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We introduce Orb, a family of universal interatomic potentials for atomistic modelling of materials. Orb models are 3-6 times faster than existing universal potentials, stable under simulation for a range of out of distribution materials and, upon release, represented a 31% reduction in error over other methods on the Matbench Discovery benchmark. We explore several aspects of foundation model development for materials, with a focus on diffusion pretraining. We evaluate Orb as a model for geometry optimization, Monte Carlo and molecular dynamics simulations.

We introduce motion graph, a novel approach to the video prediction problem, which predicts future video frames from limited past data. The motion graph transforms patches of video frames into interconnected graph nodes, to comprehensively describe the spatial-temporal relationships among them. This representation overcomes the limitations of existing motion representations such as image differences, optical flow, and motion matrix that either fall short in capturing complex motion patterns or suffer from excessive memory consumption. We further present a video prediction pipeline empowered by motion graph, exhibiting substantial performance improvements and cost reductions. Experiments on various datasets, including UCF Sports, KITTI and Cityscapes, highlight the strong representative ability of motion graph. Especially on UCF Sports, our method matches and outperforms the SOTA methods with a significant reduction in model size by 78% and a substantial decrease in GPU memory utilization by 47%., Comment: Accepted by NeurIPS 2024, 19 pages, 12 figures

Non-circular (NC) motions represent the imprints of non-axisymmetric structures in galaxies, providing opportunities to study the physical properties of gas departing from circular rotation. In this work, we have conducted a systematic study of the non-circular motions in a sample of 1624 gas-rich disk galaxies from the MaNGA MPL-11. By using the H$\alpha$ velocity as a tracer of the disk rotation, we find indications that the amplitude of the non-circular motions is related to the stellar mass, with the low mass and late-type galaxies the most affected. In our sample, we find ratios of non-circular to circular rotation ranging from 5% to 20%. By implementing harmonic models to include NC motions associated with spiral arms and stellar bars, we find that the rotational curves traced with H$\alpha$ are barely affected by the NC induced by these structures. Consequently, in our sample, we do not find evidence that NC motions contribute to the scatter of the stellar Tully-Fisher relation. Our results suggest that non-circular motions might have a more localized effect in galaxies rather than a global one., Comment: 13 pages, 10 figures. Accepted for publication in ApJ

The field of directed type theory seeks to design type theories capable of reasoning synthetically about (higher) categories, by generalizing the symmetric identity types of Martin-L\"of Type Theory to asymmetric hom-types. We articulate the directed type theory of the category model, with appropriate modalities for keeping track of variances and a powerful directed-J rule capable of proving results about arbitrary terms of hom-types; we put this rule to use in making several constructions in synthetic 1-category theory. Because this theory is expressed entirely in terms of generalized algebraic theories, we know automatically that this directed type theory admits a syntax model and is the first step towards directed higher observational type theory.

Grasping is a fundamental skill in robotics with diverse applications across medical, industrial, and domestic domains. However, current approaches for predicting valid grasps are often tailored to specific grippers, limiting their applicability when gripper designs change. To address this limitation, we explore the transfer of grasping strategies between various gripper designs, enabling the use of data from diverse sources. In this work, we present an approach based on equivariant diffusion that facilitates gripper-agnostic encoding of scenes containing graspable objects and gripper-aware decoding of grasp poses by integrating gripper geometry into the model. We also develop a dataset generation framework that produces cluttered scenes with variable-sized object heaps, improving the training of grasp synthesis methods. Experimental evaluation on diverse object datasets demonstrates the generalizability of our approach across gripper architectures, ranging from simple parallel-jaw grippers to humanoid hands, outperforming both single-gripper and multi-gripper state-of-the-art methods., Comment: 8 pages

Perceiving the environment via cameras is crucial for Reinforcement Learning (RL) in robotics. While images are a convenient form of representation, they often complicate extracting important geometric details, especially with varying geometries or deformable objects. In contrast, point clouds naturally represent this geometry and easily integrate color and positional data from multiple camera views. However, while deep learning on point clouds has seen many recent successes, RL on point clouds is under-researched, with only the simplest encoder architecture considered in the literature. We introduce PointPatchRL (PPRL), a method for RL on point clouds that builds on the common paradigm of dividing point clouds into overlapping patches, tokenizing them, and processing the tokens with transformers. PPRL provides significant improvements compared with other point-cloud processing architectures previously used for RL. We then complement PPRL with masked reconstruction for representation learning and show that our method outperforms strong model-free and model-based baselines on image observations in complex manipulation tasks containing deformable objects and variations in target object geometry. Videos and code are available at https://alrhub.github.io/pprl-website, Comment: 18 pages, 15 figures, accepted for publication at the 8th Conference on Robot Learning (CoRL 2024)

The precision measurement of the tritium $\beta$-decay spectrum performed by the KATRIN experiment provides a unique way to search for general neutrino interactions (GNI). All theoretical allowed GNI terms involving neutrinos are incorporated into a low-energy effective field theory, and can be identified by specific signatures in the measured tritium $\beta$-spectrum. In this paper an effective description of the impact of GNI on the $\beta$-spectrum is formulated and the first constraints on the effective GNI parameters are derived based on the 4 Mio. electrons collected in the second measurement campaign of KATRIN in 2019. In addition, constraints on selected types of interactions are investigated, thereby exploring the potential of KATRIN to search for more specific new physics cases, including a right-handed W boson, a charged Higgs or leptoquarks.

