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Multiple importance sampling (MIS) is an indispensable tool in rendering that constructs robust sampling strategies by combining the respective strengths of individual distributions. Its efficiency can be greatly improved by carefully selecting the number of samples drawn from each distribution, but automating this process remains a challenging problem. Existing works are mostly limited to mixture sampling, in which only a single sample is drawn in total, and the works that do investigate multi-sample MIS only optimize the sample counts at a per-pixel level, which cannot account for variations beyond the first bounce. Recent work on Russian roulette and splitting has demonstrated how fixed-point schemes can be used to spatially vary sample counts to optimize image efficiency but is limited to choosing the same number of samples across all sampling strategies. Our work proposes a highly flexible sample allocation strategy that bridges the gap between these areas of work. We show how to iteratively optimize the sample counts to maximize the efficiency of the rendered image using a lightweight data structure, which allows us to make local and individual decisions per technique. We demonstrate the benefits of our approach in two applications, path guiding and bidirectional path tracing, in both of which we achieve consistent and substantial speedups over the respective previous state-of-the-art., Comment: 18 pages, 13 figures, to be published in SIGGRAPH Asia 2024 Conference Papers

This booklet on Active Assisted Living (AAL) technologies has been created as part of the GoodBrother COST Action, which has run from 2020 to 2024. COST Actions are European research programs that promote collaboration across borders, uniting researchers, professionals, and institutions to address key societal challenges. GoodBrother focused on ethical and privacy concerns surrounding video and audio monitoring in care settings. The aim was to ensure that while AAL technologies help older adults and vulnerable individuals, their privacy and data protection rights remain a top priority. This booklet is designed to guide you through the role that AAL technologies play in improving the quality of life for older adults, caregivers, and people with disabilities. AAL technologies offer tools for those facing cognitive or physical challenges. They can enhance independence, assist with daily routines, and promote a safer living environment. However, the rise of these technologies also brings important questions about data protection and user autonomy. This resource is intended for a wide audience, including end users, caregivers, healthcare professionals, and policymakers. It provides practical guidance on integrating AAL technologies into care settings while safeguarding privacy and ensuring ethical use. The insights offered here aim to empower users and caregivers to make informed choices that enhance both the quality of care and respect for personal autonomy.

We present the Wavefront Sensor units of the Gravity Plus Adaptive Optics (GPAO) system, which will equip all 8m class telescopes of the VLTI and is an instrumental part of the GRAVITY+ project. It includes two modules for each Wavefront Sensor unit: a Natural Guide Star sensor with high-order 40x40 Shack-Hartmann and a Laser Guide Star 30x30 sensor. The state-of-the-art AO correction will considerably improve the performance for interferometry, in particular high-contrast observations for NGS observations and all-sky coverage with LGS, which will be implemented for the first time on VLTI instruments. In the following, we give an overview of the Wavefront Sensor units system after completion of their integration and characterization., Comment: Optical and Infrared Interferometry and Imaging IX

We report results of magnetization and $^{19}$F NMR measurements in the normal state of as-grown LaO$_{0.5}$F$_{0.5}$BiS$_2$. The magnetization is dominated by a temperature-independent diamagnetic component and a field- and temperature-dependent paramagnetic contribution $M_\mu(H,T)$ from a $\sim$1000~ppm concentration of local moments, an order of magnitude higher than can be accounted for by measured rare-earth impurity concentrations. $M_\mu(H,T)$ can be fit by the Brillouin function $B_J(x)$ or, perhaps more realistically, a two-level $\tanh(x)$ model for magnetic Bi $6p$ ions in defect crystal fields. Both fits require a phenomenological Curie-Weiss argument $x = \mu_\mathrm{eff}H/(T + T_W)$, $T_W \approx 1.7$ K. There is no evidence for magnetic order down to 2 K, and the origin of $T_W$ is not clear. $^{19}$F frequency shifts, linewidths, and spin-lattice relaxation rates are consistent with purely dipolar $^{19}$F/defect-spin interactions. The defect-spin correlation time $\tau_c(T)$ obtained from $^{19}$F spin-lattice relaxation rates obeys the Korringa relation $\tau_cT = \text{const.}$, indicating the relaxation is dominated by conduction-band fluctuations., Comment: Corrected citations, 15 pages, 15 figures, 6 tables, 69 references, corresponding author O. O. Bernal: obernal@calstatela.edu

