Search

The direct detection of gravitational waves by LIGO has confirmed general relativity (GR) and sparked rapid growth in gravitational wave (GW) astronomy. However, subtle post-Newtonian (PN) deviations observed during the analysis of high signal-to-noise ratio events from the observational runs suggest that standard waveform templates, which assume strict adherence to GR, might overlook signals from alternative theories of gravity. Incorporating these exotic signals into traditional search algorithms is computationally infeasible due to the vast template space required. This paper introduces a deep learning framework for detecting exotic GW signals, leveraging neural networks trained on GR-based templates. Through their generalization ability, neural networks learn intricate features from the data, enabling the detection of signals that deviate from GR. We present the first study evaluating the capability of deep learning to detect beyond-GR signals, including a variety of PN orders. Our model achieves rapid and accurate identification of exotic GW signals across different luminosity distances, with performance comparable to GR-based detections. Applying the model to the GW150914 event demonstrates excellent performance, highlighting the potential of AI-driven methods for detecting previously overlooked signals beyond GR. This work paves the way for new discoveries in gravitational wave astronomy, enabling the detection of signals that might escape traditional search pipelines., Comment: 10 pages, 7 figures

The Gamma-Ray Integrated Detectors (GRID) are a space science mission that employs compact gamma-ray detectors mounted on NanoSats in low Earth orbit (LEO) to monitor the transient gamma-ray sky. Owing to the unpredictability of the time and location of gamma-ray bursts (GRBs), obtaining the photon responses of gamma-ray detectors at various incident angles is important for the scientific analysis of GRB data captured by GRID detectors. For this purpose, a dedicated Monte Carlo simulation framework has been developed for GRID detectors. By simulating each GRID detector and the NanoSat carrying it, the spectral energy response, detection efficiency, and other angular responses of each detector for photons with different incident angles and energies can be obtained within this framework. The accuracy of these simulations has been corroborated through on-ground calibration, and the derived angular responses have been successfully applied to the data analysis of recorded GRBs., Comment: 15 pages, 9 figures

GRB 230812B, detected by the Gamma-Ray Integrated Detectors (GRID) constellation mission, is an exceptionally bright gamma-ray burst (GRB) with a duration of only 3 seconds. Sitting near the traditional boundary ($\sim$ 2 s) between long and short GRBs, GRB 230812B is notably associated with a supernova (SN), indicating a massive star progenitor. This makes it a rare example of a short-duration GRB resulting from stellar collapse. Our analysis, using a time-evolving synchrotron model, suggests that the burst has an emission radius of approximately $10^{14.5}$~cm. We propose that the short duration of GRB 230812B is due to the combined effects of the central engine's activity time and the time required for the jet to break through the stellar envelope. Our findings provide another case that challenges the conventional view that short-duration GRBs originate exclusively from compact object mergers, demonstrating that a broader range of durations exists for GRBs arising from the collapse of massive stars., Comment: 10 pages, 3 tables, 11 figures

Smartphones have significantly enhanced our daily learning, communication, and entertainment, becoming an essential component of modern life. However, certain populations, including the elderly and individuals with disabilities, encounter challenges in utilizing smartphones, thus necessitating mobile app operation assistants, a.k.a. mobile app agent. With considerations for privacy, permissions, and cross-platform compatibility issues, we endeavor to devise and develop PeriGuru in this work, a peripheral robotic mobile app operation assistant based on GUI image understanding and prompting with Large Language Model (LLM). PeriGuru leverages a suite of computer vision techniques to analyze GUI screenshot images and employs LLM to inform action decisions, which are then executed by robotic arms. PeriGuru achieves a success rate of 81.94% on the test task set, which surpasses by more than double the method without PeriGuru's GUI image interpreting and prompting design. Our code is available on https://github.com/Z2sJ4t/PeriGuru.

