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Quantum Max Cut (QMC), also known as the quantum anti-ferromagnetic Heisenberg model, is a QMA-complete problem relevant to quantum many-body physics and computer science. Semidefinite programming relaxations have been fruitful in designing theoretical approximation algorithms for QMC, but are computationally expensive for systems beyond tens of qubits. We give a second order cone relaxation for QMC, which optimizes over the set of mutually consistent three-qubit reduced density matrices. In combination with Pauli level-$1$ of the quantum Lasserre hierarchy, the relaxation achieves an approximation ratio of $0.526$ to the ground state energy. Our relaxation is solvable on systems with hundreds of qubits and paves the way to computationally efficient lower and upper bounds on the ground state energy of large-scale quantum spin systems., Comment: 26 pages, 5 figures, 2 tables. Comments welcome

The use of parallel manipulators in aerospace engineering has gained significant attention due to their ability to provide improved stability and precision. This paper presents the design, control, and analysis of 'STEWIE', which is a three-degree-of-freedom (DoF) parallel manipulator robot developed by members of the thrustMIT rocketry team, as a payload stabilization mechanism for their sounding rocket, 'Altair'. The goal of the robot was to demonstrate the attitude control of the parallel plate against the continuous change in orientation experienced by the rocket during its flight, stabilizing the payloads. At the same time, the high gravitational forces (G-forces) and vibrations experienced by the sounding rocket are counteracted. A novel design of the mechanism, inspired by a standard Stewart platform, is proposed which was down-scaled to fit inside a 4U CubeSat within its space constraints. The robot uses three micro servo motors to actuate the links that control the alignment of the parallel plate. In addition to the actuation mechanism, a robust control system for its manipulation was developed for the robot. The robot represents a significant advancement in the field of space robotics in the aerospace industry by demonstrating the successful implementation of complex robotic mechanisms in small, confined spaces such as CubeSats, which are standard form factors for large payloads in the aerospace industry., Comment: For code and design files, refer to https://github.com/utkarshanand140/Stewie-Robot

Research has shown the effectiveness of reasoning (e.g., Chain-of-Thought), planning (e.g., SelfAsk), and retrieval augmented generation strategies to improve the performance of Large Language Models (LLMs) on various tasks, such as question answering. However, using a single fixed strategy to answer different kinds of questions is suboptimal in performance and inefficient in terms of generated output tokens and performed retrievals. In our work, we propose a novel technique DyPlan, to induce a dynamic strategy selection process in LLMs, to improve performance and reduce costs in question-answering. DyPlan incorporates an initial decision step to select the most suitable strategy conditioned on the input question and guides the LLM's response generation accordingly. We extend DyPlan to DyPlan-verify, adding an internal verification and correction process to further enrich the generated answer. Experiments on three prominent multi-hop question answering (MHQA) datasets reveal how DyPlan can improve model performance by 7-13% while reducing the cost by 11-32% relative to the best baseline model., Comment: Under review at ACL Rolling Review

A series of work [GKK+08, Kal22, KPV24] has shown that asymptotic advantages in space complexity are possible for quantum algorithms over their classical counterparts in the streaming model. We give a simple quantum sketch that encompasses all these results, allowing them to be derived from entirely classical algorithms using our quantum sketch as a black box. The quantum sketch and its proof of correctness are designed to be accessible to a reader with no background in quantum computation, relying on only a small number of self-contained quantum postulates., Comment: To appear in SOSA 2025

Social media is often the first place where communities discuss the latest societal trends. Prior works have utilized this platform to extract epidemic-related information (e.g. infections, preventive measures) to provide early warnings for epidemic prediction. However, these works only focused on English posts, while epidemics can occur anywhere in the world, and early discussions are often in the local, non-English languages. In this work, we introduce the first multilingual Event Extraction (EE) framework SPEED++ for extracting epidemic event information for a wide range of diseases and languages. To this end, we extend a previous epidemic ontology with 20 argument roles; and curate our multilingual EE dataset SPEED++ comprising 5.1K tweets in four languages for four diseases. Annotating data in every language is infeasible; thus we develop zero-shot cross-lingual cross-disease models (i.e., training only on English COVID data) utilizing multilingual pre-training and show their efficacy in extracting epidemic-related events for 65 diverse languages across different diseases. Experiments demonstrate that our framework can provide epidemic warnings for COVID-19 in its earliest stages in Dec 2019 (3 weeks before global discussions) from Chinese Weibo posts without any training in Chinese. Furthermore, we exploit our framework's argument extraction capabilities to aggregate community epidemic discussions like symptoms and cure measures, aiding misinformation detection and public attention monitoring. Overall, we lay a strong foundation for multilingual epidemic preparedness., Comment: Accepted at EMNLP 2024

