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We developed a modular silicon photomultiplier camera to detect Earth-skimming PeV to EeV tau neutrinos with the imaging atmospheric Cherenkov technique. We built two cameras, a 256-pixel camera with S14161-6050HS SiPMs for the Trinity Demonstrator located on Frisco Peak, Utah, and a 512-pixel camera with S14521-6050AN SiPMs for the EUSO-SPB2 Cherenkov Telescope. The front-end electronics are based on the eMUSIC ASIC, and the camera signals are sampled and digitized with the 100MS/s and 12-bit AGET system. Both cameras are liquid-cooled. We detail the camera concept and the results from characterizing the SiPMs, bench testing, and calibrating the two cameras., Comment: Submitted to Nuclear Instruments and Methods in Physics Research A

We introduce VividDream, a method for generating explorable 4D scenes with ambient dynamics from a single input image or text prompt. VividDream first expands an input image into a static 3D point cloud through iterative inpainting and geometry merging. An ensemble of animated videos is then generated using video diffusion models with quality refinement techniques and conditioned on renderings of the static 3D scene from the sampled camera trajectories. We then optimize a canonical 4D scene representation using an animated video ensemble, with per-video motion embeddings and visibility masks to mitigate inconsistencies. The resulting 4D scene enables free-view exploration of a 3D scene with plausible ambient scene dynamics. Experiments demonstrate that VividDream can provide human viewers with compelling 4D experiences generated based on diverse real images and text prompts., Comment: Project page: https://vivid-dream-4d.github.io

The creation of large, diverse, high-quality robot manipulation datasets is an important stepping stone on the path toward more capable and robust robotic manipulation policies. However, creating such datasets is challenging: collecting robot manipulation data in diverse environments poses logistical and safety challenges and requires substantial investments in hardware and human labour. As a result, even the most general robot manipulation policies today are mostly trained on data collected in a small number of environments with limited scene and task diversity. In this work, we introduce DROID (Distributed Robot Interaction Dataset), a diverse robot manipulation dataset with 76k demonstration trajectories or 350 hours of interaction data, collected across 564 scenes and 84 tasks by 50 data collectors in North America, Asia, and Europe over the course of 12 months. We demonstrate that training with DROID leads to policies with higher performance and improved generalization ability. We open source the full dataset, policy learning code, and a detailed guide for reproducing our robot hardware setup., Comment: Project website: https://droid-dataset.github.io/

Ill-posed image reconstruction problems appear in many scenarios such as remote sensing, where obtaining high quality images is crucial for environmental monitoring, disaster management and urban planning. Deep learning has seen great success in overcoming the limitations of traditional methods. However, these inverse problems rarely come with ground truth data, highlighting the importance of unsupervised learning from partial and noisy measurements alone. We propose perspective-equivariant imaging (EI), a framework that leverages perspective variability in optical camera-based imaging systems, such as satellites or handheld cameras, to recover information lost in ill-posed optical camera imaging problems. This extends previous EI work to include a much richer non-linear class of group transforms and is shown to be an excellent prior for satellite and urban image data, where perspective-EI achieves state-of-the-art results in multispectral pansharpening, outperforming other unsupervised methods in the literature. Code at https://andrewwango.github.io/perspective-equivariant-imaging, Comment: Pre-print

Identifying frequent subgraphs, also called network motifs, is crucial in analyzing and predicting properties of real-world networks. However, finding large commonly-occurring motifs remains a challenging problem not only due to its NP-hard subroutine of subgraph counting, but also the exponential growth of the number of possible subgraphs patterns. Here we present Subgraph Pattern Miner (SPMiner), a novel neural approach for approximately finding frequent subgraphs in a large target graph. SPMiner combines graph neural networks, order embedding space, and an efficient search strategy to identify network subgraph patterns that appear most frequently in the target graph. SPMiner first decomposes the target graph into many overlapping subgraphs and then encodes each subgraph into an order embedding space. SPMiner then uses a monotonic walk in the order embedding space to identify frequent motifs. Compared to existing approaches and possible neural alternatives, SPMiner is more accurate, faster, and more scalable. For 5- and 6-node motifs, we show that SPMiner can almost perfectly identify the most frequent motifs while being 100x faster than exact enumeration methods. In addition, SPMiner can also reliably identify frequent 10-node motifs, which is well beyond the size limit of exact enumeration approaches. And last, we show that SPMiner can find large up to 20 node motifs with 10-100x higher frequency than those found by current approximate methods., Comment: Oral Presentation in The Graph Representation Learning and Beyond (GRL+) Workshop from The 37th International Conference on Ma- chine Learning, 2020

