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Polymorphism, commonly denoting the variety of molecular or crystal structures, is a vital element in many natural science disciplines. In van der Waals layered antiferromagnets, a new type of magnetic polymorphism is allowed by having multiple layer-selective magnetic structures with the same total magnetization. However, resolving and manipulating such magnetic polymorphs remain a great challenge. Here we use the phase-resolved magnetic second-harmonic generation microscopy to elucidate such magnetic polymorphism in the 2D semiconducting layered antiferromagnet chromium sulfur bromide (CrSBr), and demonstrate how the magnetic polymorphs can be deterministically switched in an unprecedented layer-selective manner. With the nonlinear magneto-optical technique unveiling the magnetic symmetry information through the amplitude and phase of light, we could unambiguously resolve the polymorphic spin-flip transitions in CrSBr bilayers and tetralayers. Remarkably, the deterministic routing of polymorphic transitions originates from the breaking of energy degeneracy via a magnetic layer-sharing effect: the spin-flip transitions in a tetralayer are governed by the laterally extended bilayer, which acts as a control bit. We envision such controllable magnetic polymorphism to be ubiquitous for van der Waals layered antiferromagnets, and could lead to conceptually new design and construction of spintronic and opto-spintronic devices for probabilistic computation and neuromorphic engineering., Comment: 22 pages, 6 figures

It remains a long-standing problem, unsettled for almost two decades in General Relativity (GR) community, ever since Griffiths and Podolsky demonstrated in Ref. [J.B. Griffiths and J. Podolsky, Class. Quant. Grav. 22, 3467 (2005)] that the type-D NUT C-metric seems to be absent from the most general family of the type-D Pleba\'nski-Demia\'nski (P-D) solution. However, Astorino [Phys. Rev. D 109, 084038 (2024)] presented a different form of rotating and accelerating black holes and showed that all known four-dimensional type-D accelerating black holes (without the NUT charge) can be recovered via various different limits in a definitive fashion. In particular, he provided, for the first time, the correct expressions for the type-D static accelerating black holes with a nonzero NUT charge, which was previously impossible using the traditional parametrization of the familiar P-D solution. Nevertheless, it still remains elusive that how these two different forms of the four-dimensional rotating and accelerating solutions are related. In this paper, we aim to fill this gap by finding the obvious coordinate transformations and parameter identifications between the vacuum metrics after two different parameterizations of the generated solution via the inverse scattering method from the seed metric -- the Rindler vacuum background. We then resolve this ``missing" puzzle by providing another M\"{o}bius transformation and linear combinations of the Killing coordinates, which clearly cast the type-D NUT C-metric into the familiar form of the P-D solution. Additionally, we propose an alternative new routine for the normalization of the obtained metric derived via the inverse scattering method from the vacuum seed solution, which could be potentially useful for the construction of higher-dimensional solutions using the trivial vacuum background as the seed metric., Comment: 16 pages, No figure, revtex4-1.cls, 2 new references added, revised according to review report

Typical inverse rendering methods focus on learning implicit neural scene representations by modeling the geometry, materials and illumination separately, which entails significant computations for optimization. In this work we design a Unified Voxelization framework for explicit learning of scene representations, dubbed UniVoxel, which allows for efficient modeling of the geometry, materials and illumination jointly, thereby accelerating the inverse rendering significantly. To be specific, we propose to encode a scene into a latent volumetric representation, based on which the geometry, materials and illumination can be readily learned via lightweight neural networks in a unified manner. Particularly, an essential design of UniVoxel is that we leverage local Spherical Gaussians to represent the incident light radiance, which enables the seamless integration of modeling illumination into the unified voxelization framework. Such novel design enables our UniVoxel to model the joint effects of direct lighting, indirect lighting and light visibility efficiently without expensive multi-bounce ray tracing. Extensive experiments on multiple benchmarks covering diverse scenes demonstrate that UniVoxel boosts the optimization efficiency significantly compared to other methods, reducing the per-scene training time from hours to 18 minutes, while achieving favorable reconstruction quality. Code is available at https://github.com/freemantom/UniVoxel., Comment: ECCV2024

