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The problem of realizing rotary propeller motion of a devil-stick in the vertical plane using forces purely normal to the stick is considered. This problem represents a nonprehensile manipulation task of an underactuated system. In contrast with previous approaches, the devil-stick is manipulated by controlling the normal force and its point of application. Virtual holonomic constraints are used to design the trajectory of the center-of-mass of the devil-stick in terms of its orientation angle, and conditions for stable propeller motion are derived. Intermittent large-amplitude forces are used to asymptotically stabilize a desired propeller motion. Simulations demonstrate the efficacy of the approach in realizing stable propeller motion without loss of contact between the actuator and devil-stick., Comment: 6 pages, 5 figures. This work has been submitted to the IEEE for possible publication

This work investigates the multiplicity and differentiability of eigenfrequencies in structures with various symmetries. In particular, the study explores how the geometric and design variable symmetries affect the distribution of eigenvalues, distinguishing between simple and multiple eigenvalues in 3-D trusses. Moreover, this article also examines the differentiability of multiple eigenvalues under various symmetry conditions, which is crucial for gradient-based optimization. The results presented in this study show that while full symmetry ensures the differentiability of all eigenvalues, increased symmetry in optimized design, such as accidental symmetry, may lead to non-differentiable eigenvalues. Additionally, the study presents solutions using symmetric functions, demonstrating their effectiveness in ensuring differentiability in scenarios where multiple eigenvalues are non-differentiable. The study also highlights a critical insight into the differentiability criterion of symmetric functions, i.e., the completeness of eigen-clusters, which is necessary to ensure the differentiability of such functions., Comment: 58 pages, 30 figures, 18 tables, for source code, see https://github.com/cpssldomain/Symmetry-and-Multiple-Evalues-3D-trusses

This paper presents a computational framework for the robust stiffness design of hyperelastic structures at finite deformations subject to various uncertain sources. In particular, the loading, material properties, and geometry uncertainties are incorporated within the topology optimization framework and are modeled by random vectors or random fields. A stochastic perturbation method is adopted to quantify uncertainties, and analytical adjoint sensitivities are derived for efficient gradient-based optimization. Moreover, the mesh distortion of low-density elements under finite deformations is handled by an adaptive linear energy interpolation scheme. The proposed robust topology optimization framework is applied to several examples, and the effects of different uncertain sources on the optimized topologies are systematically investigated. As demonstrated, robust designs are less sensitive to the variation of target uncertain sources than deterministic designs. Finally, it is shown that incorporating symmetry-breaking uncertainties in the topology optimization framework promotes stable designs compared to the deterministic counterpart, where -- when no stability constraint is included -- can lead to unstable designs., Comment: 81 pages, 59 figures, 2 tables

This study presents a novel approach utilizing cluster means to address the non-differentiability issue arising from multiple eigenvalues in eigenfrequency and bandgap optimization. By constructing symmetric functions of repeated eigenvalues -- including cluster mean, p-norm and KS functions -- the study confirms their differentiability when all repeated eigenvalues are included, i.e., clusters are complete. Numerical sensitivity analyses indicate that, under some symmetry conditions, multiple eigenvalues may also be differentiable w.r.t the symmetric design variables. Notably, regardless of enforced symmetry, the cluster mean approach guarantees differentiability of multiple eigenvalues, offering a reliable solution strategy in eigenfrequency topology optimization. Optimization schemes are proposed to maximize eigenfrequencies and bandgaps by integrating cluster means with the bound formulations. The efficacy of the proposed method is demonstrated through numerical examples on 2D and 3D solids and plate structures. All optimization results demonstrate smooth convergence under simple/multiple eigenvalues., Comment: 73 pages, 42 Figures, 4 Tables

Animating clipart images with seamless motion while maintaining visual fidelity and temporal coherence presents significant challenges. Existing methods, such as AniClipart, effectively model spatial deformations but often fail to ensure smooth temporal transitions, resulting in artifacts like abrupt motions and geometric distortions. Similarly, text-to-video (T2V) and image-to-video (I2V) models struggle to handle clipart due to the mismatch in statistical properties between natural video and clipart styles. This paper introduces FlexiClip, a novel approach designed to overcome these limitations by addressing the intertwined challenges of temporal consistency and geometric integrity. FlexiClip extends traditional B\'ezier curve-based trajectory modeling with key innovations: temporal Jacobians to correct motion dynamics incrementally, continuous-time modeling via probability flow ODEs (pfODEs) to mitigate temporal noise, and a flow matching loss inspired by GFlowNet principles to optimize smooth motion transitions. These enhancements ensure coherent animations across complex scenarios involving rapid movements and non-rigid deformations. Extensive experiments validate the effectiveness of FlexiClip in generating animations that are not only smooth and natural but also structurally consistent across diverse clipart types, including humans and animals. By integrating spatial and temporal modeling with pre-trained video diffusion models, FlexiClip sets a new standard for high-quality clipart animation, offering robust performance across a wide range of visual content. Project Page: https://creative-gen.github.io/flexiclip.github.io/, Comment: 13 pages, 4 figures, 7 tables

