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Given two H\"older potentials $\phi_+$ and $\psi_-$ for the unilateral shift, we define anisotropic Banach spaces of distributions on the bilateral shift space with a finite alphabet. On these spaces, the transfer operator for the bilateral shift is quasicompact with a spectral gap, and the unique Gibbs state associated with $\phi_+$ spans its $1$-eigenspace. This result allows us to establish exponential decay of correlations for H\"older observables and a wide range of measures on the bilateral shift space., Comment: 34 pages, 1 figure

Given a graph G=(V,E), a connected Grundy coloring is a proper vertex coloring that can be obtained by a first-fit heuristic on a connected vertex sequence. A first-fit coloring heuristic is one that attributes to each vertex in a sequence the lowest-index color not used for its preceding neighbors. A connected vertex sequence is one in which each element, except for the first one, is connected to at least one element preceding it. The connected Grundy coloring problem consists of obtaining a connected Grundy coloring maximizing the number of colors. In this paper, we propose two integer programming (IP) formulations and a local-search enhanced biased random-key genetic algorithm (BRKGA) for the connected Grundy coloring problem. The first formulation follows the standard way of partitioning the vertices into color classes while the second one relies on the idea of representatives in an attempt to break symmetries. The BRKGA encompasses a local search procedure using a newly proposed neighborhood. A theoretical neighborhood analysis is also presented. Extensive computational experiments indicate that the problem is computationally demanding for the proposed IP formulations. Nonetheless, the formulation by representatives outperforms the standard one for the considered benchmark instances. Additionally, our BRKGA can find high-quality solutions in low computational times for considerably large instances, showing improved performance when enhanced with local search and a reset mechanism. Moreover we show that our BRKGA can be easily extended to successfully tackle the Grundy coloring problem, i.e., the one without the connectivity requirements.

In a measure space with a very mild structure, a good grid, we introduced a scale of Besov Banach spaces of distributions with negative smoothness. We establish an atomic decomposition in terms of Dirac masses and Dipoles, that is, pairs of Diracs masses with equal charge but opposite signal., Comment: 16 pages

Small robots that can operate under the plant canopy can enable new possibilities in agriculture. However, unlike larger autonomous tractors, autonomous navigation for such under canopy robots remains an open challenge because Global Navigation Satellite System (GNSS) is unreliable under the plant canopy. We present a hybrid navigation system that autonomously switches between different sets of sensing modalities to enable full field navigation, both inside and outside of crop. By choosing the appropriate path reference source, the robot can accommodate for loss of GNSS signal quality and leverage row-crop structure to autonomously navigate. However, such switching can be tricky and difficult to execute over scale. Our system provides a solution by automatically switching between an exteroceptive sensing based system, such as Light Detection And Ranging (LiDAR) row-following navigation and waypoints path tracking. In addition, we show how our system can detect when the navigate fails and recover automatically extending the autonomous time and mitigating the necessity of human intervention. Our system shows an improvement of about 750 m per intervention over GNSS-based navigation and 500 m over row following navigation., Comment: Presented in the 2023 IEEE International Conference on Robotics and Automation (ICRA)

Centralized learning requires data to be aggregated at a central server, which poses significant challenges in terms of data privacy and bandwidth consumption. Federated learning presents a compelling alternative, however, vanilla federated learning methods deployed in robotics aim to learn a single global model across robots that works ideally for all. But in practice one model may not be well suited for robots deployed in various environments. This paper proposes Federated-EmbedCluster (Fed-EC), a clustering-based federated learning framework that is deployed with vision based autonomous robot navigation in diverse outdoor environments. The framework addresses the key federated learning challenge of deteriorating model performance of a single global model due to the presence of non-IID data across real-world robots. Extensive real-world experiments validate that Fed-EC reduces the communication size by 23x for each robot while matching the performance of centralized learning for goal-oriented navigation and outperforms local learning. Fed-EC can transfer previously learnt models to new robots that join the cluster.

In this paper we introduce a one-dimensional model of coupled fractional nonlinear Schr\"odinger equations with a double-well potential applied to one component. This study examines ground state (GS) solitons, observing spontaneous symmetry breaking (SSB) in both the actuated field and the partner component due to linear coupling. Numerical simulations reveal symmetric and asymmetric profiles arising from a slightly asymmetric initial condition. Asymmetry is influenced by nonlinearities, potential depth, and coupling strength, with self-focusing systems favoring greater asymmetry. Fractional diffraction affects the amplitude and localization of symmetric profiles and the stability of asymmetric ones. We identify critical L\'evy index values for generating coupled GS solitons. Stability analysis of unstable, centrally asymmetric GS solitons demonstrates oscillatory dynamics, providing new insights into SSB in fractional systems and half-trapped solitons., Comment: 9 pages, 9 figures

