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

Inspired by recent experiments, we present a phase-field model of microphase separation in an elastomer swollen with a solvent. The imbalance between the molecular scale of demixing and the mesoscopic scale beyond which elasticity operates produces effective long-range interactions, forming stable finite-sized domains. Our predictions concerning the dependence of the domain size and transition temperature on the stiffness of the elastomer are in good agreement with the experiments. Analytical phase diagrams, aided by numerical findings, capture the richness of the microphase morphologies, paving the way to create stable, patterned elastomers for various applications., Comment: 6 + 6 pages; 3 figures

The CHaracterising ExOPlanet Satellite (CHEOPS) is a partnership between the European Space Agency and Switzerland with important contributions by 10 additional ESA member States. It is the first S-class mission in the ESA Science Programme. CHEOPS has been flying on a Sun-synchronous low Earth orbit since December 2019, collecting millions of short-exposure images in the visible domain to study exoplanet properties. A small yet increasing fraction of CHEOPS images show linear trails caused by resident space objects crossing the instrument field of view. To characterize the population of satellites and orbital debris observed by CHEOPS, all and every science images acquired over the past 3 years have been scanned with a Hough transform algorithm to identify the characteristic linear features that these objects cause on the images. Thousands of trails have been detected. This statistically significant sample shows interesting trends and features such as an increased occurrence rate over the past years as well as the fingerprint of the Starlink constellation. The cross-matching of individual trails with catalogued objects is underway as we aim to measure their distance at the time of observation and deduce the apparent magnitude of the detected objects. As space agencies and private companies are developing new space-based surveillance and tracking activities to catalogue and characterize the distribution of small debris, the CHEOPS experience is timely and relevant. With the first CHEOPS mission extension currently running until the end of 2026, and a possible second extension until the end of 2029, the longer time coverage will make our dataset even more valuable to the community, especially for characterizing objects with recurrent crossings., Comment: 9 pages, 8 figures, Special Issue of the Journal of Space Safety Engineering

By utilizing domain theory, we generalize the notion of an ephemeral module to the so-called continuous posets. We investigate the quotient category of persistence modules by the Serre subcategory of ephemeral modules and show that it is equivalent to the category of sheaves on the Scott topology. Furthermore, we study the metric properties of persistence modules via this equivalence.

The standardization of an interface for dense linear algebra operations in the BLAS standard has enabled interoperability between different linear algebra libraries, thereby boosting the success of scientific computing, in particular in scientific HPC. Despite numerous efforts in the past, the community has not yet agreed on a standardization for sparse linear algebra operations due to numerous reasons. One is the fact that sparse linear algebra objects allow for many different storage formats, and different hardware may favor different storage formats. This makes the definition of a FORTRAN-style all-circumventing interface extremely challenging. Another reason is that opposed to dense linear algebra functionality, in sparse linear algebra, the size of the sparse data structure for the operation result is not always known prior to the information. Furthermore, as opposed to the standardization effort for dense linear algebra, we are late in the technology readiness cycle, and many production-ready software libraries using sparse linear algebra routines have implemented and committed to their own sparse BLAS interface. At the same time, there exists a demand for standardization that would improve interoperability, and sustainability, and allow for easier integration of building blocks. In an inclusive, cross-institutional effort involving numerous academic institutions, US National Labs, and industry, we spent two years designing a hardware-portable interface for basic sparse linear algebra functionality that serves the user needs and is compatible with the different interfaces currently used by different vendors. In this paper, we present a C++ API for sparse linear algebra functionality, discuss the design choices, and detail how software developers preserve a lot of freedom in terms of how to implement functionality behind this API., Comment: 43 pages