Client-Service Representatives (CSRs) are vital to organizations. Frequent interactions with disgruntled clients, however, disrupt their mental well-being. To help CSRs regulate their emotions while interacting with uncivil clients, we designed Pro-Pilot, an LLM-powered assistant, and evaluated its efficacy, perception, and use. Our comparative analyses between 665 human and Pro-Pilot-generated support messages demonstrate Pro-Pilot's ability to adapt to and demonstrate empathy in various incivility incidents. Additionally, 143 CSRs assessed Pro-Pilot's empathy as more sincere and actionable than human messages. Finally, we interviewed 20 CSRs who interacted with Pro-Pilot in a simulation exercise. They reported that Pro-Pilot helped them avoid negative thinking, recenter thoughts, and humanize clients; showing potential for bridging gaps in coworker support. Yet, they also noted deployment challenges and emphasized the irreplaceability of shared experiences. We discuss future designs and societal implications of AI-mediated emotional labor, underscoring empathy as a critical function for AI assistants in front-office roles.

Despite the growing use of deep neural networks in safety-critical decision-making, their inherent black-box nature hinders transparency and interpretability. Explainable AI (XAI) methods have thus emerged to understand a model's internal workings, and notably attribution methods also called saliency maps. Conventional attribution methods typically identify the locations -- the where -- of significant regions within an input. However, because they overlook the inherent structure of the input data, these methods often fail to interpret what these regions represent in terms of structural components (e.g., textures in images or transients in sounds). Furthermore, existing methods are usually tailored to a single data modality, limiting their generalizability. In this paper, we propose leveraging the wavelet domain as a robust mathematical foundation for attribution. Our approach, the Wavelet Attribution Method (WAM) extends the existing gradient-based feature attributions into the wavelet domain, providing a unified framework for explaining classifiers across images, audio, and 3D shapes. Empirical evaluations demonstrate that WAM matches or surpasses state-of-the-art methods across faithfulness metrics and models in image, audio, and 3D explainability. Finally, we show how our method explains not only the where -- the important parts of the input -- but also the what -- the relevant patterns in terms of structural components., Comment: main: 10 pages, appendix: 14 pages, 5 Tables, 25 Figures

A human interacting with a robot often forms predictions of what the robot will do next. For instance, based on the recent behavior of an autonomous car, a nearby human driver might predict that the car is going to remain in the same lane. It is important for the robot to understand the human's prediction for safe and seamless interaction: e.g., if the autonomous car knows the human thinks it is not merging -- but the autonomous car actually intends to merge -- then the car can adjust its behavior to prevent an accident. Prior works typically assume that humans make precise predictions of robot behavior. However, recent research on human-human prediction suggests the opposite: humans tend to approximate other agents by predicting their high-level behaviors. We apply this finding to develop a second-order theory of mind approach that enables robots to estimate how humans predict they will behave. To extract these high-level predictions directly from data, we embed the recent human and robot trajectories into a discrete latent space. Each element of this latent space captures a different type of behavior (e.g., merging in front of the human, remaining in the same lane) and decodes into a vector field across the state space that is consistent with the underlying behavior type. We hypothesize that our resulting high-level and course predictions of robot behavior will correspond to actual human predictions. We provide initial evidence in support of this hypothesis through a proof-of-concept user study.