Graphene is a promising material for the development of applications in nanoelectronic devices, but the lack of a band gap necessitates the search for ways to tune its electronic properties. In addition to doping, defects, and nanoribbons, a more radical alternative is the development of 2D forms with structures that are in clear departure from the honeycomb lattice, such as graphynes, with the distinctive property of involving carbon atoms with both hybridizations sp and sp2. The density and details of how the acetylenic links are distributed allow for a variety of electronic signatures. Here we propose a graphyne system based on the recently synthesized biphenylene monolayer. We demonstrate that this system features highly localized states with a spin-polarized semiconducting configuration. We study its stability and show that the system's structural details directly influence its highly anisotropic electronic properties. Finally, we show that the symmetry of the frontier states can be further tuned by modulating the size of the acetylenic chains forming the system., Comment: 14 pages, 7 figures

Under-canopy agricultural robots can enable various applications like precise monitoring, spraying, weeding, and plant manipulation tasks throughout the growing season. Autonomous navigation under the canopy is challenging due to the degradation in accuracy of RTK-GPS and the large variability in the visual appearance of the scene over time. In prior work, we developed a supervised learning-based perception system with semantic keypoint representation and deployed this in various field conditions. A large number of failures of this system can be attributed to the inability of the perception model to adapt to the domain shift encountered during deployment. In this paper, we propose a self-supervised online adaptation method for adapting the semantic keypoint representation using a visual foundational model, geometric prior, and pseudo labeling. Our preliminary experiments show that with minimal data and fine-tuning of parameters, the keypoint prediction model trained with labels on the source domain can be adapted in a self-supervised manner to various challenging target domains onboard the robot computer using our method. This can enable fully autonomous row-following capability in under-canopy robots across fields and crops without requiring human intervention.

We introduce a waveguiding system composed of three linearly-coupled fractional waveguides, with a triangular (prismatic) transverse structure. It may be realized as a tri-core nonlinear optical fiber with fractional group-velocity dispersion (GVD), or, possibly, as a system of coupled Gross--Pitaevskii equations for a set of three tunnel-coupled cigar-shaped traps filled by a Bose-Einstein condensate of particles moving by L\'evy flights. The analysis is focused on the phenomenon of spontaneous symmetry breaking (SSB) between components of triple solitons, and the formation and stability of vortex modes. In the self-focusing regime, we identify symmetric and asymmetric soliton states, whose structure and stability are determined by the L\'evy index of the fractional GVD, the inter-core coupling strength, and the total energy, which determines the system's nonlinearity. Bifurcation diagrams (of the supercritical type) reveal regions where SSB occurs, identifying the respective symmetric and asymmetric ground-state soliton modes. In agreement with the general principle of the SSB theory, the solitons with broken inter-component symmetry prevail with the increase of the energy in the weakly-coupled system. Three-components vortex solitons (which do not feature SSB) are studied too. Because the fractional GVD breaks the system's Galilean invariance, we also address mobility of the vortex solitons, by applying a boost to them., Comment: 27 pages, 12 figures, to be published in Physica D

We investigate the concept of Pauli pairs and a discrete counterpart to it. In particular, we make substantial progress on the question of when a discrete Pauli pair is automatically a classical Pauli pair. Effectively, if one of the functions has space and frequency Gaussian decay, and one has that $|f| = |g|$ and $|\widehat{f}| = |\widehat{g}|$ on two sets which accumulate like suitable small multiples of $\sqrt{n}$ at infinity, then $|f| \equiv |g|$ and $|\widehat{f}| = |\widehat{g}|.$ Furthermore, we show that if one drops either the assumption that one of the functions has space-frequency decay or that the discrete sets accumulate at a high rate, then the desired property no longer holds. Our techniques are inspired by and directly connected to several recent results in the realm of Fourier uniqueness problems, and our results may be seen as a nonlinear generalization of those. As a consequence of said techniques, we are able to prove a sharp discrete version of Hardy's uncertainty principle., Comment: 25 pages

Adverse weather conditions pose a significant challenge to the widespread adoption of Autonomous Vehicles (AVs) by impacting sensors like LiDARs and cameras. Even though Collaborative Perception (CP) improves AV perception in difficult conditions, existing CP datasets lack adverse weather conditions. To address this, we introduce Adver-City, the first open-source synthetic CP dataset focused on adverse weather conditions. Simulated in CARLA with OpenCDA, it contains over 24 thousand frames, over 890 thousand annotations, and 110 unique scenarios across six different weather conditions: clear weather, soft rain, heavy rain, fog, foggy heavy rain and, for the first time in a synthetic CP dataset, glare. It has six object categories including pedestrians and cyclists, and uses data from vehicles and roadside units featuring LiDARs, RGB and semantic segmentation cameras, GNSS, and IMUs. Its scenarios, based on real crash reports, depict the most relevant road configurations for adverse weather and poor visibility conditions, varying in object density, with both dense and sparse scenes, allowing for novel testing conditions of CP models. Benchmarks run on the dataset show that weather conditions created challenging conditions for perception models, reducing multi-modal object detection performance by up to 19%, while object density affected LiDAR-based detection by up to 29%. The dataset, code and documentation are available at https://labs.cs.queensu.ca/quarrg/datasets/adver-city/., Comment: 8 pages

We study the effects of a free-fare transport policy implemented by Brazilian localities on employment and greenhouse gas emissions. Using a staggered difference-in-differences approach, we find that fare-free transit increases employment by 3.2% and reduces emissions by 4.1%, indicating that transport policies can decouple economic activity from environmental damage. Our results are driven by workers transitioning from higher-emission to lower-emission sectors instead of being driven by a decline in private transportation use. Cost-benefit analyses suggest that the costly policy only presents net benefits after considering the tax inflows of the increased economic activity and the benefits of reduced carbon emissions.

