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Using a microscopic approach, we revisit the problem of superconducting critical temperature change in the presence of twin boundaries. We show that both critical temperature enhancement and suppression can come purely from geometric effects. These include aspects of scattering of electrons on these crystalline defects even when the coupling constant is unchanged. We consider two dimensional rectangular and three dimensional body centered cubic lattices with onsite s-wave superconducting pairing, nearest and next-to-nearest neighbor hoppings. In the considered two dimensional lattice with twin boundaries, the superconducting critical temperature associated with twinning planes is suppressed for moderate band filling and enhanced for an almost empty/filled band. The superconducting phase diagram is more diverse for the three dimensional lattice, which is caused by the interplay of van Hove singularity, changing coordination number, and modification of distances to nearest and next-to-nearest neighbors., Comment: 9 pages, 8 figures

The convergence of fully homomorphic encryption (FHE) and machine learning offers unprecedented opportunities for private inference of sensitive data. FHE enables computation directly on encrypted data, safeguarding the entire machine learning pipeline, including data and model confidentiality. However, existing FHE-based implementations for deep neural networks face significant challenges in computational cost, latency, and scalability, limiting their practical deployment. This paper introduces DCT-CryptoNets, a novel approach that leverages frequency-domain learning to tackle these issues. Our method operates directly in the frequency domain, utilizing the discrete cosine transform (DCT) commonly employed in JPEG compression. This approach is inherently compatible with remote computing services, where images are usually transmitted and stored in compressed formats. DCT-CryptoNets reduces the computational burden of homomorphic operations by focusing on perceptually relevant low-frequency components. This is demonstrated by substantial latency reduction of up to 5.3$\times$ compared to prior work on image classification tasks, including a novel demonstration of ImageNet inference within 2.5 hours, down from 12.5 hours compared to prior work on equivalent compute resources. Moreover, DCT-CryptoNets improves the reliability of encrypted accuracy by reducing variability (e.g., from $\pm$2.5\% to $\pm$1.0\% on ImageNet). This study demonstrates a promising avenue for achieving efficient and practical privacy-preserving deep learning on high resolution images seen in real-world applications., Comment: Under Review; 10 pages content, 3 pages appendix, 4 figures, 8 tables; Code TBD

In this work, we apply a phase-field modeling framework to elucidate the interplay between nucleation and kinetics in the dynamic evolution of twinning interfaces. The key feature of this phase-field approach is the ability to transparently and explicitly specify nucleation and kinetic behavior in the model, in contrast to other regularized interface models. We use this to study 2 distinct problems where it is essential to explicitly specify the kinetic and nucleation behavior governing twin evolution. First, we study twinning interfaces in 2-d. When these interfaces are driven to move, we find that significant levels of twin nucleation occur ahead of the moving interface. Essentially, the finite interface velocity and the relaxation time of the stresses ahead of the interface allows for nucleation to occur before the interface is able to propagate to that point. Second, we study the growth of needle twins in antiplane elasticity. We show that both nucleation and anisotropic kinetics are essential to obtain predictions of needle twins. While standard regularized interface approaches do not permit the transparent specification of anisotropic kinetics, this is readily possible with the phase-field approach that we have used here., Comment: To appear in Journal of Applied Mechanics

A comprehensive study of methods of maximizing Q for slow-wave coplanar waveguides is described. In addition to the widths of the signal conductor and coplanar ground lines and the distance between them, the length, spacing and stacking of the metal layers of the substrate shield strips are also shown to be critical in maximizing performance. Measured results from more than 50 different devices show that a 7X increase in the quality factor (e.g., Q > 70 at 24 GHz in 0.18 {\mu}m CMOS) is achievable using the optimum topology with optimum dimensions., Comment: 14 pages, 17 figures

Embedding Based Retrieval (EBR) is a crucial component of the retrieval stage in (Ads) Recommendation System that utilizes Two Tower or Siamese Networks to learn embeddings for both users and items (ads). It then employs an Approximate Nearest Neighbor Search (ANN) to efficiently retrieve the most relevant ads for a specific user. Despite the recent rise to popularity in the industry, they have a couple of limitations. Firstly, Two Tower model architecture uses a single dot product interaction which despite their efficiency fail to capture the data distribution in practice. Secondly, the centroid representation and cluster assignment, which are components of ANN, occur after the training process has been completed. As a result, they do not take into account the optimization criteria used for retrieval model. In this paper, we present Hierarchical Structured Neural Network (HSNN), a deployed jointly optimized hierarchical clustering and neural network model that can take advantage of sophisticated interactions and model architectures that are more common in the ranking stages while maintaining a sub-linear inference cost. We achieve 6.5% improvement in offline evaluation and also demonstrate 1.22% online gains through A/B experiments. HSNN has been successfully deployed into the Ads Recommendation system and is currently handling major portion of the traffic. The paper shares our experience in developing this system, dealing with challenges like freshness, volatility, cold start recommendations, cluster collapse and lessons deploying the model in a large scale retrieval production system., Comment: 9 pages

We introduce Imagen 3, a latent diffusion model that generates high quality images from text prompts. We describe our quality and responsibility evaluations. Imagen 3 is preferred over other state-of-the-art (SOTA) models at the time of evaluation. In addition, we discuss issues around safety and representation, as well as methods we used to minimize the potential harm of our models.

This paper explores humor detection through a linguistic lens, prioritizing syntactic, semantic, and contextual features over computational methods in Natural Language Processing. We categorize features into syntactic, semantic, and contextual dimensions, including lexicons, structural statistics, Word2Vec, WordNet, and phonetic style. Our proposed model, Colbert, utilizes BERT embeddings and parallel hidden layers to capture sentence congruity. By combining syntactic, semantic, and contextual features, we train Colbert for humor detection. Feature engineering examines essential syntactic and semantic features alongside BERT embeddings. SHAP interpretations and decision trees identify influential features, revealing that a holistic approach improves humor detection accuracy on unseen data. Integrating linguistic cues from different dimensions enhances the model's ability to understand humor complexity beyond traditional computational methods.