Finding efficient routes for data packets is an essential task in computer networking. The optimal routes depend greatly on the current network topology, state and traffic demand, and they can change within milliseconds. Reinforcement Learning can help to learn network representations that provide routing decisions for possibly novel situations. So far, this has commonly been done using fluid network models. We investigate their suitability for millisecond-scale adaptations with a range of traffic mixes and find that packet-level network models are necessary to capture true dynamics, in particular in the presence of TCP traffic. To this end, we present $\textit{PackeRL}$, the first packet-level Reinforcement Learning environment for routing in generic network topologies. Our experiments confirm that learning-based strategies that have been trained in fluid environments do not generalize well to this more realistic, but more challenging setup. Hence, we also introduce two new algorithms for learning sub-second Routing Optimization. We present $\textit{M-Slim}$, a dynamic shortest-path algorithm that excels at high traffic volumes but is computationally hard to scale to large network topologies, and $\textit{FieldLines}$, a novel next-hop policy design that re-optimizes routing for any network topology within milliseconds without requiring any re-training. Both algorithms outperform current learning-based approaches as well as commonly used static baseline protocols in scenarios with high-traffic volumes. All findings are backed by extensive experiments in realistic network conditions in our fast and versatile training and evaluation framework., Comment: Accepted at Transactions of Machine Learning Research (TMLR) 2024

This work introduces Transformer-based Off-Policy Episodic Reinforcement Learning (TOP-ERL), a novel algorithm that enables off-policy updates in the ERL framework. In ERL, policies predict entire action trajectories over multiple time steps instead of single actions at every time step. These trajectories are typically parameterized by trajectory generators such as Movement Primitives (MP), allowing for smooth and efficient exploration over long horizons while capturing high-level temporal correlations. However, ERL methods are often constrained to on-policy frameworks due to the difficulty of evaluating state-action values for entire action sequences, limiting their sample efficiency and preventing the use of more efficient off-policy architectures. TOP-ERL addresses this shortcoming by segmenting long action sequences and estimating the state-action values for each segment using a transformer-based critic architecture alongside an n-step return estimation. These contributions result in efficient and stable training that is reflected in the empirical results conducted on sophisticated robot learning environments. TOP-ERL significantly outperforms state-of-the-art RL methods. Thorough ablation studies additionally show the impact of key design choices on the model performance.

The increasing demand for highly customized products, as well as flexible production lines, can be seen as trigger for the "fourth industrial revolution", referred to as "Industrie 4.0". Current systems usually rely on wire-line technologies to connect sensors and actuators. To enable a higher flexibility such as moving robots or drones, these connections need to be replaced by wireless technologies in the future. Furthermore, this facilitates the renewal of brownfield deployments to address Industrie 4.0 requirements. This paper proposes representative use cases, which have been examined in the German Tactile Internet 4.0 (TACNET 4.0) research project. In order to analyze these use cases, this paper identifies the main challenges and requirements of communication networks in Industrie 4.0 and discusses the applicability of 5th generation wireless communication systems (5G).

Combining Atacama Large Millimeter/sub-millimeter Array CO(2-1) mapping and JWST near- and mid-infrared imaging, we characterize the relationship between CO(2-1) and polycyclic aromatic hydrocarbon (PAH) emission at ~100 pc resolution in 66 nearby star-forming galaxies, expanding the sample size from previous ~100 pc resolution studies by more than an order of magnitude. Focusing on regions of galaxies where most of the gas is likely to be molecular, we find strong correlations between CO(2-1) and 3.3 micron, 7.7 micron, and 11.3 micron PAH emission, estimated from JWST's F335M, F770W, and F1130W filters. We derive power law relations between CO(2-1) and PAH emission, which have indices in the range 0.8-1.2, implying relatively weak variations in the observed CO-to-PAH ratios across the regions that we study. We find that CO-to-PAH ratios and scaling relationships near HII regions are similar to those in diffuse sight lines. The main difference between the two types of regions is that sight lines near HII regions show higher intensities in all tracers. Galaxy centers, on the other hand, show higher overall intensities and enhanced CO-to-PAH ratios compared to galaxy disks. Individual galaxies show 0.19 dex scatter in the normalization of CO at fixed I_PAH and this normalization anti-correlates with specific star formation rate (SFR/M*) and correlates with stellar mass. We provide a prescription that accounts for these galaxy-to-galaxy variations and represents our best current empirical predictor to estimate CO(2-1) intensity from PAH emission, which allows one to take advantage of JWST's excellent sensitivity and resolution to trace cold gas., Comment: 21 pages, 4 figures, 3 tables. Submitted to ApJ

The electric dipole strength distribution in $^{58}$Ni between 6 and 20 MeV has been determined from proton inelastic scattering experiments at very forward angles at RCNP, Osaka. The experimental data are rather well reproduced by quasiparticle random-phase approximation calculations including vibration coupling, despite a mild dependence on the adopted Skyrme interaction. They allow an estimate of the experimentally inaccessible high-energy contribution above 20 MeV, leading to an electric dipole polarizability $\alpha_\mathrm{D}(^{58}{\rm Ni}) = 3.48(31)$ fm$^3$. This serves as a test case for recent extensions of coupled-cluster calculations with chiral effective field theory interactions to nuclei with two nucleons on top of a closed-shell system., Comment: 8 pages, 4 figures

Quantum computing is presently undergoing rapid development to achieve a significant speedup promised in certain applications. Nonetheless, scaling quantum computers remains a formidable engineering challenge, prompting exploration of alternative methods to achieve the promised quantum advantage. An example is given by the concept of distributed quantum computing, which aims to scale quantum computers through the linking of different individual quantum computers. Additionally, distributed quantum computing opens the way to new applications on the longer term. This study seeks to give an overview of this technology on an application-level, considering both use cases and implementation considerations. In this way, this work aims to push forward the field of distributed quantum computing, aiming for real-world distributed quantum systems in the near future., Comment: 9 pages, 1 figure