Humans regularly engage in analogical thinking, relating personal experiences to current situations ($X$ is analogous to $Y$ because of $Z$). Analogical thinking allows humans to solve problems in creative ways, grasp difficult concepts, and articulate ideas more effectively. Can language models (LMs) do the same? To answer this question, we propose ANALOBENCH, a benchmark to determine analogical reasoning ability in LMs. Our benchmarking approach focuses on aspects of this ability that are common among humans: (i) recalling related experiences from a large amount of information, and (ii) applying analogical reasoning to complex and lengthy scenarios. We test a broad collection of proprietary models (e.g., GPT family, Claude V2) and open source models such as LLaMA2. As in prior results, scaling up LMs results in some performance boosts. Surprisingly, scale offers minimal gains when, (i) analogies involve lengthy scenarios, or (ii) recalling relevant scenarios from a large pool of information, a process analogous to finding a needle in a haystack. We hope these observations encourage further research in this field.

Prior work in style-controlled text generation has focused on tasks such as emulating the style of prolific literary authors, producing formal or informal text, and mitigating toxicity of generated text. Plentiful demonstrations of these styles are available, and as a result modern language models are often able to emulate them, either via prompting or discriminative control. However, in applications such as writing assistants, it is desirable for language models to produce text in an author-specific style on the basis of a potentially small writing sample. For example, someone writing in a particular dialect may prefer writing suggestions that retain the same dialect. We find that instruction-tuned language models can struggle to reproduce author-specific style demonstrated in a prompt. Instead, we propose to guide a language model to generate text in a target style using contrastively-trained representations that capture stylometric features. Our approach (StyleMC) combines an author-adapted language model with sequence-level inference to improve stylistic consistency, and is found to be effective in a variety of conditions, including unconditional generation and style transfer. Additionally, we find that the proposed approach can serve as an effective anonymization method, by editing a document to mask authorship while preserving the original meaning

A model of a lithium-ion battery containing a cosolvent electrolyte is developed and implemented within the open-source PyBaMM platform. Lithium-ion electrolytes are essential to battery operation and normally contain at least two solvents to satisfy performance requirements. The widely used Doyle-Fuller-Newman battery model assumes that the electrolyte comprises a salt dissolved in a single effective solvent, however. This single-solvent approximation has been disproved experimentally and may hinder accurate battery modelling. Here, we present a two-solvent model that resolves the transport of ethylene carbonate (EC) and lithium salt in a background linear carbonate. EC concentration polarization opposes that of Li+ during cycling, affecting local electrolyte properties and cell-level overpotentials. Concentration gradients of Li+ can be affected by cross-diffusion, whereby EC gradients enhance or impede salt flux. A rationally parametrized model that includes EC transport predicts 6% more power loss at 4.5C discharge and ~0.32% more capacity loss after a thousand 1C cycles than its single-solvent equivalent. This work provides a tool to model more transport behaviour in the electrolyte that may affect degradation and enables the transfer of microscopic knowledge about solvation structure-dependent performance to the macroscale.

We introduce the problem of ranking with slot constraints, which can be used to model a wide range of application problems -- from college admission with limited slots for different majors, to composing a stratified cohort of eligible participants in a medical trial. We show that the conventional Probability Ranking Principle (PRP) can be highly sub-optimal for slot-constrained ranking problems, and we devise a new ranking algorithm, called MatchRank. The goal of MatchRank is to produce rankings that maximize the number of filled slots if candidates are evaluated by a human decision maker in the order of the ranking. In this way, MatchRank generalizes the PRP, and it subsumes the PRP as a special case when there are no slot constraints. Our theoretical analysis shows that MatchRank has a strong approximation guarantee without any independence assumptions between slots or candidates. Furthermore, we show how MatchRank can be implemented efficiently. Beyond the theoretical guarantees, empirical evaluations show that MatchRank can provide substantial improvements over a range of synthetic and real-world tasks.

Large, high-capacity models trained on diverse datasets have shown remarkable successes on efficiently tackling downstream applications. In domains from NLP to Computer Vision, this has led to a consolidation of pretrained models, with general pretrained backbones serving as a starting point for many applications. Can such a consolidation happen in robotics? Conventionally, robotic learning methods train a separate model for every application, every robot, and even every environment. Can we instead train generalist X-robot policy that can be adapted efficiently to new robots, tasks, and environments? In this paper, we provide datasets in standardized data formats and models to make it possible to explore this possibility in the context of robotic manipulation, alongside experimental results that provide an example of effective X-robot policies. We assemble a dataset from 22 different robots collected through a collaboration between 21 institutions, demonstrating 527 skills (160266 tasks). We show that a high-capacity model trained on this data, which we call RT-X, exhibits positive transfer and improves the capabilities of multiple robots by leveraging experience from other platforms. More details can be found on the project website https://robotics-transformer-x.github.io., Comment: Project website: https://robotics-transformer-x.github.io