Accurate anomaly detection is critical in vision-based infrastructure inspection, where it helps prevent costly failures and enhances safety. Self-Supervised Learning (SSL) offers a promising approach by learning robust representations from unlabeled data. However, its application in anomaly detection remains underexplored. This paper addresses this gap by providing a comprehensive evaluation of SSL methods for real-world anomaly detection, focusing on sewer infrastructure. Using the Sewer-ML dataset, we evaluate lightweight models such as ViT-Tiny and ResNet-18 across SSL frameworks, including BYOL, Barlow Twins, SimCLR, DINO, and MAE, under varying class imbalance levels. Through 250 experiments, we rigorously assess the performance of these SSL methods to ensure a robust and comprehensive evaluation. Our findings highlight the superiority of joint-embedding methods like SimCLR and Barlow Twins over reconstruction-based approaches such as MAE, which struggle to maintain performance under class imbalance. Furthermore, we find that the SSL model choice is more critical than the backbone architecture. Additionally, we emphasize the need for better label-free assessments of SSL representations, as current methods like RankMe fail to adequately evaluate representation quality, making cross-validation without labels infeasible. Despite the remaining performance gap between SSL and supervised models, these findings highlight the potential of SSL to enhance anomaly detection, paving the way for further research in this underexplored area of SSL applications.

This study evaluates the performance of large language models (LLMs) as medical agents in Portuguese, aiming to develop a reliable and relevant virtual assistant for healthcare professionals. The HealthCareMagic-100k-en and MedQuAD datasets, translated from English using GPT-3.5, were used to fine-tune the ChatBode-7B model using the PEFT-QLoRA method. The InternLM2 model, with initial training on medical data, presented the best overall performance, with high precision and adequacy in metrics such as accuracy, completeness and safety. However, DrBode models, derived from ChatBode, exhibited a phenomenon of catastrophic forgetting of acquired medical knowledge. Despite this, these models performed frequently or even better in aspects such as grammaticality and coherence. A significant challenge was low inter-rater agreement, highlighting the need for more robust assessment protocols. This work paves the way for future research, such as evaluating multilingual models specific to the medical field, improving the quality of training data, and developing more consistent evaluation methodologies for the medical field., Comment: This work has been submitted to the IEEE for possible publication

Brain imaging has allowed neuroscientists to analyze brain morphology in genetic and neurodevelopmental disorders, such as Down syndrome, pinpointing regions of interest to unravel the neuroanatomical underpinnings of cognitive impairment and memory deficits. However, the connections between brain anatomy, cognitive performance and comorbidities like Alzheimer's disease are still poorly understood in the Down syndrome population. The latest advances in artificial intelligence constitute an opportunity for developing automatic tools to analyze large volumes of brain magnetic resonance imaging scans, overcoming the bottleneck of manual analysis. In this study, we propose the use of generative models for detecting brain alterations in people with Down syndrome affected by various degrees of neurodegeneration caused by Alzheimer's disease. To that end, we evaluate state-of-the-art brain anomaly detection models based on Variational Autoencoders and Diffusion Models, leveraging a proprietary dataset of brain magnetic resonance imaging scans. Following a comprehensive evaluation process, our study includes several key analyses. First, we conducted a qualitative evaluation by expert neuroradiologists. Second, we performed both quantitative and qualitative reconstruction fidelity studies for the generative models. Third, we carried out an ablation study to examine how the incorporation of histogram post-processing can enhance model performance. Finally, we executed a quantitative volumetric analysis of subcortical structures. Our findings indicate that some models effectively detect the primary alterations characterizing Down syndrome's brain anatomy, including a smaller cerebellum, enlarged ventricles, and cerebral cortex reduction, as well as the parietal lobe alterations caused by Alzheimer's disease.

Ultrasound imaging, despite its widespread use in medicine, often suffers from various sources of noise and artifacts that impact the signal-to-noise ratio and overall image quality. Enhancing ultrasound images requires a delicate balance between contrast, resolution, and speckle preservation. This paper introduces a novel approach that integrates adaptive beamforming with denoising diffusion-based variance imaging to address this challenge. By applying Eigenspace-Based Minimum Variance (EBMV) beamforming and employing a denoising diffusion model fine-tuned on ultrasound data, our method computes the variance across multiple diffusion-denoised samples to produce high-quality despeckled images. This approach leverages both the inherent multiplicative noise of ultrasound and the stochastic nature of diffusion models. Experimental results on a publicly available dataset demonstrate the effectiveness of our method in achieving superior image reconstructions from single plane-wave acquisitions. The code is available at: https://github.com/Yuxin-Zhang-Jasmine/IUS2024_Diffusion., Comment: Accepted by the IEEE International Ultrasonics Symposium (IUS) 2024