Bars are expected to impact the distribution of stellar populations both during bar formation, as they rearrange stars into new orbits, and afterwards, due to the redistribution of star-formation-fuelling gas and transfer of angular momentum. We study the impact of stellar bars on the azimuthal variation of stellar population age, metallicity and mass surface density in $\sim1\,000$ nearby barred galaxies from the SDSS-IV/MaNGA survey. Bars have higher stellar mass density ($0.113^{+0.065}_{-0.067}$ dex) and are more metal-rich ($0.028^{+0.033}_{-0.040}$ dex) than the discs at the same radii. Stellar ages show a variety of bar to inter-bar contrasts with no consistent trend. The difference in metallicity increases with total stellar mass of the galaxy and distance below the star-forming main sequence. We discuss a combination of potentially responsible processes including kinematic separation, more extended star formation histories and more efficient recycling in bars and at bar-spiral arm connections. Additionally, we observe an offset (10{\deg}-40{\deg}) of the peak metallicity to the bar major axis in star-forming bars in low-mass galaxies, and more metal-rich regions outside the ends of the bar in long bars and quenched galaxies. Furthermore, there is a subtle trend of lower metallicities on the leading side of spiral arms compared to the trailing side. Finally, we report a spiral arm surface density feature, which could point towards a dominant bar-spiral connection and pitch angle of $\alpha \sim 25${\deg}. We interpret these features in the context of bar formation and the impact of large-scale gas flows associated with their presence., Comment: 18 pages, 12 figures (+appendix), accepted for publication in MNRAS

Automated damage detection is an integral component of each structural health monitoring (SHM) system. Typically, measurements from various sensors are collected and reduced to damage-sensitive features, and diagnostic values are generated by statistically evaluating the features. Since changes in data do not only result from damage, it is necessary to determine the confounding factors (environmental or operational variables) and to remove their effects from the measurements or features. Many existing methods for correcting confounding effects are based on different types of mean regression. This neglects potential changes in higher-order statistical moments, but in particular, the output covariances are essential for generating reliable diagnostics for damage detection. This article presents an approach to explicitly quantify the changes in the covariance, using conditional covariance matrices based on a non-parametric, kernel-based estimator. The method is applied to the Munich Test Bridge and the KW51 Railway Bridge in Leuven, covering both raw sensor measurements (acceleration, strain, inclination) and extracted damage-sensitive features (natural frequencies). The results show that covariances between different vibration or inclination sensors can significantly change due to temperature changes, and the same is true for natural frequencies. To highlight the advantages, it is explained how conditional covariances can be combined with standard approaches for damage detection, such as the Mahalanobis distance and principal component analysis. As a result, more reliable diagnostic values can be generated with fewer false alarms., Comment: 25 pages, 14 figures, 2 tables

Finite State Machines are a concept widely taught in undergraduate theory of computing courses. Educators typically use tools with static representations of FSMs to help students visualize these objects and processes; however, all existing tools require manual editing by the instructor. In this poster, we created an automatic visualization tool for FSMs that generates videos of FSM simulation, named Finite State Machine with Input and Process Render (FSMIPR). Educators can input any formal definition of an FSM and an input string, and FSMIPR generates an accompanying video of its simulation. We believe that FSMIPR will be beneficial to students who learn difficult computer theory concepts. We conclude with future work currently in-progress with FSMIPR., Comment: Accepted to SIGCSE Virtual 2024

We explore the potential for improving constraints on gravity by leveraging correlations in the dispersion measure derived from Fast Radio Bursts (FRBs) in combination with cosmic shear. Specifically, we focus on Horndeski gravity, inferring the kinetic braiding and Planck mass run rate from a stage-4 cosmic shear mock survey alongside a survey comprising $10^4$ FRBs. For the inference pipeline, we utilise hi_class to predict the linear matter power spectrum in modified gravity scenarios, while non-linear corrections are modelled with HMcode, including feedback mechanisms. Our findings indicate that FRBs can disentangle degeneracies between baryonic feedback and cosmological parameters, as well as the mass of massive neutrinos. Since these parameters are also degenerate with modified gravity parameters, the inclusion of FRBs can enhance constraints on Horndeski parameters by up to $40$ percent, despite being a less significant measurement. Additionally, we apply our model to current FRB data and use the uncertainty in the $\mathrm{DM}-z$ relation to impose limits on gravity. However, due to the limited sample size of current data, constraints are predominantly influenced by theoretical priors. Despite this, our study demonstrates that FRBs will significantly augment the limited set of cosmological probes available, playing a critical role in providing alternative tests of feedback, cosmology, and gravity. All codes used in this work are made publically available., Comment: 14 pages, 10 figures

A stochastic 3D modeling approach for the nanoporous binder-conductive additive phase in hierarchically structured cathodes of lithium-ion batteries is presented. The binder-conductive additive phase of these electrodes consists of carbon black, polyvinylidene difluoride binder and graphite particles. For its stochastic 3D modeling, a three-step procedure based on methods from stochastic geometry is used. First, the graphite particles are described by a Boolean model with ellipsoidal grains. Second, the mixture of carbon black and binder is modeled by an excursion set of a Gaussian random field in the complement of the graphite particles. Third, large pore regions within the mixture of carbon black and binder are described by a Boolean model with spherical grains. The model parameters are calibrated to 3D image data of cathodes in lithium-ion batteries acquired by focused ion beam scanning electron microscopy. Subsequently, model validation is performed by comparing model realizations with measured image data in terms of various morphological descriptors that are not used for model fitting. Finally, we use the stochastic 3D model for predictive simulations, where we generate virtual, yet realistic, image data of nanoporous binder-conductive additives with varying amounts of graphite particles. Based on these virtual nanostructures, we can investigate structure-property relationships. In particular, we quantitatively study the influence of graphite particles on effective transport properties in the nanoporous binder-conductive additive phase, which have a crucial impact on electrochemical processes in the cathode and thus on the performance of battery cells.