We present the discovery and characterization of a sub-Saturn exoplanet, TOI-6038~A~b, using the PARAS-2 spectrograph. The planet orbits a bright ($m_V=9.9$), metal-rich late F-type star, TOI-6038~A, with $T_{\rm{eff}}=6110\pm100~\mathrm{K}$, $\log{g}=4.118^{+0.015}_{-0.025}$, and $[{\rm{Fe/H}}]=0.124^{+0.079}_{-0.077}$ dex. The system also contains a wide-orbit binary companion, TOI-6038~B, an early K-type star at a projected separation of $\approx3217$ AU. We combined radial velocity data from PARAS-2 with photometric data from the Transiting Exoplanet Survey Satellite (TESS) for joint modeling. TOI-6038~A~b has a mass of $78.5^{+9.5}_{-9.9}~M_\oplus$ and a radius of $6.41^{+0.20}_{-0.16}~R_\oplus$, orbiting in a circular orbit with a period of $5.8267311^{+0.0000074}_{-0.0000068}$ days. Internal structure modeling suggests that $\approx74\%$ of the planet's mass is composed of dense materials, such as rock and iron, forming a core, while the remaining mass consists of a low-density H/He envelope. TOI-6038~A~b lies at the transition regime between the recently identified Neptunian ridge and savanna. Having a density of $\rho_{\rm{P}}=1.62^{+0.23}_{-0.24}\rm~g\,cm^{-3}$, TOI-6038~A~b is compatible with the population of dense ridge planets ($\rho_{\rm{P}}\simeq$ 1.5-2.0 $\rm~g\,cm^{-3}$), which have been proposed to have reached their close-in locations through high-eccentricity tidal migration (HEM). First-order estimates suggest that the secular perturbations induced by TOI-6038~B may be insufficient to drive the HEM of TOI-6038~A~b. Therefore, it is not clear whether HEM driven by a still undetected companion, or early disk-driven migration, brought TOI-6038~A~b to its present-day close-in orbit. Its bright host star makes TOI-6038~A~b a prime target for atmospheric escape and orbital architecture observations, which will help us to better understand its overall evolution., Comment: 22 pages, 12 figures, accepted in AJ

We introduce a two-dimensional discrete-time dynamical system which represents the evolution of an angle and angular velocity. While the angle evolves by a fixed amount in every step, the evolution of the angular velocity is governed by a nonlinear map. We study the periodicity and stability of solutions to the system for a range of parameter values and initial conditions. The coupled system is shown to be periodic for certain parameter choices and initial conditions. In the limit, when the change in the angle tends to zero, the map is equivalent to the dynamics of a simple pendulum. Based on the integral of motion of the pendulum, an approximate invariant for the system is obtained. Simulations showing the behavior of the system for different parameter values and initial conditions are presented., Comment: 20 pages, 4 figures

This paper presents a distributed inverse dynamics controller (DIDC) for quadruped robots that addresses the limitations of existing reactive controllers: simplified dynamical models, the inability to handle exact friction cone constraints, and the high computational requirements of whole-body controllers. Current methods either ignore friction constraints entirely or use linear approximations, leading to potential slip and instability, while comprehensive whole-body controllers demand significant computational resources. Our approach uses full rigid-body dynamics and enforces exact friction cone constraints through a novel geometric optimization-based solver. DIDC combines the required generalized forces corresponding to the actuated and unactuated spaces by projecting them onto the actuated space while satisfying the physical constraints and maintaining orthogonality between the base and joint tracking objectives. Experimental validation shows that our approach reduces foot slippage, improves orientation tracking, and converges at least two times faster than existing reactive controllers with generic QP-based implementations. The controller enables stable omnidirectional trotting at various speeds and consumes less power than comparable methods while running efficiently on embedded processors.

This work investigates the discharge properties of a cylindrical magnetized capacitive coupled plasma discharge produced between a pair of coaxial cylinders. For the purpose of diagnosing plasma properties and electron energy distribution function (EEDF), an in-house electronic circuit and an RF-compensated Langmuir probe are devised and constructed. The second harmonic technique (SHT) has been applied to obtain the direct measurement of EEDF and evaluated the effect of RF electron magnetization on the bulk plasma heating within the discharge. The effect of external magnetic field on the overall rise in plasma properties has been verified by use of particle and energy balance equations derived for argon discharge., Comment: 21 Pages, 9 Figures

Constraint Satisfaction Problems (CSPs) present significant challenges to artificial intelligence due to their intricate constraints and the necessity for precise solutions. Existing symbolic solvers are often slow, and prior research has shown that Large Language Models (LLMs) alone struggle with CSPs because of their complexity. To bridge this gap, we build upon the existing SOFAI architecture (or SOFAI-v1), which adapts Daniel Kahneman's ''Thinking, Fast and Slow'' cognitive model to AI. Our enhanced architecture, SOFAI-v2, integrates refined metacognitive governance mechanisms to improve adaptability across complex domains, specifically tailored for solving CSPs like graph coloring. SOFAI-v2 combines a fast System 1 (S1) based on LLMs with a deliberative System 2 (S2) governed by a metacognition module. S1's initial solutions, often limited by non-adherence to constraints, are enhanced through metacognitive governance, which provides targeted feedback and examples to adapt S1 to CSP requirements. If S1 fails to solve the problem, metacognition strategically invokes S2, ensuring accurate and reliable solutions. With empirical results, we show that SOFAI-v2 for graph coloring problems achieves a 16.98% increased success rate and is 32.42% faster than symbolic solvers., Comment: 18 Pages, 18 Figures, 3 Tables