In memory computing (IMC) architectures for deep learning (DL) accelerators leverage energy-efficient and highly parallel matrix vector multiplication (MVM) operations, implemented directly in memory arrays. Such IMC designs have been explored based on CMOS as well as emerging non-volatile memory (NVM) technologies like RRAM. IMC architectures generally involve a large number of cores consisting of memory arrays, storing the trained weights of the DL model. Peripheral units like DACs and ADCs are also used for applying inputs and reading out the output values. Recently reported designs reveal that the ADCs required for reading out the MVM results, consume more than 85% of the total compute power and also dominate the area, thereby eschewing the benefits of the IMC scheme. Mitigation of imperfections in the ADCs, namely, non-linearity and variations, incur significant design overheads, due to dedicated calibration units. In this work we present peripheral aware design of IMC cores, to mitigate such overheads. It involves incorporating the non-idealities of ADCs in the training of the DL models, along with that of the memory units. The proposed approach applies equally well to both current mode as well as charge mode MVM operations demonstrated in recent years., and can significantly simplify the design of mixed-signal IMC units.

Large language models (LLMs) represent a groundbreaking advancement in the domain of natural language processing due to their impressive reasoning abilities. Recently, there has been considerable interest in increasing the context lengths for these models to enhance their applicability to complex tasks. However, at long context lengths and large batch sizes, the key-value (KV) cache, which stores the attention keys and values, emerges as the new bottleneck in memory usage during inference. To address this, we propose Eigen Attention, which performs the attention operation in a low-rank space, thereby reducing the KV cache memory overhead. Our proposed approach is orthogonal to existing KV cache compression techniques and can be used synergistically with them. Through extensive experiments over OPT, MPT, and Llama model families, we demonstrate that Eigen Attention results in up to 40% reduction in KV cache sizes and up to 60% reduction in attention operation latency with minimal drop in performance., Comment: 12 page, 6 figures, 6 tables

Given a set of co-located mobile robots in an unknown anonymous graph, the robots must relocate themselves in distinct graph nodes to solve the dispersion problem. In this paper, we consider the dispersion problem for silent robots \cite{gorain2024collaborative}, i.e., no direct, explicit communication between any two robots placed in the nodes of an oriented $n$ node ring network. The robots operate in synchronous rounds. The dispersion problem for silent mobile robots has been studied in arbitrary graphs where the robots start from a single source. In this paper, we focus on the dispersion problem for silent mobile robots where robots can start from multiple sources. The robots have unique labels from a range $[0,\;L]$ for some positive integer $L$. Any two co-located robots do not have the information about the label of the other robot. The robots have weak multiplicity detection capability, which means they can determine if it is alone on a node. The robots are assumed to be able to identify an increase or decrease in the number of robots present on a node in a particular round. However, the robots can not get the exact number of increase or decrease in the number of robots. We have proposed a deterministic distributed algorithm that solves the dispersion of $k$ robots in an oriented ring in $O(\log L+k)$ synchronous rounds with $O(\log L)$ bits of memory for each robot. A lower bound $\Omega(\log L+k)$ on time for the dispersion of $k$ robots on a ring network is presented to establish the optimality of the proposed algorithm.

Adversarial examples add imperceptible alterations to inputs with the objective to induce misclassification in machine learning models. They have been demonstrated to pose significant challenges in domains like image classification, with results showing that an adversarially perturbed image to evade detection against one classifier is most likely transferable to other classifiers. Adversarial examples have also been studied in malware analysis. Unlike images, program binaries cannot be arbitrarily perturbed without rendering them non-functional. Due to the difficulty of crafting adversarial program binaries, there is no consensus on the transferability of adversarially perturbed programs to different detectors. In this work, we explore the robustness of malware detectors against adversarially perturbed malware. We investigate the transferability of adversarial attacks developed against one detector, against other machine learning-based malware detectors, and code similarity techniques, specifically, locality sensitive hashing-based detectors. Our analysis reveals that adversarial program binaries crafted for one detector are generally less effective against others. We also evaluate an ensemble of detectors and show that they can potentially mitigate the impact of adversarial program binaries. Finally, we demonstrate that substantial program changes made to evade detection may result in the transformation technique being identified, implying that the adversary must make minimal changes to the program binary., Comment: This is the full version of the paper with the same title to appear in the proceedings of the 2024 Workshop on Security and Artificial Intelligence (SECAI 2024)

The frequency coexistence between geostationary orbit (GEO) and low earth orbit (LEO) satellite systems is expected to be a promising approach for relieving spectrum scarcity. However, it is essential to manage mutual interference between GEO and LEO satellite systems for frequency coexistence. Specifically, \emph{in-line interference}, caused by LEO satellites moving near the line-of-sight path between GEO satellite and GEO users (GUs), can significantly degrade GEO system throughput. This paper put forth a novel rate-splitting multiple access (RSMA) with a super-common message for GEO-LEO coexisting satellite systems (CSS). By employing a super-common message that GUs can decode, GUs can mitigate the in-line interference by successive interference cancellation (SIC). Moreover, we formulate a traffic-aware throughput maximization (TTM) problem to satisfy the heterogeneous traffic demands of users by minimizing total unmet throughput demands (or user dissatisfaction). By doing so, the TTM precoder can be flexibly adjusted according to the interference leakage from LEO satellites to GUs and target traffic demands. Numerical results confirm that our proposed method ensures seamless connectivity even in the GEO-LEO in-line interference regime under imperfect channel state information (CSI) at both the transmitter and receiver., Comment: 17 pages, 4 figures, 1 table

This paper introduces a Scalable Hierarchical Aware Convolutional Neural Network (SHA-CNN) model architecture for Edge AI applications. The proposed hierarchical CNN model is meticulously crafted to strike a balance between computational efficiency and accuracy, addressing the challenges posed by resource-constrained edge devices. SHA-CNN demonstrates its efficacy by achieving accuracy comparable to state-of-the-art hierarchical models while outperforming baseline models in accuracy metrics. The key innovation lies in the model's hierarchical awareness, enabling it to discern and prioritize relevant features at multiple levels of abstraction. The proposed architecture classifies data in a hierarchical manner, facilitating a nuanced understanding of complex features within the datasets. Moreover, SHA-CNN exhibits a remarkable capacity for scalability, allowing for the seamless incorporation of new classes. This flexibility is particularly advantageous in dynamic environments where the model needs to adapt to evolving datasets and accommodate additional classes without the need for extensive retraining. Testing has been conducted on the PYNQ Z2 FPGA board to validate the proposed model. The results achieved an accuracy of 99.34%, 83.35%, and 63.66% for MNIST, CIFAR-10, and CIFAR-100 datasets, respectively. For CIFAR-100, our proposed architecture performs hierarchical classification with 10% reduced computation while compromising only 0.7% accuracy with the state-of-the-art. The adaptability of SHA-CNN to FPGA architecture underscores its potential for deployment in edge devices, where computational resources are limited. The SHA-CNN framework thus emerges as a promising advancement in the intersection of hierarchical CNNs, scalability, and FPGA-based Edge AI.

