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Referring Expression Comprehension (REC), which aims to ground a local visual region via natural language, is a task that heavily relies on multimodal alignment. Most existing methods utilize powerful pre-trained models to transfer visual/linguistic knowledge by full fine-tuning. However, full fine-tuning the entire backbone not only breaks the rich prior knowledge embedded in the pre-training, but also incurs significant computational costs. Motivated by the recent emergence of Parameter-Efficient Transfer Learning (PETL) methods, we aim to solve the REC task in an effective and efficient manner. Directly applying these PETL methods to the REC task is inappropriate, as they lack the specific-domain abilities for precise local visual perception and visual-language alignment. Therefore, we propose a novel framework of Multimodal Prior-guided Parameter Efficient Tuning, namely MaPPER. Specifically, MaPPER comprises Dynamic Prior Adapters guided by a aligned prior, and Local Convolution Adapters to extract precise local semantics for better visual perception. Moreover, the Prior-Guided Text module is proposed to further utilize the prior for facilitating the cross-modal alignment. Experimental results on three widely-used benchmarks demonstrate that MaPPER achieves the best accuracy compared to the full fine-tuning and other PETL methods with only 1.41% tunable backbone parameters., Comment: EMNLP 2024

Ultrathin oxide semiconductors with sub-1-nm thickness are promising building blocks for ultrascaled field-effect transistor (FET) applications due to their resilience against short-channel effects, high air stability, and potential for low-energy device operation. However, the n-type dominance of ultrathin oxide FET has hindered their integration into complementary metal-oxide-semiconductor (CMOS) technology, which requires both n-and p-type devices. Here we develop an ab initio device-driven computational screening workflow to identify sub-1-nm thickness oxide semiconductors for sub-5-nm FET applications. We demonstrate that ultrathin CaO2, CaO, and SrO are compatible with p-type device operations under both high-performance (HP) and low-power (LP) requirements specified by the International Technology Roadmap of Semiconductors (ITRS), thereby expanding the limited family of p-type oxide semiconductors. Notably, CaO and SrO emerge as the first-of-kind sub-1-nm thickness oxide semiconductors capable of simultaneously meeting the ITRS HP and LP criteria for both n-and p-type devices. CaO and SrO FETs outperform many existing low-dimensional semiconductors, exhibiting scalability below 5-nm gate length. Our findings offer a pioneering effort in the ab initio, device-driven screening of sub-1-nm thickness oxide semiconductors, significantly broadening the material candidate pool for future CMOS technology nodes., Comment: 23 pages, 5 figures, 1 table

Large Language Models (LLMs) have significantly advanced artificial intelligence, excelling in numerous tasks. Although the functionality of a model is inherently tied to its parameters, a systematic method for exploring the connections between the parameters and the functionality are lacking. Models sharing similar structure and parameter counts exhibit significant performance disparities across various tasks, prompting investigations into the varying patterns that govern their performance. We adopted a mutagenesis screen approach inspired by the methods used in biological studies, to investigate Llama2-7b and Zephyr. This technique involved mutating elements within the models' matrices to their maximum or minimum values to examine the relationship between model parameters and their functionalities. Our research uncovered multiple levels of fine structures within both models. Many matrices showed a mixture of maximum and minimum mutations following mutagenesis, but others were predominantly sensitive to one type. Notably, mutations that produced phenotypes, especially those with severe outcomes, tended to cluster along axes. Additionally, the location of maximum and minimum mutations often displayed a complementary pattern on matrix in both models, with the Gate matrix showing a unique two-dimensional asymmetry after rearrangement. In Zephyr, certain mutations consistently resulted in poetic or conversational rather than descriptive outputs. These "writer" mutations grouped according to the high-frequency initial word of the output, with a marked tendency to share the row coordinate even when they are in different matrices. Our findings affirm that the mutagenesis screen is an effective tool for deciphering the complexities of large language models and identifying unexpected ways to expand their potential, providing deeper insights into the foundational aspects of AI systems., Comment: 10 pages, 6 figures, supplementary material available online

Referring expression comprehension (REC) is a vision-language task to locate a target object in an image based on a language expression. Fully fine-tuning general-purpose pre-trained models for REC yields impressive performance but becomes increasingly costly. Parameter-efficient transfer learning (PETL) methods have shown strong performance with fewer tunable parameters. However, applying PETL to REC faces two challenges: (1) insufficient interaction between pre-trained vision and language encoders, and (2) high GPU memory usage due to gradients passing through both heavy encoders. To address these issues, we present M$^2$IST: Multi-Modal Interactive Side-Tuning with M$^3$ISAs: Mixture of Multi-Modal Interactive Side-Adapters. During fine-tuning, we keep the pre-trained vision and language encoders fixed and update M$^3$ISAs on side networks to establish connections between them, thereby achieving parameter- and memory-efficient tuning for REC. Empirical results on three benchmarks show M$^2$IST achieves the best performance-parameter-memory trade-off compared to full fine-tuning and other PETL methods, with only 3.14M tunable parameters (2.11% of full fine-tuning) and 15.44GB GPU memory usage (39.61% of full fine-tuning). Source code will soon be publicly available.

