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In this paper, we investigate the impact of speech temporal dynamics in application to automatic speaker verification and speaker voice anonymization tasks. We propose several metrics to perform automatic speaker verification based only on phoneme durations. Experimental results demonstrate that phoneme durations leak some speaker information and can reveal speaker identity from both original and anonymized speech. Thus, this work emphasizes the importance of taking into account the speaker's speech rate and, more importantly, the speaker's phonetic duration characteristics, as well as the need to modify them in order to develop anonymization systems with strong privacy protection capacity., Comment: Accepted at ICASSP 2025

We analyze the hard scattering amplitude of gravitational form factors (GFFs) of hadrons within QCD factorization at large momentum transfers, focusing on their conformal field theory (CFT) description. These form factors are key to studying quark and gluon angular momentum in hadrons, connected to Mellin moments of Deeply Virtual Compton Scattering (DVCS). The analysis uses diffeomorphism invariance and conformal symmetry in momentum space. A non-Abelian $TJJ$ 3-point function at $O(\alpha_s^2)$ reveals a dilaton interaction in the $t$-channel. We present a parameterization relevant for future DVCS/GFF experiments at the Electron-Ion Collider., Comment: 6 pages, 2 figs. Presented at QCD@Work, 18 - 21 June 2024, Trani, Italy (typos corrections)

The backreaction of a conformal matter sector and its associated conformal anomaly on gravity can be systematically studied using the formalism of the anomaly effective action. This action, defined precisely in flat spacetime within ordinary quantum field theory, can be analyzed perturbatively in terms of external graviton insertions. The expansion coefficients correspond to correlation functions of the stress-energy tensor, which are renormalized through two key counterterms: the square of the Weyl tensor $(C^2)$ and the Gauss-Bonnet term $(E)$. Anomalous conformal Ward identities impose hierarchical constraints on this expansion, revealing that the anomaly's contribution arises from bilinear mixings of the form $R \Box^{-1} E$ and $R \Box^{-1} C^2$, supplemented by local Weyl-invariant terms. These mixings reflect the non-local structure of the anomaly. The precise form of the effective action, however, may vary depending on the regularization scheme used, with potential differences manifesting through additional Weyl-invariant terms. These actions encapsulate the breaking of Weyl invariance in the early universe, with implications that are particularly relevant during the inflationary epoch. For chiral and gravitational anomalies, we demonstrate that the corresponding effective actions exhibit similar structures, influencing the evolution of chiral asymmetries in the early universe plasma., Comment: 20 pages 1 fig., Presented by Claudio Corian\`o at the XVII Marcel Grossmann Meeting, Pescara, Italy, 7-12 July 2024

We analyze the hard scattering amplitude of the gravitational form factors (GFFs) of hadrons at one-loop, in relation to their conformal field theory (CFT) description, within the framework of QCD factorization for hard exclusive processes at large momentum transfers. These form factors play an essential role in studying the quark and gluon angular momentum of the hadrons due to their relation to the Mellin moments of the Deeply Virtual Compton Scattering (DVCS) invariant amplitudes. Our analysis is performed using a diffeomorphism invariant approach, applying the formalism of the gravitational effective action and conformal symmetry in momentum space for the discussion of the quark and gluon contributions. The interpolating correlator in the hard scattering of any GFF is the non-Abelian $TJJ$ (stress-energy/gluon/gluon) 3-point function at $O(\alpha_s^2)$, revealing an effective dilaton interaction in the $t$-channel due to the trace anomaly, in the form of a massless anomaly pole in the QCD hard scattering, constrained by a sum rule on its spectral density. We investigate the role of quarks, gauge-fixing and ghost contributions in the reconstruction of the hard scattering amplitude mediated by this interaction, performed in terms of its transverse traceless, longitudinal, and trace decomposition, as identified from CFT in momentum space ($CFT_p$). We present a convenient parameterization of the hard scattering amplitude relevant for future experimental investigations of the DVCS/GFF amplitudes at the Electron-Ion Collider at BNL., Comment: 68 pages, 6 figures, added extra subsection and appendix (7 pages)

Interacting with real-world cluttered scenes pose several challenges to robotic agents that need to understand complex spatial dependencies among the observed objects to determine optimal pick sequences or efficient object retrieval strategies. Existing solutions typically manage simplified scenarios and focus on predicting pairwise object relationships following an initial object detection phase, but often overlook the global context or struggle with handling redundant and missing object relations. In this work, we present a modern take on visual relational reasoning for grasp planning. We introduce D3GD, a novel testbed that includes bin picking scenes with up to 35 objects from 97 distinct categories. Additionally, we propose D3G, a new end-to-end transformer-based dependency graph generation model that simultaneously detects objects and produces an adjacency matrix representing their spatial relationships. Recognizing the limitations of standard metrics, we employ the Average Precision of Relationships for the first time to evaluate model performance, conducting an extensive experimental benchmark. The obtained results establish our approach as the new state-of-the-art for this task, laying the foundation for future research in robotic manipulation. We publicly release the code and dataset at https://paolotron.github.io/d3g.github.io., Comment: Accepted at IEEE RAL - in press