Modern artificial intelligence (AI) systems are powered by foundation models. This paper presents a new set of foundation models, called Llama 3. It is a herd of language models that natively support multilinguality, coding, reasoning, and tool usage. Our largest model is a dense Transformer with 405B parameters and a context window of up to 128K tokens. This paper presents an extensive empirical evaluation of Llama 3. We find that Llama 3 delivers comparable quality to leading language models such as GPT-4 on a plethora of tasks. We publicly release Llama 3, including pre-trained and post-trained versions of the 405B parameter language model and our Llama Guard 3 model for input and output safety. The paper also presents the results of experiments in which we integrate image, video, and speech capabilities into Llama 3 via a compositional approach. We observe this approach performs competitively with the state-of-the-art on image, video, and speech recognition tasks. The resulting models are not yet being broadly released as they are still under development.

eBay partners with external vendors, which allows customers to freely select a vendor to complete their eBay experiences. However, vendor outages can hinder customer experiences. Consequently, eBay can disable a problematic vendor to prevent customer loss. Disabling the vendor too late risks losing customers willing to switch to other vendors, while disabling it too early risks losing those unwilling to switch. In this paper, we propose a data-driven solution to answer whether eBay should disable a problematic vendor and when to disable it. Our solution involves forecasting customer behavior. First, we use a multiplicative seasonality model to represent behavior if all vendors are fully functioning. Next, we use a Monte Carlo simulation to represent behavior if the problematic vendor remains enabled. Finally, we use a linear model to represent behavior if the vendor is disabled. By comparing these forecasts, we determine the optimal time for eBay to disable the problematic vendor.

We discuss the future prospects of a minimally five-dimensional version of the well-motivated scenario for addressing the discrepancy in the muon anomalous magnetic moment, the $U(1)_{L_\mu - L_\tau}$ extension of the standard model (SM) gauge symmetry. Here, multiple associated massive gauge bosons appear thanks to the five-dimensional $U(1)_{L_\mu - L_\tau}$ gauge symmetry, and they contribute to the muon $(g-2)$ and also other processes. We focus on the powerful probe of elastic neutrino-electron scatterings since the upcoming DUNE experiment will explore MeV-scale uncharted regions by previous experiments (e.g., CHARM-II and Borexino) in the near future. We found that even with small kinetic mixing parameters, much of the parameter space, including those satisfying muon $(g-2)$, can be probed using several years of data from the DUNE experiment, focusing on the near detector. In our scenario, interference effects between intermediate-state gauge bosons play an important role. Our results include comparisons between flat and warped extra dimensions., Comment: 40 pages, 7 figures

The advent of novel high-entropy oxides has sparked substantial research interest due to their exceptional functional properties, which often surpass the mere sum of their constituent elements' characteristics. This study introduces a complex high-entropy spinel oxide with composition (Ni$_{0.2}$Mg$_{0.2}$Co$_{0.2}$Cu$_{0.2}$Zn$_{0.2}$)(Mn$_{0.66}$Fe$_{0.66}$Cr$_{0.66}$)O$_{4}$. We performed comprehensive structural (X-ray and Neutron diffraction), microstructural, magnetic, and local electronic structure investigations on this material. Despite the material's high degree of disorder, detailed magnetization measurements and low temperature neutron powder diffraction studies reveal long-range ferrimagnetic ordering beginning at 293 K. The sample exhibits a high saturation magnetization of 766 emu-cm${^3}$ (at 50 K), a low coercivity (H$_C$) of 100 Oe (50 K), a high transition temperature (T$_C$) around room temperature, and high resistivity value of 4000 Ohm-cm at room temperature, indicating its potential for high density memory devices. The magnetic structure is determined using a collinear-type ferrimagnetic model with a propagation vector k = 0,0,0. Various analytical techniques, including modified Arrott plots, Kouvel-Fischer analysis, and critical isotherm analysis, are employed to investigate the phase transitions and magnetic properties of this complex system. Our results indicate a second-order phase transition. Remarkably, despite the complex structure and significant disorder, the critical exponents obtained are consistent with the mean field model. The high entropy leads to a remarkably homogeneous distribution of multiple cations, validating the approximation of average local magnetic environments and supporting the mean field theory.

Generative AI, especially via Large Language Models (LLMs), has transformed content creation across text, images, and music, showcasing capabilities in following instructions through prompting, largely facilitated by instruction tuning. Instruction tuning is a supervised fine-tuning method where LLMs are trained on datasets formatted with specific tasks and corresponding instructions. This method systematically enhances the model's ability to comprehend and execute the provided directives. Despite these advancements, LLMs still face challenges in consistently interpreting complex, multi-step instructions and generalizing them to novel tasks, which are essential for broader applicability in real-world scenarios. This article explores why neurosymbolic AI offers a better path to enhance the instructability of LLMs. We explore the use a symbolic task planner to decompose high-level instructions into structured tasks, a neural semantic parser to ground these tasks into executable actions, and a neuro-symbolic executor to implement these actions while dynamically maintaining an explicit representation of state. We also seek to show that neurosymbolic approach enhances the reliability and context-awareness of task execution, enabling LLMs to dynamically interpret and respond to a wider range of instructional contexts with greater precision and flexibility.