We study the wide-binary eccentricity ($e$) distribution in young star clusters and the role of turbulence in setting the form of the $e$ distribution using magnetohydrodynamical (MHD) simulations of star cluster formation. The simulations incorporate gravity, turbulence, magnetic fields, protostellar heating, and jets/outflows. We find that (1) simulations that employ purely compressive turbulence driving produce binaries with a superthermal $e$ distribution ($\alpha>1$ in $p(e) \propto e^\alpha$), while simulations with purely solenoidal driving or natural mixture of driving modes produce subthermal/thermal distributions ($\alpha \leq$ 1), (2) the $e$ distribution over the full range of binary separations in our simulations is set at the early stages of the star cluster formation process, (3) while binaries (separation of $r_{\mathrm{pair}} \leq 1000\, \mathrm{AU}$) have subthermal to thermal $e$ distributions ($\alpha \sim 0.8$), wide binaries ($r_{\mathrm{pair}} > 1000\, \mathrm{AU}$) have a superthermal distribution ($\alpha \sim 1.8$), and (4) low-mass binary systems (system masses of $M_{\mathrm{sys}} \leq 0.8\, \mathrm{M_\odot}$) have a highly superthermal distribution ($\alpha \sim 2.4$), whereas high-mass systems ($M_{\mathrm{sys}} > 0.8\, \mathrm{M_\odot}$) exhibit a subthermal/thermal distribution ($\alpha \sim 0.8$). The binary eccentricity distribution is often modelled as a thermal distribution. However, our results suggest that the $e$ distribution depends on the range of separation of the sampled binaries, which agrees with the findings from recent Gaia observations. We conclude that the dependence of the $e$ distribution on the binary separation and mass is linked to the binary formation mechanism governed by the turbulent properties of the parent cloud., Comment: 15 pages, 9 figures, 1 table (added additional citation, published in MNRAS)

In this study, we apply the Velocity Gradient Technique (VGT) to the merging Centaurus galaxy. We compare gradient maps derived from the PHANGS-ALMA survey using CO emission lines with magnetic field tracings from dust polarization data obtained via the HAWC+ instrument. Our analysis reveals a strong correspondence between the directions indicated by these two tracers across most of the galactic image. Specifically, we identify jet regions as areas of anti-alignment, consistent with previous reports that gradients tend to rotate 90 degrees in outflow regions. Statistically, we find that the alignment of magnetic fields, as revealed by polarization, is most accurate in regions with the highest signal-to-noise ratios. Our findings underscore the utility of velocity gradients as a valuable complementary tool for probing magnetic fields and dynamical processes in merging galaxies., Comment: 7 pages, 4 figures

3D Gaussian Splatting (3DGS) has recently advanced radiance field reconstruction by offering superior capabilities for novel view synthesis and real-time rendering speed. However, its strategy of blending optimization and adaptive density control might lead to sub-optimal results; it can sometimes yield noisy geometry and blurry artifacts due to prioritizing optimizing large Gaussians at the cost of adequately densifying smaller ones. To address this, we introduce AtomGS, consisting of Atomized Proliferation and Geometry-Guided Optimization. The Atomized Proliferation constrains ellipsoid Gaussians of various sizes into more uniform-sized Atom Gaussians. The strategy enhances the representation of areas with fine features by placing greater emphasis on densification in accordance with scene details. In addition, we proposed a Geometry-Guided Optimization approach that incorporates an Edge-Aware Normal Loss. This optimization method effectively smooths flat surfaces while preserving intricate details. Our evaluation shows that AtomGS outperforms existing state-of-the-art methods in rendering quality. Additionally, it achieves competitive accuracy in geometry reconstruction and offers a significant improvement in training speed over other SDF-based methods. More interactive demos can be found in our website (https://rongliu-leo.github.io/AtomGS/).

Visual grounding (VG) is a challenging task to localize an object in an image based on a textual description. Recent surge in the scale of VG models has substantially improved performance, but also introduced a significant burden on computational costs during fine-tuning. In this paper, we explore applying parameter-efficient transfer learning (PETL) to efficiently transfer the pre-trained vision-language knowledge to VG. Specifically, we propose \textbf{DARA}, a novel PETL method comprising \underline{\textbf{D}}omain-aware \underline{\textbf{A}}dapters (DA Adapters) and \underline{\textbf{R}}elation-aware \underline{\textbf{A}}dapters (RA Adapters) for VG. DA Adapters first transfer intra-modality representations to be more fine-grained for the VG domain. Then RA Adapters share weights to bridge the relation between two modalities, improving spatial reasoning. Empirical results on widely-used benchmarks demonstrate that DARA achieves the best accuracy while saving numerous updated parameters compared to the full fine-tuning and other PETL methods. Notably, with only \textbf{2.13\%} tunable backbone parameters, DARA improves average accuracy by \textbf{0.81\%} across the three benchmarks compared to the baseline model. Our code is available at \url{https://github.com/liuting20/DARA}., Comment: Accepted by ICME 2024 (Oral)