Ultrafast Plane-Wave (PW) imaging often produces artifacts and shadows that vary with insonification angles. We propose a novel approach using Implicit Neural Representations (INRs) to compactly encode multi-planar sequences while preserving crucial orientation-dependent information. To our knowledge, this is the first application of INRs for PW angular interpolation. Our method employs a Multi-Layer Perceptron (MLP)-based model with a concise physics-enhanced rendering technique. Quantitative evaluations using SSIM, PSNR, and standard ultrasound metrics, along with qualitative visual assessments, confirm the effectiveness of our approach. Additionally, our method demonstrates significant storage efficiency, with model weights requiring 530 KB compared to 8 MB for directly storing the 75 PW images, achieving a notable compression ratio of approximately 15:1., Comment: Accepted by the IEEE International Ultrasonics Symposium (IUS) 2024

In this work we studied the stability of the family of operators $L_a=\Delta-aS$, $a\in\mathbb R$, in a warped product of an infinite interval or real line by one compact manifold, where $\Delta$ is the Laplacian and $S$ is the scalar curvature of the resulting manifold.

Silicon nitride (SiN) formed via low pressure chemical vapor deposition (LPCVD) is an ideal material platform for on-chip nonlinear photonics owing to its low propagation loss and competitive nonlinear index. Despite this, LPCVD SiN is restricted in its scalability due to the film stress when high thicknesses, required for nonlinear dispersion engineering, are deposited. This stress in turn leads to film cracking and makes integrating such films in silicon foundries challenging. To overcome this limitation, we propose a bilayer waveguide scheme comprised of a thin LPCVD SiN layer underneath a low-stress and low-index PECVD SiN layer. We show group velocity dispersion tuning at 1550nm without concern for filmcracking while enabling low loss resonators with intrinsic quality factors above 1 million. Finally, we demonstrate a locked, normal dispersion Kerr frequency comb with our bilayer waveguide resonators spanning 120nm in the c-band with an on-chip pump power of 350mW.

Many organizations rely on Threat Intelligence (TI) feeds to assess the risk associated with security threats. Due to the volume and heterogeneity of data, it is prohibitive to manually analyze the threat information available in different loosely structured TI feeds. Thus, there is a need to develop automated methods to vet and extract actionable information from TI feeds. To this end, we present a machine learning pipeline to automatically detect vulnerability exploitation from TI feeds. We first model threat vocabulary in loosely structured TI feeds using state-of-the-art embedding techniques (Doc2Vec and BERT) and then use it to train a supervised machine learning classifier to detect exploitation of security vulnerabilities. We use our approach to identify exploitation events in 191 different TI feeds. Our longitudinal evaluation shows that it is able to accurately identify exploitation events from TI feeds only using past data for training and even on TI feeds withheld from training. Our proposed approach is useful for a variety of downstream tasks such as data-driven vulnerability risk assessment., Comment: This paper appears at IEEE International Conference on Cyber Security and Resilience (IEEE CSR 2024)

In this paper we explore independently for the first time three chemical potentials (baryon $\mu_B$, charged $\mu_Q$, and strange $\mu_S$) in the Chiral mean-field (CMF) model. We designed and implemented \texttt{CMF++}, a new version of the CMF model rewritten in \texttt{C++} that is optimized, modular, and well-documented. \texttt{CMF++} has been integrated into the MUSES Calculation Engine as a free and open source software module. The runtime improved in more than 4 orders of magnitude across all 3 chemical potentials, when compared to the legacy code. Here we focus on the zero temperature case and study stable, as well as metastable and unstable, vacuum, hadronic, and quark phases, showing how phase boundaries vary with the different chemical potentials. Due to the significant numerical improvements in \texttt{CMF++}, we can calculate for the first time high-order susceptibilities within the CMF framework to study the properties of the quark deconfinement phase transition. We found phases of matter that include a light hadronic phase, strangeness-dominated hadronic phase, and quark deconfinement within our $\mu_B$, $\mu_S$, $\mu_Q$ phase space. The phase transitions are of first, second (quantum critical point), and third order between these phases and we even identified a tricritical point., Comment: 63 pages, 22 figures

We explore the phase diagram of the Mott metal-insulator transition (MIT), focusing on the effects of particle-hole asymmetry (PHA) in the single-band Hubbard model. Our dynamical mean-field theory (DMFT) study reveals that the introduction of PHA in the model significantly influences the critical temperature ($T_c$) and interaction strength ($U_c$), as well as the size of the co-existence region of metallic and insulating phases at low temperatures. Specifically, as the system is moved away from particle-hole symmetry, $T_c$ decreases and $U_c$ increases, indicating a suppression of the insulating phase and the strengthening of the metallic behavior. Additionally, the first-order transition line between metallic and insulating phases is better defined in the model with PHA, leading to a reduced co-existence region at $T