Self-supervised learning (SSL) is a data-driven learning approach that utilizes the innate structure of the data to guide the learning process. In contrast to supervised learning, which depends on external labels, SSL utilizes the inherent characteristics of the data to produce its own supervisory signal. However, one frequent issue with SSL methods is representation collapse, where the model outputs a constant input-invariant feature representation. This issue hinders the potential application of SSL methods to new data modalities, as trying to avoid representation collapse wastes researchers' time and effort. This paper introduces a novel SSL algorithm for time-series data called Prediction of Functionals from Masked Latents (PFML). Instead of predicting masked input signals or their latent representations directly, PFML operates by predicting statistical functionals of the input signal corresponding to masked embeddings, given a sequence of unmasked embeddings. The algorithm is designed to avoid representation collapse, rendering it straightforwardly applicable to different time-series data domains, such as novel sensor modalities in clinical data. We demonstrate the effectiveness of PFML through complex, real-life classification tasks across three different data modalities: infant posture and movement classification from multi-sensor inertial measurement unit data, emotion recognition from speech data, and sleep stage classification from EEG data. The results show that PFML is superior to a conceptually similar pre-existing SSL method and competitive against the current state-of-the-art SSL method, while also being conceptually simpler and without suffering from representation collapse.

Superconducting Digital (SCD) technology offers significant potential for enhancing the performance of next generation large scale compute workloads. By leveraging advanced lithography and a 300 mm platform, SCD devices can reduce energy consumption and boost computational power. This paper presents a cross-layer modeling approach to evaluate the system-level performance benefits of SCD architectures for Large Language Model (LLM) training and inference. Our findings, based on experimental data and Pulse Conserving Logic (PCL) design principles, demonstrate substantial performance gain in both training and inference. We are, thus, able to convincingly show that the SCD technology can address memory and interconnect limitations of present day solutions for next-generation compute systems., Comment: 8 figures

Antepartum Cardiotocography (CTG) is vital for fetal health monitoring, but traditional methods like the Dawes-Redman system are often limited by high inter-observer variability, leading to inconsistent interpretations and potential misdiagnoses. This paper introduces PatchCTG, a transformer-based model specifically designed for CTG analysis, employing patch-based tokenisation, instance normalisation and channel-independent processing to capture essential local and global temporal dependencies within CTG signals. PatchCTG was evaluated on the Oxford Maternity (OXMAT) dataset, comprising over 20,000 CTG traces across diverse clinical outcomes after applying the inclusion and exclusion criteria. With extensive hyperparameter optimisation, PatchCTG achieved an AUC of 77%, with specificity of 88% and sensitivity of 57% at Youden's index threshold, demonstrating adaptability to various clinical needs. Testing across varying temporal thresholds showed robust predictive performance, particularly with finetuning on data closer to delivery, achieving a sensitivity of 52% and specificity of 88% for near-delivery cases. These findings suggest the potential of PatchCTG to enhance clinical decision-making in antepartum care by providing a reliable, objective tool for fetal health assessment. The source code is available at https://github.com/jaleedkhan/PatchCTG.

Byzantine fault tolerant (BFT) protocol descriptions often assume application-layer networking primitives, such as best-effort and reliable broadcast, which are impossible to implement in practice in a Byzantine environment as they require either unbounded buffering of messages or giving up liveness, under certain circumstances. However, many of these protocols do not (or can be modified to not) need such strong networking primitives. In this paper, we define a new, slightly weaker networking primitive that we call abortable broadcast. We describe an implementation of this new primitive and show that it (1) still provides strong delivery guarantees, even in the case of network congestion, link or peer failure, and backpressure, (2) preserves bandwidth, and (3) enforces all data structures to be bounded even in the presence of malicious peers. The latter prevents out-of-memory DoS attacks by malicious peers, an issue often overlooked in the literature. The new primitive and its implementation are not just theoretical. We use them to implement the BFT protocols in the IC (Internet Computer), a publicly available blockchain network that enables replicated execution of general-purpose computation, serving hundreds of thousands of applications and their users., Comment: 14 pages, 8 figures