Collaborative perception empowers each agent to improve its perceptual ability through the exchange of perceptual messages with other agents. It inherently results in a fundamental trade-off between perception ability and communication cost. To address this bottleneck issue, our core idea is to optimize the collaborative messages from two key aspects: representation and selection. The proposed codebook-based message representation enables the transmission of integer codes, rather than high-dimensional feature maps. The proposed information-filling-driven message selection optimizes local messages to collectively fill each agent's information demand, preventing information overflow among multiple agents. By integrating these two designs, we propose CodeFilling, a novel communication-efficient collaborative perception system, which significantly advances the perception-communication trade-off and is inclusive to both homogeneous and heterogeneous collaboration settings. We evaluate CodeFilling in both a real-world dataset, DAIR-V2X, and a new simulation dataset, OPV2VH+. Results show that CodeFilling outperforms previous SOTA Where2comm on DAIR-V2X/OPV2VH+ with 1,333/1,206 times lower communication volume. Our code is available at https://github.com/PhyllisH/CodeFilling., Comment: 10 pages, Accepted by CVPR 2024

Protein circular permutations are crucial for understanding protein evolution and functionality. Traditional detection methods, sequence-based or structure-based, struggle with accuracy and computational efficiency, the latter also limited by treating proteins as rigid bodies. The plmCP method, utilizing a protein language model, not only speeds up the detection process but also enhances the accuracy of identifying circular permutations, contributing significantly to protein research and engineering by acknowledging structural flexibility.

The planar Tur\'{a}n number of a graph $H$, denoted by $ex_{\mathcal{P}}(n,H)$, is the maximum number of edges in an $n$-vertex $H$-free planar graph. Recently, D. Ghosh, et al. initiated the topic of double stars and prove that $ex_{\mathcal{P}}(n,S_{2,5})\leq \frac{20}{7}n$. In this paper, we continue to study this and give a sharp upper bound $ex_{\mathcal{P}}(n,S_{2,5})\leq \frac{19}{7}n-\frac{18}{7}$ for all $n\geq 1$, with equality when $n=12$. This improves Ghosh's result.

Vehicle-to-everything-aided autonomous driving (V2X-AD) has a huge potential to provide a safer driving solution. Despite extensive researches in transportation and communication to support V2X-AD, the actual utilization of these infrastructures and communication resources in enhancing driving performances remains largely unexplored. This highlights the necessity of collaborative autonomous driving: a machine learning approach that optimizes the information sharing strategy to improve the driving performance of each vehicle. This effort necessitates two key foundations: a platform capable of generating data to facilitate the training and testing of V2X-AD, and a comprehensive system that integrates full driving-related functionalities with mechanisms for information sharing. From the platform perspective, we present V2Xverse, a comprehensive simulation platform for collaborative autonomous driving. This platform provides a complete pipeline for collaborative driving. From the system perspective, we introduce CoDriving, a novel end-to-end collaborative driving system that properly integrates V2X communication over the entire autonomous pipeline, promoting driving with shared perceptual information. The core idea is a novel driving-oriented communication strategy. Leveraging this strategy, CoDriving improves driving performance while optimizing communication efficiency. We make comprehensive benchmarks with V2Xverse, analyzing both modular performance and closed-loop driving performance. Experimental results show that CoDriving: i) significantly improves the driving score by 62.49% and drastically reduces the pedestrian collision rate by 53.50% compared to the SOTA end-to-end driving method, and ii) achieves sustaining driving performance superiority over dynamic constraint communication conditions.

A compact source, G0.02467-0.0727, was detected in ALMA \threemm observations in continuum and very broad line emission. The continuum emission has a spectral index $\alpha\approx3.3$, suggesting that the emission is from dust. The line emission is detected in several transitions of CS, SO, and SO$_2$ and exhibits a line width FWHM $\approx160$ \kms. The line profile appears Gaussian. The emission is weakly spatially resolved, coming from an area on the sky $\lesssim1"$ in diameter ($\lesssim10^4$ AU at the distance of the Galactic Center; GC). The centroid velocity is $v_{LSR}\approx40$-$50$ \kms, which is consistent with a location in the Galactic Center. With multiple SO lines detected, and assuming local thermodynamic equilibrium (LTE) conditions, $T_\mathrm{LTE} = 13$ K, which is colder than seen in typical GC clouds, though we cannot rule out low-density, subthermally excited, warmer gas. Despite the high velocity dispersion, no emission is observed from SiO, suggesting that there are no strong ($\gtrsim10~\mathrm{km~s}^{-1}$) shocks in the molecular gas. There are no detections at other wavelengths, including X-ray, infrared, and radio. We consider several explanations for the Millimeter Ultra-Broad Line Object (MUBLO), including protostellar outflow, explosive outflow, collapsing cloud, evolved star, stellar merger, high-velocity compact cloud, intermediate mass black hole, and background galaxy. Most of these conceptual models are either inconsistent with the data or do not fully explain it. The MUBLO is, at present, an observationally unique object., Comment: Accepted to ApJL