Biological age scores are an emerging tool to characterize aging by estimating chronological age based on physiological biomarkers. Various scores have shown associations with aging-related outcomes. This study assessed the relation between an age score based on brain MRI images (BrainAge) and an age score based on metabolomic biomarkers (MetaboAge). We trained a federated deep learning model to estimate BrainAge in three cohorts. The federated BrainAge model yielded significantly lower error for age prediction across the cohorts than locally trained models. Harmonizing the age interval between cohorts further improved BrainAge accuracy. Subsequently, we compared BrainAge with MetaboAge using federated association and survival analyses. The results showed a small association between BrainAge and MetaboAge as well as a higher predictive value for the time to mortality of both scores combined than for the individual scores. Hence, our study suggests that both aging scores capture different aspects of the aging process.

Sewerage infrastructure is among the most expensive modern investments requiring time-intensive manual inspections by qualified personnel. Our study addresses the need for automated solutions without relying on large amounts of labeled data. We propose a novel application of Self-Supervised Learning (SSL) for sewer inspection that offers a scalable and cost-effective solution for defect detection. We achieve competitive results with a model that is at least 5 times smaller than other approaches found in the literature and obtain competitive performance with 10\% of the available data when training with a larger architecture. Our findings highlight the potential of SSL to revolutionize sewer maintenance in resource-limited settings., Comment: Poster at the LatinX in AI Workshop @ ICML 2024

The Exame Nacional do Ensino M\'edio (ENEM) is a pivotal test for Brazilian students, required for admission to a significant number of universities in Brazil. The test consists of four objective high-school level tests on Math, Humanities, Natural Sciences and Languages, and one writing essay. Students' answers to the test and to the accompanying socioeconomic status questionnaire are made public every year (albeit anonymized) due to transparency policies from the Brazilian Government. In the context of large language models (LLMs), these data lend themselves nicely to comparing different groups of humans with AI, as we can have access to human and machine answer distributions. We leverage these characteristics of the ENEM dataset and compare GPT-3.5 and 4, and MariTalk, a model trained using Portuguese data, to humans, aiming to ascertain how their answers relate to real societal groups and what that may reveal about the model biases. We divide the human groups by using socioeconomic status (SES), and compare their answer distribution with LLMs for each question and for the essay. We find no significant biases when comparing LLM performance to humans on the multiple-choice Brazilian Portuguese tests, as the distance between model and human answers is mostly determined by the human accuracy. A similar conclusion is found by looking at the generated text as, when analyzing the essays, we observe that human and LLM essays differ in a few key factors, one being the choice of words where model essays were easily separable from human ones. The texts also differ syntactically, with LLM generated essays exhibiting, on average, smaller sentences and less thought units, among other differences. These results suggest that, for Brazilian Portuguese in the ENEM context, LLM outputs represent no group of humans, being significantly different from the answers from Brazilian students across all tests., Comment: Accepted at the Seventh AAAI/ACM Conference on AI, Ethics and Society (AIES 2024). 14 pages, 4 figures

Under-canopy agricultural robots require robust navigation capabilities to enable full autonomy but struggle with tight row turning between crop rows due to degraded GPS reception, visual aliasing, occlusion, and complex vehicle dynamics. We propose an imitation learning approach using diffusion policies to learn row turning behaviors from demonstrations provided by human operators or privileged controllers. Simulation experiments in a corn field environment show potential in learning this task with only visual observations and velocity states. However, challenges remain in maintaining control within rows and handling varied initial conditions, highlighting areas for future improvement., Comment: Accepted as Extended Abstract to the IEEE ICRA@40 2024

Non-commutative polynomial optimization (NPO) problems seek to minimize the state average of a polynomial of some operator variables, subject to polynomial constraints, over all states and operators, as well as the Hilbert spaces where those might be defined. Many of these problems are known to admit a complete hierarchy of semidefinite programming (SDP) relaxations. NPO theory has found application in quantum information theory, quantum chemistry and statistical physics. In this work, we consider a variant of NPO problems where a subset of the operator variables satisfies a system of ordinary differential equations. We find that, under mild conditions of operator boundedness, for every such problem one can construct a standard NPO problem with the same solution. This allows us to define a complete hierarchy of SDPs to tackle the original differential problem. We apply this method to extrapolate quantum time series in a semi-device-independent way and sketch how one can use it to model Hamiltonian time evolution in many-body quantum systems.

The article deals with finite groups in which commutators have prime power order (CPPO-groups). We show that if G is a soluble CPPO-group, then the order of the commutator subgroup G' is divisible by at most two primes.