Recent advances in Language Model (LM) agents and tool use, exemplified by applications like ChatGPT Plugins, enable a rich set of capabilities but also amplify potential risks - such as leaking private data or causing financial losses. Identifying these risks is labor-intensive, necessitating implementing the tools, setting up the environment for each test scenario manually, and finding risky cases. As tools and agents become more complex, the high cost of testing these agents will make it increasingly difficult to find high-stakes, long-tailed risks. To address these challenges, we introduce ToolEmu: a framework that uses an LM to emulate tool execution and enables the testing of LM agents against a diverse range of tools and scenarios, without manual instantiation. Alongside the emulator, we develop an LM-based automatic safety evaluator that examines agent failures and quantifies associated risks. We test both the tool emulator and evaluator through human evaluation and find that 68.8% of failures identified with ToolEmu would be valid real-world agent failures. Using our curated initial benchmark consisting of 36 high-stakes tools and 144 test cases, we provide a quantitative risk analysis of current LM agents and identify numerous failures with potentially severe outcomes. Notably, even the safest LM agent exhibits such failures 23.9% of the time according to our evaluator, underscoring the need to develop safer LM agents for real-world deployment.

Automatically disentangling an author's style from the content of their writing is a longstanding and possibly insurmountable problem in computational linguistics. At the same time, the availability of large text corpora furnished with author labels has recently enabled learning authorship representations in a purely data-driven manner for authorship attribution, a task that ostensibly depends to a greater extent on encoding writing style than encoding content. However, success on this surrogate task does not ensure that such representations capture writing style since authorship could also be correlated with other latent variables, such as topic. In an effort to better understand the nature of the information these representations convey, and specifically to validate the hypothesis that they chiefly encode writing style, we systematically probe these representations through a series of targeted experiments. The results of these experiments suggest that representations learned for the surrogate authorship prediction task are indeed sensitive to writing style. As a consequence, authorship representations may be expected to be robust to certain kinds of data shift, such as topic drift over time. Additionally, our findings may open the door to downstream applications that require stylistic representations, such as style transfer., Comment: appearing at TACL 2023

Materials acceleration platforms (MAPs) combine automation and artificial intelligence to accelerate the discovery of molecules and materials. They have potential to play a role in addressing complex societal problems such as climate change. Solar chemicals and fuels generation via heterogeneous CO2 photo(thermal)catalysis is a relatively unexplored process that holds potential for contributing towards an environmentally and economically sustainable future, and therefore a very promising application for MAP science and engineering. Here, we present a brief overview of how design and innovation in heterogeneous CO2 photo(thermal)catalysis, from materials discovery to engineering and scale-up, could benefit from MAPs. We discuss relevant design and performance descriptors and the level of automation of state-of-the-art experimental techniques, and we review examples of artificial intelligence in data analysis. Based on these precedents, we finally propose a MAP outline for autonomous and accelerated discoveries in the emerging field of solar chemicals and fuels sourced from CO2 photo(thermal)catalysis.

Methods such as chain-of-thought prompting and self-consistency have pushed the frontier of language model reasoning performance with no additional training. To further improve performance, we propose a prompt ensembling method for large language models, which uses a small dataset to construct a set of few shot prompts that together comprise a ``boosted prompt ensemble''. The few shot examples for each prompt are chosen in a stepwise fashion to be ``hard'' examples on which the previous step's ensemble is uncertain. We show that this outperforms single-prompt output-space ensembles and bagged prompt-space ensembles on the GSM8k and AQuA datasets, among others. We propose both train-time and test-time versions of boosted prompting that use different levels of available annotation and conduct a detailed empirical study of our algorithm.

We analyze the problem of job scheduling with preempting on weighted jobs that can have either linear or exponential penalties. We review relevant literature on the problem and create and describe a few online algorithms that perform competitively with the optimal scheduler. We first describe a na{\" i}ve algorithm, which yields a high competitive ratio ($\Omega(\frac{M}{s_{\min}})$) with the optimal, then provide an algorithm that yields a lower competitive ratio ($4\sqrt{\frac{M}{s_{\min}}} + n\log{\frac{Mn}{s_{\min}}}$). Finally, we make a minor modification to our algorithm to yield an algorithm that has an even better competitive ratio ($n\log{\frac{Mn}{s_{\min}}}$)., Comment: 18 pages, 2 figures