A novel method to reconstruct the energy of hadronic showers in the CMS High Granularity Calorimeter (HGCAL) is presented. The HGCAL is a sampling calorimeter with very fine transverse and longitudinal granularity. The active media are silicon sensors and scintillator tiles readout by SiPMs and the absorbers are a combination of lead and Cu/CuW in the electromagnetic section, and steel in the hadronic section. The shower reconstruction method is based on graph neural networks and it makes use of a dynamic reduction network architecture. It is shown that the algorithm is able to capture and mitigate the main effects that normally hinder the reconstruction of hadronic showers using classical reconstruction methods, by compensating for fluctuations in the multiplicity, energy, and spatial distributions of the shower's constituents. The performance of the algorithm is evaluated using test beam data collected in 2018 prototype of the CMS HGCAL accompanied by a section of the CALICE AHCAL prototype. The capability of the method to mitigate the impact of energy leakage from the calorimeter is also demonstrated.

Since 2019, GRAVITY has provided direct observations of giant planets and brown dwarfs at separations of down to 95 mas from the host star. Some of these observations have provided the first direct confirmation of companions previously detected by indirect techniques (astrometry and radial velocities). We want to improve the observing strategy and data reduction in order to lower the inner working angle of GRAVITY in dual-field on-axis mode. We also want to determine the current limitations of the instrument when observing faint companions with separations in the 30-150 mas range. To improve the inner working angle, we propose a fiber off-pointing strategy during the observations to maximize the ratio of companion-light-to-star-light coupling in the science fiber. We also tested a lower-order model for speckles to decouple the companion light from the star light. We then evaluated the detection limits of GRAVITY using planet injection and retrieval in representative archival data. We compare our results to theoretical expectations. We validate our observing and data-reduction strategy with on-sky observations; first in the context of brown dwarf follow-up on the auxiliary telescopes with HD 984 B, and second with the first confirmation of a substellar candidate around the star Gaia DR3 2728129004119806464. With synthetic companion injection, we demonstrate that the instrument can detect companions down to a contrast of $8\times 10^{-4}$ ($\Delta \mathrm{K}= 7.7$ mag) at a separation of 35 mas, and a contrast of $3\times 10^{-5}$ ($\Delta \mathrm{K}= 11$ mag) at 100 mas from a bright primary (K<6.5), for 30 min exposure time. With its inner working angle and astrometric precision, GRAVITY has a unique reach in direct observation parameter space. This study demonstrates the promising synergies between GRAVITY and Gaia for the confirmation and characterization of substellar companions., Comment: 16 pages, 14 figures. Submitted to A&A

In this study, we introduce the generalized Tribonacci hyperbolic spinors and properties of this new special numbers system by the generalized Tribonacci numbers, which are one of the most general form of the third-order recurrence sequences, generalized Tribonacci quaternions, and hyperbolic spinors, which have quite an importance and framework from mathematics to physics. This study especially improves the relations between the hyperbolic spinors and generalized Tribonacci numbers with the help of the generalized Tribonacci split quaternions. Furthermore, we examine some special cases of them and construct both new equalities and fundamental properties such as recurrence relation, Binet formula, generating function, exponential generating function, Poisson generating function, summation formulas, special determinant properties, matrix formula, and special determinant equations. Also, we give some numerical algorithms with respect to the obtained materials. In addition to these, we give a brief introduction for further research: generalized Tribonacci polynomial hyperbolic spinor sequence., Comment: 25 pages

Automated volumetric segmentation of the pancreas on cross-sectional imaging is needed for diagnosis and follow-up of pancreatic diseases. While CT-based pancreatic segmentation is more established, MRI-based segmentation methods are understudied, largely due to a lack of publicly available datasets, benchmarking research efforts, and domain-specific deep learning methods. In this retrospective study, we collected a large dataset (767 scans from 499 participants) of T1-weighted (T1W) and T2-weighted (T2W) abdominal MRI series from five centers between March 2004 and November 2022. We also collected CT scans of 1,350 patients from publicly available sources for benchmarking purposes. We developed a new pancreas segmentation method, called PanSegNet, combining the strengths of nnUNet and a Transformer network with a new linear attention module enabling volumetric computation. We tested PanSegNet's accuracy in cross-modality (a total of 2,117 scans) and cross-center settings with Dice and Hausdorff distance (HD95) evaluation metrics. We used Cohen's kappa statistics for intra and inter-rater agreement evaluation and paired t-tests for volume and Dice comparisons, respectively. For segmentation accuracy, we achieved Dice coefficients of 88.3% (std: 7.2%, at case level) with CT, 85.0% (std: 7.9%) with T1W MRI, and 86.3% (std: 6.4%) with T2W MRI. There was a high correlation for pancreas volume prediction with R^2 of 0.91, 0.84, and 0.85 for CT, T1W, and T2W, respectively. We found moderate inter-observer (0.624 and 0.638 for T1W and T2W MRI, respectively) and high intra-observer agreement scores. All MRI data is made available at https://osf.io/kysnj/. Our source code is available at https://github.com/NUBagciLab/PaNSegNet., Comment: Peer-reviewer version