Deep learning models are crucial for autonomous vehicle perception, but their reliability is challenged by algorithmic limitations and hardware faults. We address the latter by examining fault-tolerance in semantic segmentation models. Using established hardware fault models, we evaluate existing hardening techniques both in terms of accuracy and uncertainty and introduce ReLUMax, a novel simple activation function designed to enhance resilience against transient faults. ReLUMax integrates seamlessly into existing architectures without time overhead. Our experiments demonstrate that ReLUMax effectively improves robustness, preserving performance and boosting prediction confidence, thus contributing to the development of reliable autonomous driving systems., Comment: Accepted ECCV 2024 UnCV Workshop - https://github.com/iurada/neutron-segmentation

Authorship obfuscation aims to disguise the identity of an author within a text by altering the writing style, vocabulary, syntax, and other linguistic features associated with the text author. This alteration needs to balance privacy and utility. While strong obfuscation techniques can effectively hide the author's identity, they often degrade the quality and usefulness of the text for its intended purpose. Conversely, maintaining high utility tends to provide insufficient privacy, making it easier for an adversary to de-anonymize the author. Thus, achieving an optimal trade-off between these two conflicting objectives is crucial. In this paper, we propose TAROT: Task-Oriented Authorship Obfuscation Using Policy Optimization, a new unsupervised authorship obfuscation method whose goal is to optimize the privacy-utility trade-off by regenerating the entire text considering its downstream utility. Our approach leverages policy optimization as a fine-tuning paradigm over small language models in order to rewrite texts by preserving author identity and downstream task utility. We show that our approach largely reduce the accuracy of attackers while preserving utility. We make our code and models publicly available.

Heavy and light particles are commonly found in many natural phenomena and industrial processes, such as suspensions of bubbles, dust, and droplets in incompressible turbulent flows. Based on a recent machine learning approach using a diffusion model that successfully generated single tracer trajectories in three-dimensional turbulence and passed most statistical benchmarks across time scales, we extend this model to include heavy and light particles. Given the particle type - tracer, light, or heavy - the model can generate synthetic, realistic trajectories with correct fat-tail distributions for acceleration, anomalous power laws, and scale dependent local slope properties. This work paves the way for future exploration of the use of diffusion models to produce high-quality synthetic datasets for different flow configurations, potentially allowing interpolation between different setups and adaptation to new conditions.

Recent advances in neural network pruning have shown how it is possible to reduce the computational costs and memory demands of deep learning models before training. We focus on this framework and propose a new pruning at initialization algorithm that leverages the Neural Tangent Kernel (NTK) theory to align the training dynamics of the sparse network with that of the dense one. Specifically, we show how the usually neglected data-dependent component in the NTK's spectrum can be taken into account by providing an analytical upper bound to the NTK's trace obtained by decomposing neural networks into individual paths. This leads to our Path eXclusion (PX), a foresight pruning method designed to preserve the parameters that mostly influence the NTK's trace. PX is able to find lottery tickets (i.e. good paths) even at high sparsity levels and largely reduces the need for additional training. When applied to pre-trained models it extracts subnetworks directly usable for several downstream tasks, resulting in performance comparable to those of the dense counterpart but with substantial cost and computational savings. Code available at: https://github.com/iurada/px-ntk-pruning, Comment: Accepted CVPR 2024 - https://iurada.github.io/PX

The Moons And Jupiter Imaging Spectrometer (MAJIS) is the visible and near-infrared imaging spectrometer onboard ESA s Jupiter Icy Moons Explorer (JUICE) mission. Before its integration into the spacecraft, the instrument undergoes an extensive ground calibration to establish its baseline performances. This process prepares the imaging spectrometer for flight operations by characterizing the behavior of the instrument under various operative conditions and uncovering instrumental distortions that may depend on instrumental commands. Two steps of the on-ground calibration campaigns were held at the instrument level to produce the data. Additional in-flight measurements have recently been obtained after launch during the Near-Earth Commissioning Phase. In this article, we present the analyses of these datasets, focusing on the characterization of the spectral performances. First, we describe and analyze the spectral calibration datasets obtained using both monochromatic sources and polychromatic sources coupled with solid and gas samples. Then, we derive the spectral sampling and the spectral response function over the entire field of view. These spectral characteristics are quantified for various operational parameters of MAJIS, such as temperature and spectral binning. The derived on-ground performances are then compared with in-flight measurements obtained after launch and presented in the framework of the MAJIS performance requirements.