Deep operator networks (DeepONet) and neural operators have gained significant attention for their ability to map infinite-dimensional function spaces and perform zero-shot super-resolution. However, these models often require large datasets for effective training. While physics-informed operators offer a data-agnostic learning approach, they introduce additional training complexities and convergence issues, especially in highly nonlinear systems. To overcome these challenges, we introduce Finite Basis Physics-Informed HyperDeepONet (FB-HyDON), an advanced operator architecture featuring intrinsic domain decomposition. By leveraging hypernetworks and finite basis functions, FB-HyDON effectively mitigates the training limitations associated with existing physics-informed operator learning methods. We validated our approach on the high-frequency harmonic oscillator, Burgers' equation at different viscosity levels, and Allen-Cahn equation demonstrating substantial improvements over other operator learning models.

Recent successes in producing rigorous approximation algorithms for local Hamiltonian problems such as Quantum Max Cut have exploited connections to unconstrained classical discrete optimization problems. We initiate the study of approximation algorithms for constrained local Hamiltonian problems, using the well-studied classical Vertex Cover problem as inspiration. We consider natural quantum generalizations of Vertex Cover, and one of them, called Transverse Vertex Cover (TVC), is equivalent to the PXP model with additional 1-local Pauli-Z terms. We show TVC is StoqMA-hard and develop an approximation algorithm for it based on a quantum generalization of the classical local ratio method. This results in a simple linear-time classical approximation algorithm that does not depend on solving a convex relaxation. We also demonstrate our quantum local ratio method on a traditional unconstrained quantum local Hamiltonian version of Vertex Cover which is equivalent to the anti-ferromagnetic transverse field Ising model., Comment: 33 pages

The EXperiment for Cryogenic Large-Aperture Intensity Mapping (EXCLAIM) is a balloon-borne telescope designed to survey star formation over cosmological time scales using intensity mapping in the 420 - 540 GHz frequency range. EXCLAIM uses a fully cryogenic telescope coupled to six on-chip spectrometers featuring kinetic inductance detectors (KIDs) to achieve high sensitivity, allowing for fast integration in dark atmospheric windows. The telescope receiver is cooled to $\approx$ 1.7 K by immersion in a superfluid helium bath and enclosed in a superfluid-tight shell with a meta-material anti-reflection coated silicon window. In addition to the optics and the spectrometer package, the receiver contains the magnetic shielding, the cryogenic segment of the spectrometer readout, and the sub-Kelvin cooling system. A three-stage continuous adiabatic demagnetization refrigerator (CADR) keeps the detectors at 100 mK while a $^4$He sorption cooler provides a 900 mK thermal intercept for mechanical suspensions and coaxial cables. We present the design of the EXCLAIM receiver and report on the flight-like testing of major receiver components, including the superfluid-tight receiver window and the sub-Kelvin coolers., Comment: 13 pages, 7 figures, 1 table

The long runtime associated with simulating multidisciplinary systems challenges the use of Bayesian optimization for multidisciplinary design optimization (MDO). This is particularly the case if the coupled system is modeled in a partitioned manner and feedback loops, known as strong coupling, are present. This work introduces a method for Bayesian optimization in MDO called "Multidisciplinary Design Optimization using Thompson Sampling", abbreviated as MDO-TS. Instead of replacing the whole system with a surrogate, we substitute each discipline with such a Gaussian process. Since an entire multidisciplinary analysis is no longer required for enrichment, evaluations can potentially be saved. However, the objective and associated uncertainty are no longer analytically estimated. Since most adaptive sampling strategies assume the availability of these estimates, they cannot be applied without modification. Thompson sampling does not require this explicit availability. Instead, Thompson sampling balances exploration and exploitation by selecting actions based on optimizing random samples from the objective. We combine Thompson sampling with an approximate sampling strategy that uses random Fourier features. This approach produces continuous functions that can be evaluated iteratively. We study the application of this infill criterion to both an analytical problem and the shape optimization of a simple fluid-structure interaction example.

We introduce Imagen 3, a latent diffusion model that generates high quality images from text prompts. We describe our quality and responsibility evaluations. Imagen 3 is preferred over other state-of-the-art (SOTA) models at the time of evaluation. In addition, we discuss issues around safety and representation, as well as methods we used to minimize the potential harm of our models.