With the advancement of cloud computing, data storage, and security have become crucial. The growing adoption of cloud services by companies, accompanied by increased threats from cybersecurity, highlights the importance of privacy and ownership of user data. Between 2022 and 2023, there has been an increase of around 48% in cloud security threats, emphasizing the urgent need for strong security solutions. To face these challenges, in this project, we propose integrating the Ethereum network's blockchain technology with a database located in the PostgreSQL cloud. The proposed solution aims to provide bidirectional data synchronization and strict control of access mechanisms. Blockchain technology ensures immutability and transparency of transactions, while PostgreSQL provides efficient and scalable storage. Through rigorous testing in an adaptive traffic control scenario, the results obtained indicate that this solution offers a significantly high level of security due to the decentralization of data, confirming that this solution is effective, and making it a powerful new option to improve security in cloud environments. In conclusion, the solution proposed in this project not only increases information security but also demonstrates the practical feasibility of integrating blockchain with cloud relational databases. This two-way alignment improves protection against cyberattacks and ensures that user data is protected from unauthorized access and malicious changes., Comment: 9 pages

In many applications, synchronizing audio with visuals is crucial, such as in creating graphic animations for films or games, translating movie audio into different languages, and developing metaverse applications. This review explores various methodologies for achieving realistic facial animations from audio inputs, highlighting generative and adaptive models. Addressing challenges like model training costs, dataset availability, and silent moment distributions in audio data, it presents innovative solutions to enhance performance and realism. The research also introduces a new taxonomy to categorize audio-visual synchronization methods based on logistical aspects, advancing the capabilities of virtual assistants, gaming, and interactive digital media.

Water is a fundamental component of life, playing a critical role in regulating metabolic processes and facilitating the dissolution and transport of essential molecules. However, the presence of emerging contaminants, such as pharmaceuticals, poses significant challenges to water quality and safety. Nanomaterials-based technologies arise as a promising tool to remove those contaminants from water. Nevertheless, interfacial water plays a major role in the adsorption of chemical compounds in the nanomaterials - as it plays in biological processes such as protein folding, enzyme activity, and drug delivery. To understand this role, in this study we employ Molecular Dynamics (MD) simulations to explore the adsorption dynamics of potassium diclofenac (K-DCF) on single-walled (SWCNT) and double-walled (DWCNT) carbon nanotubes, considering both dry and wet conditions. Our findings reveal that the structuring of water molecules around CNTs creates hydration layers that significantly influence the accessibility of active sites and the interaction strength between contaminants and adsorbents. Our analysis indicates higher energy barriers for adsorption in DWCNTs compared to SWCNTs, which is attributed to stronger water-surface interactions. This research highlights the importance of understanding nanoscale water behavior for optimizing the design and functionality of nanomaterials for water purification. These findings can guide the development of more efficient and selective nanomaterials, enhancing contaminant removal and ensuring safer water resources, while also contributing to a deeper understanding of fundamental biological interactions.

In the context of cybersecurity of modern communications networks, Intrusion Detection Systems (IDS) have been continuously improved, many of them incorporating machine learning (ML) techniques to identify threats. Although there are researches focused on the study of these techniques applied to IDS, the state-of-the-art lacks works concentrated exclusively on the evaluation of the impacts of data pre-processing actions and the optimization of the values of the hyperparameters of the ML algorithms in the construction of the models of threat identification. This article aims to present a study that fills this research gap. For that, experiments were carried out with two data sets, comparing attack scenarios with variations of pre-processing techniques and optimization of hyperparameters. The results confirm that the proper application of these techniques, in general, makes the generated classification models more robust and greatly reduces the execution times of these models' training and testing processes.

We introduce a model of an optical cavity based on the one-dimensional Lugiato-Lefever (LL) equation, which includes the pump represented by a symmetric pair of tightly localized "hot spots" (HSs) with phase shift $\chi $ between them, and self-focusing or defocusing cubic nonlinearity. Families of bound states, pinned to the double HS, are found in the system's parameter space. They feature the effect of the symmetry breaking (SB) between peaks pinned to individual HSs, provided that the phase shift takes values $0<\chi <\pi $, and the LL equation includes the loss term. The SB, which is explained analytically, takes place in the full LL model and its linearized version alike. The same phenomenology is also explored in the framework of the LL equation with the double HS and quintic self-focusing. In that case, there are stable symmetric and asymmetric bound states, in spite of the presence of the background instability driven by the critical collapse., Comment: 15 pages, 23 figures

Continuous variable quantum key distribution (CVQKD) with discrete modulation combines advantages of CVQKD, such as the implementability using readily available technologies, with advantages of discrete variable quantum key distribution, such as easier error correction procedures. We consider a prepare-and-measure CVQKD protocol, where Alice chooses from a set of four coherent states and Bob performs a heterodyne measurement, the result of which is discretised in both key and test rounds. We provide a security proof against coherent attacks in the finite-size regime, and compute the achievable key rate. To this end, we employ the generalised entropy accumulation theorem, as well as recent advances in conic optimisation, yielding improved key rates compared to previous works. At metropolitan distances, our method can provide positive key rates for the order of $10^8$ rounds., Comment: 24 pages, 5 figures