Synchrotron observation serves as a tool for studying magnetic fields in the interstellar medium and intracluster medium, yet its ability to unveil three-dimensional (3D) magnetic fields, meaning probing the field'splane-of-the-sky (POS) orientation, inclination angle relative to the line of sight, and magnetization from one observational data, remains largely underexplored. Inspired by the latest insights into anisotropic magnetohydrodynamic (MHD) turbulence, we found that synchrotron emission's intensity structures inherently reflect this anisotropy, providing crucial information to aid in 3D magnetic field studies: (i) the structure's elongation gives the magnetic field's POS orientation and (ii) the structure's anisotropy degree and topology reveal the inclination angle and magnetization. Capitalizing on this foundation, we integrate a machine learning approach-Convolutional Neural Network (CNN)-to extract this latent information, thereby facilitating the exploration of 3D magnetic fields. The model is trained on synthetic synchrotron emission maps, derived from 3D MHD turbulence simulations encompassing a range of sub-Alfv\'enic to super-Alfv\'enic conditions. We show that the CNN is physically interpretable and the CNN is capable of obtaining the POS orientation, inclination angle, and magnetization. Additionally, we test the CNN against the noise effect and the missing low-spatial frequency. We show that this CNN-based approach maintains a high degree of robustness even when only high-spatial frequencies are maintained. This renders the method particularly suitable for application to interferometric data lacking single-dish measurements. We applied this trained CNN to the synchrotron observations of a diffuse region. The CNN-predicted POS magnetic field orientation shows a statistical agreement with that derived from synchrotron polarization., Comment: 15 pages, 11 figures, accepted for publication in ApJ

We report the detection of the ordered alignment between the magnetic field and kpc-scale bubbles in the nearby spiral galaxy, NGC\,628. Applying the Velocity Gradient Technique (VGT) on CO spectroscopic data from the ALMA-PHANGS, the magnetic field of NGC\,628 is measured at the scale of 191\,pc ($\sim$ 4\,$''$). The large-scale magnetic field is oriented parallel to the spiral arms and curves around the galactic bubble structures in the mid-infrared emission observed by the James Webb Space Telescope (JWST). Twenty-one bubble structures have been identified at the edges of spiral arms with scales over 300\,pc, which includes two kpc-scale structures. These bubbles are caused by supernova remnants and prolonged star formation and are similar to the outflow chimneys found in neutral hydrogen in galactic disks. At the edge of the bubbles, the shocks traced by the OIII emission present a curved magnetic field that parallels the bubble's shell. The magnetic field follows the bubble expansion and binds the gas in the shell to trigger further star formation. By analyzing the larger sample of 1694 bubbles, we found a distinct radial-size distribution of bubbles in NGC\,628 indicating the star formation history in the galaxy., Comment: 15 pages, 7 figures, Accepted by ApJ

Currently, most food recognition relies on deep learning for category classification. However, these approaches struggle to effectively distinguish between visually similar food samples, highlighting the pressing need to address fine-grained issues in food recognition. To mitigate these challenges, we propose the adoption of a Gaussian and causal-attention model for fine-grained object recognition.In particular, we train to obtain Gaussian features over target regions, followed by the extraction of fine-grained features from the objects, thereby enhancing the feature mapping capabilities of the target regions. To counteract data drift resulting from uneven data distributions, we employ a counterfactual reasoning approach. By using counterfactual interventions, we analyze the impact of the learned image attention mechanism on network predictions, enabling the network to acquire more useful attention weights for fine-grained image recognition. Finally, we design a learnable loss strategy to balance training stability across various modules, ultimately improving the accuracy of the final target recognition. We validate our approach on four relevant datasets, demonstrating its excellent performance across these four datasets.We experimentally show that GCAM surpasses state-of-the-art methods on the ETH-FOOD101, UECFOOD256, and Vireo-FOOD172 datasets. Furthermore, our approach also achieves state-of-the-art performance on the CUB-200 dataset., Comment: 23 pages, 11 figures

We numerically investigate the driving of MHD turbulence by gravitational contraction using simulations of an initially spherical, magnetically supercritical cloud core with initially transonic and trans-Alfv\'enic turbulence. We perform a Helmholtz decomposition of the velocity field, and investigate the evolution of its solenoidal and compressible parts, as well as of the velocity component along the gravitational acceleration vector, a proxy for the infall component of the velocity field. We find that: 1) In spite of being supercritical, the core first contracts to a sheet perpendicular to the mean field, and the sheet itself collapses. 2) The solenoidal component of the turbulence remains at roughly its initial level throughout the simulation, while the compressible component increases continuously. This implies that turbulence does {\it not} dissipate towards the center of the core. 3) The distribution of simulation cells in the $B$-$\rho$ plane occupies a wide triangular region at low densities, bounded below by the expected trend for fast MHD waves ($B \propto \rho$, applicable for high local Alfv\'enic Mach number $\Ma$) and above by the trend expected for slow waves ($B \sim$ constant, applicable for low local $\Ma$). At high densities, the distribution follows a single trend $B \propto \rho^{\gamef}$, with $1/2 < \gamef < 2/3$, as expected for gravitational compression. 4) The measured mass-to-magnetic flux ratio $\lambda$ increases with radius $r$, due to the different scalings of the mass and magnetic flux with $r$. At a fixed radius, $\lambda$ increases with time due to the accretion of material along field lines. 5) The solenoidal energy fraction is much smaller than the total turbulent component, indicating that the collapse drives the turbulence mainly compressibly, even in directions orthogonal to that of the collapse., Comment: Resubmitted to MNRAS after first set of reviewer's recommendations. Comments welcome

Realizing room-temperature magnetic skyrmions in two-dimensional van der Waals ferromagnets offers unparalleled prospects for future spintronic applications. However, due to the intrinsic spin fluctuations that suppress atomic long-range magnetic order and the inherent inversion crystal symmetry that excludes the presence of the Dzyaloshinskii-Moriya interaction, achieving room-temperature skyrmions in 2D magnets remains a formidable challenge. In this study, we target room-temperature 2D magnet $\rm Fe_3GaTe_2$ and unveil that the introduction of iron-deficient into this compound enables spatial inversion symmetry breaking, thus inducing a significant Dzyaloshinskii-Moriya interaction that brings about room-temperature N\'eel-type skyrmions with unprecedentedly small size. To further enhance the practical applications of this finding, we employ a homemade in-situ optical Lorentz transmission electron microscopy to demonstrate ultrafast writing of skyrmions in $\rm Fe_{3-x}GaTe_2$ using a single femtosecond laser pulse. Our results manifest the $\rm Fe_{3-x}GaTe_2$ as a promising building block for realizing skyrmion-based magneto-optical functionalities.