We present the first parameterized analysis of a standard (1+1) Evolutionary Algorithm on a distribution of vertex cover problems. We show that if the planted cover is at most logarithmic, restarting the (1+1) EA every $O(n \log n)$ steps will find a cover at least as small as the planted cover in polynomial time for sufficiently dense random graphs $p > 0.71$. For superlogarithmic planted covers, we prove that the (1+1) EA finds a solution in fixed-parameter tractable time in expectation. We complement these theoretical investigations with a number of computational experiments that highlight the interplay between planted cover size, graph density and runtime.

Indoor robots rely on depth to perform tasks like navigation or obstacle detection, and single-image depth estimation is widely used to assist perception. Most indoor single-image depth prediction focuses less on model generalizability to unseen datasets, concerned with in-the-wild robustness for system deployment. This work leverages gradient-based meta-learning to gain higher generalizability on zero-shot cross-dataset inference. Unlike the most-studied meta-learning of image classification associated with explicit class labels, no explicit task boundaries exist for continuous depth values tied to highly varying indoor environments regarding object arrangement and scene composition. We propose fine-grained task that treats each RGB-D mini-batch as a task in our meta-learning formulation. We first show that our method on limited data induces a much better prior (max 27.8% in RMSE). Then, finetuning on meta-learned initialization consistently outperforms baselines without the meta approach. Aiming at generalization, we propose zero-shot cross-dataset protocols and validate higher generalizability induced by our meta-initialization, as a simple and useful plugin to many existing depth estimation methods. The work at the intersection of depth and meta-learning potentially drives both research to step closer to practical robotic and machine perception usage., Comment: IROS 2024. The version supersedes 2305.07269. arXiv admin note: text overlap with arXiv:2305.07269

In real-world applications, users often favor structurally diverse design choices over one high-quality solution. It is hence important to consider more solutions that decision-makers can compare and further explore based on additional criteria. Alongside the existing approaches of evolutionary diversity optimization, quality diversity, and multimodal optimization, this paper presents a fresh perspective on this challenge by considering the problem of identifying a fixed number of solutions with a pairwise distance above a specified threshold while maximizing their average quality. We obtain first insight into these objectives by performing a subset selection on the search trajectories of different well-established search heuristics, whether specifically designed with diversity in mind or not. We emphasize that the main goal of our work is not to present a new algorithm but to look at the problem in a more fundamental and theoretically tractable way by asking the question: What trade-off exists between the minimum distance within batches of solutions and the average quality of their fitness? These insights also provide us with a way of making general claims concerning the properties of optimization problems that shall be useful in turn for benchmarking algorithms of the approaches enumerated above. A possibly surprising outcome of our empirical study is the observation that naive uniform random sampling establishes a very strong baseline for our problem, hardly ever outperformed by the search trajectories of the considered heuristics. We interpret these results as a motivation to develop algorithms tailored to produce diverse solutions of high average quality.

Variants of the GSEMO algorithm using multi-objective formulations have been successfully analyzed and applied to optimize chance-constrained submodular functions. However, due to the effect of the increasing population size of the GSEMO algorithm considered in these studies from the algorithms, the approach becomes ineffective if the number of trade-offs obtained grows quickly during the optimization run. In this paper, we apply the sliding-selection approach introduced in [21] to the optimization of chance-constrained monotone submodular functions. We theoretically analyze the resulting SW-GSEMO algorithm which successfully limits the population size as a key factor that impacts the runtime and show that this allows it to obtain better runtime guarantees than the best ones currently known for the GSEMO. In our experimental study, we compare the performance of the SW-GSEMO to the GSEMO and NSGA-II on the maximum coverage problem under the chance constraint and show that the SW-GSEMO outperforms the other two approaches in most cases. In order to get additional insights into the optimization behavior of SW-GSEMO, we visualize the selection behavior of SW-GSEMO during its optimization process and show it beats other algorithms to obtain the highest quality of solution in variable instances.

The main goal of diversity optimization is to find a diverse set of solutions which satisfy some lower bound on their fitness. Evolutionary algorithms (EAs) are often used for such tasks, since they are naturally designed to optimize populations of solutions. This approach to diversity optimization, called EDO, has been previously studied from theoretical perspective, but most studies considered only EAs with a trivial offspring population such as the $(\mu + 1)$ EA. In this paper we give an example instance of a $k$-vertex cover problem, which highlights a critical difference of the diversity optimization from the regular single-objective optimization, namely that there might be a locally optimal population from which we can escape only by replacing at least two individuals at once, which the $(\mu + 1)$ algorithms cannot do. We also show that the $(\mu + \lambda)$ EA with $\lambda \ge \mu$ can effectively find a diverse population on $k$-vertex cover, if using a mutation operator inspired by Branson and Sutton (TCS 2023). To avoid the problem of subset selection which arises in the $(\mu + \lambda)$ EA when it optimizes diversity, we also propose the $(1_\mu + 1_\mu)$ EA$_D$, which is an analogue of the $(1 + 1)$ EA for populations, and which is also efficient at optimizing diversity on the $k$-vertex cover problem., Comment: Open-access version of the same-titled PPSN 2024 paper