ChatGPT has enabled third-party developers to create plugins to expand ChatGPT's capabilities.These plugins are distributed through OpenAI's plugin store, making them easily accessible to users. With ChatGPT as the backbone, this app ecosystem has illustrated great business potential by offering users personalized services in a conversational manner. Nonetheless, many crucial aspects regarding app development, deployment, and security of this ecosystem have yet to be thoroughly studied in the research community, potentially hindering a broader adoption by both developers and users. In this work, we conduct the first comprehensive study of the ChatGPT app ecosystem, aiming to illuminate its landscape for our research community. Our study examines the distribution and deployment models in the integration of LLMs and third-party apps, and assesses their security and privacy implications. We uncover an uneven distribution of functionality among ChatGPT plugins, highlighting prevalent and emerging topics. We also identify severe flaws in the authentication and user data protection for third-party app APIs integrated within LLMs, revealing a concerning status quo of security and privacy in this app ecosystem. Our work provides insights for the secure and sustainable development of this rapidly evolving ecosystem., Comment: Accepted by the 39th IEEE/ACM International Conference on Automated Software Engineering (ASE 2024)

Diverse implicit structures of fluids are discovered lately, providing opportunities to study the physics of fluids applying network analysis. Although considerable works devote to identifying informative network structures of fluids, we have limited understanding about the information these networks convey about fluids. To analyze how fluid mechanics is embodied in network topology or vice versa, we reveal a set of fluid-network relations that quantify the interactions between fundamental fluid properties (e.g., kinetic energy and enstrophy decay laws) and defining network characteristics (e.g., spatial self-similarity, scale-invariance, and control scaling). By analyzing spatial self-similarity in classic and generalized contexts, we first assess the self-similarity of vortical interactions in fluid flows. Deviations from self-similarity in networks exhibit power-law scaling behaviors with respect to fluid properties, suggesting the diversity among vortex as essential to self-similar fluid flows. Then, the same paradigm is adopted to investigate scale-invariance using renormalization groups, which reveals that the breaking extents of scale-invariance in networks, similar to those of spatial self-similarity, also scale with fluid properties in power-law manners. Furthermore, we define a control problem on networks to study the propagation of perturbations through vortical interactions over different ranges. The minimum cost of controlling vortical networks exponentially scales with range diameters (i.e., control distances), whose growth rates experiences temporal decays. We show that this temporal decay speed is fully determined by fluid properties in power-law scaling behaviours. In summary, these fluid-network relations enable a deeper understanding of implicit fluid structures and their interactions with fluid dynamics.

The hyperfine structure absorption lines of neutral hydrogen in spectra of high-redshift radio sources, known collectively as the 21-cm forest, have been demonstrated as a sensitive probe to the small-scale structures governed by the dark matter (DM) properties, as well as the thermal history of the intergalactic medium regulated by the first galaxies during the epoch of reionization. By statistically analyzing these spectral features, the one-dimensional (1D) power spectrum of the 21-cm forest can effectively break the parameter degeneracies and constrain the properties of both DM and the first galaxies. However, conventional parameter inference methods face challenges due to computationally expensive simulations for 21-cm forest and the non-Gaussian signal characteristics. To address these issues, we introduce generative normalizing flows for data augmentation and inference normalizing flows for parameters estimation. This approach efficiently estimates parameters from minimally simulated datasets with non-Gaussian signals. Using simulated data from the upcoming Square Kilometre Array (SKA), we demonstrate the ability of the deep learning-driven likelihood-free approach to generate accurate posterior distributions, providing a robust and efficient tool for probing DM and the cosmic heating history using the 1D power spectrum of 21-cm forest in the era of SKA. This methodology is adaptable for scientific analyses with other unevenly distributed data., Comment: 57 pages, 16 figures