The recent advent of 3D Gaussian Splatting (3DGS) has revolutionized the 3D scene reconstruction space enabling high-fidelity novel view synthesis in real-time. However, with the exception of RawNeRF, all prior 3DGS and NeRF-based methods rely on 8-bit tone-mapped Low Dynamic Range (LDR) images for scene reconstruction. Such methods struggle to achieve accurate reconstructions in scenes that require a higher dynamic range. Examples include scenes captured in nighttime or poorly lit indoor spaces having a low signal-to-noise ratio, as well as daylight scenes with shadow regions exhibiting extreme contrast. Our proposed method HDRSplat tailors 3DGS to train directly on 14-bit linear raw images in near darkness which preserves the scenes' full dynamic range and content. Our key contributions are two-fold: Firstly, we propose a linear HDR space-suited loss that effectively extracts scene information from noisy dark regions and nearly saturated bright regions simultaneously, while also handling view-dependent colors without increasing the degree of spherical harmonics. Secondly, through careful rasterization tuning, we implicitly overcome the heavy reliance and sensitivity of 3DGS on point cloud initialization. This is critical for accurate reconstruction in regions of low texture, high depth of field, and low illumination. HDRSplat is the fastest method to date that does 14-bit (HDR) 3D scene reconstruction in $\le$15 minutes/scene ($\sim$30x faster than prior state-of-the-art RawNeRF). It also boasts the fastest inference speed at $\ge$120fps. We further demonstrate the applicability of our HDR scene reconstruction by showcasing various applications like synthetic defocus, dense depth map extraction, and post-capture control of exposure, tone-mapping and view-point.

In a few recent manuscripts, we used the affine connection to introduce two massless scalar fields in the Einstein-Palatini action. These fields lead to non-metricity. In this article, we will discuss the significance of these fields in inflation and dark energy. We will construct a Lagrangian formalism to include these scalar fields in a theory of gravity coupled with ordinary matter and radiation. We will find that these fields need not to be included in the actions of interacting gauge theories coupled with conserved fermionic vector currents as a part of the connection. The same remains valid for ordinary scalar fields. We can couple the connection-scalars with ordinary matter by adding suitable interaction terms. In this context, we will find that Stokes' theorem leads us to include the right-handed neutrinos in the electroweak theory in curved spacetime even with the Levi-Civita connection. This is required to obtain consistent equations of motion and anomaly-free conserved vector current for the neutrinos. Axial vector currents for different Dirac fields may remain anomalous. The right-handed neutrinos can be useful to explain neutrino oscillation and dark matter. We will also discuss the possibility of introducing massless finite integer spin particles using second rank symmetric traceless tensors with reference to the corresponding little group in flat spacetime. We will show that we can use massless (A,A) type fields in Minkowski space to introduce massless finite integer spin particles., Comment: 17 pages, accepted in Quantum Studies: Mathematics and Foundations

We present results from a search for X-ray/gamma-ray counterparts of gravitational-wave (GW) candidates from the third observing run (O3) of the LIGO-Virgo-KAGRA (LVK) network using the Swift Burst Alert Telescope (Swift-BAT). The search includes 636 GW candidates received in low latency, 86 of which have been confirmed by the offline analysis and included in the third cumulative Gravitational-Wave Transient Catalogs (GWTC-3). Targeted searches were carried out on the entire GW sample using the maximum--likelihood NITRATES pipeline on the BAT data made available via the GUANO infrastructure. We do not detect any significant electromagnetic emission that is temporally and spatially coincident with any of the GW candidates. We report flux upper limits in the 15-350 keV band as a function of sky position for all the catalog candidates. For GW candidates where the Swift-BAT false alarm rate is less than 10$^{-3}$ Hz, we compute the GW--BAT joint false alarm rate. Finally, the derived Swift-BAT upper limits are used to infer constraints on the putative electromagnetic emission associated with binary black hole mergers., Comment: 50 pages, 10 figures, 4 tables

Different from human nature, it is still common practice today for vision tasks to train deep learning models only initially and on fixed datasets. A variety of approaches have recently addressed handling continual data streams. However, extending these methods to manage out-of-distribution (OOD) scenarios has not effectively been investigated. On the other hand, it has recently been shown that non-continual neural mesh models exhibit strong performance in generalizing to such OOD scenarios. To leverage this decisive property in a continual learning setting, we propose incremental neural mesh models that can be extended with new meshes over time. In addition, we present a latent space initialization strategy that enables us to allocate feature space for future unseen classes in advance and a positional regularization term that forces the features of the different classes to consistently stay in respective latent space regions. We demonstrate the effectiveness of our method through extensive experiments on the Pascal3D and ObjectNet3D datasets and show that our approach outperforms the baselines for classification by $2-6\%$ in the in-domain and by $6-50\%$ in the OOD setting. Our work also presents the first incremental learning approach for pose estimation. Our code and model can be found at https://github.com/Fischer-Tom/iNeMo., Comment: ECCV-24

In this article, we propose a novel standalone hybrid Spiking-Convolutional Neural Network (SC-NN) model and test on using image inpainting tasks. Our approach uses the unique capabilities of SNNs, such as event-based computation and temporal processing, along with the strong representation learning abilities of CNNs, to generate high-quality inpainted images. The model is trained on a custom dataset specifically designed for image inpainting, where missing regions are created using masks. The hybrid model consists of SNNConv2d layers and traditional CNN layers. The SNNConv2d layers implement the leaky integrate-and-fire (LIF) neuron model, capturing spiking behavior, while the CNN layers capture spatial features. In this study, a mean squared error (MSE) loss function demonstrates the training process, where a training loss value of 0.015, indicates accurate performance on the training set and the model achieved a validation loss value as low as 0.0017 on the testing set. Furthermore, extensive experimental results demonstrate state-of-the-art performance, showcasing the potential of integrating temporal dynamics and feature extraction in a single network for image inpainting., Comment: 7 Pages, 3 figures, and 2 tables