Rapid adoption of machine learning (ML) technologies has led to a surge in power consumption across diverse systems, from tiny IoT devices to massive datacenter clusters. Benchmarking the energy efficiency of these systems is crucial for optimization, but presents novel challenges due to the variety of hardware platforms, workload characteristics, and system-level interactions. This paper introduces MLPerf Power, a comprehensive benchmarking methodology with capabilities to evaluate the energy efficiency of ML systems at power levels ranging from microwatts to megawatts. Developed by a consortium of industry professionals from more than 20 organizations, MLPerf Power establishes rules and best practices to ensure comparability across diverse architectures. We use representative workloads from the MLPerf benchmark suite to collect 1,841 reproducible measurements from 60 systems across the entire range of ML deployment scales. Our analysis reveals trade-offs between performance, complexity, and energy efficiency across this wide range of systems, providing actionable insights for designing optimized ML solutions from the smallest edge devices to the largest cloud infrastructures. This work emphasizes the importance of energy efficiency as a key metric in the evaluation and comparison of the ML system, laying the foundation for future research in this critical area. We discuss the implications for developing sustainable AI solutions and standardizing energy efficiency benchmarking for ML systems., Comment: 14 pages, 11 figures, 1 table

One-to-one tutoring is one of the most efficient methods of teaching. Following the rise in popularity of Large Language Models (LLMs), there have been efforts to use them to create conversational tutoring systems, which can make the benefits of one-to-one tutoring accessible to everyone. However, current LLMs are primarily trained to be helpful assistants and thus lack crucial pedagogical skills. For example, they often quickly reveal the solution to the student and fail to plan for a richer multi-turn pedagogical interaction. To use LLMs in pedagogical scenarios, they need to be steered towards using effective teaching strategies: a problem we introduce as Pedagogical Steering and believe to be crucial for the efficient use of LLMs as tutors. We address this problem by formalizing a concept of tutoring strategy, and introducing StratL, an algorithm to model a strategy and use prompting to steer the LLM to follow this strategy. As a case study, we create a prototype tutor for high school math following Productive Failure (PF), an advanced and effective learning design. To validate our approach in a real-world setting, we run a field study with 17 high school students in Singapore. We quantitatively show that StratL succeeds in steering the LLM to follow a Productive Failure tutoring strategy. We also thoroughly investigate the existence of spillover effects on desirable properties of the LLM, like its ability to generate human-like answers. Based on these results, we highlight the challenges in Pedagogical Steering and suggest opportunities for further improvements. We further encourage follow-up research by releasing a dataset of Productive Failure problems and the code of our prototype and algorithm., Comment: 18 pages, 9 figures, 6 tables

Public actors are often seen as slow, especially in renewing information systems, due to complex tendering and competition regulations, which delay decisions. This challenge is even greater in multi-company ecosystems. However, when faced with a common threat, the ecosystem needs to unite to face the challenge. This study explores how the Omaolo ecosystem in Finland evolved from traditional public-private cooperation to an alliance model during the COVID-19 pandemic from 2020 to 2022. It highlights how the crisis accelerated changes in operations and collaboration between public and private participants, identifying key shifts, benefits, and challenges. Key findings include the removal of traditional barriers and the creation of an alliance approach that sped up the development of Omaolo's symptom assessment tool. This improved collaboration, service scalability, and responsiveness to healthcare needs despite the initial regulatory and stakeholder alignment challenges. The study concludes that crises can drive agile responses in public ecosystems. The new collaboration model helped Omaolo to adapt quickly to changing service demands, managing healthcare patient loads more effectively. These findings highlight the value of flexible, collaborative strategies for responding to emergencies in public software ecosystems., Comment: 19 pages, 1 figure

Visual Question Answering (VQA) with multiple choice questions enables a vision-centric evaluation of Multimodal Large Language Models (MLLMs). Although it reliably checks the existence of specific visual abilities, it is easier for the model to select an answer from multiple choices (VQA evaluation) than to generate the answer itself. In this work, we offer a novel perspective: we evaluate how well an MLLM understands a specific visual concept by its ability to uniquely describe two extremely similar images that differ only in the targeted visual concept. Specifically, we assess the ability of MLLMs to capture specific points of visual differences using self-retrieval, i.e., by retrieving the target image using its generated caption against the other image in the pair serving as the distractor. We curate 247 highly similar image pairs as part of the D3 benchmark. For each image pair, the model is prompted to: (1) Detect a specific visual difference, and (2) Describe the target image uniquely such that it (3) Discriminates the target image from the distractor. Self-retrieval within D3 enables whitebox evaluation across six different visual patterns, revealing that current models struggle to independently discern fine-grained visual differences, with open-source models failing to outperform random guess., Comment: ECCV 2024 Workshop EVAL-FoMo; Project Page: https://katha-ai.github.io/projects/detect-describe-discriminate/