Computing key rates in quantum key distribution (QKD) numerically is essential to unlock more powerful protocols, that use more sophisticated measurement bases or quantum systems of higher dimension. It is a difficult optimization problem, that depends on minimizing a convex non-linear function: the (quantum) relative entropy. Standard conic optimization techniques have for a long time been unable to handle the relative entropy cone, as it is a non-symmetric cone, and the standard algorithms can only handle symmetric ones. Recently, however, a practical algorithm has been discovered for optimizing over non-symmetric cones, including the relative entropy. Here we adapt this algorithm to the problem of computation of key rates, obtaining an efficient technique for lower bounding them. In comparison to previous techniques it has the advantages of flexibility, ease of use, and above all performance., Comment: 11+1 pages, 3 figures. Minor improvements

Photonic Neural Networks (PNNs) are gaining significant interest in the research community due to their potential for high parallelization, low latency, and energy efficiency. PNNs compute using light, which leads to several differences in implementation when compared to electronics, such as the need to represent input features in the photonic domain before feeding them into the network. In this encoding process, it is common to combine multiple features into a single input to reduce the number of inputs and associated devices, leading to smaller and more energy-efficient PNNs. Although this alters the network's handling of input data, its impact on PNNs remains understudied. This paper addresses this open question, investigating the effect of commonly used encoding strategies that combine features on the performance and learning capabilities of PNNs. Here, using the concept of feature importance, we develop a mathematical methodology for analyzing feature combination. Through this methodology, we demonstrate that encoding multiple features together in a single input determines their relative importance, thus limiting the network's ability to learn from the data. Given some prior knowledge of the data, however, this can also be leveraged for higher accuracy. By selecting an optimal encoding method, we achieve up to a 12.3% improvement in accuracy of PNNs trained on the Iris dataset compared to other encoding techniques, surpassing the performance of networks where features are not combined. These findings highlight the importance of carefully choosing the encoding to the accuracy and decision-making strategies of PNNs, particularly in size or power constrained applications.

Non-commutative polynomial optimization is a powerful technique with numerous applications in quantum nonlocality, quantum key distribution, causal inference, many-body physics, amongst others. The standard approach is to reduce such optimizations to a hierarchy of semi-definite programs, which can be solved numerically using well-understood interior-point methods. A key, but computationally costly, step is the formulation of moment matrices, whose size (and hence cost) grows exponentially with the depth of the hierarchy. It is therefore essential to have highly-optimized software to construct moment matrices. Here, we introduce Moment: a toolkit that produces moment matrix relaxations from the specification of a non-commutative optimization problem. In order to obtain the absolute best performance, Moment is written in C++, and for convenience of use provides an interface via MATLAB. We benchmark Moment's performance, and see that it can be up to four orders of magnitude faster than current software with similar functionality., Comment: 49 + 13 pages, 4 figures, 5 tables

Successful deployment of mobile robots in unstructured domains requires an understanding of the environment and terrain to avoid hazardous areas, getting stuck, and colliding with obstacles. Traversability estimation--which predicts where in the environment a robot can travel--is one prominent approach that tackles this problem. Existing geometric methods may ignore important semantic considerations, while semantic segmentation approaches involve a tedious labeling process. Recent self-supervised methods reduce labeling tedium, but require additional data or models and tend to struggle to explicitly label untraversable areas. To address these limitations, we introduce a weakly-supervised method for relative traversability estimation. Our method involves manually annotating the relative traversability of a small number of point pairs, which significantly reduces labeling effort compared to traditional segmentation-based methods and avoids the limitations of self-supervised methods. We further improve the performance of our method through a novel cross-image labeling strategy and loss function. We demonstrate the viability and performance of our method through deployment on a mobile robot in outdoor environments., Comment: Accepted by RA-L. Code is available at https://github.com/andreschreiber/W-RIZZ

The proliferation of deep learning solutions and the scarcity of large annotated datasets pose significant challenges in real-world applications. Various strategies have been explored to overcome this challenge, with data augmentation (DA) approaches emerging as prominent solutions. DA approaches involve generating additional examples by transforming existing labeled data, thereby enriching the dataset and helping deep learning models achieve improved generalization without succumbing to overfitting. In real applications, where solutions based on deep learning are widely used, there is facial expression recognition (FER), which plays an essential role in human communication, improving a range of knowledge areas (e.g., medicine, security, and marketing). In this paper, we propose a simple and comprehensive face data augmentation approach based on mixed face component regularization that outperforms the classical DA approaches from the literature, including the MixAugment which is a specific approach for the target task in two well-known FER datasets existing in the literature., Comment: 29 pages, 9 figures, paper is under review on journal

The degree of experimentally attainable nonlocality, as gauged by the amount of loophole-free violation of Bell inequalities, remains severely limited due to inefficient detectors. We address an experimentally motivated question: Which quantum strategies attain the maximal loophole-free nonlocality in the presence of inefficient detectors? For any Bell inequality and any specification of detection efficiencies, the optimal strategies are those that maximally violate a tilted version of the Bell inequality in ideal conditions. In the simplest scenario, we demonstrate that the quantum strategies that maximally violate the tilted versions of Clauser-Horne-Shimony-Holt inequality are unique up to local isometries. However, self-testing via the standard sum of squares decomposition method turns out to be analytically intractable since even high levels of the Navascu\'es--Pironio--Ac\'in hierarchy are insufficient to saturate the maximum quantum violation of these inequalities. Instead, we utilize a novel Jordan's lemma-based proof technique to obtain robust analytical self-testing statements for the entire family of tilted-Bell inequalities. These results allow us to unveil intriguing aspects of the effect of inefficient detectors and the complexity of characterizing the set of quantum correlations, in the simplest Bell scenario., Comment: First draft, comments are welcome

