existence of EFI implies the average-case hardness of learning mixed states., Comment: 24 pages

We propose a novel neural network architecture, the normalized Transformer (nGPT) with representation learning on the hypersphere. In nGPT, all vectors forming the embeddings, MLP, attention matrices and hidden states are unit norm normalized. The input stream of tokens travels on the surface of a hypersphere, with each layer contributing a displacement towards the target output predictions. These displacements are defined by the MLP and attention blocks, whose vector components also reside on the same hypersphere. Experiments show that nGPT learns much faster, reducing the number of training steps required to achieve the same accuracy by a factor of 4 to 20, depending on the sequence length.

The study of magnetoresistance (MR) phenomena has been pivotal in advancing magnetic sensors and spintronic devices. Helimagnets present an intriguing avenue for spintronics research. Theoretical predictions suggest that MR magnitude in the helimagnetic (HM) regime surpasses that in the ferromagnetic (FM) regime by over an order of magnitude. However, in metallic helimagnets like manganese phosphide, MR in the HM phase remains modest (10%), limiting its application in MR devices. Here, a groundbreaking approach is presented to achieve a giant low field MR effect in nanostructured manganese phosphide films by leveraging confinement and strain effects along with spin helicity. Unlike the modest MR observed in bulk manganese phosphide single crystals and large grain polycrystalline films, which exhibit a small negative MR in the FM region (2%) increasing to 8% in the HM region across 10-300 K, a grain size-dependent giant positive MR (90%) is discovered near FM to HM transition temperature (110 K), followed by a rapid decline to a negative MR below 55 K in manganese phosphide nanocrystalline films. These findings illuminate a novel strain-mediated spin helicity phenomenon in nanostructured helimagnets, presenting a promising pathway for the development of high-performance MR sensors and spintronic devices through the strategic utilization of confinement and strain effects.

Traditionally, unmanned aerial vehicles (UAVs) rely on CMOS-based cameras to collect images about the world below. One of the most successful applications of UAVs is to generate orthomosaics or orthomaps, in which a series of images are integrated together to develop a larger map. However, the use of CMOS-based cameras with global or rolling shutters mean that orthomaps are vulnerable to challenging light conditions, motion blur, and high-speed motion of independently moving objects under the camera. Event cameras are less sensitive to these issues, as their pixels are able to trigger asynchronously on brightness changes. This work introduces the first orthomosaic approach using event cameras. In contrast to existing methods relying only on CMOS cameras, our approach enables map generation even in challenging light conditions, including direct sunlight and after sunset., Comment: 7 pages, 7 figures

Several benchmarks have concluded that our best vision-language models (e.g., CLIP) are lacking in compositionality. Given an image, these benchmarks probe a model's ability to identify its associated caption amongst a set of compositional distractors. In response, a surge of recent proposals show improvements by finetuning CLIP with distractors as hard negatives. Our investigations reveal that these improvements have, in fact, been significantly overstated -- because existing benchmarks do not probe whether finetuned vision-language models remain invariant to hard positives. By curating an evaluation dataset with 112,382 hard negatives and hard positives, we uncover that including hard positives decreases CLIP's performance by 12.9%, while humans perform effortlessly at 99%. CLIP finetuned with hard negatives results in an even larger decrease, up to 38.7%. With this finding, we then produce a 1,775,259 image-text training set with both hard negative and hard positive captions. By training with both, we see improvements on existing benchmarks while simultaneously improving performance on hard positives, indicating a more robust improvement in compositionality. Our work suggests the need for future research to rigorously test and improve CLIP's understanding of semantic relationships between related "positive" concepts., Comment: ECCV 2024

We study the strong gravitational lensing by the Kerr-like wormholes with an additional parameter to specify the location of the throat. We classify the roots of the radial potential derived from the null geodesic equations. We focus on the throat together with other roots to become either double root or triple root, potentially giving the divergence of the deflection angle of the light rays in the strong deflection limit (SDL). In particular, while the logarithmic divergence is known as the double roots are approached, the more stronger power-law (non-logarithmic) divergence is found for the triple roots. In addition, the effective potential in terms of the proper distance from the throat is constructed with which to realize how the light rays can either travel within one spacetime, where the observers are located or pass through the throat into another spacetime, where different observers reside. The observational effects, such as relativistic images resulting from the deflection of light by wormholes, are discussed., Comment: 39 pages, 11 figures, 4 tables

Coordinating the motion of multiple robots in cluttered environments remains a computationally challenging task. We study the problem of minimizing the execution time of a set of geometric paths by a team of robots with state-dependent actuation constraints. We propose a Time-Optimal Path Parameterization (TOPP) algorithm for multiple car-like agents, where the modulation of the timing of every robot along its assigned path is employed to ensure collision avoidance and dynamic feasibility. This is achieved through the use of a priority queue to determine the order of trajectory execution for each robot while taking into account all possible collisions with higher priority robots in a spatiotemporal graph. We show a 10-20% reduction in makespan against existing state-of-the-art methods and validate our approach through simulations and hardware experiments.

Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their adaptive, responsive, and flexible characteristics. Despite their promises, the lack of an integrated framework poses a significant limitation for both users and developers, resulting in inefficiency and complexity during preliminary developments. Thus, this paper introduces a unified framework for continuum robotic systems that addresses these challenges by integrating system architecture, dynamics computation, and control strategy within a computer-aided design (CAD) platform. The proposed method allows for efficient modeling and quick preview of the robot performance, and thus facilitating iterative design and implementation, with a view to enhancing the quality of robot developments., Comment: 9 pages, 10 figures, 1 table

Community and organizational policies are typically designed in a top-down, centralized fashion, with limited input from impacted stakeholders. This can result in policies that are misaligned with community needs or perceived as illegitimate. How can we support more collaborative, participatory approaches to policy design? In this paper, we present PolicyCraft, a system that structures collaborative policy design through case-grounded deliberation. Building on past research that highlights the value of concrete cases in establishing common ground, PolicyCraft supports users in collaboratively proposing, critiquing, and revising policies through discussion and voting on cases. A field study across two university courses showed that students using PolicyCraft reached greater consensus and developed better-supported course policies, compared with those using a baseline system that did not scaffold their use of concrete cases. Reflecting on our findings, we discuss opportunities for future HCI systems to help groups more effectively bridge between abstract policies and concrete cases.