Various real-world challenges require planning algorithms that can adapt to a broad range of domains. Traditionally, the creation of planning domains has relied heavily on human implementation, which limits the scale and diversity of available domains. While recent advancements have leveraged generative AI technologies such as large language models (LLMs) for domain creation, these efforts have predominantly focused on translating existing domains from natural language descriptions rather than generating novel ones. In contrast, the concept of domain randomization, which has been highly effective in reinforcement learning, enhances performance and generalizability by training on a diverse array of randomized new domains. Inspired by this success, our tool, PDDLFuse, aims to bridge this gap in Planning Domain Definition Language (PDDL). PDDLFuse is designed to generate new, diverse planning domains that can be used to validate new planners or test foundational planning models. We have developed methods to adjust the domain generators parameters to modulate the difficulty of the domains it generates. This adaptability is crucial as existing domain-independent planners often struggle with more complex problems. Initial tests indicate that PDDLFuse efficiently creates intricate and varied domains, representing a significant advancement over traditional domain generation methods and making a contribution towards planning research., Comment: 218 Tables, 3 Figures, 4 Algorithms

Deepfakes offer great potential for innovation and creativity, but they also pose significant risks to privacy, trust, and security. With a vast Hindi-speaking population, India is particularly vulnerable to deepfake-driven misinformation campaigns. Fake videos or speeches in Hindi can have an enormous impact on rural and semi-urban communities, where digital literacy tends to be lower and people are more inclined to trust video content. The development of effective frameworks and detection tools to combat deepfake misuse requires high-quality, diverse, and extensive datasets. The existing popular datasets like FF-DF (FaceForensics++), and DFDC (DeepFake Detection Challenge) are based on English language.. Hence, this paper aims to create a first novel Hindi deep fake dataset, named ``Hindi audio-video-Deepfake'' (HAV-DF). The dataset has been generated using the faceswap, lipsyn and voice cloning methods. This multi-step process allows us to create a rich, varied dataset that captures the nuances of Hindi speech and facial expressions, providing a robust foundation for training and evaluating deepfake detection models in a Hindi language context. It is unique of its kind as all of the previous datasets contain either deepfake videos or synthesized audio. This type of deepfake dataset can be used for training a detector for both deepfake video and audio datasets. Notably, the newly introduced HAV-DF dataset demonstrates lower detection accuracy's across existing detection methods like Headpose, Xception-c40, etc. Compared to other well-known datasets FF-DF, and DFDC. This trend suggests that the HAV-DF dataset presents deeper challenges to detect, possibly due to its focus on Hindi language content and diverse manipulation techniques. The HAV-DF dataset fills the gap in Hindi-specific deepfake datasets, aiding multilingual deepfake detection development.

Deceptive patterns (DPs) in digital interfaces manipulate users into making unintended decisions, exploiting cognitive biases and psychological vulnerabilities. These patterns have become ubiquitous across various digital platforms. While efforts to mitigate DPs have emerged from legal and technical perspectives, a significant gap in usable solutions that empower users to identify and make informed decisions about DPs in real-time remains. In this work, we introduce AutoBot, an automated, deceptive pattern detector that analyzes websites' visual appearances using machine learning techniques to identify and notify users of DPs in real-time. AutoBot employs a two-staged pipeline that processes website screenshots, identifying interactable elements and extracting textual features without relying on HTML structure. By leveraging a custom language model, AutoBot understands the context surrounding these elements to determine the presence of deceptive patterns. We implement AutoBot as a lightweight Chrome browser extension that performs all analyses locally, minimizing latency and preserving user privacy. Through extensive evaluation, we demonstrate AutoBot's effectiveness in enhancing users' ability to navigate digital environments safely while providing a valuable tool for regulators to assess and enforce compliance with DP regulations.

Monitoring public sentiment via social media is potentially helpful during health crises such as the COVID-19 pandemic. However, traditional frequency-based, data-driven neural network-based approaches can miss newly relevant content due to the evolving nature of language in a dynamically evolving environment. Human-curated symbolic knowledge sources, such as lexicons for standard language and slang terms, can potentially elevate social media signals in evolving language. We introduce a neurosymbolic method that integrates neural networks with symbolic knowledge sources, enhancing the detection and interpretation of mental health-related tweets relevant to COVID-19. Our method was evaluated using a corpus of large datasets (approximately 12 billion tweets, 2.5 million subreddit data, and 700k news articles) and multiple knowledge graphs. This method dynamically adapts to evolving language, outperforming purely data-driven models with an F1 score exceeding 92\%. This approach also showed faster adaptation to new data and lower computational demands than fine-tuning pre-trained large language models (LLMs). This study demonstrates the benefit of neurosymbolic methods in interpreting text in a dynamic environment for tasks such as health surveillance., Comment: 13 Pages, 5 Figures, 5 Tables, 2024 IEEE International Conference on Big Data, Regular Paper