Question Under Discussion (QUD) is a discourse framework that uses implicit questions to reveal discourse relationships between sentences. In QUD parsing, each sentence is viewed as an answer to a question triggered by an anchor sentence in prior context. The resulting QUD structure is required to conform to several theoretical criteria like answer compatibility (how well the question is answered), making QUD parsing a challenging task. Previous works construct QUD parsers in a pipelined manner (i.e. detect the trigger sentence in context and then generate the question). However, these parsers lack a holistic view of the task and can hardly satisfy all the criteria. In this work, we introduce QUDSELECT, a joint-training framework that selectively decodes the QUD dependency structures considering the QUD criteria. Using instruction-tuning, we train models to simultaneously predict the anchor sentence and generate the associated question. To explicitly incorporate the criteria, we adopt a selective decoding strategy of sampling multiple QUD candidates during inference, followed by selecting the best one with criteria scorers. Our method outperforms the state-of-the-art baseline models by 9% in human evaluation and 4% in automatic evaluation, demonstrating the effectiveness of our framework., Comment: 11 Pages, 5 figures

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

Understanding motorist detouring behavior is critical for both traffic operations and planning applications. However, measuring real-world detouring behavior is challenging due to the need to track the movement of individual vehicles. Recent developments in high-resolution vehicle trajectory data have enabled transportation professionals to observe real-world detouring behaviors without the need to install and maintain hardware such as license plate reading cameras. This paper investigates the feasibility of vehicle probe trajectory data to capture commercial motor vehicle (CMV) detouring behavior under three unique case studies. Before doing so, a validation analysis was conducted to investigate the ability of CMV probe trajectory data to represent overall CMV volumes at well-calibrated count stations near virtual weigh stations (VWS) in Maryland. The validation analysis showed strong positive correlations (above 0.75) at all VWS stations. Upon validating the data, a methodology was applied to assess CMV detour behaviors associated with CMV enforcement activities, congestion avoidance, and incident induced temporary road closures., Comment: Presented at Transportation Research Board Annual Meeting 2024. Presentation number: TRBAM-24-02157

Language models have been shown to reproduce underlying biases existing in their training data, which is the majority perspective by default. Proposed solutions aim to capture minority perspectives by either modelling annotator disagreements or grouping annotators based on shared metadata, both of which face significant challenges. We propose a framework that trains models without encoding annotator metadata, extracts latent embeddings informed by annotator behaviour, and creates clusters of similar opinions, that we refer to as voices. Resulting clusters are validated post-hoc via internal and external quantitative metrics, as well a qualitative analysis to identify the type of voice that each cluster represents. Our results demonstrate the strong generalisation capability of our framework, indicated by resulting clusters being adequately robust, while also capturing minority perspectives based on different demographic factors throughout two distinct datasets.

Evaluating the generalisation capabilities of multimodal models based solely on their performance on out-of-distribution data fails to capture their true robustness. This work introduces a comprehensive evaluation framework that systematically examines the role of instructions and inputs in the generalisation abilities of such models, considering architectural design, input perturbations across language and vision modalities, and increased task complexity. The proposed framework uncovers the resilience of multimodal models to extreme instruction perturbations and their vulnerability to observational changes, raising concerns about overfitting to spurious correlations. By employing this evaluation framework on current Transformer-based multimodal models for robotic manipulation tasks, we uncover limitations and suggest future advancements should focus on architectural and training innovations that better integrate multimodal inputs, enhancing a model's generalisation prowess by prioritising sensitivity to input content over incidental correlations., Comment: Accepted at EMNLP 2024 (main)

The advancements of machine learning-based (ML) decision-making algorithms created various research and industrial opportunities. One of these areas is ML-based near-real-time network management applications (xApps) in Open-Radio Access Network (O-RAN). Normally, xApps are designed solely for the desired objectives, and fine-tuned for deployment. However, telecommunication companies can employ multiple xApps and deploy them in overlapping areas. Consider the different design objectives of xApps, the deployment might cause conflicts. To prevent such conflicts, we proposed the xApp distillation method that distills knowledge from multiple xApps, then uses this knowledge to train a single model that has retained the capabilities of Previous xApps. Performance evaluations show that compared conflict mitigation schemes can cause up to six times more network outages than xApp distillation in some cases., Comment: 5 Pages, 4 figures