Neutral atomic gas (HI) effectively traces galactic dynamics across mid to large galactocentric radii. However, its limitations in observing small-scale changes within the central few kiloparsecs, coupled with the often observed HI deficit in galactic centers, necessitates using molecular gas emission as a preferred tracer in these regions. Understanding the dynamics of both neutral atomic and molecular gas is crucial for a more complete understanding of how galaxies evolve, funnel gas from the outer disk into their central parts, and eventually form stars. In this work we aim to quantify the dynamics of both, the neutral atomic and molecular gas, in the nearby spiral galaxies NGC 1512, NGC 4535, and NGC 7496 using new MeerKAT-HI observations together with ALMA CO (2-1) observations from the PHANGS collaboration. We use the analysis tool 3D-Barolo to fit tilted ring models to the HI and CO observations. A combined approach of using the HI to constrain the true disk orientation parameters before applying these to the CO datasets is tested. This paper sets expectations for the results of the upcoming high-resolution HI coverage of many galaxies in the PHANGS-ALMA sample using MeerKAT or VLA, to establish a robust methodology for characterizing galaxy orientations and deriving dynamics from combining new HI with existing CO data., Comment: accepted for publication in A&A; 13 pages, 9 Figures (+2 appendix pages)

This paper provides the background, methodology and validation for constructing a representation of the European high-voltage grid, including and above 200 kV, based on public data provided by OpenStreetMap. The model-independent grid dataset is published under the Open Data Commons Open Database (ODbL 1.0) licence and can be used for large-scale electricity as well as energy system modelling. The dataset and workflow are provided as part of PyPSA-Eur -- an open-source, sector-coupled optimisation model of the European energy system. By integrating with the codebase for initiatives such as PyPSA-Earth, the value of open and maintainable high-voltage grid data extends to the global context. By accessing the latest data through the the Overpass turbo API, the dataset can be easily reconstructed and updated within minutes. To assess the data quality, this paper further compares the dataset with official statistics and representative model runs using PyPSA-Eur based on different electricity grid representations., Comment: 20 pages, 15 figures, 8 tables. For associated prebuilt electricity network, see https://doi.org/10.5281/zenodo.13358976

MICADO is a first light instrument for the Extremely Large Telescope (ELT), set to start operating later this decade. It will provide diffraction limited imaging, astrometry, high contrast imaging, and long slit spectroscopy at near-infrared wavelengths. During the initial phase operations, adaptive optics (AO) correction will be provided by its own natural guide star wavefront sensor. In its final configuration, that AO system will be retained and complemented by the laser guide star multi-conjugate adaptive optics module MORFEO (formerly known as MAORY). Among many other things, MICADO will study exoplanets, distant galaxies and stars, and investigate black holes, such as Sagittarius A* at the centre of the Milky Way. After their final design phase, most components of MICADO have moved on to the manufacturing and assembly phase. Here we summarize the final design of the instrument and provide an overview about its current manufacturing status and the timeline. Some lessons learned from the final design review process will be presented in order to help future instrumentation projects to cope with the challenges arising from the substantial differences between projects for 8-10m class telescopes (e.g. ESO-VLT) and the next generation Extremely Large Telescopes (e.g. ESO-ELT). Finally, the expected performance will be discussed in the context of the current landscape of astronomical observatories and instruments. For instance, MICADO will have similar sensitivity as the James Webb Space Telescope (JWST), but with six times the spatial resolution., Comment: Proceedings of the SPIE, Volume 13096, id. 1309611 11 pp. (2024)

We investigate the effect of focused-ion-beam (FIB) irradiation on spin waves with sub-micron wavelengths in Yttrium-Iron-Garnet (YIG) films. Time-resolved scanning transmission X-ray (TR-STXM) microscopy was used to image the spin waves in irradiated regions and deduce corresponding changes in the magnetic parameters of the film. We find that the changes of Ga$^+$ irradiation can be understood by assuming a few percent change in the effective magnetization $M_\mathrm{eff}$ of the film due to a trade-off between changes in anisotropy and effective film thickness. Our results demonstrate that FIB irradiation can be used to locally alter the dispersion relation and the effective refractive index $n_\textrm{eff}$ of the film, even for submicron wavelengths. To achieve the same change in $n_\textrm{eff}$ for shorter wavelengths, a higher dose is required, but no significant deterioration of spin wave propagation length in the irradiated regions was observed, even at the highest applied doses., Comment: 5 pages, 6 figures

Indoor monocular depth estimation helps home automation, including robot navigation or AR/VR for surrounding perception. Most previous methods primarily experiment with the NYUv2 Dataset and concentrate on the overall performance in their evaluation. However, their robustness and generalization to diversely unseen types or categories for indoor spaces (spaces types) have yet to be discovered. Researchers may empirically find degraded performance in a released pretrained model on custom data or less-frequent types. This paper studies the common but easily overlooked factor-space type and realizes a model's performance variances across spaces. We present InSpaceType Dataset, a high-quality RGBD dataset for general indoor scenes, and benchmark 13 recent state-of-the-art methods on InSpaceType. Our examination shows that most of them suffer from performance imbalance between head and tailed types, and some top methods are even more severe. The work reveals and analyzes underlying bias in detail for transparency and robustness. We extend the analysis to a total of 4 datasets and discuss the best practice in synthetic data curation for training indoor monocular depth. Further, dataset ablation is conducted to find out the key factor in generalization. This work marks the first in-depth investigation of performance variances across space types and, more importantly, releases useful tools, including datasets and codes, to closely examine your pretrained depth models. Data and code: https://depthcomputation.github.io/DepthPublic/, Comment: BMVC 2024. This version supersedes 2309.13516

We propose a new method - WildFusion - for individual identification of a broad range of animal species. The method fuses deep scores (e.g., MegaDescriptor or DINOv2) and local matching similarity (e.g., LoFTR and LightGlue) to identify individual animals. The global and local information fusion is facilitated by similarity score calibration. In a zero-shot setting, relying on local similarity score only, WildFusion achieved mean accuracy, measured on 17 datasets, of 76.2%. This is better than the state-of-the-art model, MegaDescriptor-L, whose training set included 15 of the 17 datasets. If a dataset-specific calibration is applied, mean accuracy increases by 2.3% percentage points. WildFusion, with both local and global similarity scores, outperforms the state-of-the-art significantly - mean accuracy reached 84.0%, an increase of 8.5 percentage points; the mean relative error drops by 35%. We make the code and pre-trained models publicly available5, enabling immediate use in ecology and conservation.

