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Haptic feedback enhances collision avoidance by providing directional obstacle information to operators in unmanned aerial vehicle (UAV) teleoperation. However, such feedback is often rendered via haptic joysticks, which are unfamiliar to UAV operators and limited to single-directional force feedback. Additionally, the direct coupling of the input device and the feedback method diminishes the operators' control authority and causes oscillatory movements. To overcome these limitations, we propose AeroHaptix, a wearable haptic feedback system that uses high-resolution vibrations to communicate multiple obstacle directions simultaneously. The vibrotactile actuators' layout was optimized based on a perceptual study to eliminate perceptual biases and achieve uniform spatial coverage. A novel rendering algorithm, MultiCBF, was adapted from control barrier functions to support multi-directional feedback. System evaluation showed that AeroHaptix effectively reduced collisions in complex environment, and operators reported significantly lower physical workload, improved situational awareness, and increased control authority.

Remote sensing imagery, despite its broad applications in helping achieve Sustainable Development Goals and tackle climate change, has not yet benefited from the recent advancements of versatile, task-agnostic vision language models (VLMs). A key reason is that the large-scale, semantically diverse image-text dataset required for developing VLMs is still absent for remote sensing images. Unlike natural images, remote sensing images and their associated text descriptions cannot be efficiently collected from the public Internet at scale. In this work, we bridge this gap by using geo-coordinates to automatically connect open, unlabeled remote sensing images with rich semantics covered in OpenStreetMap, and thus construct SkyScript, a comprehensive vision-language dataset for remote sensing images, comprising 2.6 million image-text pairs covering 29K distinct semantic tags. With continual pre-training on this dataset, we obtain a VLM that surpasses baseline models with a 6.2% average accuracy gain in zero-shot scene classification across seven benchmark datasets. It also demonstrates the ability of zero-shot transfer for fine-grained object attribute classification and cross-modal retrieval. We hope this dataset can support the advancement of VLMs for various multi-modal tasks in remote sensing, such as open-vocabulary classification, retrieval, captioning, and text-to-image synthesis., Comment: Accepted by AAAI 2024

Linear reduced-order modeling (ROM) simplifies complex simulations by approximating the behavior of a system using a simplified kinematic representation. Typically, ROM is trained on input simulations created with a specific spatial discretization, and then serves to accelerate simulations with the same discretization. This discretization-dependence is restrictive. Becoming independent of a specific discretization would provide flexibility to mix and match mesh resolutions, connectivity, and type (tetrahedral, hexahedral) in training data; to accelerate simulations with novel discretizations unseen during training; and to accelerate adaptive simulations that temporally or parametrically change the discretization. We present a flexible, discretization-independent approach to reduced-order modeling. Like traditional ROM, we represent the configuration as a linear combination of displacement fields. Unlike traditional ROM, our displacement fields are continuous maps from every point on the reference domain to a corresponding displacement vector; these maps are represented as implicit neural fields. With linear continuous ROM (LiCROM), our training set can include multiple geometries undergoing multiple loading conditions, independent of their discretization. This opens the door to novel applications of reduced order modeling. We can now accelerate simulations that modify the geometry at runtime, for instance via cutting, hole punching, and even swapping the entire mesh. We can also accelerate simulations of geometries unseen during training. We demonstrate one-shot generalization, training on a single geometry and subsequently simulating various unseen geometries.

Optical blur is an inherent property of any lens system and is challenging to model in modern cameras because of their complex optical elements. To tackle this challenge, we introduce a high-dimensional neural representation of blur$-$$\textit{the lens blur field}$$-$and a practical method for acquiring it. The lens blur field is a multilayer perceptron (MLP) designed to (1) accurately capture variations of the lens 2D point spread function over image plane location, focus setting and, optionally, depth and (2) represent these variations parametrically as a single, sensor-specific function. The representation models the combined effects of defocus, diffraction, aberration, and accounts for sensor features such as pixel color filters and pixel-specific micro-lenses. To learn the real-world blur field of a given device, we formulate a generalized non-blind deconvolution problem that directly optimizes the MLP weights using a small set of focal stacks as the only input. We also provide a first-of-its-kind dataset of 5D blur fields$-$for smartphone cameras, camera bodies equipped with a variety of lenses, etc. Lastly, we show that acquired 5D blur fields are expressive and accurate enough to reveal, for the first time, differences in optical behavior of smartphone devices of the same make and model.