Developing inherently interpretable models for prediction has gained prominence in recent years. A subclass of these models, wherein the interpretable network relies on learning high-level concepts, are valued because of closeness of concept representations to human communication. However, the visualization and understanding of the learnt unsupervised dictionary of concepts encounters major limitations, specially for large-scale images. We propose here a novel method that relies on mapping the concept features to the latent space of a pretrained generative model. The use of a generative model enables high quality visualization, and naturally lays out an intuitive and interactive procedure for better interpretation of the learnt concepts. Furthermore, leveraging pretrained generative models has the additional advantage of making the training of the system more efficient. We quantitatively ascertain the efficacy of our method in terms of accuracy of the interpretable prediction network, fidelity of reconstruction, as well as faithfulness and consistency of learnt concepts. The experiments are conducted on multiple image recognition benchmarks for large-scale images. Project page available at https://jayneelparekh.github.io/VisCoIN_project_page/, Comment: Project page available at https://jayneelparekh.github.io/VisCoIN_project_page/

Deep Operator Networks (DeepONets) and their physics-informed variants have shown significant promise in learning mappings between function spaces of partial differential equations, enhancing the generalization of traditional neural networks. However, for highly nonlinear real-world applications like aerospace composites processing, existing models often fail to capture underlying solutions accurately and are typically limited to single input functions, constraining rapid process design development. This paper introduces an advanced physics-informed DeepONet tailored for such complex systems with multiple input functions. Equipped with architectural enhancements like nonlinear decoders and effective training strategies such as curriculum learning and domain decomposition, the proposed model handles high-dimensional design spaces with significantly improved accuracy, outperforming the vanilla physics-informed DeepONet by two orders of magnitude. Its zero-shot prediction capability across a broad design space makes it a powerful tool for accelerating composites process design and optimization, with potential applications in other engineering fields characterized by strong nonlinearity., Comment: Accepted at the ICML 2024 Workshop on AI for Science: Scaling in AI for Scientific Discovery

Large multimodal models (LMMs) combine unimodal encoders and large language models (LLMs) to perform multimodal tasks. Despite recent advancements towards the interpretability of these models, understanding internal representations of LMMs remains largely a mystery. In this paper, we present a novel framework for the interpretation of LMMs. We propose a dictionary learning based approach, applied to the representation of tokens. The elements of the learned dictionary correspond to our proposed concepts. We show that these concepts are well semantically grounded in both vision and text. Thus we refer to these as "multi-modal concepts". We qualitatively and quantitatively evaluate the results of the learnt concepts. We show that the extracted multimodal concepts are useful to interpret representations of test samples. Finally, we evaluate the disentanglement between different concepts and the quality of grounding concepts visually and textually. We will publicly release our code.

Pursuing natural and marker-less human-robot interaction (HRI) has been a long-standing robotics research focus, driven by the vision of seamless collaboration without physical markers. Marker-less approaches promise an improved user experience, but state-of-the-art struggles with the challenges posed by intrinsic errors in human pose estimation (HPE) and depth cameras. These errors can lead to issues such as robot jittering, which can significantly impact the trust users have in collaborative systems. We propose a filtering pipeline that refines incomplete 3D human poses from an HPE backbone and a single RGB-D camera to address these challenges, solving for occlusions that can degrade the interaction. Experimental results show that using the proposed filter leads to more consistent and noise-free motion representation, reducing unexpected robot movements and enabling smoother interaction., Comment: Published by and copyright protected by IEEE, 6 pages, 3 figures, 33rd IEEE International Conference on Robot & Human Interactive Communication (RO-MAN 2024)