In the field of medical imaging, particularly in tasks related to early disease detection and prognosis, understanding the reasoning behind AI model predictions is imperative for assessing their reliability. Conventional explanation methods encounter challenges in identifying decisive features in medical image classifications, especially when discriminative features are subtle or not immediately evident. To address this limitation, we propose an agent model capable of generating counterfactual images that prompt different decisions when plugged into a black box model. By employing this agent model, we can uncover influential image patterns that impact the black model's final predictions. Through our methodology, we efficiently identify features that influence decisions of the deep black box. We validated our approach in the rigorous domain of medical prognosis tasks, showcasing its efficacy and potential to enhance the reliability of deep learning models in medical image classification compared to existing interpretation methods. The code will be publicly available at https://github.com/ayanglab/DiffExplainer., Comment: MICCAI 2024

We consider an online decision-making problem with a reward function defined over graph-structured data. We formally formulate the problem as an instance of graph action bandit. We then propose \texttt{GNN-TS}, a Graph Neural Network (GNN) powered Thompson Sampling (TS) algorithm which employs a GNN approximator for estimating the mean reward function and the graph neural tangent features for uncertainty estimation. We prove that, under certain boundness assumptions on the reward function, GNN-TS achieves a state-of-the-art regret bound which is (1) sub-linear of order $\tilde{\mathcal{O}}((\tilde{d} T)^{1/2})$ in the number of interaction rounds, $T$, and a notion of effective dimension $\tilde{d}$, and (2) independent of the number of graph nodes. Empirical results validate that our proposed \texttt{GNN-TS} exhibits competitive performance and scales well on graph action bandit problems.

Energy-efficient spintronic devices require a large spin-orbit torque (SOT) and low damping to excite magnetic precession. In conventional devices with heavy-metal/ferromagnet bilayers, reducing the ferromagnet thickness to $\sim$1 nm enhances the SOT but dramatically increases damping. Here, we investigate an alternative approach based on a 10 nm thick single-layer ferromagnet to attain both low damping and a sizable SOT. Instead of relying on a single interface, we continuously break the bulk inversion symmetry with a vertical compositional gradient of two ferromagnetic elements: Fe with low intrinsic damping and Ni with sizable spin-orbit coupling. We find low effective damping parameters of $\alpha_\mathrm{eff} < 5\times10^{-3}$ in the FeNi alloy films, despite the steep compositional gradients. Moreover, we reveal a sizable anti-damping SOT efficiency of $\theta_\mathrm{AD} \approx 0.05$, even without an intentional compositional gradient. Through depth-resolved x-ray diffraction, we identify a lattice strain gradient as crucial symmetry breaking that underpins the SOT. Our findings provide fresh insights into damping and SOTs in single-layer ferromagnets for power-efficient spintronic devices.

Generating high-quality 3D assets from text and images has long been challenging, primarily due to the absence of scalable 3D representations capable of capturing intricate geometry distributions. In this work, we introduce Direct3D, a native 3D generative model scalable to in-the-wild input images, without requiring a multiview diffusion model or SDS optimization. Our approach comprises two primary components: a Direct 3D Variational Auto-Encoder (D3D-VAE) and a Direct 3D Diffusion Transformer (D3D-DiT). D3D-VAE efficiently encodes high-resolution 3D shapes into a compact and continuous latent triplane space. Notably, our method directly supervises the decoded geometry using a semi-continuous surface sampling strategy, diverging from previous methods relying on rendered images as supervision signals. D3D-DiT models the distribution of encoded 3D latents and is specifically designed to fuse positional information from the three feature maps of the triplane latent, enabling a native 3D generative model scalable to large-scale 3D datasets. Additionally, we introduce an innovative image-to-3D generation pipeline incorporating semantic and pixel-level image conditions, allowing the model to produce 3D shapes consistent with the provided conditional image input. Extensive experiments demonstrate the superiority of our large-scale pre-trained Direct3D over previous image-to-3D approaches, achieving significantly better generation quality and generalization ability, thus establishing a new state-of-the-art for 3D content creation. Project page: https://nju-3dv.github.io/projects/Direct3D/.