Collaborative perception aims to mitigate the limitations of single-agent perception, such as occlusions, by facilitating data exchange among multiple agents. However, most current works consider a homogeneous scenario where all agents use identity sensors and perception models. In reality, heterogeneous agent types may continually emerge and inevitably face a domain gap when collaborating with existing agents. In this paper, we introduce a new open heterogeneous problem: how to accommodate continually emerging new heterogeneous agent types into collaborative perception, while ensuring high perception performance and low integration cost? To address this problem, we propose HEterogeneous ALliance (HEAL), a novel extensible collaborative perception framework. HEAL first establishes a unified feature space with initial agents via a novel multi-scale foreground-aware Pyramid Fusion network. When heterogeneous new agents emerge with previously unseen modalities or models, we align them to the established unified space with an innovative backward alignment. This step only involves individual training on the new agent type, thus presenting extremely low training costs and high extensibility. To enrich agents' data heterogeneity, we bring OPV2V-H, a new large-scale dataset with more diverse sensor types. Extensive experiments on OPV2V-H and DAIR-V2X datasets show that HEAL surpasses SOTA methods in performance while reducing the training parameters by 91.5% when integrating 3 new agent types. We further implement a comprehensive codebase at: https://github.com/yifanlu0227/HEAL, Comment: Accepted by ICLR 2024. The code and data are open-sourced at https://github.com/yifanlu0227/HEAL

Collaborative perception allows each agent to enhance its perceptual abilities by exchanging messages with others. It inherently results in a trade-off between perception ability and communication costs. Previous works transmit complete full-frame high-dimensional feature maps among agents, resulting in substantial communication costs. To promote communication efficiency, we propose only transmitting the information needed for the collaborator's downstream task. This pragmatic communication strategy focuses on three key aspects: i) pragmatic message selection, which selects task-critical parts from the complete data, resulting in spatially and temporally sparse feature vectors; ii) pragmatic message representation, which achieves pragmatic approximation of high-dimensional feature vectors with a task-adaptive dictionary, enabling communicating with integer indices; iii) pragmatic collaborator selection, which identifies beneficial collaborators, pruning unnecessary communication links. Following this strategy, we first formulate a mathematical optimization framework for the perception-communication trade-off and then propose PragComm, a multi-agent collaborative perception system with two key components: i) single-agent detection and tracking and ii) pragmatic collaboration. The proposed PragComm promotes pragmatic communication and adapts to a wide range of communication conditions. We evaluate PragComm for both collaborative 3D object detection and tracking tasks in both real-world, V2V4Real, and simulation datasets, OPV2V and V2X-SIM2.0. PragComm consistently outperforms previous methods with more than 32.7K times lower communication volume on OPV2V. Code is available at github.com/PhyllisH/PragComm., Comment: 18 pages

Large language models (LLMs) can be used as accessible and intelligent chatbots by constructing natural language queries and directly inputting the prompt into the large language model. However, different prompt' constructions often lead to uncertainty in the answers and thus make it hard to utilize the specific knowledge of LLMs (like ChatGPT). To alleviate this, we use an interpretable structure to explain the prompt learning principle in LLMs, which certificates that the effectiveness of language models is determined by position changes of the task's related tokens. Therefore, we propose MTPrompt, a multi-dimensional task prompt learning method consisting based on task-related object, summary, and task description information. By automatically building and searching for appropriate prompts, our proposed MTPrompt achieves the best results on few-shot samples setting and five different datasets. In addition, we demonstrate the effectiveness and stability of our method in different experimental settings and ablation experiments. In interaction with large language models, embedding more task-related information into prompts will make it easier to stimulate knowledge embedded in large language models., Comment: arXiv admin note: text overlap with arXiv:2210.16489

This study examines privacy risks in collaborative robotics, focusing on the potential for traffic analysis in encrypted robot communications. While previous research has explored low-level command recovery, our work investigates high-level motion recovery from command message sequences. We evaluate the efficacy of traditional website fingerprinting techniques (k-FP, KNN, and CUMUL) and their limitations in accurately identifying robotic actions due to their inability to capture detailed temporal relationships. To address this, we introduce a traffic classification approach using signal processing techniques, demonstrating high accuracy in action identification and highlighting the vulnerability of encrypted communications to privacy breaches. Additionally, we explore defenses such as packet padding and timing manipulation, revealing the challenges in balancing traffic analysis resistance with network efficiency. Our findings emphasize the need for continued development of practical defenses in robotic privacy and security., Comment: 12 pages