We introduce new planning and reinforcement learning algorithms for discounted MDPs that utilize an approximate model of the environment to accelerate the convergence of the value function. Inspired by the splitting approach in numerical linear algebra, we introduce Operator Splitting Value Iteration (OS-VI) for both Policy Evaluation and Control problems. OS-VI achieves a much faster convergence rate when the model is accurate enough. We also introduce a sample-based version of the algorithm called OS-Dyna. Unlike the traditional Dyna architecture, OS-Dyna still converges to the correct value function in presence of model approximation error., Comment: Accepted to NeurIPS2022

We study the problem of imitating object interactions from Internet videos. This requires understanding the hand-object interactions in 4D, spatially in 3D and over time, which is challenging due to mutual hand-object occlusions. In this paper we make two main contributions: (1) a novel reconstruction technique RHOV (Reconstructing Hands and Objects from Videos), which reconstructs 4D trajectories of both the hand and the object using 2D image cues and temporal smoothness constraints; (2) a system for imitating object interactions in a physics simulator with reinforcement learning. We apply our reconstruction technique to 100 challenging Internet videos. We further show that we can successfully imitate a range of different object interactions in a physics simulator. Our object-centric approach is not limited to human-like end-effectors and can learn to imitate object interactions using different embodiments, like a robotic arm with a parallel jaw gripper., Comment: Project page: https://austinapatel.github.io/imitate-video

Successful material selection is critical in designing and manufacturing products for design automation. Designers leverage their knowledge and experience to create high-quality designs by selecting the most appropriate materials through performance, manufacturability, and sustainability evaluation. Intelligent tools can help designers with varying expertise by providing recommendations learned from prior designs. To enable this, we introduce a graph representation learning framework that supports the material prediction of bodies in assemblies. We formulate the material selection task as a node-level prediction task over the assembly graph representation of CAD models and tackle it using Graph Neural Networks (GNNs). Evaluations over three experimental protocols performed on the Fusion 360 Gallery dataset indicate the feasibility of our approach, achieving a 0.75 top-3 micro-f1 score. The proposed framework can scale to large datasets and incorporate designers' knowledge into the learning process. These capabilities allow the framework to serve as a recommendation system for design automation and a baseline for future work, narrowing the gap between human designers and intelligent design agents., Comment: IDETC-CIE 2022. Code available at https://github.com/danielegrandi-adsk/material-gnn

Robust classification is essential in tasks like autonomous vehicle sign recognition, where the downsides of misclassification can be grave. Adversarial attacks threaten the robustness of neural network classifiers, causing them to consistently and confidently misidentify road signs. One such class of attack, shadow-based attacks, causes misidentifications by applying a natural-looking shadow to input images, resulting in road signs that appear natural to a human observer but confusing for these classifiers. Current defenses against such attacks use a simple adversarial training procedure to achieve a rather low 25\% and 40\% robustness on the GTSRB and LISA test sets, respectively. In this paper, we propose a robust, fast, and generalizable method, designed to defend against shadow attacks in the context of road sign recognition, that augments source images with binary adaptive threshold and edge maps. We empirically show its robustness against shadow attacks, and reformulate the problem to show its similarity to $\varepsilon$ perturbation-based attacks. Experimental results show that our edge defense results in 78\% robustness while maintaining 98\% benign test accuracy on the GTSRB test set, with similar results from our threshold defense. Link to our code is in the paper., Comment: This is a draft version - our core results are reported, but additional experiments for journal submission are still being run

We present detections of stellar flares of Wolf\,359, an M6.5 dwarf in the solar neighborhood (2.41~pc) known to be prone to flares due to surface magnetic activity. The observations were carried out from 2020 April 23 to 29 with a 1-m and a 0.5-m telescope separated by nearly 300~km in Xinjiang, China. In 27~hr of photometric monitoring, a total of 13 optical flares were detected, each with a total energy of $\gtrsim 5 \times 10^{29}$~erg. The measured event rate of about once every two hours is consistent with those reported previously in radio, X-ray and optical wavelengths for this star. One such flare, detected by both telescopes on 26 April, was an energetic event with a released energy of nearly $10^{33}$~erg. The two-telescope lightcurves of this major event sampled at different cadences and exposure timings enabled us to better estimate the intrinsic flare profile, which reached a peak of up to 1.6 times the stellar quiescent brightness, that otherwise would have been underestimated in the observed flare amplitudes of about $0.4$ and $0.8$, respectively, with single telescopes alone. The compromise between fast sampling so as to resolve a flare profile versus a longer integration time for higher photometric signal-to-noise provides a useful guidance in the experimental design of future flare observations., Comment: 16 pages, 10 figures, 3 tables