Convolutional Neural Networks (CNNs) have become widely adopted for medical image segmentation tasks, demonstrating promising performance. However, the inherent inductive biases in convolutional architectures limit their ability to model long-range dependencies and spatial correlations. While recent transformer-based architectures address these limitations by leveraging self-attention mechanisms to encode long-range dependencies and learn expressive representations, they often struggle to extract low-level features and are highly dependent on data availability. This motivated us for the development of GLIMS, a data-efficient attention-guided hybrid volumetric segmentation network. GLIMS utilizes Dilated Feature Aggregator Convolutional Blocks (DACB) to capture local-global feature correlations efficiently. Furthermore, the incorporated Swin Transformer-based bottleneck bridges the local and global features to improve the robustness of the model. Additionally, GLIMS employs an attention-guided segmentation approach through Channel and Spatial-Wise Attention Blocks (CSAB) to localize expressive features for fine-grained border segmentation. Quantitative and qualitative results on glioblastoma and multi-organ CT segmentation tasks demonstrate GLIMS' effectiveness in terms of complexity and accuracy. GLIMS demonstrated outstanding performance on BraTS2021 and BTCV datasets, surpassing the performance of Swin UNETR. Notably, GLIMS achieved this high performance with a significantly reduced number of trainable parameters. Specifically, GLIMS has 47.16M trainable parameters and 72.30G FLOPs, while Swin UNETR has 61.98M trainable parameters and 394.84G FLOPs. The code is publicly available on https://github.com/yaziciz/GLIMS., Comment: The article was accepted for publication in the Image and Vision Computing journal

Identifying peri-pancreatic edema is a pivotal indicator for identifying disease progression and prognosis, emphasizing the critical need for accurate detection and assessment in pancreatitis diagnosis and management. This study \textit{introduces a novel CT dataset sourced from 255 patients with pancreatic diseases, featuring annotated pancreas segmentation masks and corresponding diagnostic labels for peri-pancreatic edema condition}. With the novel dataset, we first evaluate the efficacy of the \textit{LinTransUNet} model, a linear Transformer based segmentation algorithm, to segment the pancreas accurately from CT imaging data. Then, we use segmented pancreas regions with two distinctive machine learning classifiers to identify existence of peri-pancreatic edema: deep learning-based models and a radiomics-based eXtreme Gradient Boosting (XGBoost). The LinTransUNet achieved promising results, with a dice coefficient of 80.85\%, and mIoU of 68.73\%. Among the nine benchmarked classification models for peri-pancreatic edema detection, \textit{Swin-Tiny} transformer model demonstrated the highest recall of $98.85 \pm 0.42$ and precision of $98.38\pm 0.17$. Comparatively, the radiomics-based XGBoost model achieved an accuracy of $79.61\pm4.04$ and recall of $91.05\pm3.28$, showcasing its potential as a supplementary diagnostic tool given its rapid processing speed and reduced training time. Our code is available \url{https://github.com/NUBagciLab/Peri-Pancreatic-Edema-Detection}.