To address the global challenge of population aging, our goal is to enhance successful aging through the introduction of robots capable of assisting in daily physical activities and promoting light exercises, which would enhance the cognitive and physical well-being of older adults. Previous studies have shown that facial expressions can increase engagement when interacting with robots. This study aims to investigate how older adults perceive and interact with a robot capable of displaying facial emotions while performing a physical exercise task together. We employed a collaborative robotic arm with a flat panel screen to encourage physical exercise across three different facial emotion conditions. We ran the experiment with older adults aged between 66 and 88. Our findings suggest that individuals perceive robots exhibiting facial expressions as less competent than those without such expressions. Additionally, the presence of facial expressions does not appear to significantly impact participants' levels of engagement, unlike other state-of-the-art studies. This observation is likely linked to our study's emphasis on collaborative physical human-robot interaction (pHRI) applications, as opposed to socially oriented pHRI applications. Additionally, we foresee a requirement for more suitable non-verbal social behavior to effectively enhance participants' engagement levels.

Traditional robotic systems require complex implementations that are not always accessible or easy to use for Human-Robot Interaction (HRI) application developers. With the aim of simplifying the implementation of HRI applications, this paper introduces a novel real-time operating system (RTOS) designed for customizable HRI - RoboSync. By creating multi-level abstraction layers, the system enables users to define complex emotional and behavioral models without needing deep technical expertise. The system's modular architecture comprises a behavior modeling layer, a machine learning plugin configuration layer, a sensor checks customization layer, a scheduler that fits the need of HRI, and a communication and synchronization layer. This approach not only promotes ease of use without highly specialized skills but also ensures real-time responsiveness and adaptability. The primary functionality of the RTOS has been implemented for proof of concept and was tested on a CortexM4 microcontroller, demonstrating its potential for a wide range of lightweight simple-to-implement social robotics applications.

In this paper, we present a complete and efficient implementation of a knowledge-sharing augmented kinesthetic teaching approach for efficient task execution in robotics. Our augmented kinesthetic teaching method integrates intuitive human feedback, including verbal, gesture, gaze, and physical guidance, to facilitate the extraction of multiple layers of task information including control type, attention direction, input and output type, action state change trigger, etc., enhancing the adaptability and autonomy of robots during task execution. We propose an efficient Programming by Demonstration (PbD) framework for users with limited technical experience to teach the robot in an intuitive manner. The proposed framework provides an interface for such users to teach customized tasks using high-level commands, with the goal of achieving a smoother teaching experience and task execution. This is demonstrated with the sample task of pouring water.

Following language instructions to navigate in unseen environments is a challenging task for autonomous embodied agents. With strong representation capabilities, pretrained vision-and-language models are widely used in VLN. However, most of them are trained on web-crawled general-purpose datasets, which incurs a considerable domain gap when used for VLN tasks. To address the problem, we propose a novel and model-agnostic domain-aware prompt learning (DAP) framework. For equipping the pretrained models with specific object-level and scene-level cross-modal alignment in VLN tasks, DAP applies a low-cost prompt tuning paradigm to learn soft visual prompts for extracting in-domain image semantics. Specifically, we first generate a set of in-domain image-text pairs with the help of the CLIP model. Then we introduce soft visual prompts in the input space of the visual encoder in a pretrained model. DAP injects in-domain visual knowledge into the visual encoder of the pretrained model in an efficient way. Experimental results on both R2R and REVERIE show the superiority of DAP compared to existing state-of-the-art methods., Comment: 4 pages. arXiv admin note: substantial text overlap with arXiv:2309.03661

Magnetic fields are a defining yet enigmatic aspect of the interstellar medium (ISM), with their three-dimensional mapping posing a substantial challenge. In this study, we harness the innovative Velocity Gradient Technique (VGT), underpinned by magnetohydrodynamic (MHD) turbulence theories, to elucidate the magnetic field structure by applying it to the atomic neutral hydrogen (HI) emission line and the molecular tracer $^{12}$CO. We construct the tomography of the magnetic field in the low-mass star-forming region L1688, utilizing two approaches: (1) VGT-HI combined with the Galactic rotational curve, and (2) stellar polarization paired with precise star parallax measurements. Our analysis reveals that the magnetic field orientations deduced from stellar polarization undergo a distinct directional change in the vicinity of L1688, providing evidence that the misalignment between VGT-HI and stellar polarization stems from the influence of the molecular cloud's magnetic field on the polarization of starlight. When comparing VGT-$^{12}$CO to stellar polarization and Planck polarization data, we observe that VGT-$^{12}$CO effectively reconciles the misalignment noted with VGT-HI, showing statistical alignment with Planck polarization measurements. This indicates that VGT-$^{12}$CO could be integrated with VGT-HI, offering vital insights into the magnetic fields of molecular clouds, thereby enhancing the accuracy of our 3D magnetic field reconstructions., Comment: 12 pages, 12 figures, accepted for publication in MNRAS

The interplay between a magnetic field and the Coulomb potential from a charged vacancy on the electron states in graphene is investigated within the tight-binding model. The Coulomb potential removes locally Landau level degeneracy, while the vacancy introduces a satellite level next to the normal Landau level. These satellite levels are found throughout the positive energy region, but in the negative energy region they turn into atomic collapse resonances. Crossings between Landau levels with different angular quantum number $m$ are found. Unlike the point impurity system in which an anticrossing occurs between Landau levels of the same $m$, in this work anticrossing is found between the normal Landau level and the vacancy induced level. The atomic collapse resonance hybridize with the Landau levels. The charge at which the lowest Landau level $m = -1, N = 1$ crosses increases $E = 0$ with enhancing magnetic field. Landau level scaling anomaly occurs when the charge is larger than the critical charge $\beta\approx0.6$ and this critical charge is independent of the magnetic field.