We introduce Agent K v1.0, an end-to-end autonomous data science agent designed to automate, optimise, and generalise across diverse data science tasks. Fully automated, Agent K v1.0 manages the entire data science life cycle by learning from experience. It leverages a highly flexible structured reasoning framework to enable it to dynamically process memory in a nested structure, effectively learning from accumulated experience stored to handle complex reasoning tasks. It optimises long- and short-term memory by selectively storing and retrieving key information, guiding future decisions based on environmental rewards. This iterative approach allows it to refine decisions without fine-tuning or backpropagation, achieving continuous improvement through experiential learning. We evaluate our agent's apabilities using Kaggle competitions as a case study. Following a fully automated protocol, Agent K v1.0 systematically addresses complex and multimodal data science tasks, employing Bayesian optimisation for hyperparameter tuning and feature engineering. Our new evaluation framework rigorously assesses Agent K v1.0's end-to-end capabilities to generate and send submissions starting from a Kaggle competition URL. Results demonstrate that Agent K v1.0 achieves a 92.5\% success rate across tasks, spanning tabular, computer vision, NLP, and multimodal domains. When benchmarking against 5,856 human Kaggle competitors by calculating Elo-MMR scores for each, Agent K v1.0 ranks in the top 38\%, demonstrating an overall skill level comparable to Expert-level users. Notably, its Elo-MMR score falls between the first and third quartiles of scores achieved by human Grandmasters. Furthermore, our results indicate that Agent K v1.0 has reached a performance level equivalent to Kaggle Grandmaster, with a record of 6 gold, 3 silver, and 7 bronze medals, as defined by Kaggle's progression system.

Pre-training is notoriously compute-intensive and academic researchers are notoriously under-resourced. It is, therefore, commonly assumed that academics can't pre-train models. In this paper, we seek to clarify this assumption. We first survey academic researchers to learn about their available compute and then empirically measure the time to replicate models on such resources. We introduce a benchmark to measure the time to pre-train models on given GPUs and also identify ideal settings for maximizing training speed. We run our benchmark on a range of models and academic GPUs, spending 2,000 GPU-hours on our experiments. Our results reveal a brighter picture for academic pre-training: for example, although Pythia-1B was originally trained on 64 GPUs for 3 days, we find it is also possible to replicate this model (with the same hyper-parameters) in 3x fewer GPU-days: i.e. on 4 GPUs in 18 days. We conclude with a cost-benefit analysis to help clarify the trade-offs between price and pre-training time. We believe our benchmark will help academic researchers conduct experiments that require training larger models on more data. We fully release our codebase at: https://github.com/apoorvkh/academic-pretraining.

As large language models become increasingly central to solving complex tasks, the challenge of optimizing long, unstructured prompts has become critical. Existing optimization techniques often struggle to effectively handle such prompts, leading to suboptimal performance. We introduce SCULPT (Systematic Tuning of Long Prompts), a novel framework that systematically refines long prompts by structuring them hierarchically and applying an iterative actor-critic mechanism. To enhance robustness and generalizability, SCULPT utilizes two complementary feedback mechanisms: Preliminary Assessment, which assesses the prompt's structure before execution, and Error Assessment, which diagnoses and addresses errors post-execution. By aggregating feedback from these mechanisms, SCULPT avoids overfitting and ensures consistent improvements in performance. Our experimental results demonstrate significant accuracy gains and enhanced robustness, particularly in handling erroneous and misaligned prompts. SCULPT consistently outperforms existing approaches, establishing itself as a scalable solution for optimizing long prompts across diverse and real-world tasks.

In this paper, on the basis of a (Fenchel) duality theory on the continuous level, we derive an $\textit{a posteriori}$ error identity for arbitrary conforming approximations of a primal formulation and a dual formulation of variational problems involving gradient constraints. In addition, on the basis of a (Fenchel) duality theory on the discrete level, we derive an $\textit{a priori}$ error identity that applies to the approximation of the primal formulation using the Crouzeix-Raviart element and to the approximation of the dual formulation using the Raviart-Thomas element, and leads to error decay rates that are optimal with respect to the regularity of a dual solution., Comment: 26 pages, 3 figures

We examine the speed of different boarding methods in a proposed Flying Wing aircraft design with four aisles using an agent-based model. We study the effect of various passenger movement variables on the boarding process. We evaluate the impact of these factors on the boarding time when the boarding process runs sequentially and in parallel with the aisles of the Flying Wing layout. Then, we analyze the impact of an increase in the number of aisles on the relative speed of all boarding methods and conclude that methods utilizing boarding of the separate aisles simultaneously (parallel boarding) converge to the fastest boarding time given by the Steffen method. With parallel boarding of the aisles the relative advantage of the Steffen method compared to Windows-Middle-Aisle (WMA) or Back-to-front boarding decreases, from being 1.6-2.1 times as fast to being approximately equal for our fiducial Flying Wing seating arrangement. Standard methods such as Back-to-front or WMA are about twice as fast to board a four-aisle Flying Wing plane, compared to a single-aisle aircraft with the same number of passengers. We also investigate the difference between the optimal approach to parallel boarding, where consecutive passengers always enter separate aisles, and a less optimal but more practical approach. The practical approach is only up to 1.06 times slower than the optimal, meaning that the advantages of parallel boarding can be utilized without resorting to impractical boarding methods. Hence, the introduction of multiple aisles into aircraft seating design offers the prospect of significantly decreasing the boarding time for passengers, without the introduction of inconvenient boarding methods., Comment: 25 pages, 9 figures