Neural rendering methods can achieve near-photorealistic image synthesis of scenes from posed input images. However, when the images are imperfect, e.g., captured in very low-light conditions, state-of-the-art methods fail to reconstruct high-quality 3D scenes. Recent approaches have tried to address this limitation by modeling various degradation processes in the image formation model; however, this limits them to specific image degradations. In this paper, we propose a generalizable neural rendering method that can perform high-fidelity novel view synthesis under several degradations. Our method, GAURA, is learning-based and does not require any test-time scene-specific optimization. It is trained on a synthetic dataset that includes several degradation types. GAURA outperforms state-of-the-art methods on several benchmarks for low-light enhancement, dehazing, deraining, and on-par for motion deblurring. Further, our model can be efficiently fine-tuned to any new incoming degradation using minimal data. We thus demonstrate adaptation results on two unseen degradations, desnowing and removing defocus blur. Code and video results are available at vinayak-vg.github.io/GAURA., Comment: European Conference on Computer Vision(ECCV) 2024

Multi-robot collaboration has become a needed component in unknown environment exploration due to its ability to accomplish various challenging situations. Potential-field-based methods are widely used for autonomous exploration because of their high efficiency and low travel cost. However, exploration speed and collaboration ability are still challenging topics. Therefore, we propose a Distributed Multi-Robot Potential-Field-Based Exploration (DMPF-Explore). In particular, we first present a Distributed Submap-Based Multi-Robot Collaborative Mapping Method (DSMC-Map), which can efficiently estimate the robot trajectories and construct the global map by merging the local maps from each robot. Second, we introduce a Potential-Field-Based Exploration Strategy Augmented with Modified Wave-Front Distance and Colored Noises (MWF-CN), in which the accessible frontier neighborhood is extended, and the colored noise provokes the enhancement of exploration performance. The proposed exploration method is deployed for simulation and real-world scenarios. The results show that our approach outperforms the existing ones regarding exploration speed and collaboration ability., Comment: This paper has been accepted by Robotics and Autonomous Systems

Objectives: Chronotypes -- comparisons of individuals' circadian phase relative to others -- can contextualize mental health risk assessments, and support detection of social jet lag, which can hamper mental health and cognition. Existing ways of determining chronotypes, such as Dim Light Melatonin Onset (DLMO) or the Morningness-Eveningness Questionnaire (MEQ), are limited by being discrete in time and time-intensive to update, rarely capturing real-world variability over time. Chronotyping users based on living schedules, as in daily planner apps, might augment existing methods by assessing chronotype and social jet lag continuously and at scale. Developing this functionality would require a novel tool to translate between digital schedules and chronotypes. Here we use a supervised binary classifier to assess the feasibility of this approach. Methods: In this study, 1,460 registered users from the Owaves app opted in to filled out the MEQ survey. Of those, 142 met the eligibility criteria for data analysis. We used multimodal app data to assess the classification of individuals identified as morning and evening types from MEQ data, basing the classifier on app time series data. This includes daily timing for 8 main lifestyle activity categories (exercise, sleep, social interactions, meal times, relaxation, work, play, and miscellaneous) as defined in the app. Results: The novel chronotyping tool was able to predict the morningness and eveningness of its users with an ROC AUC of 0.70. Conclusion: Our findings support the feasibility of chronotype classification from multimodal, real-world app data. We highlight challenges to applying binary labels to complex, multimodal behaviors. Our findings suggest a potential for real-time monitoring to support future, prospective mental health research., Comment: 15 pages, 4 figures, unsubmitted for peer review at date of posting

Graph games lie at the algorithmic core of many automated design problems in computer science. These are games usually played between two players on a given graph, where the players keep moving a token along the edges according to pre-determined rules, and the winner is decided based on the infinite path traversed by the token from a given initial position. In bidding games, the players initially get some monetary budgets which they need to use to bid for the privilege of moving the token at each step. Each round of bidding affects the players' available budgets, which is the only form of update that the budgets experience. We introduce bidding games with charging where the players can additionally improve their budgets during the game by collecting vertex-dependent charges. Unlike traditional bidding games (where all charges are zero), bidding games with charging allow non-trivial recurrent behaviors. We show that the central property of traditional bidding games generalizes to bidding games with charging: For each vertex there exists a threshold ratio, which is the necessary and sufficient fraction of the total budget for winning the game from that vertex. While the thresholds of traditional bidding games correspond to unique fixed points of linear systems of equations, in games with charging, these fixed points are no longer unique. This significantly complicates the proof of existence and the algorithmic computation of thresholds for infinite-duration objectives. We also provide the lower complexity bounds for computing thresholds for Rabin and Streett objectives, which are the first known lower bounds in any form of bidding games (with or without charging), and we solve the following repair problem for safety and reachability games that have unsatisfiable objectives: Can we distribute a given amount of charge to the players in a way such that the objective can be satisfied?

The roadmap is organized into several thematic sections, outlining current computing challenges, discussing the neuromorphic computing approach, analyzing mature and currently utilized technologies, providing an overview of emerging technologies, addressing material challenges, exploring novel computing concepts, and finally examining the maturity level of emerging technologies while determining the next essential steps for their advancement., Comment: 90 pages, 22 figures, roadmap, neuromorphic

Universal connectivity has been part of past and current generations of wireless systems, but as we approach 6G, the subject of social responsibility is being built as a core component. Given the advent of Non-Terrestrial Networks (NTN), reaching these goals will be much closer to realization than ever before. Owing to the benefits of NTN, the integration NTN and Terrestrial Networks (TN) is still infancy, where the past, the current and the future releases in the 3$^{\text{rd}}$ Generation Partnership Project (3GPP) provide guidelines to adopt a successfully co-existence/integration of TN and NTN. Therefore, in this article, we have illustrated through 3GPP guidelines, on how NTN and TN can effectively be integrated. Moreover, the role of beamforming and Artificial Intelligence (AI) algorithms is highlighted to achieve this integration. Finally the usefulness of integrating NTN and TN is validated through experimental analysis., Comment: submitted to IEEE Vehicular Technology Magazine