The configuration of most robotic systems lies in continuous transformation groups. However, in mobile robot trajectory tracking, many recent works still naively utilize optimization methods for elements in vector space without considering the manifold constraint of the robot configuration. In this letter, we propose a geometric model predictive control (MPC) framework for wheeled mobile robot trajectory tracking. We first derive the error dynamics of the wheeled mobile robot trajectory tracking by considering its manifold constraint and kinematic constraint simultaneously. After that, we utilize the relationship between the Lie group and Lie algebra to convexify the tracking control problem, which enables us to solve the problem efficiently. Thanks to the Lie group formulation, our method tracks the trajectory more smoothly than existing nonlinear MPC. Simulations and physical experiments verify the effectiveness of our proposed methods. Our pure Python-based simulation platform is publicly available to benefit further research in the community.

Direct shooting is an efficient method to solve numerical optimal control. It utilizes the Runge-Kutta scheme to discretize a continuous-time optimal control problem making the problem solvable by nonlinear programming solvers. However, conventional direct shooting raises a contradictory dynamics issue when using an augmented state to handle {high-order} systems. This paper fills the research gap by considering the direct shooting method for {high-order} systems. We derive the modified Euler and Runge-Kutta-4 methods to transcribe the system dynamics constraint directly. Additionally, we provide the global error upper bounds of our proposed methods. A set of benchmark optimal control problems shows that our methods provide more accurate solutions than existing approaches., Comment: Accepted by ECC24

Deepfake technology has given rise to a spectrum of novel and compelling applications. Unfortunately, the widespread proliferation of high-fidelity fake videos has led to pervasive confusion and deception, shattering our faith that seeing is believing. One aspect that has been overlooked so far is that current deepfake detection approaches may easily fall into the trap of overfitting, focusing only on forgery clues within one or a few local regions. Moreover, existing works heavily rely on neural networks to extract forgery features, lacking theoretical constraints guaranteeing that sufficient forgery clues are extracted and superfluous features are eliminated. These deficiencies culminate in unsatisfactory accuracy and limited generalizability in real-life scenarios. In this paper, we try to tackle these challenges through three designs: (1) We present a novel framework to capture broader forgery clues by extracting multiple non-overlapping local representations and fusing them into a global semantic-rich feature. (2) Based on the information bottleneck theory, we derive Local Information Loss to guarantee the orthogonality of local representations while preserving comprehensive task-relevant information. (3) Further, to fuse the local representations and remove task-irrelevant information, we arrive at a Global Information Loss through the theoretical analysis of mutual information. Empirically, our method achieves state-of-the-art performance on five benchmark datasets.Our code is available at \url{https://github.com/QingyuLiu/Exposing-the-Deception}, hoping to inspire researchers., Comment: AAAI2024

This paper presents an innovative framework that integrates Large Language Models (LLMs) with an external Thinker module to enhance the reasoning capabilities of LLM-based agents. Unlike augmenting LLMs with prompt engineering, Thinker directly harnesses knowledge from databases and employs various optimization techniques. The framework forms a reasoning hierarchy where LLMs handle intuitive System-1 tasks such as natural language processing, while the Thinker focuses on cognitive System-2 tasks that require complex logical analysis and domain-specific knowledge. Our framework is presented using a 9-player Werewolf game that demands dual-system reasoning. We introduce a communication protocol between LLMs and the Thinker, and train the Thinker using data from 18800 human sessions and reinforcement learning. Experiments demonstrate the framework's effectiveness in deductive reasoning, speech generation, and online game evaluation. Additionally, we fine-tune a 6B LLM to surpass GPT4 when integrated with the Thinker. This paper also contributes the largest dataset for social deduction games to date.

Extending our previous results, we study the double-scaling limit SYK (DSSYK) model with an additional diagonal matrix with a fixed number $c$ of nonzero constant entries $\theta$. This constant diagonal term can be rewritten in terms of Majorana fermion products. Its specific formula depends on the value of $c$. We find exact expressions for the moments of this model. More importantly, by proposing a moment-cumulant relation, we reinterpret the effect of introducing a constant term in the context of non-commutative probability theory. This gives rise to a $\tilde{q}$ dependent mixture of independences within the moment formula. The parameter $\tilde{q}$, derived from the $q$-Ornstein-Uhlenbeck ($q$-OU) process, controls this transformation. It interpolates between classical independence ($\tilde{q}=1$) and Boolean independence ($\tilde{q}=0$). The underlying combinatorial structures of this model provide the non-commutative probability connections. Additionally, we explore the potential relation between these connections and their gravitational path integral counterparts., Comment: 42 pages,10 figures and 3 appendices