We propose a method that robustly exploits background and foreground in visual identification of individual animals. Experiments show that their automatic separation, made easy with methods like Segment Anything, together with independent foreground and background-related modeling, improves results. The two predictions are combined in a principled way, thanks to novel Per-Instance Temperature Scaling that helps the classifier to deal with appearance ambiguities in training and to produce calibrated outputs in the inference phase. For identity prediction from the background, we propose novel spatial and temporal models. On two problems, the relative error w.r.t. the baseline was reduced by 22.3% and 8.8%, respectively. For cases where objects appear in new locations, an example of background drift, accuracy doubles.

Let $\mathbb{F}_{q}$ be the finite field with $q$ elements. In this paper we will describe the dynamics of the map $f(X)=X(X^{q-1}-c)^{q+1},$ with $c\in\mathbb{F}_{q}^{\ast},$ over the finite field $\mathbb{F}_{q^2}$.

While the current frontier in fixed-order precision for collider observables is N$^3$LO, important steps are necessary to consolidate NNLO cross-section predictions with improved stability and efficiency. Slicing methods have been successfully applied to obtain NNLO and N$^3$LO predictions, but have shown poor performance in the presence of fiducial cuts due to large kinematical power corrections. In this paper we implement Projection-to-Born-improved $q_T$ (P2B $q_T$) and jettiness (P2B $\tau_0$) subtractions for a large class of color singlet processes in MCFM. This method allows for the efficient evaluation of \emph{fiducial} power corrections in any non-local subtraction scheme using a Projection-to-Born subtraction. We demonstrate the significant numerical improvements of this method based on fiducial Drell-Yan and Higgs cross-sections. Moreover, with fiducial power corrections removed via this method, the leading-logarithmic power corrections that have only been calculated without fiducial cuts can be included, further improving the calculations. For di-photon production with photon isolation, we devise a novel method in combination with P2B-improved subtractions, which we name $P2B_\gamma$ $\tau_0$, and $P2B_\gamma$ $q_T$ for the two subtraction schemes, respectively. This method allows the inclusion of both fiducial power corrections due to kinematic cuts on the photons and a set of isolation power corrections in the fragmentation channel where a quark may enter the isolation cone. We find significant improvements in the convergence of NNLO di-photon cross-sections with photon isolation cuts, demonstrating that it is possible to achieve a stable and efficient calculation of di-photon cross-sections using slicing methods., Comment: 24 pages, 15 figures

The projected sensitivity of the effective electron neutrino-mass measurement with the KATRIN experiment is below 0.3 eV (90 % CL) after five years of data acquisition. The sensitivity is affected by the increased rate of the background electrons from KATRIN's main spectrometer. A special shifted-analysing-plane (SAP) configuration was developed to reduce this background by a factor of two. The complex layout of electromagnetic fields in the SAP configuration requires a robust method of estimating these fields. We present in this paper a dedicated calibration measurement of the fields using conversion electrons of gaseous $^\mathrm{83m}$Kr, which enables the neutrino-mass measurements in the SAP configuration., Comment: 19 pages, 11 figures

Structural Health Monitoring (SHM) is increasingly applied in civil engineering. One of its primary purposes is detecting and assessing changes in structure conditions to increase safety and reduce potential maintenance downtime. Recent advancements, especially in sensor technology, facilitate data measurements, collection, and process automation, leading to large data streams. We propose a function-on-function regression framework for (nonlinear) modeling the sensor data and adjusting for covariate-induced variation. Our approach is particularly suited for long-term monitoring when several months or years of training data are available. It combines highly flexible yet interpretable semi-parametric modeling with functional principal component analysis and uses the corresponding out-of-sample phase-II scores for monitoring. The method proposed can also be described as a combination of an ``input-output'' and an ``output-only'' method., Comment: 30 pages, 15 figures, 1 table

Studies looking at electricity market designs for very high shares of wind and solar often conclude that the energy-only market will break down. Without fuel costs, it is said that there is nothing to set prices. Symptoms of breakdown include long phases of zero prices, scarcity prices too high to be politically acceptable, prices that collapse under small perturbations of capacities from the long-term equilibrium, cost recovery that is impossible due to low market values, high variability of revenue between different weather years, and difficulty operating long-term storage with limited foresight. We argue that all these problems are an artefact of modeling with perfectly inelastic demand. If short-term elasticity to reflect today's flexible demand (-5%) is implemented in the model, these problems are significantly reduced. The combined interaction of demand willingness to pay and storage opportunity costs is enough to produce stable pricing. This behavior is illustrated by a model with wind, solar, batteries, and hydrogen-based storage, where a piecewise linear demand curve removes high price peaks and reduces the fraction of zero-price hours from 90% to around 30%, and entails more price stability for perturbations of capacity and different weather years. Furthermore, we show that with elastic demand, the long-term model exactly reproduces the prices of the short-term model with the same capacities. We then use insights from the long-term model to derive simple bidding strategies for storage so that we can also run the short-term model with limited operational foresight. We demonstrate this short-term operation in a model trained on 35 years of weather data and tested on another 35 years of unseen data. We conclude that the energy-only market can still play a key role in coordinating dispatch and investment in the future.