An ultimate goal of electron paramagnetic resonance (EPR) spectroscopy is to analyze molecular dynamics in place where it occurs, such as in a living cell. The nanodiamond (ND) hosting nitrogen-vacancy (NV) centers will be a promising EPR sensor to achieve this goal. However, ND-based EPR spectroscopy remains elusive, due to the challenge of controlling NV centers without well-defined orientations inside a flexible ND. Here, we show a generalized zero-field EPR technique with spectra robust to the sensor's orientation. The key is applying an amplitude modulation on the control field, which generates a series of equidistant Floquet states with energy splitting being the orientation-independent modulation frequency. We acquire the zero-field EPR spectrum of vanadyl ions in aqueous glycerol solution with embedded single NDs, paving the way towards \emph{in vivo} EPR.

Neighborhood gentrification plays a significant role in shaping the social and economic well-being of both individuals and communities at large. While some efforts have been made to detect gentrification in cities, existing approaches rely mainly on estimated measures from survey data, require substantial work of human labeling, and are limited in characterizing the neighborhood as a whole. We propose a novel approach to detecting neighborhood gentrification at a large-scale based on the physical appearance of neighborhoods by incorporating historical street-level visual data. We show the effectiveness of the proposed method by comparing results from our approach with gentrification measures from previous literature and case studies. Our approach has the potential to supplement existing indicators of gentrification and become a valid resource for urban researchers and policy makers.

Developing robust microwave-field sensors is both fundamentally and practically important with a wide range of applications from astronomy to communication engineering. The Nitrogen-Vacancy (NV) center in diamond is an attractive candidate for such purpose because of its magnetometric sensitivity, stability and compatibility with ambient conditions. However, the existing NV center-based magnetometers have limited sensitivity in the microwave band. Here we present a continuous heterodyne detection method that can enhance the sensor's response to weak microwaves, even in the absence of spin controls. Experimentally, we achieve a sensitivity of 8.9 pT$\cdot$Hz$^{-1/2}$ for microwaves of 2.9 GHz by simultaneously using an ensemble of $n_{\text{NV}} \sim 2.8\times10^{13}$ NV centers within a sensor volume of $4\times10^{-2}$ mm$^3$. Besides, we also achieve $1/t$ scaling of frequency resolution up to measurement time $t$ of 10000 s. Our method removes the control pulses and thus will greatly benefit the practical application of diamond-based microwave sensors., Comment: 7 pages, 4 figures

Most of the achievements in artificial intelligence so far were accomplished by supervised learning which requires numerous annotated training data and thus costs innumerable manpower for labeling. Unsupervised learning is one of the effective solutions to overcome such difficulties. In our work, we propose AugNet, a new deep learning training paradigm to learn image features from a collection of unlabeled pictures. We develop a method to construct the similarities between pictures as distance metrics in the embedding space by leveraging the inter-correlation between augmented versions of samples. Our experiments demonstrate that the method is able to represent the image in low dimensional space and performs competitively in downstream tasks such as image classification and image similarity comparison. Specifically, we achieved over 60% and 27% accuracy on the STL10 and CIFAR100 datasets with unsupervised clustering, respectively. Moreover, unlike many deep-learning-based image retrieval algorithms, our approach does not require access to external annotated datasets to train the feature extractor, but still shows comparable or even better feature representation ability and easy-to-use characteristics. In our evaluations, the method outperforms all the state-of-the-art image retrieval algorithms on some out-of-domain image datasets. The code for the model implementation is available at https://github.com/chenmingxiang110/AugNet.

Recent urbanization has coincided with the enrichment of geotagged data, such as street view and point-of-interest (POI). Region embedding enhanced by the richer data modalities has enabled researchers and city administrators to understand the built environment, socioeconomics, and the dynamics of cities better. While some efforts have been made to simultaneously use multi-modal inputs, existing methods can be improved by incorporating different measures of 'proximity' in the same embedding space - leveraging not only the data that characterizes the regions (e.g., street view, local businesses pattern) but also those that depict the relationship between regions (e.g., trips, road network). To this end, we propose a novel approach to integrate multi-modal geotagged inputs as either node or edge features of a multi-graph based on their relations with the neighborhood region (e.g., tiles, census block, ZIP code region, etc.). We then learn the neighborhood representation based on a contrastive-sampling scheme from the multi-graph. Specifically, we use street view images and POI features to characterize neighborhoods (nodes) and use human mobility to characterize the relationship between neighborhoods (directed edges). We show the effectiveness of the proposed methods with quantitative downstream tasks as well as qualitative analysis of the embedding space: The embedding we trained outperforms the ones using only unimodal data as regional inputs.