Autonomous driving has traditionally relied heavily on costly and labor-intensive High Definition (HD) maps, hindering scalability. In contrast, Standard Definition (SD) maps are more affordable and have worldwide coverage, offering a scalable alternative. In this work, we systematically explore the effect of SD maps for real-time lane-topology understanding. We propose a novel framework to integrate SD maps into online map prediction and propose a Transformer-based encoder, SD Map Encoder Representations from transFormers, to leverage priors in SD maps for the lane-topology prediction task. This enhancement consistently and significantly boosts (by up to 60%) lane detection and topology prediction on current state-of-the-art online map prediction methods without bells and whistles and can be immediately incorporated into any Transformer-based lane-topology method. Code is available at https://github.com/NVlabs/SMERF.

Effectively leveraging multimodal data such as various images, laboratory tests and clinical information is gaining traction in a variety of AI-based medical diagnosis and prognosis tasks. Most existing multi-modal techniques only focus on enhancing their performance by leveraging the differences or shared features from various modalities and fusing feature across different modalities. These approaches are generally not optimal for clinical settings, which pose the additional challenges of limited training data, as well as being rife with redundant data or noisy modality channels, leading to subpar performance. To address this gap, we study the robustness of existing methods to data redundancy and noise and propose a generalized dynamic multimodal information bottleneck framework for attaining a robust fused feature representation. Specifically, our information bottleneck module serves to filter out the task-irrelevant information and noises in the fused feature, and we further introduce a sufficiency loss to prevent dropping of task-relevant information, thus explicitly preserving the sufficiency of prediction information in the distilled feature. We validate our model on an in-house and a public COVID19 dataset for mortality prediction as well as two public biomedical datasets for diagnostic tasks. Extensive experiments show that our method surpasses the state-of-the-art and is significantly more robust, being the only method to remain performance when large-scale noisy channels exist. Our code is publicly available at https://github.com/BII-wushuang/DMIB., Comment: WACV 2024

Face forgery generation technologies generate vivid faces, which have raised public concerns about security and privacy. Many intelligent systems, such as electronic payment and identity verification, rely on face forgery detection. Although face forgery detection has successfully distinguished fake faces, recent studies have demonstrated that face forgery detectors are very vulnerable to adversarial examples. Meanwhile, existing attacks rely on network architectures or training datasets instead of the predicted labels, which leads to a gap in attacking deployed applications. To narrow this gap, we first explore the decision-based attacks on face forgery detection. However, applying existing decision-based attacks directly suffers from perturbation initialization failure and low image quality. First, we propose cross-task perturbation to handle initialization failures by utilizing the high correlation of face features on different tasks. Then, inspired by using frequency cues by face forgery detection, we propose the frequency decision-based attack. We add perturbations in the frequency domain and then constrain the visual quality in the spatial domain. Finally, extensive experiments demonstrate that our method achieves state-of-the-art attack performance on FaceForensics++, CelebDF, and industrial APIs, with high query efficiency and guaranteed image quality. Further, the fake faces by our method can pass face forgery detection and face recognition, which exposes the security problems of face forgery detectors.

Deepfake has taken the world by storm, triggering a trust crisis. Current deepfake detection methods are typically inadequate in generalizability, with a tendency to overfit to image contents such as the background, which are frequently occurring but relatively unimportant in the training dataset. Furthermore, current methods heavily rely on a few dominant forgery regions and may ignore other equally important regions, leading to inadequate uncovering of forgery cues. In this paper, we strive to address these shortcomings from three aspects: (1) We propose an innovative two-stream network that effectively enlarges the potential regions from which the model extracts forgery evidence. (2) We devise three functional modules to handle the multi-stream and multi-scale features in a collaborative learning scheme. (3) Confronted with the challenge of obtaining forgery annotations, we propose a Semi-supervised Patch Similarity Learning strategy to estimate patch-level forged location annotations. Empirically, our method demonstrates significantly improved robustness and generalizability, outperforming previous methods on six benchmarks, and improving the frame-level AUC on Deepfake Detection Challenge preview dataset from 0.797 to 0.835 and video-level AUC on CelebDF$\_$v1 dataset from 0.811 to 0.847. Our implementation is available at https://github.com/sccsok/Locate-and-Verify., Comment: 10 pages, 8 figures, 60 references. This paper has been accepted for ACM MM 2023

