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A new and detailed measurement of the cross section for hard exclusive neutral-pion muoproduction on the proton was performed in a wide kinematic region, with the photon virtuality $Q^2$ ranging from 1 to 8 (GeV/$c$)$^{\rm\, 2}$ and the Bjorken variable $x_{\rm Bj}$ ranging from 0.02 to 0.45. The data were collected at COMPASS at CERN using 160 GeV/$c$ longitudinally polarised $\mu^+$ and $\mu^-$ beams scattering off a 2.5 m long liquid hydrogen target. From the average of the measured $\mu^+$ and $\mu^-$ cross sections, the virtual-photon--proton cross section is determined as a function of the squared four-momentum transfer between the initial and final state proton in the range 0.08 (GeV/$c$)$^{\rm\, 2}$ $< |t| <$ 0.64 (GeV/$c$)$^{\rm\, 2}$. From its angular distribution, the combined contribution of transversely and longitudinally polarised photons are determined, as well as transverse--transverse and longitudinal--transverse interference contributions. They are studied as functions of four-momentum transfer $|t|$, photon virtuality $Q^2$ and virtual-photon energy $\nu$. The longitudinal--transverse interference contribution is found to be compatible with zero. The significant transverse--transverse interference contribution reveals the existence of a dominant contribution by transversely polarized photons. This provides clear experimental evidence for the chiral-odd GPD $\overline{E}_T$. In addition, the existence of a non-negligible contribution of longitudinally polarized photons is suggested by the $|t|$-dependence of the cross section at $x_{\rm Bj} < $ 0.1 . Altogether, these results provide valuable input for future modelling of GPDs and thus of cross sections for exclusive pseudo-scalar meson production. Furthermore, they can be expected to facilitate the study of next-to-leading order corrections and higher-twist contributions.

Developing robotic hands that adapt to real-world dynamics remains a fundamental challenge in robotics and machine intelligence. Despite significant advances in replicating human hand kinematics and control algorithms, robotic systems still struggle to match human capabilities in dynamic environments, primarily due to inadequate tactile feedback. To bridge this gap, we present F-TAC Hand, a biomimetic hand featuring high-resolution tactile sensing (0.1mm spatial resolution) across 70% of its surface area. Through optimized hand design, we overcome traditional challenges in integrating high-resolution tactile sensors while preserving the full range of motion. The hand, powered by our generative algorithm that synthesizes human-like hand configurations, demonstrates robust grasping capabilities in dynamic real-world conditions. Extensive evaluation across 600 real-world trials demonstrates that this tactile-embodied system significantly outperforms non-tactile alternatives in complex manipulation tasks (p<0.0001). These results provide empirical evidence for the critical role of rich tactile embodiment in developing advanced robotic intelligence, offering new perspectives on the relationship between physical sensing capabilities and intelligent behavior.

Palpation of human tissue during Minimally Invasive Surgery is hampered due to restricted access. In this extended abstract, we present a variable stiffness and dynamic force range sensor that has the potential to address this challenge. The sensor utilises light reflection to estimate sensor deformation, and from this, the force applied. Experimental testing at different pressures (0, 0.5 and 1 PSI) shows that stiffness and force range increases with pressure. The force calibration results when compared with measured forces produced an average RMSE of 0.016, 0.0715 and 0.1284 N respectively, for these pressures.

Autonomous driving (AD) operates in open-world scenarios, where encountering unknown objects is inevitable. However, standard object detectors trained on a limited number of base classes tend to ignore any unknown objects, posing potential risks on the road. To address this, it is important to learn a generic rather than a class specific objectness from objects seen during training. We therefore introduce an occupancy prediction together with bounding box regression. It learns to score the objectness by calculating the ratio of the predicted area occupied by actual objects. To enhance its generalizability, we increase the object diversity by exploiting data from other domains via Mosaic and Mixup augmentation. The objects outside the AD training classes are classified as a newly added out-of-distribution (OOD) class. Our solution UNCOVER, for UNknown Class Object detection for autonomous VEhicles in Real-time, excels at achieving both real-time detection and high recall of unknown objects on challenging AD benchmarks. To further attain very low false positive rates, particularly for close objects, we introduce a post-hoc filtering step that utilizes geometric cues extracted from the depth map, typically available within the AD system.