This work investigates the effects of complex networks on the collective behavior of a three-state opinion formation model in economic systems. Our model considers two distinct types of investors in financial markets: noise traders and fundamentalists. Financial states evolve via probabilistic dynamics that include economic strategies with local and global influences. The local majoritarian opinion drives noise traders' market behavior, while the market index influences the financial decisions of fundamentalist agents. We introduce a level of market anxiety $q$ present in the decision-making process that influences financial action. In our investigation, nodes of a complex network represent market agents, whereas the links represent their financial interactions. We investigate the stochastic dynamics of the model on three distinct network topologies, including scale-free networks, small-world networks and Erd{\"o}s-R\'enyi random graphs. Our model mirrors various traits observed in real-world financial return series, such as heavy-tailed return distributions, volatility clustering, and short-term memory correlation of returns. The histograms of returns are fitted by coupled Gaussian distributions, quantitatively revealing transitions from a leptokurtic to a mesokurtic regime under specific economic heterogeneity. We show that the market dynamics depend mainly on the average agent connectivity, anxiety level, and market composition rather than on specific features of network topology., Comment: 15 pages, 14 figures

We present a vision-based navigation system for under-canopy agricultural robots using semantic keypoints. Autonomous under-canopy navigation is challenging due to the tight spacing between the crop rows ($\sim 0.75$ m), degradation in RTK-GPS accuracy due to multipath error, and noise in LiDAR measurements from the excessive clutter. Our system, CropFollow++, introduces modular and interpretable perception architecture with a learned semantic keypoint representation. We deployed CropFollow++ in multiple under-canopy cover crop planting robots on a large scale (25 km in total) in various field conditions and we discuss the key lessons learned from this., Comment: Accepted to the IEEE ICRA Workshop on Field Robotics 2024

This work investigates the potential of Reinforcement Learning (RL) to tackle robot motion planning challenges in the dynamic RoboCup Small Size League (SSL). Using a heuristic control approach, we evaluate RL's effectiveness in obstacle-free and single-obstacle path-planning environments. Ablation studies reveal significant performance improvements. Our method achieved a 60% time gain in obstacle-free environments compared to baseline algorithms. Additionally, our findings demonstrated dynamic obstacle avoidance capabilities, adeptly navigating around moving blocks. These findings highlight the potential of RL to enhance robot motion planning in the challenging and unpredictable SSL environment., Comment: 12 pages, 3 figures, 3 tables

One key aspect differentiating data-driven single- and multi-channel speech enhancement and dereverberation methods is that both the problem formulation and complexity of the solutions are considerably more challenging in the latter case. Additionally, with limited computational resources, it is cumbersome to train models that require the management of larger datasets or those with more complex designs. In this scenario, an unverified hypothesis that single-channel methods can be adapted to multi-channel scenarios simply by processing each channel independently holds significant implications, boosting compatibility between sound scene capture and system input-output formats, while also allowing modern research to focus on other challenging aspects, such as full-bandwidth audio enhancement, competitive noise suppression, and unsupervised learning. This study verifies this hypothesis by comparing the enhancement promoted by a basic single-channel speech enhancement and dereverberation model with two other multi-channel models tailored to separate clean speech from noisy 3D mixes. A direction of arrival estimation model was used to objectively evaluate its capacity to preserve spatial information by comparing the output signals with ground-truth coordinate values. Consequently, a trade-off arises between preserving spatial information with a more straightforward single-channel solution at the cost of obtaining lower gains in intelligibility scores.

In recent years, theoretical results and simulation evidence have shown Bayesian additive regression trees to be a highly-effective method for nonparametric regression. Motivated by cost-effectiveness analyses in health economics, where interest lies in jointly modelling the costs of healthcare treatments and the associated health-related quality of life experienced by a patient, we propose a multivariate extension of BART applicable in regression and classification analyses with several correlated outcome variables. Our framework overcomes some key limitations of existing multivariate BART models by allowing each individual response to be associated with different ensembles of trees, while still handling dependencies between the outcomes. In the case of continuous outcomes, our model is essentially a nonparametric version of seemingly unrelated regression. Likewise, our proposal for binary outcomes is a nonparametric generalisation of the multivariate probit model. We give suggestions for easily interpretable prior distributions, which allow specification of both informative and uninformative priors. We provide detailed discussions of MCMC sampling methods to conduct posterior inference. Our methods are implemented in the R package `suBART'. We showcase their performance through extensive simulations and an application to an empirical case study from health economics. By also accommodating propensity scores in a manner befitting a causal analysis, we find substantial evidence for a novel trauma care intervention's cost-effectiveness.