Topological properties in quantum materials are often governed by symmetry and tuned by crystal structure and external fields, and hence symmetry-sensitive nonlinear optical measurements in a magnetic field are a valuable probe. Here we report nonlinear magneto-optical second harmonic generation (SHG) studies of non-magnetic topological materials including bilayer WTe2, monolayer WSe2 and bulk TaAs. The polarization-resolved patterns of optical SHG under magnetic field show nonlinear Kerr rotation in these time-reversal symmetric materials. For materials with three-fold rotational symmetric lattice structure, the SHG polarization pattern rotates just slightly in a magnetic field, whereas in those with mirror or two-fold rotational symmetry the SHG polarization pattern rotates greatly and distorts. These different magneto-SHG characters can be understood by considering the superposition of the magnetic field-induced time-noninvariant nonlinear optical tensor and the crystal-structure-based time-invariant counterpart. The situation is further clarified by scrutinizing the Faraday rotation, whose subtle interplay with crystal symmetry accounts for the diverse behavior of the extrinsic nonlinear Kerr rotation in different materials. Our work illustrates the application of magneto-SHG techniques to directly probe nontrivial topological properties, and underlines the importance of minimizing extrinsic nonlinear Kerr rotation in polarization-resolved magneto-optical studies., Comment: 25 pages, 6 figures

Electrocardiogram (ECG) is a widely used diagnostic tool for detecting heart conditions. Rare cardiac diseases may be underdiagnosed using traditional ECG analysis, considering that no training dataset can exhaust all possible cardiac disorders. This paper proposes using anomaly detection to identify any unhealthy status, with normal ECGs solely for training. However, detecting anomalies in ECG can be challenging due to significant inter-individual differences and anomalies present in both global rhythm and local morphology. To address this challenge, this paper introduces a novel multi-scale cross-restoration framework for ECG anomaly detection and localization that considers both local and global ECG characteristics. The proposed framework employs a two-branch autoencoder to facilitate multi-scale feature learning through a masking and restoration process, with one branch focusing on global features from the entire ECG and the other on local features from heartbeat-level details, mimicking the diagnostic process of cardiologists. Anomalies are identified by their high restoration errors. To evaluate the performance on a large number of individuals, this paper introduces a new challenging benchmark with signal point-level ground truths annotated by experienced cardiologists. The proposed method demonstrates state-of-the-art performance on this benchmark and two other well-known ECG datasets. The benchmark dataset and source code are available at: \url{https://github.com/MediaBrain-SJTU/ECGAD}, Comment: MICCAI 2023 Early Accept

The discovery of atomically thin van der Waals ferroelectric and magnetic materials encourages the exploration of 2D multiferroics, which holds the promise to understand fascinating magnetoelectric interactions and fabricate advanced spintronic devices. In addition to building a heterostructure consisting of ferroelectric and magnetic ingredients, thinning down layered multiferroics of spin origin such as NiI2 becomes a natural route to realize 2D multiferroicity. However, the layer-dependent behavior, widely known in the community of 2D materials, necessitates a rigorous scrutiny of the multiferroic order in the few-layer limit. Here, we interrogate the layer thickness crossover of helimagnetism in NiI2 that drives the ferroelectricity and thereby type-II multiferroicity. By using wavelength-dependent polarization-resolved optical second harmonic generation (SHG) to probe the ferroic symmetry, we find that the SHG arises from the inversion-symmetry-breaking magnetic order, not previously assumed ferroelectricity. This magnetism-induced SHG is only observed in bilayer or thicker layers, and vanishes in monolayer, suggesting the critical role of interlayer exchange interaction in breaking the degeneracy of geometrically frustrated spin structures in triangular lattice and stabilizing the type-II multiferroic magnetism in few-layers. While the helimagnetic transition temperature is layer dependent, the few-layer NiI2 exhibits another thickness evolution and reaches the bulk-like behavior in trilayer, indicated by the intermediate centrosymmetric antiferromagnetic state as revealed in Raman spectroscopy. Our work therefore highlights the magnetic contribution to SHG and Raman spectroscopy in reduced dimension and guides the optical study of 2D multiferroics., Comment: 23 pages, 4 figures, 6 supplementary figures