We address the long-standing problem of how to learn effective pixel-based image diffusion models at scale, introducing a remarkably simple greedy growing method for stable training of large-scale, high-resolution models. without the needs for cascaded super-resolution components. The key insight stems from careful pre-training of core components, namely, those responsible for text-to-image alignment {\it vs.} high-resolution rendering. We first demonstrate the benefits of scaling a {\it Shallow UNet}, with no down(up)-sampling enc(dec)oder. Scaling its deep core layers is shown to improve alignment, object structure, and composition. Building on this core model, we propose a greedy algorithm that grows the architecture into high-resolution end-to-end models, while preserving the integrity of the pre-trained representation, stabilizing training, and reducing the need for large high-resolution datasets. This enables a single stage model capable of generating high-resolution images without the need of a super-resolution cascade. Our key results rely on public datasets and show that we are able to train non-cascaded models up to 8B parameters with no further regularization schemes. Vermeer, our full pipeline model trained with internal datasets to produce 1024x1024 images, without cascades, is preferred by 44.0% vs. 21.4% human evaluators over SDXL.

Augmenting Large Language Models (LLMs) with image-understanding capabilities has resulted in a boom of high-performing Vision-Language models (VLMs). While studying the alignment of LLMs to human values has received widespread attention, the safety of VLMs has not received the same attention. In this paper, we explore the impact of jailbreaking on three state-of-the-art VLMs, each using a distinct modeling approach. By comparing each VLM to their respective LLM backbone, we find that each VLM is more susceptible to jailbreaking. We consider this as an undesirable outcome from visual instruction-tuning, which imposes a forgetting effect on an LLM's safety guardrails. Therefore, we provide recommendations for future work based on evaluation strategies that aim to highlight the weaknesses of a VLM, as well as take safety measures into account during visual instruction tuning.

Quantum machine learning (QML) has the potential for improving the multi-label classification of rare, albeit critical, diseases in large-scale chest x-ray (CXR) datasets due to theoretical quantum advantages over classical machine learning (CML) in sample efficiency and generalizability. While prior literature has explored QML with CXRs, it has focused on binary classification tasks with small datasets due to limited access to quantum hardware and computationally expensive simulations. To that end, we implemented a Jax-based framework that enables the simulation of medium-sized qubit architectures with significant improvements in wall-clock time over current software offerings. We evaluated the performance of our Jax-based framework in terms of efficiency and performance for hybrid quantum transfer learning for long-tailed classification across 8, 14, and 19 disease labels using large-scale CXR datasets. The Jax-based framework resulted in up to a 58% and 95% speed-up compared to PyTorch and TensorFlow implementations, respectively. However, compared to CML, QML demonstrated slower convergence and an average AUROC of 0.70, 0.73, and 0.74 for the classification of 8, 14, and 19 CXR disease labels. In comparison, the CML models had an average AUROC of 0.77, 0.78, and 0.80 respectively. In conclusion, our work presents an accessible implementation of hybrid quantum transfer learning for long-tailed CXR classification with a computationally efficient Jax-based framework., Comment: 11 pages, 13 figures, 3 tables

Vision-language datasets are vital for both text-to-image (T2I) and image-to-text (I2T) research. However, current datasets lack descriptions with fine-grained detail that would allow for richer associations to be learned by models. To fill the gap, we introduce Descriptions of Connected and Contrasting Images (DOCCI), a dataset with long, human-annotated English descriptions for 15k images that were taken, curated and donated by a single researcher intent on capturing key challenges such as spatial relations, counting, text rendering, world knowledge, and more. We instruct human annotators to create comprehensive descriptions for each image; these average 136 words in length and are crafted to clearly distinguish each image from those that are related or similar. Each description is highly compositional and typically encompasses multiple challenges. Through both quantitative and qualitative analyses, we demonstrate that DOCCI serves as an effective training resource for image-to-text generation -- a PaLI 5B model finetuned on DOCCI shows equal or superior results compared to highly-performant larger models like LLaVA-1.5 7B and InstructBLIP 7B. Furthermore, we show that DOCCI is a useful testbed for text-to-image generation, highlighting the limitations of current text-to-image models in capturing long descriptions and fine details.