Dexterous robotic manipulator teleoperation is widely used in many applications, either where it is convenient to keep the human inside the control loop, or to train advanced robot agents. So far, this technology has been used in combination with camera systems with remarkable success. On the other hand, only a limited number of studies have focused on leveraging haptic feedback from tactile sensors in contexts where camera-based systems fail, such as due to self-occlusions or poor light conditions like smoke. This study demonstrates the feasibility of precise pick-and-place teleoperation without cameras by leveraging tactile-based 3D object reconstruction in VR and providing haptic feedback to a blindfolded user. Our preliminary results show that integrating these technologies enables the successful completion of telemanipulation tasks previously dependent on cameras, paving the way for more complex future applications., Comment: 7 pages, 5 figures, This work has been submitted to the IEEE for possible publication

Robotic telemanipulation - the human-guided manipulation of remote objects - plays a pivotal role in several applications, from healthcare to operations in harsh environments. While visual feedback from cameras can provide valuable information to the human operator, haptic feedback is essential for accessing specific object properties that are difficult to be perceived by vision, such as stiffness. For the first time, we present a participant study demonstrating that operators can perceive the stiffness of remote objects during real-world telemanipulation with a dexterous robotic hand, when haptic feedback is generated from tactile sensing fingertips. Participants were tasked with squeezing soft objects by teleoperating a robotic hand, using two methods of haptic feedback: one based solely on the measured contact force, while the second also includes the squeezing displacement between the leader and follower devices. Our results demonstrate that operators are indeed capable of discriminating objects of different stiffness, relying on haptic feedback alone and without any visual feedback. Additionally, our findings suggest that the displacement feedback component may enhance discrimination with objects of similar stiffness., Comment: 8 pages,6 figures, "This work has been submitted to the IEEE for possible publication."

External disturbances exciting a mechanical resonator can be exploited to gain information on the environment. Many of these interactions manifest as momentum kicks, such as the recoil of residual gas, radioactive decay, or even hypothetical interactions with dark matter. These disturbances are often rare enough that they can be resolved as singular events rather than cumulated as force noise. While high-Q resonators with low masses are particularly sensitive to such momentum kicks, they will strongly excite the resonator, leading to nonlinear effects that deteriorate the sensing performance. Hence, this paper utilizes optimal estimation methods to extract individual momentum kicks from measured stochastic trajectories of a mechanical resonator kept in the linear regime through feedback control. The developed scheme is illustrated and tested experimentally using a pre-stressed SiN trampoline resonator. Apart from enhancing a wide range of sensing scenarios mentioned above, our results indicate the feasibility of novel single-molecule mass spectrometry approaches., Comment: 8 pages, 7 figures

We demonstrate that epitaxial thin film antiferromagnet Mn2As exhibits the quench-switching effect, which was previously reported only in crystallographically similar antiferromagnetic CuMnAs thin films. Quench switching in Mn2As shows stronger increase in resistivity, reaching hundreds of percent at 5K, and significantly longer retention time of the metastable high-resistive state before relaxation towards the low-resistive uniform magnetic state. Qualitatively, Mn2As and CuMnAs show analogous parametric dependence of the magnitude and relaxation of the quench-switching signal. Quantitatively, relaxation dynamics in both materials show direct proportionality to the N\'eel temperature. This confirms that the quench switching has magnetic origin in both materials. The presented results suggest that the antiferromagnets crystalizing in the Cu2Sb structure are well suited for exploring and exploiting the intriguing physics of highly non-uniform magnetic states associated with the quench switching., Comment: 7pages, 4 figures and supplemental material

Solving complex tasks in a modern information-driven society requires novel materials and concepts for energy-efficient hardware. Antiferromagnets offer a promising platform for seeking such approaches due to their exceptional features: low power consumption and possible high integration density are desirable for information storage and processing or applications in unconventional computing. Among antiferromagnets, CuMnAs stands out for atomic-level scalable magnetic textures, analogue multilevel storage capability, and the magnetic state's control by a single electrical or femtosecond laser pulse. Using a pair of excitation laser pulses, this work examines synaptic and neuronal functionalities of CuMnAs for information processing, readily incorporating two principles of distinct characteristic timescales. Laser-induced transient heat dynamics at sub-nanosecond times represents the short-term memory and causes resistance switching due to quenching into a magnetically fragmented state. This quench switching, detectable electrically from ultrashort times to hours after writing, reminisces the long-term memory. The versatility of the principles' combination is demonstrated by operations commonly used in neural networks. Temporal latency coding, fundamental to spiking neural networks, is utilized to encode data from a grayscale image into sub-nanosecond pulse delays. Applying input laser pulses with distinct amplitudes then allows for pulse-pattern recognition. The results open pathways for designing novel computing architectures., Comment: 20 pages, 10 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