We present phenomenological findings on charm quark transport while including its energy loss in both pre-equilibrium and hydrodynamic stages of the evolution. We employed the MARTINI event generator for the production and evolution of heavy quarks in the relativistic heavy-ion collisions. The sensitivity of the heavy meson nuclear modification factor and flow coefficient to the early stage of heavy-ion collisions and bulk medium evolution is analyzed for Pb+Pb collisions at 5.02 TeV. Our study provides insights into the interaction strength of charm quarks during the early phase and within the quark-gluon plasma., Comment: 4 pages, 3 figures, Conference proceedings for 21st International Conference on Strangeness in Quark Matter (SQM2024), Strasbourg (France), June 3-7, 2024

Complex time-varying networks are prominent models for a wide variety of spatiotemporal phenomena. The functioning of networks depends crucially on their connectivity, yet reliable techniques for determining communities in spacetime networks remain elusive. We adapt successful spectral techniques from continuous-time dynamics on manifolds to the graph setting to fill this gap. We formulate an inflated dynamic Laplacian for graphs and develop a spectral theory to underpin the corresponding algorithmic realisations. We develop spectral clustering approaches for both multiplex and non-multiplex networks, based on the eigenvectors of the inflated dynamic Laplacian and specialised Sparse EigenBasis Approximation (SEBA) post-processing of these eigenvectors. We demonstrate that our approach can outperform the Leiden algorithm applied both in spacetime and layer-by-layer, and we analyse voting data from the US senate (where senators come and go as congresses evolve) to quantify increasing polarisation in time., Comment: 47 pages, 8 figures

We introduce Moshi, a speech-text foundation model and full-duplex spoken dialogue framework. Current systems for spoken dialogue rely on pipelines of independent components, namely voice activity detection, speech recognition, textual dialogue and text-to-speech. Such frameworks cannot emulate the experience of real conversations. First, their complexity induces a latency of several seconds between interactions. Second, text being the intermediate modality for dialogue, non-linguistic information that modifies meaning -- such as emotion or non-speech sounds -- is lost in the interaction. Finally, they rely on a segmentation into speaker turns, which does not take into account overlapping speech, interruptions and interjections. Moshi solves these independent issues altogether by casting spoken dialogue as speech-to-speech generation. Starting from a text language model backbone, Moshi generates speech as tokens from the residual quantizer of a neural audio codec, while modeling separately its own speech and that of the user into parallel streams. This allows for the removal of explicit speaker turns, and the modeling of arbitrary conversational dynamics. We moreover extend the hierarchical semantic-to-acoustic token generation of previous work to first predict time-aligned text tokens as a prefix to audio tokens. Not only this "Inner Monologue" method significantly improves the linguistic quality of generated speech, but we also illustrate how it can provide streaming speech recognition and text-to-speech. Our resulting model is the first real-time full-duplex spoken large language model, with a theoretical latency of 160ms, 200ms in practice, and is available at https://github.com/kyutai-labs/moshi.

We investigate in this work the evolution of the collective fast neutrino flavor conversion (FFC) in a three dimensional (3D) cubic box with periodic boundary condition for three different neutrino angular distributions that are axially asymmetric. We find that the system evolves toward a quasistationary state where the angular distribution of the spatially averaged neutrino electron-minus-muon lepton number (ELN) does not contain any crossings. In the quasistationary state, near flavor equilibration is achieved in one angular domain enclosed by the initial ELN angular crossing contour, similar to the conclusion derived based on simplified one dimensional (1D) system with axially symmetric neutrino angular distributions. We have also performed additional simulations in coordinates where the initial first ELN angular moment has only one nonvanishing spatial component by using the original axially asymmetric ELN angular distributions as well as the corresponding axisymmetric ELN distributions, and find interesting similarity between these two sets. Finally, we propose three different analytical prescriptions generalized from earlier 1D models to 3D models, and evaluate their performances in predicting the post-FFC moments. Our findings suggest that further development of effective classical transport model in multidimensions to capture the effect of FFC is promising., Comment: 12 pages, 9 figures; matches the published version