Robots can use Visual Imitation Learning (VIL) to learn everyday tasks from video demonstrations. However, translating visual observations into actionable robot policies is challenging due to the high-dimensional nature of video data. This challenge is further exacerbated by the morphological differences between humans and robots, especially when the video demonstrations feature humans performing tasks. To address these problems we introduce Visual Imitation lEarning with Waypoints (VIEW), an algorithm that significantly enhances the sample efficiency of human-to-robot VIL. VIEW achieves this efficiency using a multi-pronged approach: extracting a condensed prior trajectory that captures the demonstrator's intent, employing an agent-agnostic reward function for feedback on the robot's actions, and utilizing an exploration algorithm that efficiently samples around waypoints in the extracted trajectory. VIEW also segments the human trajectory into grasp and task phases to further accelerate learning efficiency. Through comprehensive simulations and real-world experiments, VIEW demonstrates improved performance compared to current state-of-the-art VIL methods. VIEW enables robots to learn a diverse range of manipulation tasks involving multiple objects from arbitrarily long video demonstrations. Additionally, it can learn standard manipulation tasks such as pushing or moving objects from a single video demonstration in under 30 minutes, with fewer than 20 real-world rollouts. Code and videos here: https://collab.me.vt.edu/view/, Comment: 27 pages, 17 figures

We show that the directed landscape is a black noise in the sense of Tsirelson and Vershik. As a corollary, we show that for any microscopic system in which the height profile converges in law to the directed landscape, the driving noise is asymptotically independent of the height profile. This decoupling result provides one answer to the question of what happens to the driving noise in the limit under the KPZ scaling, and illustrates a type of noise sensitivity for systems in the KPZ universality class. Such decoupling and sensitivity phenomena are not present in the intermediate-disorder or weak-asymmetry regime, thus illustrating a contrast from the weak KPZ scaling regime. Along the way, we prove a strong mixing property for the directed landscape on a bounded time interval under spatial shifts, with a mixing rate $\alpha(N)\leq Ce^{-dN^3}$ for some $C,d>0$., Comment: 34 pages, 1 figure

Generative Adversarial Network (GAN)-based synthesis of fat suppressed (FS) MRIs from non-FS proton density sequences has the potential to accelerate acquisition of knee MRIs. However, GANs trained on single-site data have poor generalizability to external data. We show that federated learning can improve multi-center generalizability of GANs for synthesizing FS MRIs, while facilitating privacy-preserving multi-institutional collaborations., Comment: 5 pages, 2 figures

Social media is an easy-to-access platform providing timely updates about societal trends and events. Discussions regarding epidemic-related events such as infections, symptoms, and social interactions can be crucial for informing policymaking during epidemic outbreaks. In our work, we pioneer exploiting Event Detection (ED) for better preparedness and early warnings of any upcoming epidemic by developing a framework to extract and analyze epidemic-related events from social media posts. To this end, we curate an epidemic event ontology comprising seven disease-agnostic event types and construct a Twitter dataset SPEED with human-annotated events focused on the COVID-19 pandemic. Experimentation reveals how ED models trained on COVID-based SPEED can effectively detect epidemic events for three unseen epidemics of Monkeypox, Zika, and Dengue; while models trained on existing ED datasets fail miserably. Furthermore, we show that reporting sharp increases in the extracted events by our framework can provide warnings 4-9 weeks earlier than the WHO epidemic declaration for Monkeypox. This utility of our framework lays the foundations for better preparedness against emerging epidemics., Comment: Accepted at NAACL 2024

Curating annotations for medical image segmentation is a labor-intensive and time-consuming task that requires domain expertise, resulting in "narrowly" focused deep learning (DL) models with limited translational utility. Recently, foundation models like the Segment Anything Model (SAM) have revolutionized semantic segmentation with exceptional zero-shot generalizability across various domains, including medical imaging, and hold a lot of promise for streamlining the annotation process. However, SAM has yet to be evaluated in a crowd-sourced setting to curate annotations for training 3D DL segmentation models. In this work, we explore the potential of SAM for crowd-sourcing "sparse" annotations from non-experts to generate "dense" segmentation masks for training 3D nnU-Net models, a state-of-the-art DL segmentation model. Our results indicate that while SAM-generated annotations exhibit high mean Dice scores compared to ground-truth annotations, nnU-Net models trained on SAM-generated annotations perform significantly worse than nnU-Net models trained on ground-truth annotations ($p<0.001$, all).