Advances in anticancer therapies have significantly contributed to declining death rates in certain disease and clinical settings. However, they have also made it difficult to power a clinical trial in these settings with overall survival (OS) as the primary efficacy endpoint. A number of statistical approaches have therefore been recently proposed for the pre-specified analysis of OS as a safety endpoint (Shan, 2023; Fleming et al., 2024; Rodriguez et al., 2024). In this paper, we provide a simple, unifying framework that includes the aforementioned approaches (and a couple others) as special cases. By highlighting each approach's focus, priority, tolerance for risk, and strengths or challenges for practical implementation, this framework can help to facilitate discussions between stakeholders on "fit-for-purpose OS data collection and assessment of harm" (American Association for Cancer Research, 2024). We apply this framework to a real clinical trial in large B-cell lymphoma to illustrate its application and value. Several recommendations and open questions are also raised., Comment: 19 pages, 1 table

Interim analyses are prevalent in clinical trials. Although methodology is well established, there are aspects of how to operationalize and interpret interim analyses which remain unclear to many stakeholders. In this paper, a team of statisticians from the pharmaceutical industry, academia, and regulatory agencies provide a multi-stakeholder perspective on the key concepts behind interim analyses and considerations on terminology. We illustrate our proposals using a hypothetical clinical trial., Comment: 25 pages, 6 tables

Recently, the transformer architecture has enabled substantial progress in many areas of pattern recognition and machine learning. However, as with other neural network models, there is currently no general method available to explain their inner workings. The present paper represents a first step towards this direction. We utilize \textit{Transformer Compiler for RASP} (Tracr) to generate a large dataset of pairs of transformer weights and corresponding RASP programs. Based on this dataset, we then build and train a model, with the aim of recovering the RASP code from the compiled model. We demonstrate that the simple form of Tracr compiled transformer weights is interpretable for such a decompiler model. In an empirical evaluation, our model achieves exact reproductions on more than 30\% of the test objects, while the remaining 70\% can generally be reproduced with only few errors. Additionally, more than 70\% of the programs, produced by our model, are functionally equivalent to the ground truth, and therefore a valid decompilation of the Tracr compiled transformer weights.

Despite a significant proportion of the Earth being covered in water, exploration of what lies below has been limited due to the challenges and difficulties inherent in the process. Current state of the art robots such as Remotely Operated Vehicles (ROVs) and Autonomous Underwater Vehicles (AUVs) are bulky, rigid and unable to conform to their environment. Soft robotics offers solutions to this issue. Fluid-actuated eversion or growing robots, in particular, are a good example. While current eversion robots have found many applications on land, their inherent properties make them particularly well suited to underwater environments. An important factor when considering underwater eversion robots is the establishment of a suitable steering mechanism that can enable the robot to change direction as required. This project proposes a design for an eversion robot that is capable of steering while underwater, through the use of bending pouches, a design commonly seen in the literature on land-based eversion robots. These bending pouches contract to enable directional change. Similar to their land-based counterparts, the underwater eversion robot uses the same fluid in the medium it operates in to achieve extension and bending but also to additionally aid in neutral buoyancy. The actuation method of bending pouches meant that robots needed to fully extend before steering was possible. Three robots, with the same design and dimensions were constructed from polyethylene tubes and tested. Our research shows that although the soft eversion robot design in this paper was not capable of consistently generating the same amounts of bending for the inflation volume, it still achieved suitable bending at a range of inflation volumes and was observed to bend to a maximum angle of 68 degrees at 2000 ml, which is in line with the bending angles reported for land-based eversion robots in the literature.

CdZnTe-based detectors are highly valued because of their high spectral resolution, which is an essential feature for nuclear medical imaging. However, this resolution is compromised when there are substantial defects in the CdZnTe crystals. In this study, we present a learning-based approach to determine the spatially dependent bulk properties and defects in semiconductor detectors. This characterization allows us to mitigate and compensate for the undesired effects caused by crystal impurities. We tested our model with computer-generated noise-free input data, where it showed excellent accuracy, achieving an average RMSE of 0.43% between the predicted and the ground truth crystal properties. In addition, a sensitivity analysis was performed to determine the effect of noisy data on the accuracy of the model.