Streamflow, vital for water resource management, is governed by complex hydrological systems involving intermediate processes driven by meteorological forces. While deep learning models have achieved state-of-the-art results of streamflow prediction, their end-to-end single-task learning approach often fails to capture the causal relationships within these systems. To address this, we propose Hierarchical Conditional Multi-Task Learning (HCMTL), a hierarchical approach that jointly models soil water and snowpack processes based on their causal connections to streamflow. HCMTL utilizes task embeddings to connect network modules, enhancing flexibility and expressiveness while capturing unobserved processes beyond soil water and snowpack. It also incorporates the Conditional Mini-Batch strategy to improve long time series modeling. We compare HCMTL with five baselines on a global dataset. HCMTL's superior performance across hundreds of drainage basins over extended periods shows that integrating domain-specific causal knowledge into deep learning enhances both prediction accuracy and interpretability. This is essential for advancing our understanding of complex hydrological systems and supporting efficient water resource management to mitigate natural disasters like droughts and floods.

We introduce Pixtral-12B, a 12--billion-parameter multimodal language model. Pixtral-12B is trained to understand both natural images and documents, achieving leading performance on various multimodal benchmarks, surpassing a number of larger models. Unlike many open-source models, Pixtral is also a cutting-edge text model for its size, and does not compromise on natural language performance to excel in multimodal tasks. Pixtral uses a new vision encoder trained from scratch, which allows it to ingest images at their natural resolution and aspect ratio. This gives users flexibility on the number of tokens used to process an image. Pixtral is also able to process any number of images in its long context window of 128K tokens. Pixtral 12B substanially outperforms other open models of similar sizes (Llama-3.2 11B \& Qwen-2-VL 7B). It also outperforms much larger open models like Llama-3.2 90B while being 7x smaller. We further contribute an open-source benchmark, MM-MT-Bench, for evaluating vision-language models in practical scenarios, and provide detailed analysis and code for standardized evaluation protocols for multimodal LLMs. Pixtral-12B is released under Apache 2.0 license.

Topic models are used to identify and group similar themes in a set of documents. Recent advancements in deep learning based neural topic models has received significant research interest. In this paper, an approach is proposed that further enhances topic modeling performance by utilizing a pre-trained large language model (LLM) to generate summaries of documents before inputting them into the topic model. Few shot prompting is used to generate summaries of different lengths to compare their impact on topic modeling. This approach is particularly effective for larger documents because it helps capture the most essential information while reducing noise and irrelevant details that could obscure the overall theme. Additionally, it is observed that datasets exhibit an optimal summary length that leads to improved topic modeling performance. The proposed method yields better topic diversity and comparable coherence values compared to previous models., Comment: 7 pages, 2 figures

Electric and magnetic Fayet-Ilioupulous (FI) terms are used to engineer partial breaking of ${\mathcal{N}=2}$ global supersymmetry for systems of vector multiplets. The magnetic FI term induces a deformation of the off-shell field transformations associated with an imaginary constant shift of the triplet of auxiliary fields of the vector multiplet. In this paper, we elaborate on the deformation of off-shell vector multiplets in supergravity, both in components and superspace. In a superconformal framework, the deformations are associated with (composite) linear multiplets. We engineer an off-shell model that exhibits partial local supersymmetry breaking with a zero cosmological constant. This is based on the hyper-dilaton Weyl multiplet introduced in arXiv:2203.12203, coupled to the SU(1,1)/U(1) special-K\"ahler sigma model in a symplectic frame admitting a holomorphic prepotential, with one compensating and one physical vector multiplet, the latter magnetically deformed., Comment: 77 pages (paper) + 14 pages (supplementary file)

Modern scientific complementary metal-oxide semiconductor (sCMOS) detectors provide a highly competitive alternative to charge-coupled devices (CCDs), the latter of which have historically been dominant in optical imaging. sCMOS boast comparable performances to CCDs with faster frame rates, lower read noise, and a higher dynamic range. Furthermore, their lower production costs are shifting the industry to abandon CCD support and production in favour of CMOS, making their characterization urgent. In this work, we characterized a variety of high-end commercially available sCMOS detectors to gauge the state of this technology in the context of applications in optical astronomy. We evaluated a range of sCMOS detectors, including larger pixel models such as the Teledyne Prime 95B and the Andor Sona-11, which are similar to CCDs in pixel size and suitable for wide-field astronomy. Additionally, we assessed smaller pixel detectors like the Ximea xiJ and Andor Sona-6, which are better suited for deep-sky imaging. Furthermore, high-sensitivity quantitative sCMOS detectors such as the Hamamatsu Orca-Quest C15550-20UP, capable of resolving individual photoelectrons, were also tested. In-lab testing showed low levels of dark current, read noise, faulty pixels, and fixed pattern noise, as well as linearity levels above $98\%$ across all detectors. The Orca-Quest had particularly low noise levels with a dark current of $0.0067 \pm 0.0003$ e$^-$/s (at $-20^\circ$C with air cooling) and a read noise of $0.37 \pm 0.09$ e$^-$ using its standard readout mode. Our tests revealed that the latest generation of sCMOS detectors excels in optical imaging performance, offering a more accessible alternative to CCDs for future optical astronomy instruments., Comment: SPIE Astronomical Telescopes + Instrumentation, Proceedings Volume 13103, X-Ray, Optical, and Infrared Detectors for Astronomy XI; 131030R (2024)