The detection of low-mass planets orbiting the nearest stars is a central stake of exoplanetary science, as they can be directly characterized much more easily than their distant counterparts. Here, we present the results of our long-term astrometric observations of the nearest binary M-dwarf Gliese 65 AB (GJ65), located at a distance of only 2.67 pc. We monitored the relative astrometry of the two components from 2016 to 2023 with the VLTI/GRAVITY interferometric instrument. We derived highly accurate orbital parameters for the stellar system, along with the dynamical masses of the two red dwarfs. The GRAVITY measurements exhibit a mean accuracy per epoch of 50-60 microarcseconds in 1.5h of observing time using the 1.8m Auxiliary Telescopes. The residuals of the two-body orbital fit enable us to search for the presence of companions orbiting one of the two stars (S-type orbit) through the reflex motion they imprint on the differential A-B astrometry. We detected a Neptune-mass candidate companion with an orbital period of p = 156 +/- 1 d and a mass of m = 36 +/- 7 Mearth. The best-fit orbit is within the dynamical stability region of the stellar pair. It has a low eccentricity, e = 0.1 - 0.3, and the planetary orbit plane has a moderate-to-high inclination of i > 30{\deg} with respect to the stellar pair, with further observations required to confirm these values. These observations demonstrate the capability of interferometric astrometry to reach microarcsecond accuracy in the narrow-angle regime for planet detection by reflex motion from the ground. This capability offers new perspectives and potential synergies with Gaia in the pursuit of low-mass exoplanets in the solar neighborhood., Comment: Corresponding authors: G.Bourdarot, P.Kervella, O.Pfuhl. Accepted in A&A Letters

The proliferation of connected vehicles and the advent of New Radio (NR) technologies have ushered in a new era of intelligent transportation systems. Ensuring reliable and lowlatency communication between vehicles and their surrounding environment is of utmost importance for the success of these systems. This paper presents a novel approach to predict Quality of Service (QoS) in Vehicle-to-Everything (V2X) communications through nested cross-validation. Our methodology employs several machine learning (ML) methods to predict some QoS metrics, such as packet delivery ratio (PDR), and throughput, in NR-based V2X scenarios. In ML employment, nested cross-validation approach, unlike conventional cross-validation approach, prevents information leakage from parameter selection into hyperparameter selection, and this results in getting more robust results in terms of overfitting. The study utilizes real-world NR-V2X datasets to train and validate the proposed ML methods. Through extensive experiments, we demonstrate the efficacy of our approach in accurately predicting QoS parameters, even in dynamic and challenging vehicular environments. In summary, our research contributes to the advancement of NR-based V2X communication systems by introducing employment of ML methods with a novel approach for QoS prediction. The combination of accurate predictions through nested cross-validation not only enhances the reliability of communication in connected vehicles' landscape but also has a supportive role for stakeholders to make informed decisions for the optimization and management of vehicular networks., Comment: accepted at IEEE ICCSPA 24

With four companions at separations from 16 to 71 au, HR 8799 is a unique target for direct imaging, presenting an opportunity for the comparative study of exoplanets with a shared formation history. Combining new VLTI/GRAVITY observations obtained within the ExoGRAVITY program with archival data, we perform a systematic atmospheric characterisation of all four planets. We explore different levels of model flexibility to understand the temperature structure, chemistry and clouds of each planet using both petitRADTRANS atmospheric retrievals and fits to self-consistent radiative-convective equilibrium models. Using Bayesian Model Averaging to combine multiple retrievals, we find that the HR 8799 planets are highly enriched in metals, with [M/H] $\gtrsim$1, and have stellar to super-stellar C/O ratios. The C/O ratio increases with increasing separation from $0.55^{+0.12}_{-0.10}$ for d to $0.78^{+0.03}_{-0.04}$ for b, with the exception of the innermost planet which has a C/O ratio of $0.87\pm0.03$. By retrieving a quench pressure and using a disequilibrium chemistry model we derive vertical mixing strengths compatible with predictions for high-metallicity, self-luminous atmospheres. Bayesian evidence comparisons strongly favour the presence of HCN in HR 8799 c and e, as well as CH$_{4}$ in HR 8799 c, with detections at $>5\sigma$ confidence. All of the planets are cloudy, with no evidence for patchiness. The clouds of c, d and e are best fit by silicate clouds lying above a deep iron cloud layer, while the clouds of the cooler HR 8799 b are more likely composed of Na$_{2}$S. With well defined atmospheric properties, future exploration of this system is well positioned to unveil further detail in these planets, extending our understanding of the composition, structure, and formation history of these siblings., Comment: 45 pages, 25 figures, accepted by Astronomy & Astrophysics