Image captioning systems are unable to generate fine-grained captions as they are trained on data that is either noisy (alt-text) or generic (human annotations). This is further exacerbated by maximum likelihood training that encourages generation of frequently occurring phrases. Previous works have tried to address this limitation by fine-tuning captioners with a self-retrieval (SR) reward. However, we find that SR fine-tuning has a tendency to reduce caption faithfulness and even hallucinate. In this work, we circumvent this bottleneck by improving the MLE initialization of the captioning system and designing a curriculum for the SR fine-tuning process. To this extent, we present (1) Visual Caption Boosting, a novel framework to instill fine-grainedness in generic image captioning datasets while remaining anchored in human annotations; and (2) BagCurri, a carefully designed training curriculum that more optimally leverages the contrastive nature of the self-retrieval reward. Jointly, they enable the captioner to describe fine-grained aspects in the image while preserving faithfulness to ground-truth captions. Our approach outperforms previous work by +8.9% on SR against 99 random distractors (RD100) (Dessi et al., 2023); and +7.6% on ImageCoDe. Additionally, existing metrics to evaluate captioning systems fail to reward diversity or evaluate a model's fine-grained understanding ability. Our third contribution addresses this by proposing self-retrieval from the lens of evaluation. We introduce TrueMatch, a benchmark comprising bags of highly similar images that uses SR to assess the captioner's ability to capture subtle visual distinctions. We evaluate and compare several state-of-the-art open-source MLLMs on TrueMatch, and find that our SR approach outperforms them all by a significant margin (e.g. +4.8% - 7.1% over Cambrian) while having 1-2 orders of magnitude fewer parameters.

Emerging holographic display technology offers unique capabilities for next-generation virtual reality systems. Current holographic near-eye displays, however, only support a small \'etendue, which results in a direct tradeoff between achievable field of view and eyebox size. \'Etendue expansion has recently been explored, but existing approaches are either fundamentally limited in the image quality that can be achieved or they require extremely high-speed spatial light modulators. We describe a new \'etendue expansion approach that combines multiple coherent sources with content-adaptive amplitude modulation of the hologram spectrum in the Fourier plane. To generate time-multiplexed phase and amplitude patterns for our spatial light modulators, we devise a pupil-aware gradient-descent-based computer-generated holography algorithm that is supervised by a large-baseline target light field. Compared with relevant baseline approaches, our method demonstrates significant improvements in image quality and \'etendue in simulation and with an experimental holographic display prototype., Comment: 12 pages, 7 figures, to be published in SIGGRAPH Asia 2024. Project website: https://bchao1.github.io/holo_dfm/

The structure of the low redshift Universe is dominated by a multi-scale void distribution delineated by filaments and walls of galaxies. The characteristics of voids; such as morphology, average density profile, and correlation function, can be used as cosmological probes. However, their physical properties are difficult to infer due to shot noise and the general lack of tracer particles used to define them. In this work, we construct a robust, topology-based void finding algorithm that utilizes Persistent Homology (PH) to detect persistent features in the data. We apply this approach to a volume limited sub-sample of galaxies in the SDSS I/II Main Galaxy catalog with the $r$-band absolute magnitude brighter than $M_r=-20.19$, and a set of mock catalogs constructed using the Horizon Run 4 cosmological $N$-body simulation. We measure the size distribution of voids, their averaged radial profile, sphericity, and the centroid nearest neighbor separation, using conservative values for the threshold and persistence. We find $32$ topologically robust voids in the SDSS data over the redshift range $0.02 \leq z \leq 0.116$, with effective radii in the range $21 - 56 \, h^{-1} \, {\rm Mpc}$. The median nearest neighbor void separation is found to be $\sim 57 \, h^{-1} \, {\rm Mpc}$, and the median radial void profile is consistent with the expected shape from the mock data., Comment: Accepted for publication in ApJ