Gravitational wave (GW) detection is of paramount importance in fundamental physics and GW astronomy, yet it presents formidable challenges. One significant challenge is the removal of noise transient artifacts known as ``glitches," which greatly impact the search and identification of GWs. Recent research has achieved remarkable results in data denoising, often using effective modeling methods to remove glitches. However, for glitches from uncertain or unknown sources, current methods cannot completely eliminate them from the GW signal. In this work, we leverage the inherent robustness of machine learning to obtain reliable posterior parameter distributions directly from GW data contaminated by glitches. Our network model provides reasonable and rapid parameter inference even in the presence of glitches, without needing to remove them. We also investigate various factors affecting the rationality of parameter inference in our normalizing flow network, including glitch and GW parameters. The results demonstrate that the normalizing flow can reasonably infer the source parameters of GWs even with unknown contamination. We find that the nature of the glitch itself is the only factor that can affect the rationality of the inferred results. With improvements to our model, we anticipate accelerating the localization of electromagnetic counterparts and providing priors for more accurate deglitching, thereby speeding up subsequent data processing procedures., Comment: 13 pages, 9 figures

Estimating robot pose and joint angles is significant in advanced robotics, enabling applications like robot collaboration and online hand-eye calibration.However, the introduction of unknown joint angles makes prediction more complex than simple robot pose estimation, due to its higher dimensionality.Previous methods either regress 3D keypoints directly or utilise a render&compare strategy. These approaches often falter in terms of performance or efficiency and grapple with the cross-camera gap problem.This paper presents a novel framework that bifurcates the high-dimensional prediction task into two manageable subtasks: 2D keypoints detection and lifting 2D keypoints to 3D. This separation promises enhanced performance without sacrificing the efficiency innate to keypoint-based techniques.A vital component of our method is the lifting of 2D keypoints to 3D keypoints. Common deterministic regression methods may falter when faced with uncertainties from 2D detection errors or self-occlusions.Leveraging the robust modeling potential of diffusion models, we reframe this issue as a conditional 3D keypoints generation task. To bolster cross-camera adaptability, we introduce theNormalised Camera Coordinate Space (NCCS), ensuring alignment of estimated 2D keypoints across varying camera intrinsics.Experimental results demonstrate that the proposed method outperforms the state-of-the-art render\&compare method and achieves higher inference speed.Furthermore, the tests accentuate our method's robust cross-camera generalisation capabilities.We intend to release both the dataset and code in https://nimolty.github.io/Robokeygen/, Comment: Accepted by ICRA 2024

Criticality and symmetry, studied by the renormalization groups, lie at the heart of modern physics theories of matters and complex systems. However, surveying these properties with massive experimental data is bottlenecked by the intolerable costs of computing renormalization groups on real systems. Here, we develop a time- and memory-efficient framework, termed as the random renormalization group, for renormalizing ultra-large systems (e.g., with millions of units) within minutes. This framework is based on random projections, hashing techniques, and kernel representations, which support the renormalization governed by linear and non-linear correlations. For system structures, it exploits the correlations among local topology in kernel spaces to unfold the connectivity of units, identify intrinsic system scales, and verify the existences of symmetries under scale transformation. For system dynamics, it renormalizes units into correlated clusters to analyze scaling behaviours, validate scaling relations, and investigate potential criticality. Benefiting from hashing-function-based designs, our framework significantly reduces computational complexity compared with classic renormalization groups, realizing a single-step acceleration of two orders of magnitude. Meanwhile, the efficient representation of different kinds of correlations in kernel spaces realized by random projections ensures the capacity of our framework to capture diverse unit relations. As shown by our experiments, the random renormalization group helps identify non-equilibrium phase transitions, criticality, and symmetry in diverse large-scale genetic, neural, material, social, and cosmological systems.