Vision language models (VLMs) have shown strong zero-shot generalization across various tasks, especially when integrated with large language models (LLMs). However, their ability to comprehend rhetorical and persuasive visual media, such as advertisements, remains understudied. Ads often employ atypical imagery, using surprising object juxtapositions to convey shared properties. For example, Fig. 1 (e) shows a beer with a feather-like texture. This requires advanced reasoning to deduce that this atypical representation signifies the beer's lightness. We introduce three novel tasks, Multi-label Atypicality Classification, Atypicality Statement Retrieval, and Aypical Object Recognition, to benchmark VLMs' understanding of atypicality in persuasive images. We evaluate how well VLMs use atypicality to infer an ad's message and test their reasoning abilities by employing semantically challenging negatives. Finally, we pioneer atypicality-aware verbalization by extracting comprehensive image descriptions sensitive to atypical elements. Our findings reveal that: (1) VLMs lack advanced reasoning capabilities compared to LLMs; (2) simple, effective strategies can extract atypicality-aware information, leading to comprehensive image verbalization; (3) atypicality aids persuasive advertisement understanding. Code and data will be made available.

Recent years have seen a surge of interest in exceptional points in open quantum systems. The natural approach in this area has been the use of Markovian master equations. While the resulting Liouvillian EPs have been seen in a variety of systems and have been associated to numerous exotic effects, it is an open question whether such degeneracies and their peculiarities can persist beyond the validity of master equations. In this work, taking the example of a dissipative double-quantum-dot system, we show that Heisenberg equations for the system exhibit the same EPs as the corresponding master equations. To highlight the importance of this finding, we prove that the paradigmatic property associated to EPs - critical damping, persists well beyond the validity of master equations. Our results demonstrate that Liouvillian EPs can arise from underlying fundamental exact principles, rather than merely as a consequence of approximations involved in deriving master equations., Comment: 6+5 pages, 3 figures

We report the discovery and characterization of a transiting sub-Saturn exoplanet TOI-6651b using PARAS-2 spectroscopic observations. The host, TOI-6651 ($m_{V}\approx 10.2$), is a sub-giant, metal-rich G-type star with $[{\rm Fe/H}] = 0.225^{+0.044}_{-0.045}$, $T_{\rm eff} = 5940\pm110\ \mathrm{K}$, and $\log{g} = 4.087^{+0.035}_{-0.032}$. Joint fitting of the radial velocities from PARAS-2 spectrograph and transit photometric data from Transiting Exoplanet Survey Satellite (TESS) reveals a planetary mass of $61.0^{+7.6}_{-7.9}\ M_\oplus$ and radius of $5.09^{+0.27}_{-0.26}\ R_\oplus$, in a $5.056973^{+0.000016}_{-0.000018}$ day orbit with an eccentricity of $0.091^{+0.096}_{-0.062}$. TOI-6651b has a bulk density of $2.52^{+0.52}_{-0.44}\ \mathrm{g\ cm^{-3}}$, positioning it among the select few known dense sub-Saturns and making it notably the densest detected with TESS. TOI-6651b is consistent with the positive correlation between planet mass and the host star's metallicity. We find that a considerable portion $\approx$ 87% of the planet's mass consists of dense materials such as rock and iron in the core, while the remaining mass comprises a low-density envelope of H/He. TOI-6651b lies at the edge of the Neptunian desert, which will be crucial for understanding the factors shaping the desert boundaries. The existence of TOI-6651b challenges conventional planet formation theories and could be a result of merging events or significant atmospheric mass loss through tidal heating, highlighting the complex interplay of dynamical processes and atmospheric evolution in the formation of massive dense sub-Saturns., Comment: 15 pages, 12 figures

Privacy policies are crucial in the online ecosystem, defining how services handle user data and adhere to regulations such as GDPR and CCPA. However, their complexity and frequent updates often make them difficult for stakeholders to understand and analyze. Current automated analysis methods, which utilize natural language processing, have limitations. They typically focus on individual tasks and fail to capture the full context of the policies. We propose PolicyLR, a new paradigm that offers a comprehensive machine-readable representation of privacy policies, serving as an all-in-one solution for multiple downstream tasks. PolicyLR converts privacy policies into a machine-readable format using valuations of atomic formulae, allowing for formal definitions of tasks like compliance and consistency. We have developed a compiler that transforms unstructured policy text into this format using off-the-shelf Large Language Models (LLMs). This compiler breaks down the transformation task into a two-stage translation and entailment procedure. This procedure considers the full context of the privacy policy to infer a complex formula, where each formula consists of simpler atomic formulae. The advantage of this model is that PolicyLR is interpretable by design and grounded in segments of the privacy policy. We evaluated the compiler using ToS;DR, a community-annotated privacy policy entailment dataset. Utilizing open-source LLMs, our compiler achieves precision and recall values of 0.91 and 0.88, respectively. Finally, we demonstrate the utility of PolicyLR in three privacy tasks: Policy Compliance, Inconsistency Detection, and Privacy Comparison Shopping.