This paper introduces a new empirical methodology, the Cross-environment Hyperparameter Setting Benchmark, that compares RL algorithms across environments using a single hyperparameter setting, encouraging algorithmic development which is insensitive to hyperparameters. We demonstrate that this benchmark is robust to statistical noise and obtains qualitatively similar results across repeated applications, even when using few samples. This robustness makes the benchmark computationally cheap to apply, allowing statistically sound insights at low cost. We demonstrate two example instantiations of the CHS, on a set of six small control environments (SC-CHS) and on the entire DM Control suite of 28 environments (DMC-CHS). Finally, to illustrate the applicability of the CHS to modern RL algorithms on challenging environments, we conduct a novel empirical study of an open question in the continuous control literature. We show, with high confidence, that there is no meaningful difference in performance between Ornstein-Uhlenbeck noise and uncorrelated Gaussian noise for exploration with the DDPG algorithm on the DMC-CHS., Comment: Accepted to RLC 2024

Reliable gas price forecasts are an essential information for gas and energy traders, for risk managers and also economists. However, ahead of the war in Ukraine Europe began to suffer from substantially increased and volatile gas prices which culminated in the aftermath of the North Stream 1 explosion. This shock changed both trend and volatility structure of the prices and has considerable effects on forecasting models. In this study we investigate whether modern machine learning methods such as neural networks are more resilient against such changes than statistical models such as autoregressive moving average (ARMA) models with conditional heteroskedasticity, or copula-based time series models. Thereby the focus lies on interval forecasting and applying respective evaluation measures. As data, the Front Month prices from the Dutch Title Transfer Facility, currently the predominant European exchange, are used. We see that, during the shock period, most models underestimate the variance while overestimating the variance in the after-shock period. Furthermore, we recognize that, during the shock, the simpler models, i.e. an ARMA model with conditional heteroskedasticity and the multilayer perceptron (a neural network), perform best with regards to prediction interval coverage. Interestingly, the widely-used long-short term neural network is outperformed by its competitors.

High-level robot skills represent an increasingly popular paradigm in robot programming. However, configuring the skills' parameters for a specific task remains a manual and time-consuming endeavor. Existing approaches for learning or optimizing these parameters often require numerous real-world executions or do not work in dynamic environments. To address these challenges, we propose MuTT, a novel encoder-decoder transformer architecture designed to predict environment-aware executions of robot skills by integrating vision, trajectory, and robot skill parameters. Notably, we pioneer the fusion of vision and trajectory, introducing a novel trajectory projection. Furthermore, we illustrate MuTT's efficacy as a predictor when combined with a model-based robot skill optimizer. This approach facilitates the optimization of robot skill parameters for the current environment, without the need for real-world executions during optimization. Designed for compatibility with any representation of robot skills, MuTT demonstrates its versatility across three comprehensive experiments, showcasing superior performance across two different skill representations.

The Akutsu-Deguchi-Ohtsuki (ADO) invariants are the most studied quantum link invariants coming from a non-semisimple tensor category. We show that, for fibered links in $S^3$, the degree of the ADO invariant is determined by the genus and the top coefficient is a root of unity. More precisely, we prove that the top coefficient is determined by the Hopf invariant of the plane field of $S^3$ associated to the fiber surface. Our proof is based on the genus bounds established in our previous work, together with a theorem of Giroux-Goodman stating that fiber surfaces in the three-sphere can be obtained from a disk by plumbing/deplumbing Hopf bands., Comment: 18 pages, comments welcome!

Light echoes occur when light from a luminous transient is scattered by dust back into our line of sight with a time delay due to the extra propagation distance. We introduce a novel approach to estimating the distance to a source by combining light echoes with recent three-dimensional dust maps. We identify light echoes from the historical supernovae Cassiopeia A and SN 1572 (Tycho) in nearly a decade of imaging from the All-Sky Automated Survey for Supernovae (ASAS-SN). Using these light echoes, we find distances of $3.6\pm0.1$ kpc and $3.2^{+0.1}_{-0.2}$ kpc to Cas A and Tycho, respectively, which are generally consistent with previous estimates but are more precise. These distance uncertainties are primarily dominated by the low distance resolution of the 3D dust maps, which will likely improve in the future. The candidate single degenerate explosion donor stars B and G in Tycho are clearly foreground stars. Finally, the inferred reddening towards each SN agrees well with the intervening HI column density estimates from X-ray analyses of the remnants., Comment: 11 pages, 10 figures, 2 tables. The table containing the light echo data presented in this submission is included in machine-readable format as an ancillary file

PaliGemma is an open Vision-Language Model (VLM) that is based on the SigLIP-So400m vision encoder and the Gemma-2B language model. It is trained to be a versatile and broadly knowledgeable base model that is effective to transfer. It achieves strong performance on a wide variety of open-world tasks. We evaluate PaliGemma on almost 40 diverse tasks including standard VLM benchmarks, but also more specialized tasks such as remote-sensing and segmentation., Comment: v2 adds Appendix H and I and a few citations

Context: Software process improvement (SPI) is known as a key for being successfull in software development. Measuring quality and performance is of high importance in agile software development as agile approaches focussing strongly on short-term success in dynamic markets. Even if software engineering research emphasizes the importance of performance metrics while using agile methods, the literature lacks on detail how to apply such metrics in practice and what challenges may occur while using them. Objective: The core objective of our study is to identify challenges that arise when using agile software development performance metrics in practice and how we can improve their successful application. Method: We decided to design a mixed-method study. First, we performed a rapid literature review to provide an up-to-date overview of used performance metrics. Second, we conducted a single case study using a focus group approach and qualitativ data collection and analysis in a real-world setting. Results: Our results show that while widely used performance metrics such as story points and burn down charts are widely used in practice, agile software development teams face challenges due to a lack of transparency and standardization as well as insufficient accuracy. Contributions: Based on our findings, we present a repository of widely used performance metrics for agile software development. Furthermore, we present implications for practitioners and researchers especially how to deal with challenges agile software development face while applying such metrics in practice.