Precise mass constraints are vital for the characterisation of brown dwarfs and exoplanets. Here we present how the combination of data obtained by Gaia and GRAVITY can help enlarge the sample of substellar companions with measured dynamical masses. We show how the Non-Single-Star (NSS) two-body orbit catalogue contained in Gaia DR3 can be used to inform high-angular-resolution follow-up observations with GRAVITY. Applying the method presented in this work to eight Gaia candidate systems, we detect all eight predicted companions, seven of which were previously unknown and five are of a substellar nature. Among the sample is Gaia DR3 2728129004119806464 B, which - detected at an angular separation of (34.01 $\pm$ 0.15) mas from the host - is the closest substellar companion ever imaged. This translates to a semi-major axis of (0.938 $\pm$ 0.023) AU. WT 766 B, detected at a greater angular separation, was confirmed to be on an orbit exhibiting an even smaller semi-major axis of (0.676 $\pm$ 0.008) AU. The GRAVITY data were then used to break the host-companion mass degeneracy inherent to the Gaia NSS orbit solutions as well as to constrain the orbital solutions of the respective target systems. Knowledge of the companion masses enabled us to further characterise them in terms of their ages, effective temperatures, and radii via the application of evolutionary models. The inferred ages exhibit a distinct bias towards values younger than what is to be expected based on the literature. The results serve as an independent validation of the orbital solutions published in the NSS two-body orbit catalogue and show that the combination of astrometric survey missions and high-angular-resolution direct imaging holds great promise for efficiently increasing the sample of directly imaged companions in the future, especially in the light of Gaia's upcoming DR4 and the advent of GRAVITY+., Comment: Accepted for publication in Astronomy and Astrophysics

Glioblastoma is a highly aggressive and malignant brain tumor type that requires early diagnosis and prompt intervention. Due to its heterogeneity in appearance, developing automated detection approaches is challenging. To address this challenge, Artificial Intelligence (AI)-driven approaches in healthcare have generated interest in efficiently diagnosing and evaluating brain tumors. The Brain Tumor Segmentation Challenge (BraTS) is a platform for developing and assessing automated techniques for tumor analysis using high-quality, clinically acquired MRI data. In our approach, we utilized a multi-scale, attention-guided and hybrid U-Net-shaped model -- GLIMS -- to perform 3D brain tumor segmentation in three regions: Enhancing Tumor (ET), Tumor Core (TC), and Whole Tumor (WT). The multi-scale feature extraction provides better contextual feature aggregation in high resolutions and the Swin Transformer blocks improve the global feature extraction at deeper levels of the model. The segmentation mask generation in the decoder branch is guided by the attention-refined features gathered from the encoder branch to enhance the important attributes. Moreover, hierarchical supervision is used to train the model efficiently. Our model's performance on the validation set resulted in 92.19, 87.75, and 83.18 Dice Scores and 89.09, 84.67, and 82.15 Lesion-wise Dice Scores in WT, TC, and ET, respectively. The code is publicly available at https://github.com/yaziciz/GLIMS., Comment: Accepted at 9th BrainLes Workshop (BraTS 2023 Challenge) @ International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI) 2023

In this paper, we introduce the higher analogues of contiguity distance and its relations with simplicial Lusternik-Schnirelmann category and discrete topological complexity. Also we study the effects of geometric realisation and barycentric subdivision in the sense that how the geometric realisation of the simplicial maps and the induced simplicial maps on barycentric subdivisions affects higher contiguity distance.

Quantum dots are semiconductor nano-structures where particle motion is confined in all three spatial dimensions. Since their first experimental realization, nanocrystals confining the quanta of polarization waves, termed excitons, have found numerous applications in fields ranging from single photon sources for quantum information processing to commercial displays. A major limitation to further extending the range of potential applications has been the large inhomogeneity in, and lack-of tunability of, exciton energy that is generic to quantum dot materials. Here, we address this challenge by demonstrating electrically-defined quantum dots for excitons in monolayer semiconductors where the discrete exciton energies can be tuned using applied gate voltages. Resonance fluorescence measurements show strong spectral jumps and blinking of these resonances, verifying their zero-dimensional nature. Our work paves the way for realizing quantum confined bosonic modes where nonlinear response would arise exclusively from exciton--exciton interactions., Comment: updated version