Vision-based Tactile Sensors (VBTSs) show significant promise in that they can leverage image measurements to provide high-spatial-resolution human-like performance. However, current VBTS designs, typically confined to the fingertips of robotic grippers, prove somewhat inadequate, as many grasping and manipulation tasks require multiple contact points with the object. With an end goal of enabling large-scale, multi-surface tactile sensing via VBTSs, our research (i) develops a synchronized image acquisition system with minimal latency,(ii) proposes a modularized VBTS design for easy integration into finger phalanges, and (iii) devises a zero-shot calibration approach to improve data efficiency in the simultaneous calibration of multiple VBTSs. In validating the system within a miniature 3-fingered robotic gripper equipped with 7 VBTSs we demonstrate improved tactile perception performance by covering the contact surfaces of both gripper fingers and palm. Additionally, we show that our VBTS design can be seamlessly integrated into various end-effector morphologies significantly reducing the data requirements for calibration.

Hand-wearable robots, specifically exoskeletons, are designed to aid hands in daily activities, playing a crucial role in post-stroke rehabilitation and assisting the elderly. Our contribution to this field is a textile robotic glove with integrated actuators. These actuators, powered by pneumatic pressure, guide the user's hand to a desired position. Crafted from textile materials, our soft robotic glove prioritizes safety, lightweight construction, and user comfort. Utilizing the ruffles technique, integrated actuators guarantee high performance in blocking force and bending effectiveness. Additionally, we present a participant study confirming the effectiveness of our robotic device., Comment: 2 pages, 3 figures, conference. arXiv admin note: substantial text overlap with arXiv:2305.17720, arXiv:2408.00048

Hand-wearable robots, specifically exoskeletons, are designed to aid hands in daily activities, playing a crucial role in post-stroke rehabilitation and assisting the elderly. Our contribution to this field is a textile robotic glove with integrated actuators. These actuators, powered by pneumatic pressure, guide the user's hand to a desired position. Crafted from textile materials, our soft robotic glove prioritizes safety, lightweight construction, and user comfort. Utilizing the ruffles technique, integrated actuators guarantee high performance in blocking force and bending effectiveness. Here, we present a participant study confirming the effectiveness of our robotic device on a healthy participant group, exploiting EMG sensing., Comment: 3 pages, 4 figures, conference. arXiv admin note: text overlap with arXiv:2305.17720

In randomized controlled trials, forest plots are frequently used to investigate the homogeneity of treatment effect estimates in subgroups. However, the interpretation of subgroup-specific treatment effect estimates requires great care due to the smaller sample size of subgroups and the large number of investigated subgroups. Bayesian shrinkage methods have been proposed to address these issues, but they often focus on disjoint subgroups while subgroups displayed in forest plots are overlapping, i.e., each subject appears in multiple subgroups. In our approach, we first build a flexible Cox model based on all available observations, including categorical covariates that identify the subgroups of interest and their interactions with the treatment group variable. We explore both penalized partial likelihood estimation with a lasso or ridge penalty for treatment-by-covariate interaction terms, and Bayesian estimation with a regularized horseshoe prior. One advantage of the Bayesian approach is the ability to derive credible intervals for shrunken subgroup-specific estimates. In a second step, the Cox model is marginalized to obtain treatment effect estimates for all subgroups. We illustrate these methods using data from a randomized clinical trial in follicular lymphoma and evaluate their properties in a simulation study. In all simulation scenarios, the overall mean-squared error is substantially smaller for penalized and shrinkage estimators compared to the standard subgroup-specific treatment effect estimator but leads to some bias for heterogeneous subgroups. We recommend that subgroup-specific estimators, which are typically displayed in forest plots, are more routinely complemented by treatment effect estimators based on shrinkage methods. The proposed methods are implemented in the R package bonsaiforest., Comment: 23 pages, 2 figures and 1 table (main text), 6 figures and 2 tables (supplementary materials)

We revisit the question of what randomization ratio (RR) maximizes power of the logrank test in event-driven survival trials under proportional hazards (PH). By comparing three approximations of the logrank test (Schoenfeld, Freedman, Rubinstein) to empirical simulations, we find that the RR that maximizes power is the RR that balances number of events across treatment arms at the end of the trial. This contradicts the common misconception implied by Schoenfeld's approximation that 1:1 randomization maximizes power. Besides power, we consider other factors that might influence the choice of RR (accrual, trial duration, sample size, etc.). We perform simulations to better understand how unequal randomization might impact these factors in practice. Altogether, we derive 6 insights to guide statisticians in the design of survival trials considering unequal randomization., Comment: 17 pages, 3 figures, 2 tables