Predicting the geometrical evolution of the pore space in geological formations due to fluid-solid interactions has applications in reservoir engineering, oil recovery, and geological storage of carbon dioxide. However, modeling frameworks that combine fluid flow with physical and chemical processes at a rock's pore scale are scarce. Here, we report a method for modeling a rock's pore space as a network of connected capillaries and to simulate the capillary diameter modifications caused by reactive flow processes. Specifically, we model mineral erosion, deposition, dissolution, and precipitation processes by solving the transport equations iteratively, computing diameter changes within each capillary of the network simultaneously. Our automated modeling framework enables simulations on digital rock samples as large as (1.125mm)$^3$ with 125$\times 10^6$ voxels within seconds of CPU time per iteration. As an application of the computational method, we have simulated brine injection and calcium carbonate precipitation in sandstone. For quantitatively comparing simulation results obtained with models predicting either a constant or a flow-rate dependent precipitation, we track the time-dependent capillary diameter distribution as well as the permeability of the connected pore space. For validation and reuse, we have made the automated simulation workflow, the reactive flow model library, and the digital rock samples available in public repositories., Comment: Main article: 12 pages, 1 equation, 2 tables and 4 figures. Supplementary Information: 6 pages, 11 equations and 3 figures. Includes DOI for accompanying digital rock data, URL of github repository for flow simulator code, and of accompanying processing python code for automation of the scientific workflows

Active Galactic Nuclei (AGN) are prime candidate sources of the high-energy, astrophysical neutrinos detected by IceCube. This is demonstrated by the real-time multi-messenger detection of the blazar TXS 0506+056 and the recent evidence of neutrino emission from NGC 1068 from a separate time-averaged study. However, the production mechanism of the astrophysical neutrinos in AGN is not well established which can be resolved via correlation studies with photon observations. For neutrinos produced due to photohadronic interactions in AGN, in addition to a correlation of neutrinos with high-energy photons, there would also be a correlation of neutrinos with photons emitted at radio wavelengths. In this work, we perform an in-depth stacking study of the correlation between 15 GHz radio observations of AGN reported in the MOJAVE XV catalog, and ten years of neutrino data from IceCube. We also use a time-dependent approach which improves the statistical power of the stacking analysis. No significant correlation was found for both analyses and upper limits are reported. When compared to the IceCube diffuse flux, at 100 TeV and for a spectral index of 2.5, the upper limits derived are $\sim3\%$ and $\sim9\%$ for the time-averaged and time-dependent case, respectively., Comment: 14 Pages 7 Figures

We present a search for an eV-scale sterile neutrino using 7.5 years of data from the IceCube DeepCore detector. The analysis uses a sample of 21,914 events with energies between 5 and 150 GeV to search for sterile neutrinos through atmospheric muon neutrino disappearance. Improvements in event selection and treatment of systematic uncertainties provide greater statistical power compared to previous DeepCore sterile neutrino searches. Our results are compatible with the absence of mixing between active and sterile neutrino states, and we place constraints on the mixing matrix elements $|U_{\mu 4}|^2 < 0.0534$ and $|U_{\tau 4}|^2 < 0.0574$ at 90% CL under the assumption that $\Delta m^2_{41}\geq 1\;\mathrm{eV^2}$. These null results add to the growing tension between anomalous appearance results and constraints from disappearance searches in the 3+1 sterile neutrino landscape., Comment: 11 pages, 5 figures. Version accepted by Physical Review D for publication

The molecular-to-atomic gas ratio is crucial to the evolution of the interstellar medium in galaxies. We investigate the balance between the atomic ($\Sigma_{\rm HI}$) and molecular gas ($\Sigma_{\rm H2}$) surface densities in eight nearby star-forming galaxies using new high-quality observations from MeerKAT and ALMA (for HI and CO, respectively). We define the molecular gas ratio as $R_{\rm mol} = \Sigma_{\rm H2} / \Sigma_{\rm HI}$ and measure how it depends on local conditions in the galaxy disks using multi-wavelength observations. We find that, depending on the galaxy, HI is detected at $>3\sigma$ out to 20-120 kpc in galactocentric radius ($r_{\rm gal}$). The typical radius at which $\Sigma_{\rm HI}$ reaches 1~$\rm M_\odot~pc^{-2}$ is $r_{\rm HI}\approx22$~kpc, which corresponds to 1-3 times the optical radius ($r_{25}$). $R_{\rm mol}$ correlates best with the dynamical equilibrium pressure, P$_{\rm DE}$, among potential drivers studied, with a median correlation coefficient of $<\rho>=0.89$. Correlations between $R_{\rm mol}$ and star formation rate, total gas and stellar surface density, metallicity, and $\Sigma_{\rm SFR}$/P$_{\rm DE}$ are present but somewhat weaker. Our results also show a direct correlation between P$_{\rm DE}$ and $\Sigma_{\rm SFR}$, supporting self-regulation models. Quantitatively, we measure similar scalings as previous works and attribute the modest differences that we find to the effect of varying resolution and sensitivity. At $r_{\rm gal} {\gtrsim}0.4~r_{25}$, atomic gas dominates over molecular gas, and at the balance of these two gas phases, we find that the baryon mass is dominated by stars, with $\Sigma_{*} > 5~\Sigma_{\rm gas}$. Our study constitutes an important step in the statistical investigation of how local galaxy properties impact the conversion from atomic to molecular gas in nearby galaxies., Comment: accepted for publication in A&A; 20 pages, 12 Figures (+4 appendix pages)