This paper presents our experience with TREBLE, a two-year initiative to build the modular base in Android, a Java-based mobile platform running on the Linux kernel. Our TREBLE architecture splits the hardware independent core framework written in Java from the hardware dependent vendor implementations (e.g., user space device drivers, vendor native libraries, and kernel written in C/C++). Cross-layer communications between them are done via versioned, stable inter-process communication interfaces whose backward compatibility is tested by using two API compliance suites. Based on this architecture, we repackage the key Android software components that suffered from crucial post-launch security bugs as separate images. That not only enables separate ownerships but also independent updates of each image by interested ecosystem entities. We discuss our experience of delivering TREBLE architectural changes to silicon vendors and device makers using a yearly release model. Our experiments and industry rollouts support our hypothesis that giving more freedom to all ecosystem entities and creating an equilibrium are a transformation necessary to further scale the world largest open ecosystem with over two billion active devices., Comment: \c{opyright} K. S. Yim et al. | ACM 2019. This is the author's version of the work. It is posted here for your personal use. Not for redistribution. The definitive Version of Record was published in ACM TECS, https://doi.org/10.1145/3358237

Informational contributions to thermodynamics can be studied in isolation by considering systems with fully-degenerate Hamiltonians. In this regime, being in non-equilibrium -- termed informational non-equilibrium -- provides thermodynamic resources, such as extractable work, solely from the information content. The usefulness of informational non-equilibrium creates an incentive to obtain more of it, motivating the question of how to concentrate it: can we increase the local informational non-equilibrium of a product state $\rho\otimes\rho$ under a global closed system (unitary) evolution? We fully solve this problem analytically, showing that it is impossible for two-qubits, and it is always possible to find states achieving this in higher dimensions. The notion of bound resources in this framework is then discussed, along with initial global correlations' ability to activate concentration. Finally, we apply our results to study the concentration of purity and intrinsic randomness., Comment: 5+2 pages, 2 figures

In real-world applications with Large Language Models (LLMs), external retrieval mechanisms - such as Search-Augmented Generation (SAG), tool utilization, and Retrieval-Augmented Generation (RAG) - are often employed to enhance the quality of augmented generations in dialogues. These approaches often come with multi-turn dialogue, where each interaction is enriched by relevant information retrieved from external sources. Existing benchmarks either assess LLMs' chat abilities in multi-turn dialogues or their use of retrieval for augmented responses in single-turn settings. However, there is a gap in evaluating LLMs' ability to leverage retrieval for more precise responses across multiple turns. To address this limitation, we introduce RAD-Bench (Retrieval Augmented Dialogue), a benchmark designed to evaluate LLMs' capabilities in multi-turn dialogues following retrievals, essential for their deployment in context-rich applications. RAD-Bench evaluates two key abilities of LLMs: Retrieval Synthesis and Retrieval Reasoning. These are measured using discriminative questions and retrieved contexts, and corresponding reference answers, assessing how effectively LLMs integrate and reason with context to maintain and enhance conversation quality over multiple turns. Our evaluation results on commonly used LLMs reveal that model performance deteriorates as additional layers of conditions or constraints are applied across conversation turns, even when accurate retrieved contexts are provided.

In recent years, Couder and collaborators have initiated a series of studies on walking droplets. Experimentally, they found that at frequencies and amplitudes close to the onset of Faraday waves, droplets on the surface of silicone oil can survive and walk at a roughly constant speed due to resonance. Droplets excite local ripples from the Faraday instability when they bounce from the liquid surface. This tightly coupled particle-wave entity, although a complex yet entirely classical system, exhibits many phenomena that are strikingly similar to those of quantum systems, such as slit interference and diffraction, tunneling probability, and Anderson localization. In this Letter, we focus on the tunneling time of droplets. Specifically, we explore (1) how it changes with the width of an acrylic barrier, which gives rise to the potential barrier when the depth of the silicone oil is reduced to prevent the generation of ripples that can feed energy back to the droplet, and (2) the distribution of tunneling times at the same barrier width. Both results turn out to be similar to the numerical outcome of the Bohmian mechanics, which strengthens the analogy to a quantum system. Furthermore, we successfully derive analytic expressions for these properties by revising the multiple scattering theory and constructing a ``skipping stone" model. Provided that the resemblance in tunneling behavior of walking droplets to Bohmian particles is not coincidental, we discuss the lessons for the Copenhagen interpretation of quantum mechanics that so far fails to explain both characteristics adequately.

We studied an interesting experiment that showed a half-buried chopstick lifting a full bottle of granules off the table. In Janssen theory, the friction force provided by the container wall helps alleviate the weight of the granules. How can a thin rod with a much less contact area support the full weight plus that of the container? Insights are gained by allowing the friction on the wall to change direction before solving the Janssen equation. We obtained the analytic expression for the critical depth of granules that enables a successful lift off. In addition, we established that the stick and slip phenomenon exists during a failed lift off by analyzing the frequency of fluctuations in the pull force. Finally, a photoelasticity experiment was employed to directly visualize the stress field sensitive to the pull force, and verify the directional change of friction force from the wall., Comment: 6 pages, 4 figures