Glitches represent a category of non-Gaussian and transient noise that frequently intersects with gravitational wave (GW) signals, exerting a notable impact on the processing of GW data. The inference of GW parameters, crucial for GW astronomy research, is particularly susceptible to such interference. In this study, we pioneer the utilization of temporal and time-spectral fusion normalizing flow for likelihood-free inference of GW parameters, seamlessly integrating the high temporal resolution of the time domain with the frequency separation characteristics of both time and frequency domains. Remarkably, our findings indicate that the accuracy of this inference method is comparable to traditional non-glitch sampling techniques. Furthermore, our approach exhibits greater efficiency, boasting processing times on the order of milliseconds. In conclusion, the application of normalizing flow emerges as pivotal in handling GW signals affected by transient noises, offering a promising avenue for enhancing the field of GW astronomy research., Comment: 13 pages, 10 figures

In recent years, Graph neural networks (GNNs) have emerged as a prominent tool for classification tasks in machine learning. However, their application in regression tasks remains underexplored. To tap the potential of GNNs in regression, this paper integrates GNNs with attention mechanism, a technique that revolutionized sequential learning tasks with its adaptability and robustness, to tackle a challenging nonlinear regression problem: network localization. We first introduce a novel network localization method based on graph convolutional network (GCN), which exhibits exceptional precision even under severe non-line-of-sight (NLOS) conditions, thereby diminishing the need for laborious offline calibration or NLOS identification. We further propose an attentional graph neural network (AGNN) model, aimed at improving the limited flexibility and mitigating the high sensitivity to the hyperparameter of the GCN-based method. The AGNN comprises two crucial modules, each designed with distinct attention architectures to address specific issues associated with the GCN-based method, rendering it more practical in real-world scenarios. Experimental results substantiate the efficacy of our proposed GCN-based method and AGNN model, as well as the enhancements of AGNN model. Additionally, we delve into the performance improvements of AGNN model by analyzing it from the perspectives of dynamic attention and computational complexity.

Origami-inspired robots with multiple advantages, such as being lightweight, requiring less assembly, and exhibiting exceptional deformability, have received substantial and sustained attention. However, the existing origami-inspired robots are usually of limited functionalities and developing feature-rich robots is very challenging. Here, we report an origami-wheeled robot (OriWheelBot) with variable width and outstanding sand walking versatility. The OriWheelBot's ability to adjust wheel width over obstacles is achieved by origami wheels made of Miura origami. An improved version, called iOriWheelBot, is also developed to automatically judge the width of the obstacles. Three actions, namely direct pass, variable width pass, and direct return, will be carried out depending on the width of the channel between the obstacles. We have identified two motion mechanisms, i.e., sand-digging and sand-pushing, with the latter being more conducive to walking on the sand. We have systematically examined numerous sand walking characteristics, including carrying loads, climbing a slope, walking on a slope, and navigating sand pits, small rocks, and sand traps. The OriWheelBot can change its width by 40%, has a loading-carrying ratio of 66.7% on flat sand and can climb a 17-degree sand incline. The OriWheelBot can be useful for planetary subsurface exploration and disaster area rescue., Comment: 23 papes, 7 figures

In this work, we tackle the problem of online camera-to-robot pose estimation from single-view successive frames of an image sequence, a crucial task for robots to interact with the world.

Criticality is hypothesized as a physical mechanism underlying efficient transitions between cortical states and remarkable information processing capacities in the brain. While considerable evidence generally supports this hypothesis, non-negligible controversies persist regarding the ubiquity of criticality in neural dynamics and its role in information processing. Validity issues frequently arise during identifying potential brain criticality from empirical data. Moreover, the functional benefits implied by brain criticality are frequently misconceived or unduly generalized. These problems stem from the non-triviality and immaturity of the physical theories that analytically derive brain criticality and the statistic techniques that estimate brain criticality from empirical data. To help solve these problems, we present a systematic review and reformulate the foundations of studying brain criticality, i.e., ordinary criticality (OC), quasi-criticality (qC), self-organized criticality (SOC), and self-organized quasi-criticality (SOqC), using the terminology of neuroscience. We offer accessible explanations of the physical theories and statistic techniques of brain criticality, providing step-by-step derivations to characterize neural dynamics as a physical system with avalanches. We summarize error-prone details and existing limitations in brain criticality analysis and suggest possible solutions. Moreover, we present a forward-looking perspective on how optimizing the foundations of studying brain criticality can deepen our understanding of various neuroscience questions.