With the advancement of robotics and AI technologies in the past decade, we have now entered the age of autonomous machines. In this new age of information technology, autonomous machines, such as service robots, autonomous drones, delivery robots, and autonomous vehicles, rather than humans, will provide services. In this article, through examining the technical challenges and economic impact of the digital economy, we argue that scalability is both highly necessary from a technical perspective and significantly advantageous from an economic perspective, thus is the key for the autonomy industry to achieve its full potential. Nonetheless, the current development paradigm, dubbed Autonomy 1.0, scales with the number of engineers, instead of with the amount of data or compute resources, hence preventing the autonomy industry to fully benefit from the economies of scale, especially the exponentially cheapening compute cost and the explosion of available data. We further analyze the key scalability blockers and explain how a new development paradigm, dubbed Autonomy 2.0, can address these problems to greatly boost the autonomy industry.

Deep neural networks (DNNs) have been showed to be highly vulnerable to imperceptible adversarial perturbations. As a complementary type of adversary, patch attacks that introduce perceptible perturbations to the images have attracted the interest of researchers. Existing patch attacks rely on the architecture of the model or the probabilities of predictions and perform poorly in the decision-based setting, which can still construct a perturbation with the minimal information exposed -- the top-1 predicted label. In this work, we first explore the decision-based patch attack. To enhance the attack efficiency, we model the patches using paired key-points and use targeted images as the initialization of patches, and parameter optimizations are all performed on the integer domain. Then, we propose a differential evolutionary algorithm named DevoPatch for query-efficient decision-based patch attacks. Experiments demonstrate that DevoPatch outperforms the state-of-the-art black-box patch attacks in terms of patch area and attack success rate within a given query budget on image classification and face verification. Additionally, we conduct the vulnerability evaluation of ViT and MLP on image classification in the decision-based patch attack setting for the first time. Using DevoPatch, we can evaluate the robustness of models to black-box patch attacks. We believe this method could inspire the design and deployment of robust vision models based on various DNN architectures in the future.

Vectorized high-definition (HD) map is essential for autonomous driving, providing detailed and precise environmental information for advanced perception and planning. However, current map vectorization methods often exhibit deviations, and the existing evaluation metric for map vectorization lacks sufficient sensitivity to detect these deviations. To address these limitations, we propose integrating the philosophy of rasterization into map vectorization. Specifically, we introduce a new rasterization-based evaluation metric, which has superior sensitivity and is better suited to real-world autonomous driving scenarios. Furthermore, we propose MapVR (Map Vectorization via Rasterization), a novel framework that applies differentiable rasterization to vectorized outputs and then performs precise and geometry-aware supervision on rasterized HD maps. Notably, MapVR designs tailored rasterization strategies for various geometric shapes, enabling effective adaptation to a wide range of map elements. Experiments show that incorporating rasterization into map vectorization greatly enhances performance with no extra computational cost during inference, leading to more accurate map perception and ultimately promoting safer autonomous driving., Comment: [NeurIPS 2023]

Action recognition has long been a fundamental and intriguing problem in artificial intelligence. The task is challenging due to the high dimensionality nature of an action, as well as the subtle motion details to be considered. Current state-of-the-art approaches typically learn from articulated motion sequences in the straightforward 3D Euclidean space. However, the vanilla Euclidean space is not efficient for modeling important motion characteristics such as the joint-wise angular acceleration, which reveals the driving force behind the motion. Moreover, current methods typically attend to each channel equally and lack theoretical constrains on extracting task-relevant features from the input. In this paper, we seek to tackle these challenges from three aspects: (1) We propose to incorporate an acceleration representation, explicitly modeling the higher-order variations in motion. (2) We introduce a novel Stream-GCN network equipped with multi-stream components and channel attention, where different representations (i.e., streams) supplement each other towards a more precise action recognition while attention capitalizes on those important channels. (3) We explore feature-level supervision for maximizing the extraction of task-relevant information and formulate this into a mutual information loss. Empirically, our approach sets the new state-of-the-art performance on three benchmark datasets, NTU RGB+D, NTU RGB+D 120, and NW-UCLA. Our code is anonymously released at https://github.com/ActionR-Group/Stream-GCN, hoping to inspire the community., Comment: 9 pages, 5 figures