Recent advances in vision-language pre-trained models (VLPs) have significantly increased visual understanding and cross-modal analysis capabilities. Companies have emerged to provide multi-modal Embedding as a Service (EaaS) based on VLPs (e.g., CLIP-based VLPs), which cost a large amount of training data and resources for high-performance service. However, existing studies indicate that EaaS is vulnerable to model extraction attacks that induce great loss for the owners of VLPs. Protecting the intellectual property and commercial ownership of VLPs is increasingly crucial yet challenging. A major solution of watermarking model for EaaS implants a backdoor in the model by inserting verifiable trigger embeddings into texts, but it is only applicable for large language models and is unrealistic due to data and model privacy. In this paper, we propose a safe and robust backdoor-based embedding watermarking method for VLPs called VLPMarker. VLPMarker utilizes embedding orthogonal transformation to effectively inject triggers into the VLPs without interfering with the model parameters, which achieves high-quality copyright verification and minimal impact on model performance. To enhance the watermark robustness, we further propose a collaborative copyright verification strategy based on both backdoor trigger and embedding distribution, enhancing resilience against various attacks. We increase the watermark practicality via an out-of-distribution trigger selection approach, removing access to the model training data and thus making it possible for many real-world scenarios. Our extensive experiments on various datasets indicate that the proposed watermarking approach is effective and safe for verifying the copyright of VLPs for multi-modal EaaS and robust against model extraction attacks. Our code is available at https://github.com/Pter61/vlpmarker.

Named Entity Recognition (NER) remains challenging due to the complex entities, like nested, overlapping, and discontinuous entities. Existing approaches, such as sequence-to-sequence (Seq2Seq) generation and span-based classification, have shown impressive performance on various NER subtasks, but they are difficult to scale to datasets with longer input text because of either exposure bias issue or inefficient computation. In this paper, we propose a novel Sequence-to-Forest generation paradigm, S2F-NER, which can directly extract entities in sentence via a Forest decoder that decode multiple entities in parallel rather than sequentially. Specifically, our model generate each path of each tree in forest autoregressively, where the maximum depth of each tree is three (which is the shortest feasible length for complex NER and is far smaller than the decoding length of Seq2Seq). Based on this novel paradigm, our model can elegantly mitigates the exposure bias problem and keep the simplicity of Seq2Seq. Experimental results show that our model significantly outperforms the baselines on three discontinuous NER datasets and on two nested NER datasets, especially for discontinuous entity recognition.

Expressing universal semantics common to all languages is helpful in understanding the meanings of complex and culture-specific sentences. The research theme underlying this scenario focuses on learning universal representations across languages with the usage of massive parallel corpora. However, due to the sparsity and scarcity of parallel data, there is still a big challenge in learning authentic ``universals'' for any two languages. In this paper, we propose EMMA-X: an EM-like Multilingual pre-training Algorithm, to learn (X)Cross-lingual universals with the aid of excessive multilingual non-parallel data. EMMA-X unifies the cross-lingual representation learning task and an extra semantic relation prediction task within an EM framework. Both the extra semantic classifier and the cross-lingual sentence encoder approximate the semantic relation of two sentences, and supervise each other until convergence. To evaluate EMMA-X, we conduct experiments on XRETE, a newly introduced benchmark containing 12 widely studied cross-lingual tasks that fully depend on sentence-level representations. Results reveal that EMMA-X achieves state-of-the-art performance. Further geometric analysis of the built representation space with three requirements demonstrates the superiority of EMMA-X over advanced models., Comment: Accepted by NeurIPS 2023

Observing 3D magnetic fields, including orientation and strength, within the interstellar medium is vital but notoriously difficult. However, recent advances in our understanding of anisotropic magnetohydrodynamic (MHD) turbulence demonstrate that MHD turbulence and 3D magnetic fields leave their imprints on the intensity features of spectroscopic observations. Leveraging these theoretical frameworks, we propose a novel Convolutional Neural Network (CNN) model to extract this embedded information, enabling the probe of 3D magnetic fields. This model examines not only the plane-of-the-sky magnetic field orientation ($\phi$), but also the magnetic field's inclination angle ($\gamma$) relative to the line-of-sight, and the total magnetization level (M$_A^{-1}$) of the cloud. We train the model using synthetic emission lines of $^{13}$CO (J = 1 - 0) and C$^{18}$O (J = 1 - 0), generated from 3D MHD simulations that span conditions from sub-Alfv\'enic to super-Alfv\'enic molecular clouds. Our tests confirm that the CNN model effectively reconstructs the 3D magnetic field topology and magnetization. The median uncertainties are under $5^\circ$ for both $\phi$ and $\gamma$, and less than 0.2 for M$_A$ in sub-Alfv\'enic conditions (M$_A\approx0.5$). In super-Alfv\'enic scenarios (M$_A\approx2.0$), they are under $15^\circ$ for $\phi$ and $\gamma$, and 1.5 for M$_A$. We applied this trained CNN model to the L1478 molecular cloud. Results show a strong agreement between the CNN-predicted magnetic field orientation and that derived from Planck 353 GHz polarization data. The CNN approach enabled us to construct the 3D magnetic field map for L1478, revealing a global inclination angle of $\approx76^\circ$ and a global M$_A$ of $\approx1.07$., Comment: 17 pages, 13 figures, accepted for publication in MNRAS