The development of secure cryptographic protocols and the subsequent attack mechanisms have been placed in the literature with the utmost curiosity. While sophisticated quantum attacks bring a concern to the classical cryptographic protocols present in the applications used in everyday life, the necessity of developing post-quantum protocols is felt primarily. In post-quantum cryptography, elliptic curve-base protocols are exciting to the researchers. While the comprehensive study of elliptic curves over finite fields is well known, the extended study over finite rings is still missing. In this work, we generalize the study of Weierstrass elliptic curves over finite ring $\mathbb{Z}_n$ through classification. Several expressions to compute critical factors in studying elliptic curves are conferred. An all-around computational classification on the Weierstrass elliptic curves over $\mathbb{Z}_n$ for rigorous understanding is also attached to this work., Comment: 12 pages, 2 figures, draft

We try to find the possibility of a Bianchi V universe in the modified gravitational field theory of $f(R,T)$. We have considered a Lagrangian model in the connection between the trace of the energy-momentum tensor $T$ and the Ricci scalar $R$. In order to solve the field equations a power law for the scaling factor was also considered. To make a comparison of the model parameters with the observational data, we put constraints on the model under the datasets of the Hubble parameter, Baryon Acoustic Oscillations, Pantheon, joint datasets of Hubble parameter + Pantheon, and collective datasets of the Hubble parameter + Baryon Acoustic Oscillations + Pantheon. The outcomes for the Hubble parameter in the present epoch are reasonably acceptable, especially since our estimation of this $H_0$ is remarkably consistent with various recent Planck Collaboration studies that utilize the $\Lambda$-CDM model.

Hallucinations and delusions are often grouped together within the positive symptoms of psychosis. However, recent evidence suggests they may be driven by distinct computational and neural mechanisms. Examining the time course of their emergence may provide insights into the relationship between these underlying mechanisms. Participants from the second (N = 719) and third (N = 699) iterations of the North American Prodrome Longitudinal Study (NAPLS 2 and 3) were assessed for timing of CHR-P-level delusion and hallucination onset. Pre-onset symptom patterns in first-episode psychosis patients (FEP) from the Prevention and Early Intervention Program for Psychosis (PEPP-Montreal; N = 694) were also assessed. Symptom onset was determined at baseline assessment and the evolution of symptom patterns examined over 24 months. In all three samples, participants were more likely to report the onset of delusion-spectrum symptoms prior to hallucination-spectrum symptoms (odds ratios (OR): NAPLS 2 = 4.09; NAPLS 3 = 4.14; PEPP, Z = 7.01, P < 0.001) and to present with only delusions compared to only hallucinations (OR: NAPLS 2 = 5.6; NAPLS 3 = 11.11; PEPP = 42.75). Re-emergence of delusions after remission was also more common than re-emergence of hallucinations (Ps < 0.05), and hallucinations more often resolved first (Ps < 0.001). In both CHR-P samples, ratings of delusional ideation fell with the onset of hallucinations (P = 0.007). Delusions tend to emerge before hallucinations and may play a role in their development. Further work should examine the relationship between the mechanisms driving these symptoms and its utility for diagnosis and treatment.

The proliferation of artificial intelligence (AI) in radiology has shed light on the risk of deep learning (DL) models exacerbating clinical biases towards vulnerable patient populations. While prior literature has focused on quantifying biases exhibited by trained DL models, demographically targeted adversarial bias attacks on DL models and its implication in the clinical environment remains an underexplored field of research in medical imaging. In this work, we demonstrate that demographically targeted label poisoning attacks can introduce undetectable underdiagnosis bias in DL models. Our results across multiple performance metrics and demographic groups like sex, age, and their intersectional subgroups show that adversarial bias attacks demonstrate high-selectivity for bias in the targeted group by degrading group model performance without impacting overall model performance. Furthermore, our results indicate that adversarial bias attacks result in biased DL models that propagate prediction bias even when evaluated with external datasets., Comment: 29 pages, 4 figures