Anonymity is an important principle online. However, malicious actors have long used misleading identities to conduct fraud, spread disinformation, and carry out other deceptive schemes. With the advent of increasingly capable AI, bad actors can amplify the potential scale and effectiveness of their operations, intensifying the challenge of balancing anonymity and trustworthiness online. In this paper, we analyze the value of a new tool to address this challenge: "personhood credentials" (PHCs), digital credentials that empower users to demonstrate that they are real people -- not AIs -- to online services, without disclosing any personal information. Such credentials can be issued by a range of trusted institutions -- governments or otherwise. A PHC system, according to our definition, could be local or global, and does not need to be biometrics-based. Two trends in AI contribute to the urgency of the challenge: AI's increasing indistinguishability from people online (i.e., lifelike content and avatars, agentic activity), and AI's increasing scalability (i.e., cost-effectiveness, accessibility). Drawing on a long history of research into anonymous credentials and "proof-of-personhood" systems, personhood credentials give people a way to signal their trustworthiness on online platforms, and offer service providers new tools for reducing misuse by bad actors. In contrast, existing countermeasures to automated deception -- such as CAPTCHAs -- are inadequate against sophisticated AI, while stringent identity verification solutions are insufficiently private for many use-cases. After surveying the benefits of personhood credentials, we also examine deployment risks and design challenges. We conclude with actionable next steps for policymakers, technologists, and standards bodies to consider in consultation with the public., Comment: 63 pages, 7 figures, 5 tables; minor additions to acknowledgments and wording changes for clarity; corrected typo

The explosion of artificial intelligence, possible end of Moore's law, dawn of quantum computing and continued exponential growth of data communications traffic have brought new urgency to the need for laser integration on the diversified Si platform. While diode lasers on III-V platforms have long powered internet data communications and other optoelectronic technologies, direct integration with Si remains problematic. A paradigm-shifting solution requires exploring new and unconventional materials and integration approaches. In this work, we show that a sub-10-nm ultra-thin Si$_{1-x}$Ge$_x$ buffer layer fabricated by an oxidative solid-phase epitaxy process can facilitate extraordinarily efficient strain relaxation. The Si$_{1-x}$Ge$_x$ layer is formed by ion implanting Ge into Si(111) and selectively oxidizing Si atoms in the resulting ion-damaged layer, precipitating a fully strain-relaxed Ge-rich layer between the Si substrate and surface oxide. The efficient strain relaxation results from the high oxidation temperature, producing a periodic network of dislocations at the substrate interface, coinciding with modulations of the Ge content in the Si$_{1-x}$Ge$_x$ layer and indicating the presence of defect-mediated diffusion of Si through the layer. The epitaxial growth of high-quality GaAs is demonstrated on this ultra-thin Si$_{1-x}$Ge$_x$ layer, demonstrating a promising new pathway for integrating III-V lasers directly on the Si platform., Comment: 16 pages, 5 figures

Cross-view video geo-localization (CVGL) aims to derive GPS trajectories from street-view videos by aligning them with aerial-view images. Despite their promising performance, current CVGL methods face significant challenges. These methods use camera and odometry data, typically absent in real-world scenarios. They utilize multiple adjacent frames and various encoders for feature extraction, resulting in high computational costs. Moreover, these approaches independently predict each street-view frame's location, resulting in temporally inconsistent GPS trajectories. To address these challenges, in this work, we propose GAReT, a fully transformer-based method for CVGL that does not require camera and odometry data. We introduce GeoAdapter, a transformer-adapter module designed to efficiently aggregate image-level representations and adapt them for video inputs. Specifically, we train a transformer encoder on video frames and aerial images, then freeze the encoder to optimize the GeoAdapter module to obtain video-level representation. To address temporally inconsistent trajectories, we introduce TransRetriever, an encoder-decoder transformer model that predicts GPS locations of street-view frames by encoding top-k nearest neighbor predictions per frame and auto-regressively decoding the best neighbor based on the previous frame's predictions. Our method's effectiveness is validated through extensive experiments, demonstrating state-of-the-art performance on benchmark datasets. Our code is available at https://github.com/manupillai308/GAReT., Comment: Accepted at ECCV 2024