Dual-field interferometric observations with VLTI/GRAVITY sometimes require the use of a "binary calibrator", a binary star whose individual components remain unresolved by the interferometer, with a separation between 400 and 2000 mas for observations with the Units Telescopes (UTs), or 1200 to 3000 mas for the Auxiliary Telescopes (ATs). The separation vector also needs to be predictable to within 10 mas for proper pointing of the instrument. Up until now, no list of properly vetted calibrators was available for dual-field observations with VLTI/GRAVITY on the UTs. Our objective is to compile such a list, and make it available to the community. We identify a list of candidates from the Washington Double Star (WDS) catalogue, all with appropriate separations and brightness, scattered over the Southern sky. We observe them as part of a dedicated calibration programme, and determine whether these objects are true binaries (excluding higher multiplicities resolved interferometrically but unseen by imaging), and extract measurements of the separation vectors. We combine these new measurements with those available in the WDS to determine updated orbital parameters for all our vetted calibrators. We compile a list of 13 vetted binary calibrators for observations with VLTI/GRAVITY on the UTs, and provide orbital estimates and astrometric predictions for each of them. We show that our list guarantees that there are always at least two binary calibrators at airmass < 2 in the sky over the Paranal observatory, at any point in time. Any Principal Investigator wishing to use the dual-field mode of VLTI/GRAVITY with the UTs can now refer to this list to select an appropriate calibrator. We encourage the use of "whereistheplanet" to predict the astrometry of these calibrators, which seamlessly integrates with "p2Gravity" for VLTI/GRAVITY dual-field observing material preparation., Comment: 16 pages, 6 figures. Submitted to A&A

Human pose estimation, the process of identifying joint positions in a person's body from images or videos, represents a widely utilized technology across diverse fields, including healthcare. One such healthcare application involves in-bed pose estimation, where the body pose of an individual lying under a blanket is analyzed. This task, for instance, can be used to monitor a person's sleep behavior and detect symptoms early for potential disease diagnosis in homes and hospitals. Several studies have utilized unimodal and multimodal methods to estimate in-bed human poses. The unimodal studies generally employ RGB images, whereas the multimodal studies use modalities including RGB, long-wavelength infrared, pressure map, and depth map. Multimodal studies have the advantage of using modalities in addition to RGB that might capture information useful to cope with occlusions. Moreover, some multimodal studies exclude RGB and, this way, better suit privacy preservation. To expedite advancements in this domain, we conduct a review of existing datasets and approaches. Our objectives are to show the limitations of the previous studies, current challenges, and provide insights for future works on the in-bed human pose estimation field., Comment: Accepted at HCCS24 Workshop @ International Conference on Pervasive Computing and Communications (PerCom 2024)

Young, low-mass Brown Dwarfs orbiting early-type stars, with low mass ratios ($q\lesssim0.01$), appear intrinsically rare and present a formation dilemma: could a handful of these objects be the highest mass outcomes of ``planetary" formation channels (bottom up within a protoplanetary disk), or are they more representative of the lowest mass ``failed binaries" (formed via disk fragmentation, or core fragmentation)? Additionally, their orbits can yield model-independent dynamical masses, and when paired with wide wavelength coverage and accurate system age estimates, can constrain evolutionary models in a regime where the models have a wide dispersion depending on initial conditions. We present new interferometric observations of the $16\,\mathrm{Myr}$ substellar companion HD~136164~Ab (HIP~75056~Ab) with VLTI/GRAVITY and an updated orbit fit including proper motion measurements from the Hipparcos-Gaia Catalogue of Accelerations. We estimate a dynamical mass of $35\pm10\,\mathrm{M_J}$ ($q\sim0.02$), making HD~136164~Ab the youngest substellar companion with a dynamical mass estimate. The new mass and newly constrained orbital eccentricity ($e=0.44\pm0.03$) and separation ($22.5\pm1\,\mathrm{au}$) could indicate that the companion formed via the low-mass tail of the Initial Mass Function. Our atmospheric fit to the \texttt{SPHINX} M-dwarf model grid suggests a sub-solar C/O ratio of $0.45$, and $3\times$ solar metallicity, which could indicate formation in the circumstellar disk via disk fragmentation. Either way, the revised mass estimate likely excludes ``bottom-up" formation via core accretion in the circumstellar disk. HD~136164~Ab joins a select group of young substellar objects with dynamical mass estimates; epoch astrometry from future \textit{Gaia} data releases will constrain the dynamical mass of this crucial object further., Comment: Accepted for publication in The Astronomical Journal. 9 figures, 3 tables