Deep image clustering methods are typically evaluated on small-scale balanced classification datasets while feature-based $k$-means has been applied on proprietary billion-scale datasets. In this work, we explore the performance of feature-based deep clustering approaches on large-scale benchmarks whilst disentangling the impact of the following data-related factors: i) class imbalance, ii) class granularity, iii) easy-to-recognize classes, and iv) the ability to capture multiple classes. Consequently, we develop multiple new benchmarks based on ImageNet21K. Our experimental analysis reveals that feature-based $k$-means is often unfairly evaluated on balanced datasets. However, deep clustering methods outperform $k$-means across most large-scale benchmarks. Interestingly, $k$-means underperforms on easy-to-classify benchmarks by large margins. The performance gap, however, diminishes on the highest data regimes such as ImageNet21K. Finally, we find that non-primary cluster predictions capture meaningful classes (i.e. coarser classes)., Comment: Work in progress

Scaling machine learning models significantly improves their performance. However, such gains come at the cost of inference being slow and resource-intensive. Early-exit neural networks (EENNs) offer a promising solution: they accelerate inference by allowing intermediate layers to exit and produce a prediction early. Yet a fundamental issue with EENNs is how to determine when to exit without severely degrading performance. In other words, when is it 'safe' for an EENN to go 'fast'? To address this issue, we investigate how to adapt frameworks of risk control to EENNs. Risk control offers a distribution-free, post-hoc solution that tunes the EENN's exiting mechanism so that exits only occur when the output is of sufficient quality. We empirically validate our insights on a range of vision and language tasks, demonstrating that risk control can produce substantial computational savings, all the while preserving user-specified performance goals., Comment: 27 pages, 13 figures, 4 tables (incl. appendix)

Photon-counting detectors based on CZT are essential in nuclear medical imaging, particularly for SPECT applications. Although CZT detectors are known for their precise energy resolution, defects within the CZT crystals significantly impact their performance. These defects result in inhomogeneous material properties throughout the bulk of the detector. The present work introduces an efficient computational model that simulates the operation of semiconductor detectors, accounting for the spatial variability of the crystal properties. Our simulator reproduces the charge-induced pulse signals generated after the X/gamma-rays interact with the detector. The performance evaluation of the model shows an RMSE in the signal below 0.70%. Our simulator can function as a digital twin to accurately replicate the operation of actual detectors. Thus, it can be used to mitigate and compensate for adverse effects arising from crystal impurities.

Effective execution of long-horizon tasks with dexterous robotic hands remains a significant challenge in real-world problems. While learning from human demonstrations have shown encouraging results, they require extensive data collection for training. Hence, decomposing long-horizon tasks into reusable primitive skills is a more efficient approach. To achieve so, we developed DexSkills, a novel supervised learning framework that addresses long-horizon dexterous manipulation tasks using primitive skills. DexSkills is trained to recognize and replicate a select set of skills using human demonstration data, which can then segment a demonstrated long-horizon dexterous manipulation task into a sequence of primitive skills to achieve one-shot execution by the robot directly. Significantly, DexSkills operates solely on proprioceptive and tactile data, i.e., haptic data. Our real-world robotic experiments show that DexSkills can accurately segment skills, thereby enabling autonomous robot execution of a diverse range of tasks.

As more distributed energy resources become part of the demand-side infrastructure, it is important to quantify the energy flexibility they provide on a community scale, particularly to understand the impact of geographic, climatic, and occupant behavioral differences on their effectiveness, as well as identify the best control strategies to accelerate their real-world adoption. CityLearn provides an environment for benchmarking simple and advanced distributed energy resource control algorithms including rule-based, model-predictive, and reinforcement learning control. CityLearn v2 presented here extends CityLearn v1 by providing a simulation environment that leverages the End-Use Load Profiles for the U.S. Building Stock dataset to create virtual grid-interactive communities for resilient, multi-agent distributed energy resources and objective control with dynamic occupant feedback. This work details the v2 environment design and provides application examples that utilize reinforcement learning to manage battery energy storage system charging/discharging cycles, vehicle-to-grid control, and thermal comfort during heat pump power modulation.