A detailed investigation of the structural and magnetic properties, including magnetocaloric effect, re-entrant spin-glass behavior at low temperature, and critical behavior in polycrystalline Al$_2$MnFe Heusler alloy is reported. The prepared alloy crystallizes in a cubic CsCl-type crystal structure with Pm-3m space group. The temperature-dependent magnetization data reveals a second-order paramagnetic to ferromagnetic phase transition ($\sim$ 122.9 K), which is further supported by the analysis of the magnetocaloric effect. The isothermal magnetization loops show a soft ferromagnetic behavior of the studied alloy and also reveal an itinerant character of the underlying exchange interactions. In order to understand the nature of magnetic interactions, the critical exponents for spontaneous magnetization, initial magnetic susceptibility, and critical MH isotherm are determined using Modified Arrott plots, Kouvel-Fisher plots, and critical isotherm analysis. The derived critical exponents $\beta$ = 0.363(2), $\gamma$ = 1.384(3), and $\delta$ = 4.81(3) confirm the critical behavior similar to that of a 3D-Heisenberg-type ferromagnet with short-range exchange interactions that are found to decay with distance as J(r) $\approx$ r$^{-4.936}$. Moreover, the detailed analysis of the AC susceptibility data suggests that the frequency-dependent shifting of the peak temperatures is well explained using standard dynamic scaling laws such as the critical slowing down model and Vogel-Fulcher law, and confirms the signature of re-entrant spin-glass features in Al$_2$MnFe Heusler alloy. Furthermore, maximum magnetic entropy change of $\sim$ 1.92 J/kg-K and relative cooling power of $\sim$ 496 J/kg at 50 kOe applied magnetic field are determined from magnetocaloric studies that are comparable to those of other Mn-Fe-Al systems., Comment: 13 pages (main manuscript), 3 pages (supplementary material), 6 figures (main manuscript), 3 figures (supplementary material), 2 tables (main manuscript)

In this paper, we explore the properties of loss curvature with respect to input data in deep neural networks. Curvature of loss with respect to input (termed input loss curvature) is the trace of the Hessian of the loss with respect to the input. We investigate how input loss curvature varies between train and test sets, and its implications for train-test distinguishability. We develop a theoretical framework that derives an upper bound on the train-test distinguishability based on privacy and the size of the training set. This novel insight fuels the development of a new black box membership inference attack utilizing input loss curvature. We validate our theoretical findings through experiments in computer vision classification tasks, demonstrating that input loss curvature surpasses existing methods in membership inference effectiveness. Our analysis highlights how the performance of membership inference attack (MIA) methods varies with the size of the training set, showing that curvature-based MIA outperforms other methods on sufficiently large datasets. This condition is often met by real datasets, as demonstrated by our results on CIFAR10, CIFAR100, and ImageNet. These findings not only advance our understanding of deep neural network behavior but also improve the ability to test privacy-preserving techniques in machine learning.

Compressed video action recognition classifies video samples by leveraging the different modalities in compressed videos, namely motion vectors, residuals, and intra-frames. For this purpose, three neural networks are deployed, each dedicated to processing one modality. Our observations indicate that the network processing intra-frames tend to converge to a flatter minimum than the network processing residuals, which in turn converges to a flatter minimum than the motion vector network. This hierarchy in convergence motivates our strategy for knowledge transfer among modalities to achieve flatter minima, which are generally associated with better generalization. With this insight, we propose Progressive Knowledge Distillation (PKD), a technique that incrementally transfers knowledge across the modalities. This method involves attaching early exits (Internal Classifiers - ICs) to the three networks. PKD distills knowledge starting from the motion vector network, followed by the residual, and finally, the intra-frame network, sequentially improving IC accuracy. Further, we propose the Weighted Inference with Scaled Ensemble (WISE), which combines outputs from the ICs using learned weights, boosting accuracy during inference. Our experiments demonstrate the effectiveness of training the ICs with PKD compared to standard cross-entropy-based training, showing IC accuracy improvements of up to 5.87% and 11.42% on the UCF-101 and HMDB-51 datasets, respectively. Additionally, WISE improves accuracy by up to 4.28% and 9.30% on UCF-101 and HMDB-51, respectively.

Decision Transformers, in their vanilla form, struggle to perform on image-based environments with multi-discrete action spaces. Although enhanced Decision Transformer architectures have been developed to improve performance, these methods have not specifically addressed this problem of multi-discrete action spaces which hampers existing Decision Transformer architectures from learning good representations. To mitigate this, we propose Multi-State Action Tokenisation (M-SAT), an approach for tokenising actions in multi-discrete action spaces that enhances the model's performance in such environments. Our approach involves two key changes: disentangling actions to the individual action level and tokenising the actions with auxiliary state information. These two key changes also improve individual action level interpretability and visibility within the attention layers. We demonstrate the performance gains of M-SAT on challenging ViZDoom environments with multi-discrete action spaces and image-based state spaces, including the Deadly Corridor and My Way Home scenarios, where M-SAT outperforms the baseline Decision Transformer without any additional data or heavy computational overheads. Additionally, we find that removing positional encoding does not adversely affect M-SAT's performance and, in some cases, even improves it.

In autonomous aerial navigation, real-time and energy-efficient obstacle avoidance remains a significant challenge, especially in dynamic and complex indoor environments. This work presents a novel integration of neuromorphic event cameras with physics-driven planning algorithms implemented on a Parrot Bebop2 quadrotor. Neuromorphic event cameras, characterized by their high dynamic range and low latency, offer significant advantages over traditional frame-based systems, particularly in poor lighting conditions or during high-speed maneuvers. We use a DVS camera with a shallow Spiking Neural Network (SNN) for event-based object detection of a moving ring in real-time in an indoor lab. Further, we enhance drone control with physics-guided empirical knowledge inside a neural network training mechanism, to predict energy-efficient flight paths to fly through the moving ring. This integration results in a real-time, low-latency navigation system capable of dynamically responding to environmental changes while minimizing energy consumption. We detail our hardware setup, control loop, and modifications necessary for real-world applications, including the challenges of sensor integration without burdening the flight capabilities. Experimental results demonstrate the effectiveness of our approach in achieving robust, collision-free, and energy-efficient flight paths, showcasing the potential of neuromorphic vision and physics-driven planning in enhancing autonomous navigation systems.