Thanks to their parallel and sparse activity features, recurrent neural networks (RNNs) are well-suited for hardware implementation in low-power neuromorphic hardware. However, mapping rate-based RNNs to hardware-compatible spiking neural networks (SNNs) remains challenging. Here, we present a ${\Sigma}{\Delta}$-low-pass RNN (lpRNN): an RNN architecture employing an adaptive spiking neuron model that encodes signals using ${\Sigma}{\Delta}$-modulation and enables precise mapping. The ${\Sigma}{\Delta}$-neuron communicates analog values using spike timing, and the dynamics of the lpRNN are set to match typical timescales for processing natural signals, such as speech. Our approach integrates rate and temporal coding, offering a robust solution for the efficient and accurate conversion of RNNs to SNNs. We demonstrate the implementation of the lpRNN on Intel's neuromorphic research chip Loihi, achieving state-of-the-art classification results on audio benchmarks using 3-bit weights. These results call for a deeper investigation of recurrency and adaptation in event-based systems, which may lead to insights for edge computing applications where power-efficient real-time inference is required., Comment: 5 pages, 3 figures, accepted at ICONS 2024

Large language models (LLMs) present an opportunity to scale high-quality personalized education to all. A promising approach towards this means is to build dialog tutoring models that scaffold students' problem-solving. However, even though existing LLMs perform well in solving reasoning questions, they struggle to precisely detect student's errors and tailor their feedback to these errors. Inspired by real-world teaching practice where teachers identify student errors and customize their response based on them, we focus on verifying student solutions and show how grounding to such verification improves the overall quality of tutor response generation. We collect a dataset of 1K stepwise math reasoning chains with the first error step annotated by teachers. We show empirically that finding the mistake in a student solution is challenging for current models. We propose and evaluate several verifiers for detecting these errors. Using both automatic and human evaluation we show that the student solution verifiers steer the generation model towards highly targeted responses to student errors which are more often correct with less hallucinations compared to existing baselines., Comment: Preprint. Nico Daheim and Jakub Macina contributed equally. Code and dataset can be found under: https://github.com/eth-lre/verify-then-generate

This article presents a series of opposed flow flame spread experiments, conducted using cast cylindrical PMMA (acrylic) rods, 80 mm long and of diameters 1 mm and 0.5 mm, in normal gravity and microgravity environments. The experiments are primarily conducted for molar oxygen levels of 21%, 23% and 40% at 1 atmosphere pressure and opposed flow speed ranging from 0 cm/s to 25 cm/s. Experiments are also conducted in normal gravity for oxygen levels 21% to 60% to study the effect of oxygen level. At near ambient oxygen levels, the flame shape in microgravity resembles a mushroom and there are fluctuations at the leading edge due to sporadic fuel jets emanating from bursting bubbles at the fuel surface. The flame spreads faster in microgravity, which is determined to be due to increased preheat length. Preheat length is measured for flame spreading over 1 mm diameter fuel rod under no flow condition using fine thermocouples and is found to be 0.98 cm in microgravity and 0.34 cm in normal gravity. It is found that for scaling analysis, including Stefan flow velocity in the definition of reference velocity results in a reasonable estimate of the preheat length of a flame spreading in quiescent microgravity environment. At high oxygen levels (> 35%) the flame becomes turbulent and spreads at nearly the same rate in normal gravity and microgravity environments and the flame spread rates are not affected by external flow speed.

With the European Space Agency (ESA) and NASA working to return humans to the moon and onwards to Mars, it has never been more important to study the impact of altered gravity conditions on biological organisms. These include astronauts but also useful micro-organisms they may bring with them to produce food, medicine, and other useful compounds by synthetic biology. Parabolic flights are one of the most accessible microgravity research platforms but present their own challenges: relatively short periods of altered gravity (~20s) and aircraft vibration. Live-imaging is necessary in these altered-gravity conditions to readout any real-time phenotypes. Here we present Flight-Scope, a new microscopy and microfluidics platform to study dynamic cellular processes during the short, altered gravity periods on parabolic flights. We demonstrated Flight-Scopes capability by performing live and dynamic imaging of fluorescent glucose uptake by yeast, S. cerevisiae, on board an ESA parabolic flight. Flight-Scope operated well in this challenging environment, opening the way for future microgravity experiments on biological organisms., Comment: 22 pages, 5 figures