Soft growing vine robots show great potential for navigation and decontamination tasks in the nuclear industry. This paper introduces a novel hybrid continuum-eversion robot designed to address certain challenges in relation to navigating and operating within pipe networks and enclosed remote vessels. The hybrid robot combines the flexibility of a soft eversion robot with the precision of a continuum robot at its tip, allowing for controlled steering and movement in hard to access and/or complex environments. The design enables the delivery of sensors, liquids, and aerosols to remote areas, supporting remote decontamination activities. This paper outlines the design and construction of the robot and the methods by which it achieves selective steering. We also include a comprehensive review of current related work in eversion robotics, as well as other steering devices and actuators currently under research, which underpin this novel active steering approach. This is followed by an experimental evaluation that demonstrates the robot's real-world capabilities in delivering liquids and aerosols to remote locations. The experiments reveal successful outcomes, with over 95% success in precision spraying tests. The paper concludes by discussing future work alongside limitations in the current design, ultimately showcasing its potential as a solution for remote decontamination operations in the nuclear industry., Comment: 7 pages, 8 figures, conference

The increasing penetration of volatile renewables combined with increasing demands poses a challenge to modern power grids. Furthermore, distributed energy resources and flexible devices (electric vehicles, PV generation, ...) are becoming more widespread, making their aggregate usage for ancillary services interesting. However, accurately quantifying the aggregate flexibility of numerous flexible devices is known to be limited by the curse of dimensionality, i.e., it does not scale well computationally. This has led to the development of various approximation algorithms. In this study, we improve upon our previously proposed vertex-based inner approximation, extending it to more general storage devices. We demonstrate the efficacy and accuracy of the proposed method in a case study comparing our approach with an exact centralized control framework, where the flexibility of numerous electric vehicles is combined to reduce the peak load in a residential area., Comment: 5 pages, 4 figures, NEIS 2024 Conference on Sustainable Energy Supply and Energy Storage Systems

Quantifying a model's predictive uncertainty is essential for safety-critical applications such as autonomous driving. We consider quantifying such uncertainty for multi-object detection. In particular, we leverage conformal prediction to obtain uncertainty intervals with guaranteed coverage for object bounding boxes. One challenge in doing so is that bounding box predictions are conditioned on the object's class label. Thus, we develop a novel two-step conformal approach that propagates uncertainty in predicted class labels into the uncertainty intervals of bounding boxes. This broadens the validity of our conformal coverage guarantees to include incorrectly classified objects, thus offering more actionable safety assurances. Moreover, we investigate novel ensemble and quantile regression formulations to ensure the bounding box intervals are adaptive to object size, leading to a more balanced coverage. Validating our two-step approach on real-world datasets for 2D bounding box localization, we find that desired coverage levels are satisfied with practically tight predictive uncertainty intervals., Comment: European Conference on Computer Vision (ECCV) 2024; 37 pages, 14 figures, 6 tables (incl. appendix)

Generative models for multimodal data permit the identification of latent factors that may be associated with important determinants of observed data heterogeneity. Common or shared factors could be important for explaining variation across modalities whereas other factors may be private and important only for the explanation of a single modality. Multimodal Variational Autoencoders, such as MVAE and MMVAE, are a natural choice for inferring those underlying latent factors and separating shared variation from private. In this work, we investigate their capability to reliably perform this disentanglement. In particular, we highlight a challenging problem setting where modality-specific variation dominates the shared signal. Taking a cross-modal prediction perspective, we demonstrate limitations of existing models, and propose a modification how to make them more robust to modality-specific variation. Our findings are supported by experiments on synthetic as well as various real-world multi-omics data sets., Comment: Accepted for publication in the Proceedings of Machine Learning in Computational Biology (MLCB 2023)

We propose an instrumental variable framework for identifying and estimating causal effects of discrete and continuous treatments with binary instruments. The basis of our approach is a local copula representation of the joint distribution of the potential outcomes and unobservables determining treatment assignment. This representation allows us to introduce an identifying assumption, so-called copula invariance, that restricts the local dependence of the copula with respect to the treatment propensity. We show that copula invariance identifies treatment effects for the entire population and other subpopulations such as the treated. The identification results are constructive and lead to practical estimation and inference procedures based on distribution regression. An application to estimating the effect of sleep on well-being uncovers interesting patterns of heterogeneity.

Integrating robots into human-centric environments such as homes, necessitates advanced manipulation skills as robotic devices will need to engage with articulated objects like doors and drawers. Key challenges in robotic manipulation of articulated objects are the unpredictability and diversity of these objects' internal structures, which render models based on object kinematics priors, both explicit and implicit, inadequate. Their reliability is significantly diminished by pre-interaction ambiguities, imperfect structural parameters, encounters with unknown objects, and unforeseen disturbances. Here, we present a prior-free strategy, Tac-Man, focusing on maintaining stable robot-object contact during manipulation. Without relying on object priors, Tac-Man leverages tactile feedback to enable robots to proficiently handle a variety of articulated objects, including those with complex joints, even when influenced by unexpected disturbances. Demonstrated in both real-world experiments and extensive simulations, it consistently achieves near-perfect success in dynamic and varied settings, outperforming existing methods. Our results indicate that tactile sensing alone suffices for managing diverse articulated objects, offering greater robustness and generalization than prior-based approaches. This underscores the importance of detailed contact modeling in complex manipulation tasks, especially with articulated objects. Advancements in tactile-informed approaches significantly expand the scope of robotic applications in human-centric environments, particularly where accurate models are difficult to obtain. See additional material at https://tacman-aom.github.io., Comment: Accepted for publication in the IEEE Transactions on Robotics (T-RO)