The inner hundred parsecs of the Milky Way hosts the nearest supermassive black hole, largest reservoir of dense gas, greatest stellar density, hundreds of massive main and post main sequence stars, and the highest volume density of supernovae in the Galaxy. As the nearest environment in which it is possible to simultaneously observe many of the extreme processes shaping the Universe, it is one of the most well-studied regions in astrophysics. Due to its proximity, we can study the center of our Galaxy on scales down to a few hundred AU, a hundred times better than in similar Local Group galaxies and thousands of times better than in the nearest active galaxies. The Galactic Center (GC) is therefore of outstanding astrophysical interest. However, in spite of intense observational work over the past decades, there are still fundamental things unknown about the GC. JWST has the unique capability to provide us with the necessary, game-changing data. In this White Paper, we advocate for a JWST NIRCam survey that aims at solving central questions, that we have identified as a community: i) the 3D structure and kinematics of gas and stars; ii) ancient star formation and its relation with the overall history of the Milky Way, as well as recent star formation and its implications for the overall energetics of our galaxy's nucleus; and iii) the (non-)universality of star formation and the stellar initial mass function. We advocate for a large-area, multi-epoch, multi-wavelength NIRCam survey of the inner 100\,pc of the Galaxy in the form of a Treasury GO JWST Large Program that is open to the community. We describe how this survey will derive the physical and kinematic properties of ~10,000,000 stars, how this will solve the key unknowns and provide a valuable resource for the community with long-lasting legacy value., Comment: This White Paper will be updated when required (e.g. new authors joining, editing of content). Most recent update: 24 Oct 2023

Estimating tissue parameter maps with high accuracy and precision from highly undersampled measurements presents one of the major challenges in MR fingerprinting (MRF). Many existing works project the recovered voxel fingerprints onto the Bloch manifold to improve reconstruction performance. However, little research focuses on exploiting the latent manifold structure priors among fingerprints. To fill this gap, we propose a novel MRF reconstruction framework based on manifold structured data priors. Since it is difficult to directly estimate the fingerprint manifold structure, we model the tissue parameters as points on a low-dimensional parameter manifold. We reveal that the fingerprint manifold shares the same intrinsic topology as the parameter manifold, although being embedded in different Euclidean spaces. To exploit the non-linear and non-local redundancies in MRF data, we divide the MRF data into spatial patches, and the similarity measurement among data patches can be accurately obtained using the Euclidean distance between the corresponding patches in the parameter manifold. The measured similarity is then used to construct the graph Laplacian operator, which represents the fingerprint manifold structure. Thus, the fingerprint manifold structure is introduced in the reconstruction framework by using the low-dimensional parameter manifold. Additionally, we incorporate the locally low-rank prior in the reconstruction framework to further utilize the local correlations within each patch for improved reconstruction performance. We also adopt a GPU-accelerated NUFFT library to accelerate reconstruction in non-Cartesian sampling scenarios. Experimental results demonstrate that our method can achieve significantly improved reconstruction performance with reduced computational time over the state-of-the-art methods., Comment: 10 pages, 10 figures, will submit to IEEE Transactions on Medical Imaging

The experimental evidence for the $\alpha$ Boson gas state in the $^{11}$C+$^{12}$C$\rightarrow$$^{23}$Mg$^{\ast}$ fusion evaporation reaction is presented. By measuring the $\alpha$ emission spectrum with multiplicity 2 and 3, we provide insight into the existence of a three-body force among $\alpha$ particles. The observed spectrum exhibited distinct tails corresponding to $\alpha$ particles emitted in pairs and triplets consistent well with the model-calculations of AV18-UX and chiral effective field theory of NV2-3-la*, indicating the formation of $\alpha$ clusters with three-body force in the Boson gas state., Comment: 7 pages, 6 figures

The correlation of $\alpha\alpha$ was probed via measuring the transverse momentum $p_{T}$ and width $\delta p_{T}$ of one $\alpha$, for the first time, which represents the spatial and dynamical essentialities of the initial coupling state in $^{8}$Be nucleus. The weighted interaction vertex of 3$\alpha$ reflected by the magnitudes of their relative momentums and relative emission angles proves the isosceles triangle configuration for 3$\alpha$ at the high excited energy analogous Hoyle states., Comment: 8 pages, 9 figures

The enhancement of $J^{\pi}(T)$=3$^{+}$(0) state with isospin $T=0$ excited by the tensor force in the free $^{6}$Li nucleus has been observed, for the first time, relative to a shrinkable excitation in the $^{6}$Li cluster component inside its host nucleus. Comparatively, the excitation of $J^{\pi}(T)$=0$^{+}$(1) state with isospin $T=1$ for these two $^{6}$Li formations take on an approximately equal excitation strength. The mechanism of such tensor force effect was proposed due to the intensive nuclear medium role on isospin $T$=0 state., Comment: 6 pages, 4 figures