Sodium niobate, a lead-free ferroic material, hosts delicately-balanced, competing order parameters, including ferroelectric states that can be stabilized by epitaxial strain. Here, we show that the resulting macroscopic ferroelectricity exhibits an unconventional microscopic structure using multislice electron ptychography. This technique overcomes multiple scattering artifacts limiting conventional electron microscopy, enabling both lateral spatial resolution beyond the diffraction limit and recovery of three-dimensional structural information. These imaging capabilities allow us to separate the ferroelectric interior of the sample from the relaxed surface structure and identify the soft phonon mode and related structural distortions with picometer precision. Unlike conventional ferroelectric perovskites, we find that the polar distortion in this material involves minimal distortions of the cation sublattices and is instead dominated by anion displacements relative to the niobium sublattice. We establish limits on film thickness for interfacial octahedral rotation engineering and directly visualize a random octahedral rotation pattern, arising from the flat dispersion of the associated phonon mode., Comment: 69 pages, 5 figures, 10 Extended Data figures, 10 Supplementary Figures

Existing datasets for tabular question answering typically focus exclusively on text within cells. However, real-world data is inherently multimodal, often blending images such as symbols, faces, icons, patterns, and charts with textual content in tables. With the evolution of AI models capable of multimodal reasoning, it is pertinent to assess their efficacy in handling such structured data. This study investigates whether current AI models can perform knowledge-aware reasoning on multimodal structured data. We explore their ability to reason on tables that integrate both images and text, introducing MMTabQA, a new dataset designed for this purpose. Our experiments highlight substantial challenges for current AI models in effectively integrating and interpreting multiple text and image inputs, understanding visual context, and comparing visual content across images. These findings establish our dataset as a robust benchmark for advancing AI's comprehension and capabilities in analyzing multimodal structured data.

With the second quantum revolution underway, quantum-enhanced sensors are moving from laboratory demonstrations to field deployments, providing enhanced and even new capabilities. Signal processing and operational software is becoming integral parts of these emerging sensing systems to reap the benefits of this progress. This paper looks into widefield Nitrogen Vacancy Center-based magnetometry and focuses on estimating the magnetic field from the Optically Detected Magnetic Resonances (ODMR) signal, a crucial output for various applications. Mapping the shifts of ODMR signals to phase estimation, a computationally efficient approaches are proposed. Involving Fourier Transform and Filtering as pre-processing steps, the suggested approaches involve linear curve fit or complex frequency estimation based on well-known super-resolution technique Estimation of Signal Parameters via Rotational Invariant Techniques (ESPRIT). The existing methods in the quantum sensing literature take different routes based on Lorentzian fitting for determining magnetic field maps. To showcase the functionality and effectiveness of the suggested techniques, relevant results, based on experimental data are provided, which shows a significant reduction in computational time with the proposed method over existing methods, Comment: 4 pages, 3 figures, typos corrected

This work presents the design and development of IIT Bombay Racing's Formula Student style autonomous racecar algorithm capable of running at the racing events of Formula Student-AI, held in the UK. The car employs a cutting-edge sensor suite of the compute unit NVIDIA Jetson Orin AGX, 2 ZED2i stereo cameras, 1 Velodyne Puck VLP16 LiDAR and SBG Systems Ellipse N GNSS/INS IMU. It features deep learning algorithms and control systems to navigate complex tracks and execute maneuvers without any human intervention. The design process involved extensive simulations and testing to optimize the vehicle's performance and ensure its safety. The algorithms have been tested on a small scale, in-house manufactured 4-wheeled robot and on simulation software. The results obtained for testing various algorithms in perception, simultaneous localization and mapping, path planning and controls have been detailed., Comment: 8 pages, 19 figures

Modern artificial intelligence (AI) systems are powered by foundation models. This paper presents a new set of foundation models, called Llama 3. It is a herd of language models that natively support multilinguality, coding, reasoning, and tool usage. Our largest model is a dense Transformer with 405B parameters and a context window of up to 128K tokens. This paper presents an extensive empirical evaluation of Llama 3. We find that Llama 3 delivers comparable quality to leading language models such as GPT-4 on a plethora of tasks. We publicly release Llama 3, including pre-trained and post-trained versions of the 405B parameter language model and our Llama Guard 3 model for input and output safety. The paper also presents the results of experiments in which we integrate image, video, and speech capabilities into Llama 3 via a compositional approach. We observe this approach performs competitively with the state-of-the-art on image, video, and speech recognition tasks. The resulting models are not yet being broadly released as they are still under development.