The SAVVY project aims to improve the analyses of adverse events (AEs) in clinical trials through the use of survival techniques appropriately dealing with varying follow-up times and competing events (CEs). This paper summarizes key features and conclusions from the various SAVVY papers. Through theoretical investigations using simulations and in an empirical study including randomized clinical trials from several sponsor organisations, biases from ignoring varying follow-up times or CEs are investigated. The bias of commonly used estimators of the absolute and relative AE risk is quantified. Furthermore, we provide a cursory assessment of how pertinent guidelines for the analysis of safety data deal with the features of varying follow-up time and CEs. SAVVY finds that for both, avoiding bias and categorization of evidence with respect to treatment effect on AE risk into categories, the choice of the estimator is key and more important than features of the underlying data such as percentage of censoring, CEs, amount of follow-up, or value of the gold-standard. The choice of the estimator of the cumulative AE probability and the definition of CEs are crucial. SAVVY recommends using the Aalen-Johansen estimator (AJE) with an appropriate definition of CEs whenever the risk for AEs is to be quantified. There is an urgent need to improve the guidelines of reporting AEs so that incidence proportions or one minus Kaplan-Meier estimators are finally replaced by the AJE with appropriate definition of CEs., Comment: 17 pages, 1 Figure, 4 Tables. arXiv admin note: text overlap with arXiv:2008.07881

We present details on a new measurement of the muon magnetic anomaly, $a_\mu = (g_\mu -2)/2$. The result is based on positive muon data taken at Fermilab's Muon Campus during the 2019 and 2020 accelerator runs. The measurement uses $3.1$ GeV$/c$ polarized muons stored in a $7.1$-m-radius storage ring with a $1.45$ T uniform magnetic field. The value of $ a_{\mu}$ is determined from the measured difference between the muon spin precession frequency and its cyclotron frequency. This difference is normalized to the strength of the magnetic field, measured using Nuclear Magnetic Resonance (NMR). The ratio is then corrected for small contributions from beam motion, beam dispersion, and transient magnetic fields. We measure $a_\mu = 116 592 057 (25) \times 10^{-11}$ (0.21 ppm). This is the world's most precise measurement of this quantity and represents a factor of $2.2$ improvement over our previous result based on the 2018 dataset. In combination, the two datasets yield $a_\mu(\text{FNAL}) = 116 592 055 (24) \times 10^{-11}$ (0.20 ppm). Combining this with the measurements from Brookhaven National Laboratory for both positive and negative muons, the new world average is $a_\mu$(exp) $ = 116 592 059 (22) \times 10^{-11}$ (0.19 ppm)., Comment: 48 pages, 29 figures; 4 pages of Supplement Material; version accepted for publication in Physical Review D

A novel mixed quantum-classical approach to simulating nonadiabatic dynamics of molecules at metal surfaces is presented. The method combines the numerically exact hierarchical equations of motion approach for the quantum electronic degrees of freedom with Langevin dynamics for the classical degrees of freedom, namely, low-frequency vibrational modes within the molecule. The approach extends previous mixed quantum-classical methods based on Langevin equations to models containing strong electron-electron or quantum electronic-vibrational interactions, while maintaining a nonperturbative and non-Markovian treatment of the molecule-metal coupling. To demonstrate the approach, nonequilibrium transport observables are calculated for a molecular nanojunction containing strong interactions.