Ionic crystals play a central role in functional applications. Mesoscale descriptions of these crystals are based on the continuum polarization density field to represent the effective physics of charge distribution at the scale of the atomic lattice. However, a long-standing difficulty is that the classical electrostatic definition of the macroscopic polarization -- as the dipole or first moment of the charge density in a unit cell -- is not unique. This unphysical non-uniqueness has been shown to arise from starting directly with an infinite system rather than starting with a finite body and taking appropriate limits. This limit process shows that the electrostatic description requires not only the bulk polarization density, but also the surface charge density, as the effective macroscopic descriptors; that is, a nonlocal effective description. Other approaches to resolve this difficulty include relating the change in polarization to the transport of charge; or, to define the polarization as the energy-conjugate to the electric field. This work examines the relation between the classical electrostatic definition of polarization, and the transport and energy-conjugate definitions of polarization. We show the following: (1) The transport of charge does not correspond to the change in polarization in general; instead, one requires additional simplifying assumptions on the electrostatic definition of polarization for these approaches to give rise to the same macroscopic electric fields. Thus, the electrostatic definition encompasses the transport definition as a special case. (2) The energy-conjugate definition has both bulk and surface contributions; while traditional approaches neglect the surface contribution, we find that accounting for the nonlocal surface contributions is essential to obtain the correct macroscopic electric fields., Comment: Accepted to appear in Journal of the Mechanics and Physics of Solids

Sixth generation (6G) wireless networks are envisioned to include aspects of energy footprint reduction (sustainability), besides those of network capacity and connectivity, at the design stage. This paradigm change requires radically new physical layer technologies. Notably, the integration of large-aperture arrays and the transmission over high frequency bands, such as the sub-terahertz spectrum, are two promising options. In many communication scenarios of practical interest, the use of large antenna arrays in the sub-terahertz frequency range often results in short-range transmission distances that are characterized by line-of-sight channels, in which pairs of transmitters and receivers are located in the (radiating) near field of one another. These features make the traditional designs, based on the far-field approximation, for multiple-input multiple-output (MIMO) systems sub-optimal in terms of spatial multiplexing gains. To overcome these limitations, new designs for MIMO systems are required, which account for the spherical wavefront that characterizes the electromagnetic waves in the near field, in order to ensure the highest spatial multiplexing gain without increasing the power expenditure. In this paper, we introduce an analytical framework for optimizing the deployment of antenna arrays in line-of-sight channels, which can be applied to paraxial and non-paraxial network deployments. In the paraxial setting, we devise a simpler analytical framework, which, compared to those available in the literature, provides explicit information about the impact of key design parameters. In the non-paraxial setting, we introduce a novel analytical framework that allows us to identify a set of sufficient conditions to be fulfilled for achieving the highest spatial multiplexing gain. The proposed designs are validated with numerical simulations., Comment: This work has been accepted in IEEE Transactions on Green Communications and Networking

Sixth-generation (6G) networks are poised to revolutionize communication by exploring alternative spectrum options, aiming to capitalize on strengths while mitigating limitations in current fifth-generation (5G) spectrum. This paper explores the potential opportunities and emerging trends for cmWave and sub-THz spectra as key radio enablers. This paper poses and answers three key questions regarding motivation of additional spectrum to explore the strategic implementation and benefits of cmWave and sub-THz spectra. Also, we show using case studies how these complementary spectrum bands will enable new applications in 6G, such as integrated sensing and communication (ISAC), re-configurable intelligent surfaces (RIS) and non-terrestrial networks (NTN). Numerical simulations reveal that the ISAC performance of cmWave and sub-THz spectra outperforms that of existing 5G spectrum, including sub-6 GHz and mmWave. Additionally, we illustrate the effective interplay between RIS and NTN to counteract the effects of high attenuation at sub-THz frequencies. Finally, ongoing standardization endeavors, challenges and promising directions are elucidated for these complementary spectrum bands.

For the first time, in March 2024, the transient Galactic black hole candidate Swift J151857.0-572147 experienced an outburst. Using publicly available archived {\it Insight}-HXMT data, we analyze the timing and spectral features of this source. Through model fitting of the power density spectrum, we were able to extract the properties of quasi-periodic oscillations, and based on those properties, we have determined that the QPOs are of type C. We also conclude that the shock instabilities in the transonic advective accretion processes surrounding black holes may be the source of the QPOs. This shock instability could produce variabilities of flux up to 48 keV, as we checked from the QPO energy dependence. High-frequency QPO is not observed during this period. In the broad energy band of $2-100$ keV, simultaneous data from the three on-board instruments of \textit{Insight}-HXMT were used to perform the spectral analysis. A combination of models, including broken power-law, multi-color disk-blackbody continuum, interstellar absorption, and reflection in both neutral and ionized medium were needed for spectral fitting to obtain the best fit. We discovered that at the beginning of the analysis period, the source was in an intermediate state and was transitioning toward the softer states based on the spectral features. It has a hydrogen column density of $(4.3-6.9) \times 10^{22}$ cm$^{-2}$., Comment: 23 pages (1 page Appendix), 14 figures, 7 tables

In modern wireless network architectures, such as O-RAN, artificial intelligence (AI)-based applications are deployed at intelligent controllers to carry out functionalities like scheduling or power control. The AI "apps" are selected on the basis of contextual information such as network conditions, topology, traffic statistics, and design goals. The mapping between context and AI model parameters is ideally done in a zero-shot fashion via an automatic model selection (AMS) mapping that leverages only contextual information without requiring any current data. This paper introduces a general methodology for the online optimization of AMS mappings. Optimizing an AMS mapping is challenging, as it requires exposure to data collected from many different contexts. Therefore, if carried out online, this initial optimization phase would be extremely time consuming. A possible solution is to leverage a digital twin of the physical system to generate synthetic data from multiple simulated contexts. However, given that the simulator at the digital twin is imperfect, a direct use of simulated data for the optimization of the AMS mapping would yield poor performance when tested in the real system. This paper proposes a novel method for the online optimization of AMS mapping that corrects for the bias of the simulator by means of limited real data collected from the physical system. Experimental results for a graph neural network-based power control app demonstrate the significant advantages of the proposed approach., Comment: submitted for a journal publication