In this paper, we propose a novel approach to generate images (or other artworks) by using neural cellular automatas (NCAs). Rather than training NCAs based on single images one by one, we combined the idea with variational autoencoders (VAEs), and hence explored some applications, such as image restoration and style fusion. The code for model implementation is available online.

This paper presents a novel framework using neural cellular automata (NCA) to regenerate and predict geographic information. The model extends the idea of using NCA to generate/regenerate a specific image by training the model with various geographic data, and thus, taking the traffic condition map as an example, the model is able to predict traffic conditions by giving certain induction information. Our research verified the analogy between NCA and gene in biology, while the innovation of the model significantly widens the boundary of possible applications based on NCAs. From our experimental results, the model shows great potentials in its usability and versatility which are not available in previous studies. The code for model implementation is available at https://redacted.

Electron paramagnetic resonance spectroscopy (EPR) is among the most important analytical tools in physics, chemistry, and biology. The emergence of nitrogen-vacancy (NV) centers in diamond, serving as an atomic-sized magnetometer, has promoted this technique to single-spin level, even under ambient conditions. Despite the enormous progress in spatial resolution, the current megahertz spectral resolution is still insufficient to resolve key heterogeneous molecular information. A major challenge is the short coherence times of the sample electron spins. Here, we address this challenge by employing a magnetic noise-insensitive transition between states of different symmetry. We demonstrate a 27-fold narrower spectrum of single substitutional nitrogen (P1) centers in diamond with linewidth of several kilohertz, and then some weak couplings can be resolved. Those results show both spatial and spectral advances of NV center-based EPR, and provide a route towards analytical (EPR) spectroscopy at single-molecule level., Comment: 22 pages, 10 figures

Magnetic resonance spectroscopy of single biomolecules under near-physiological conditions may substantially advance understanding of biological function, yet remains very challenging. Here we use nitrogen-vacancy centers in diamonds to detect electron spin resonance spectra of individual, tethered DNA duplexes labeled with a nitroxide spin label in aqueous buffer solutions at ambient temperatures. This paves the way for magnetic resonance studies on single biomolecules and their inter-molecular interactions in a native-like environment., Comment: 22 pages, 14 figures

Electron spin resonance (ESR) spectroscopy has broad applications in physics, chemistry and biology. As a complementary tool, zero-field ESR (ZF-ESR) spectroscopy has been proposed for decades and shown its own benefits for investigating the electron fine and hyperfine interaction. However, the ZF-ESR method has been rarely used due to the low sensitivity and the requirement of much larger samples than conventional ESR. In this work, we present a method for deploying ZF-ESR spectroscopy at the nanoscale by using a highly sensitive quantum sensor, the nitrogen-vacancy center in diamond. We also measure the nanoscale ZF-ESR spectrum of a few P1 centers in diamond, and show that the hyperfine coupling constant can be directly extracted from the spectrum. This method opens the door to practical applications of ZF-ESR spectroscopy, such as investigation of the structure and polarity information in spin-modified organic and biological systems.

Understanding intrinsic patterns and predicting spatiotemporal characteristics of cities require a comprehensive representation of urban neighborhoods. Existing works relied on either inter- or intra-region connectivities to generate neighborhood representations but failed to fully utilize the informative yet heterogeneous data within neighborhoods. In this work, we propose Urban2Vec, an unsupervised multi-modal framework which incorporates both street view imagery and point-of-interest (POI) data to learn neighborhood embeddings. Specifically, we use a convolutional neural network to extract visual features from street view images while preserving geospatial similarity. Furthermore, we model each POI as a bag-of-words containing its category, rating, and review information. Analog to document embedding in natural language processing, we establish the semantic similarity between neighborhood ("document") and the words from its surrounding POIs in the vector space. By jointly encoding visual, textual, and geospatial information into the neighborhood representation, Urban2Vec can achieve performances better than baseline models and comparable to fully-supervised methods in downstream prediction tasks. Extensive experiments on three U.S. metropolitan areas also demonstrate the model interpretability, generalization capability, and its value in neighborhood similarity analysis., Comment: To appear in Proceedings of the Thirty-Fourth AAAI Conference on Artificial Intelligence (AAAI-20)

We explore machine learning methods for AC Optimal Powerflow (ACOPF) - the task of optimizing power generation in a transmission network according while respecting physical and engineering constraints. We present two formulations of ACOPF as a machine learning problem: 1) an end-to-end prediction task where we directly predict the optimal generator settings, and 2) a constraint prediction task where we predict the set of active constraints in the optimal solution. We validate these approaches on two benchmark grids., Comment: 3 pages, 2 tables. Presented at the Climate Change Workshop at ICML 2019