In recent years, there has been an increased interest in foundation models for geoscience due to the vast amount of Earth observing satellite imagery. Existing remote sensing foundation models make use of the various sources of spectral imagery to create large models pretrained on the task of masked reconstruction. In this paper, we present a foundation model framework, where the pretraining task captures the causal relationship between multiple modalities. Our framework leverages the knowledge guided principles that the spectral imagery captures the impact of the physical drivers on the environmental system, and that the relationship between them is governed by the characteristics of the system. Specifically, our method, called MultiModal Variable Step Forecasting (MM-VSF), uses forecasting of satellite imagery as a pretraining task and is able to capture the causal relationship between spectral imagery and weather. In our evaluation we show that the forecasting of satellite imagery using weather can be used as an effective pretraining task for foundation models. We further show the effectiveness of the embeddings produced by MM-VSF on the downstream tasks of pixel wise crop mapping and missing image prediction of spectral imagery, when compared with embeddings created by models trained in alternative pretraining settings including the traditional single modality input masked reconstruction., Comment: 15 pages with appendix

Hyper-Spectral Imaging (HSI) is a crucial technique for analysing remote sensing data acquired from Earth observation satellites. The rich spatial and spectral information obtained through HSI allows for better characterisation and exploration of the Earth's surface over traditional techniques like RGB and Multi-Spectral imaging on the downlinked image data at ground stations. Sometimes, these images do not contain meaningful information due to the presence of clouds or other artefacts, limiting their usefulness. Transmission of such artefact HSI images leads to wasteful use of already scarce energy and time costs required for communication. While detecting such artefacts before transmitting the HSI image is desirable, the computational complexity of these algorithms and the limited power budget on satellites (especially CubeSats) are key constraints. This paper presents an unsupervised learning-based convolutional autoencoder (CAE) model for artefact identification of acquired HSI images at the satellite and a deployment architecture on AMD's Zynq Ultrascale FPGAs. The model is trained and tested on widely used HSI image datasets: Indian Pines, Salinas Valley, the University of Pavia and the Kennedy Space Center. For deployment, the model is quantised to 8-bit precision, fine-tuned using the Vitis-AI framework and integrated as a subordinate accelerator using AMD's Deep-Learning Processing Units (DPU) instance on the Zynq device. Our tests show that the model can process each spectral band in an HSI image in 4 ms, 2.6x better than INT8 inference on Nvidia's Jetson platform & 1.27x better than SOTA artefact detectors. Our model also achieves an f1-score of 92.8% and FPR of 0% across the dataset, while consuming 21.52 mJ per HSI image, 3.6x better than INT8 Jetson inference & 7.5x better than SOTA artefact detectors, making it a viable architecture for deployment in CubeSats.

Large language models are often expected to constantly adapt to new sources of knowledge and knowledge editing techniques aim to efficiently patch the outdated model knowledge, with minimal modification. Most prior works focus on monolingual knowledge editing in English, even though new information can emerge in any language from any part of the world. We propose the Cross-Lingual Multi-Hop Knowledge Editing paradigm, for measuring and analyzing the performance of various SoTA knowledge editing techniques in a cross-lingual setup. Specifically, we create a parallel cross-lingual benchmark, CROLIN-MQUAKE for measuring the knowledge editing capabilities. Our extensive analysis over various knowledge editing techniques uncover significant gaps in performance between the cross-lingual and English-centric setting. Following this, we propose a significantly improved system for cross-lingual multi-hop knowledge editing, CLEVER-CKE. CLEVER-CKE is based on a retrieve, verify and generate knowledge editing framework, where a retriever is formulated to recall edited facts and support an LLM to adhere to knowledge edits. We develop language-aware and hard-negative based contrastive objectives for improving the cross-lingual and fine-grained fact retrieval and verification process used in this framework. Extensive experiments on three LLMs, eight languages, and two datasets show CLEVER-CKE's significant gains of up to 30% over prior methods., Comment: Paper on Cross-Lingual Multi-Hop Knowledge Editing

Using an interplay between superspace and component superconformal tensor calculus techniques, recently, the off-shell construction of the supersymmetric extension of the three independent curvature-squared invariants for minimal (N = 1) gauged supergravity in five dimensions (5D) was completed. A key ingredient in obtaining these results is the implementation of computer algebra algorithms. In this report, we describe how to use cadabra to systematically study component reduction from superspace with computer algebra in the case of 5D, N = 1 supergravity., Comment: 22 pages; contribution to the proceedings of the MATRIX program "New Deformations of Quantum Field and Gravity Theories", 22 Jan - 2 Feb 2024

In this work, we demonstrate the Empirical Bayes approach to learning a Dynamic Bayesian Network. By starting with several point estimates of structure and weights, we can use a data-driven prior to subsequently obtain a model to quantify uncertainty. This approach uses a recent development of Generalized Variational Inference, and indicates the potential of sampling the uncertainty of a mixture of DAG structures as well as a parameter posterior.

Pathfinding problems are found throughout robotics, computational science, and natural sciences. Traditional methods to solve these require training deep neural networks (DNNs) for each new problem domain, consuming substantial time and resources. This study introduces a novel foundation model, leveraging deep reinforcement learning to train heuristic functions that seamlessly adapt to new domains without further fine-tuning. Building upon DeepCubeA, we enhance the model by providing the heuristic function with the domain's state transition information, improving its adaptability. Utilizing a puzzle generator for the 15-puzzle action space variation domains, we demonstrate our model's ability to generalize and solve unseen domains. We achieve a strong correlation between learned and ground truth heuristic values across various domains, as evidenced by robust R-squared and Concordance Correlation Coefficient metrics. These results underscore the potential of foundation models to establish new standards in efficiency and adaptability for AI-driven solutions in complex pathfinding problems.