Despite major advancements in control design that are robust to unplanned disturbances, bipedal robots are still susceptible to falling over and struggle to negotiate rough terrains. By utilizing thrusters in our bipedal robot, we can perform additional posture manipulation and expand the modes of locomotion to enhance the robot's stability and ability to negotiate rough and difficult-to-navigate terrains. In this paper, we present our efforts in designing a controller based on capture point control for our thruster-assisted walking model named Harpy and explore its control design possibilities. While capture point control based on centroidal models for bipedal systems has been extensively studied, the incorporation of external forces that can influence the dynamics of linear inverted pendulum models, often used in capture point-based works, has not been explored before. The inclusion of these external forces can lead to interesting interpretations of locomotion, such as virtual buoyancy studied in aquatic-legged locomotion. This paper outlines the dynamical model of our robot, the capture point method we use to assist the upper body stabilization, and the simulation work done to show the controller's feasibility., Comment: Submitted and to be presented at IEEE AIM 2024. arXiv admin note: substantial text overlap with arXiv:2103.15952

Deep neural network (DNN) accelerators employing crossbar arrays capable of in-memory computing (IMC) are highly promising for neural computing platforms. However, in deeply scaled technologies, interconnect resistance severely impairs IMC robustness, leading to a drop in the system accuracy. To address this problem, we propose SWANN - a technique based on shuffling weights in crossbar arrays which alleviates the detrimental effect of wire resistance on IMC. For 8T-SRAM-based 128x128 crossbar arrays in 7nm technology, SWANN enhances the accuracy from 47.78% to 83.5% for ResNet-20/CIFAR-10. We also show that SWANN can be used synergistically with Partial-Word-LineActivation, further boosting the accuracy. Moreover, we evaluate the implications of SWANN for compact ferroelectric-transistorbased crossbar arrays. SWANN incurs minimal hardware overhead, with less than a 1% increase in energy consumption. Additionally, the latency and area overheads of SWANN are ~1% and ~16%, respectively when 1 ADC is utilized per crossbar array.

In this study, our aim is to evaluate the effectiveness of thruster-assisted steep slope walking for the Husky Carbon, a quadrupedal robot equipped with custom-designed actuators and plural electric ducted fans, through simulation prior to conducting experimental trials. Thruster-assisted steep slope walking draws inspiration from wing-assisted incline running (WAIR) observed in birds, and intriguingly incorporates posture manipulation and thrust vectoring, a locomotion technique not previously explored in the animal kingdom. Our approach involves developing a reduced-order model of the Husky robot, followed by the application of an optimization-based controller utilizing collocation methods and dynamics interpolation to determine control actions. Through simulation testing, we demonstrate the feasibility of hardware implementation of our controller., Comment: 7 pages, 7 figures, submitted to CDC 2024 conference. arXiv admin note: text overlap with arXiv:2405.06070

Racing autonomous cars faster than the best human drivers has been a longstanding grand challenge for the fields of Artificial Intelligence and robotics. Recently, an end-to-end deep reinforcement learning agent met this challenge in a high-fidelity racing simulator, Gran Turismo. However, this agent relied on global features that require instrumentation external to the car. This paper introduces, to the best of our knowledge, the first super-human car racing agent whose sensor input is purely local to the car, namely pixels from an ego-centric camera view and quantities that can be sensed from on-board the car, such as the car's velocity. By leveraging global features only at training time, the learned agent is able to outperform the best human drivers in time trial (one car on the track at a time) races using only local input features. The resulting agent is evaluated in Gran Turismo 7 on multiple tracks and cars. Detailed ablation experiments demonstrate the agent's strong reliance on visual inputs, making it the first vision-based super-human car racing agent., Comment: Accepted at the Reinforcement Learning Conference (RLC) 2024

We perform a comparative analysis of quintessence and $k$-essence scalar field models in the data analysis perspective. We study the quintessence field with an exponential potential and the $k$-essence field with an inverse square potential in the present work. Before delving into data analysis, we provide a brief perspective on dynamical evolution on both of the models and obtain the stability constraints on the model parameters. We adopt Bayesian inference procedure to estimate the model parameters that best-fit the data. A comprehensive analysis utilizing Observational Hubble data (OHD) and Pantheon+ compilation of Type Ia supernovae (SNIa) shows that $k$-essence model fits the data slightly better than the quintessence model while the evidence of these models in comparison with the $\Lambda$CDM model is weak. The value of the Hubble constant predicted by both the models is in close agreement with the value obtained by the Planck2018 collaboration assuming the $\Lambda$CDM model., Comment: 24 pages, 12 figures, 4 tables

Virtual try-on, a rapidly evolving field in computer vision, is transforming e-commerce by improving customer experiences through precise garment warping and seamless integration onto the human body. While existing methods such as TPS and flow address the garment warping but overlook the finer contextual details. In this paper, we introduce a novel graph based warping technique which emphasizes the value of context in garment flow. Our graph based warping module generates warped garment as well as a coarse person image, which is utilised by a simple refinement network to give a coarse virtual tryon image. The proposed work exploits latent diffusion model to generate the final tryon, treating garment transfer as an inpainting task. The diffusion model is conditioned with decoupled cross attention based inversion of visual and textual information. We introduce an occlusion aware warping constraint that generates dense warped garment, without any holes and occlusion. Our method, validated on VITON-HD and Dresscode datasets, showcases substantial state-of-the-art qualitative and quantitative results showing considerable improvement in garment warping, texture preservation, and overall realism., Comment: 18 pages, 7 Figures and 6 Tables

The classical iteratively reweighted least-squares (IRLS) algorithm aims to recover an unknown signal from linear measurements by performing a sequence of weighted least squares problems, where the weights are recursively updated at each step. Varieties of this algorithm have been shown to achieve favorable empirical performance and theoretical guarantees for sparse recovery and $\ell_p$-norm minimization. Recently, some preliminary connections have also been made between IRLS and certain types of non-convex linear neural network architectures that are observed to exploit low-dimensional structure in high-dimensional linear models. In this work, we provide a unified asymptotic analysis for a family of algorithms that encompasses IRLS, the recently proposed lin-RFM algorithm (which was motivated by feature learning in neural networks), and the alternating minimization algorithm on linear diagonal neural networks. Our analysis operates in a "batched" setting with i.i.d. Gaussian covariates and shows that, with appropriately chosen reweighting policy, the algorithm can achieve favorable performance in only a handful of iterations. We also extend our results to the case of group-sparse recovery and show that leveraging this structure in the reweighting scheme provably improves test error compared to coordinate-wise reweighting., Comment: 25 pages, 3 figures