M dwarfs are ubiquitous in our galaxy, and the rate at which they host stellar companions, and the properties of these companions, provides a window into the formation and evolution of the star(s), and of any planets that they may host. The Pervasive Overview of 'Kompanions' of Every M dwarf in Our Neighborhood (POKEMON) speckle survey of nearby M dwarfs is volume-limited from M0V through M9V out to 15 pc, with additional targets at larger distances. In total, 1125 stars were observed, and 455 of these are within the volume-limited, 15-pc sample of M-dwarf primaries. When we combine the speckle observations with known companions from the literature, we find that the stellar multiplicity rate of M dwarfs within 15 pc is 23.5% plus or minus 2.0%, and that the companion rate is 28.8% plus or minus 2.1%. We also find that the projected separation distribution for multiples that are known to host planets peaks at 198 au, while the distribution for multiples that are not yet known to host planets peaks at 5.57 au. This result suggests that the presence of close-in stellar companions inhibits the formation of M-dwarf planetary systems, similar to what has been found for FGK stars., Comment: 18 pages, 5 figures. Accepted for publication in the Astronomical Journal

Bees undergo a self-organised process known as shimmering, where they form emergent patterns when they interact with each other on the nest surface as a defence mechanism in response to predator attacks. Many experimental studies have empirically investigated how the transfer of information to neighbouring bees propagates in various shimmering processes by measuring shimmering wave strength. However, there is no analytical modelling of the collective defence mechanism in nature. Here we introduce the first analytical tri-state Inactive-Active-Relapse (IAR) model to formulate the intrinsic process of bee shimmering. The major shimmering behaviour is shown to emerge under theoretical conditions which is demonstrated numerically and visually by simulating 1,000,000 bee agents, while the number of agents is scalable. Furthermore, we elaborate on these mathematical results to construct a wave strength function to demonstrate the accuracy of shimmering dynamics. The constructed wave strength function can be adapted to peak between 50-150ms which supports the experimental studies. Our results provide a foundation for further theoretical understanding of bee shimmering wave dynamics and could serve as inspiration for modelling other self-organised phenomena across scientific applications., Comment: 20 pages, 7 figures

In order to study exoplanets, a comprehensive characterization of the fundamental properties of the host stars, such as angular diameter, temperature, luminosity, and age, is essential, as the formation and evolution of exoplanets are directly influenced by the host stars at various points in time. In this paper, we present interferometric observations taken of directly imaged planet host 51 Eridani at the CHARA Array. We measure the limb-darkened angular diameter of HD 29391 to be $\theta_{\rm LD} = 0.450\pm 0.006 \rm ~mas$ and combining with the Gaia zero-point corrected parallax, we get a stellar radius of $1.45 \pm 0.02 \rm~R_{\odot}$. We use the PARSEC isochrones to estimate an age of $23.2^{+1.7}_{-2.0} \rm ~Myr$ and a mass of $1.550^{+0.006}_{-0.005}\rm ~M_{\odot}$. The age and mass agree well with values in the literature, determined through a variety of methods ranging from dynamical age trace-backs to lithium depletion boundary methods. We derive a mass of $4.1 \pm 0.4\rm ~M_{Jup}$ for 51 Eri b using the Sonora Bobcat models, which further supports the possibility of 51 Eri b forming under either the hot-start formation model or the warm-start formation model., Comment: 11 pages, 6 figures, 3 tables

New results are presented on a high-statistics measurement of Collins and Sivers asymmetries of charged hadrons produced in deep inelastic scattering of muons on a transversely polarised $^6$LiD target. The data were taken in 2022 with the COMPASS spectrometer using the 160 \gevv\ muon beam at CERN, balancing the existing data on transversely polarised proton targets. The first results from about two-thirds of the new data have total uncertainties smaller by up to a factor of three compared to the previous deuteron measurements. Using all the COMPASS proton and deuteron results, both the transversity and the Sivers distribution functions of the $u$ and $d$ quark, as well as the tensor charge in the measured $x$-range are extracted. In particular, the accuracy of the $d$ quark results is significantly improved.

The COMPASS Collaboration performed measurements of the Drell-Yan process in 2015 and 2018 using a 190 GeV/c $\pi^{-}$ beam impinging on a transversely polarised ammonia target. Combining the data of both years, we present final results on the amplitudes of the five azimuthal modulations in the dimuon production cross section. Three of these transverse-spin-dependent azimuthal asymmetries (TSAs) probe the nucleon leading-twist Sivers, transversity, and pretzelosity transverse-momentum dependent (TMD) parton distribution functions (PDFs). The other two are induced by subleading effects. These TSAs provide unique new inputs for the study of the nucleon TMD PDFs and their universality properties. In particular, the Sivers TSA observed in this measurement is consistent with the fundamental QCD prediction of a sign change of naive time-reversal-odd TMD PDFs when comparing the Drell-Yan process with semi-inclusive measurements of deep inelastic scattering. Also, within the context of model predictions, the observed transversity TSA is consistent with the expectation of a sign change for the Boer-Mulders function.