The Detection and Classification of Acoustic Scenes and Events Challenge Task 4 aims to advance sound event detection (SED) systems in domestic environments by leveraging training data with different supervision uncertainty. Participants are challenged in exploring how to best use training data from different domains and with varying annotation granularity (strong/weak temporal resolution, soft/hard labels), to obtain a robust SED system that can generalize across different scenarios. Crucially, annotation across available training datasets can be inconsistent and hence sound labels of one dataset may be present but not annotated in the other one and vice-versa. As such, systems will have to cope with potentially missing target labels during training. Moreover, as an additional novelty, systems will also be evaluated on labels with different granularity in order to assess their robustness for different applications. To lower the entry barrier for participants, we developed an updated baseline system with several caveats to address these aforementioned problems. Results with our baseline system indicate that this research direction is promising and is possible to obtain a stronger SED system by using diverse domain training data with missing labels compared to training a SED system for each domain separately.

Located at the bottom of the main sequence, ultracool dwarf stars are widespread in the solar neighbourhood. Nevertheless, their extremely low luminosity has left their planetary population largely unexplored, and only one of them, TRAPPIST-1, has so far been found to host a transiting planetary system. In this context, we present the SPECULOOS project's detection of an Earth-sized planet in a 17 h orbit around an ultracool dwarf of M6.5 spectral type located 16.8 pc away. The planet's high irradiation (16 times that of Earth) combined with the infrared luminosity and Jupiter-like size of its host star make it one of the most promising rocky exoplanet targets for detailed emission spectroscopy characterization with JWST. Indeed, our sensitivity study shows that just ten secondary eclipse observations with the Mid-InfraRed Instrument/Low-Resolution Spectrometer on board JWST should provide strong constraints on its atmospheric composition and/or surface mineralogy.

The classical dances from India utilize a set of hand gestures known as Mudras, serving as the foundational elements of its posture vocabulary. Identifying these mudras represents a primary task in digitizing the dance performances. With Kathakali, a dance-drama, as the focus, this work addresses mudra recognition by framing it as a 24-class classification problem and proposes a novel vector-similarity-based approach leveraging pose estimation techniques. This method obviates the need for extensive training or fine-tuning, thus mitigating the issue of limited data availability common in similar AI applications. Achieving an accuracy rate of 92%, our approach demonstrates comparable or superior performance to existing model-training-based methodologies in this domain. Notably, it remains effective even with small datasets comprising just 1 or 5 samples, albeit with a slightly diminished performance. Furthermore, our system supports processing images, videos, and real-time streams, accommodating both hand-cropped and full-body images. As part of this research, we have curated and released a publicly accessible Hasta Mudra dataset, which applies to multiple South Indian art forms including Kathakali. The implementation of the proposed method is also made available as a web application.

The rapid advancement of Artificial Intelligence (AI) in healthcare presents a unique opportunity for advancements in obstetric care, particularly through the analysis of cardiotocography (CTG) for fetal monitoring. However, the effectiveness of such technologies depends upon the availability of large, high-quality datasets that are suitable for machine learning. This paper introduces the Oxford Maternity (OxMat) dataset, the world's largest curated dataset of CTGs, featuring raw time series CTG data and extensive clinical data for both mothers and babies, which is ideally placed for machine learning. The OxMat dataset addresses the critical gap in women's health data by providing over 177,211 unique CTG recordings from 51,036 pregnancies, carefully curated and reviewed since 1991. The dataset also comprises over 200 antepartum, intrapartum and postpartum clinical variables, ensuring near-complete data for crucial outcomes such as stillbirth and acidaemia. While this dataset also covers the intrapartum stage, around 94% of the constituent CTGS are antepartum. This allows for a unique focus on the underserved antepartum period, in which early detection of at-risk fetuses can significantly improve health outcomes. Our comprehensive review of existing datasets reveals the limitations of current datasets: primarily, their lack of sufficient volume, detailed clinical data and antepartum data. The OxMat dataset lays a foundation for future AI-driven prenatal care, offering a robust resource for developing and testing algorithms aimed at improving maternal and fetal health outcomes.