The Near-Infrared Spectrometer and Photometer (NISP) on board the Euclid satellite provides multiband photometry and R>=450 slitless grism spectroscopy in the 950-2020nm wavelength range. In this reference article we illuminate the background of NISP's functional and calibration requirements, describe the instrument's integral components, and provide all its key properties. We also sketch the processes needed to understand how NISP operates and is calibrated, and its technical potentials and limitations. Links to articles providing more details and technical background are included. NISP's 16 HAWAII-2RG (H2RG) detectors with a plate scale of 0.3" pix^-1 deliver a field-of-view of 0.57deg^2. In photo mode, NISP reaches a limiting magnitude of ~24.5AB mag in three photometric exposures of about 100s exposure time, for point sources and with a signal-to-noise ratio (SNR) of 5. For spectroscopy, NISP's point-source sensitivity is a SNR = 3.5 detection of an emission line with flux ~2x10^-16erg/s/cm^2 integrated over two resolution elements of 13.4A, in 3x560s grism exposures at 1.6 mu (redshifted Ha). Our calibration includes on-ground and in-flight characterisation and monitoring of detector baseline, dark current, non-linearity, and sensitivity, to guarantee a relative photometric accuracy of better than 1.5%, and relative spectrophotometry to better than 0.7%. The wavelength calibration must be better than 5A. NISP is the state-of-the-art instrument in the NIR for all science beyond small areas available from HST and JWST - and an enormous advance due to its combination of field size and high throughput of telescope and instrument. During Euclid's 6-year survey covering 14000 deg^2 of extragalactic sky, NISP will be the backbone for determining distances of more than a billion galaxies. Its NIR data will become a rich reference imaging and spectroscopy data set for the coming decades., Comment: Paper submitted as part of the A&A special issue 'Euclid on Sky', which contains Euclid key reference papers and first results from the Euclid Early Release Observations

The current standard model of cosmology successfully describes a variety of measurements, but the nature of its main ingredients, dark matter and dark energy, remains unknown. Euclid is a medium-class mission in the Cosmic Vision 2015-2025 programme of the European Space Agency (ESA) that will provide high-resolution optical imaging, as well as near-infrared imaging and spectroscopy, over about 14,000 deg^2 of extragalactic sky. In addition to accurate weak lensing and clustering measurements that probe structure formation over half of the age of the Universe, its primary probes for cosmology, these exquisite data will enable a wide range of science. This paper provides a high-level overview of the mission, summarising the survey characteristics, the various data-processing steps, and data products. We also highlight the main science objectives and expected performance., Comment: Accepted for publication in the A&A special issue`Euclid on Sky'

This paper presents the specification, design, and development of the Visible Camera (VIS) on the ESA Euclid mission. VIS is a large optical-band imager with a field of view of 0.54 deg^2 sampled at 0.1" with an array of 609 Megapixels and spatial resolution of 0.18". It will be used to survey approximately 14,000 deg^2 of extragalactic sky to measure the distortion of galaxies in the redshift range z=0.1-1.5 resulting from weak gravitational lensing, one of the two principal cosmology probes of Euclid. With photometric redshifts, the distribution of dark matter can be mapped in three dimensions, and, from how this has changed with look-back time, the nature of dark energy and theories of gravity can be constrained. The entire VIS focal plane will be transmitted to provide the largest images of the Universe from space to date, reaching m_AB>24.5 with S/N >10 in a single broad I_E~(r+i+z) band over a six year survey. The particularly challenging aspects of the instrument are the control and calibration of observational biases, which lead to stringent performance requirements and calibration regimes. With its combination of spatial resolution, calibration knowledge, depth, and area covering most of the extra-Galactic sky, VIS will also provide a legacy data set for many other fields. This paper discusses the rationale behind the VIS concept and describes the instrument design and development before reporting the pre-launch performance derived from ground calibrations and brief results from the in-orbit commissioning. VIS should reach fainter than m_AB=25 with S/N>10 for galaxies of full-width half-maximum of 0.3" in a 1.3" diameter aperture over the Wide Survey, and m_AB>26.4 for a Deep Survey that will cover more than 50 deg^2. The paper also describes how VIS works with the other Euclid components of survey, telescope, and science data processing to extract the cosmological information., Comment: Paper submitted as part of the A&A special issue `Euclid on Sky', which contains Euclid key reference papers and first results from the Euclid Early Release Observations (A&A reference aa50996-24). This revision is the version accepted by A&A on 19 September 2024. Other than changes to the author list, changes are limited to editorial and journal style

Conformal back-reaction generates cosmological models where the trace anomaly reflects the breaking of Weyl invariance. Analyzing these actions yields a dynamic approach to dark energy through anomaly-induced actions (AIAs), that are variational solutions of the trace anomaly functional constraint. Expanded around Minkowski space, they produce semiclassical correlators subject to hierarchical anomalous Ward identities, tied to conformal symmetry and diffeomorphism invariance. We focus on comparing the hierarchy of a specific 4-point function, particularly the 2-gravitons-2-photons correlator $(TTJJ)$, generated by AIAs, to free field theory realizations of the same correlator. We observe that the free field theory original hierarchy splits into one ordinary and one anomalous hierarchy, both satisfying the conservation Ward identities from diffeomorphism invariance. However, we find that the anomalous hierarchy derived from ordinary AIAs in both the Riegert or Fradkin-Vilkovisky gauges, are either affected by double poles or violate the hierarchy of the trace Ward identity, respectively. We show that correct forms of the anomalous hierarchies of 4-point functions (for the $TTTT$ and $TTJJ$), identified in a perturbative free field theory expansion around flat space, are characterised by anomaly poles, corresponding to a curvature expansion in $R\Box^{-1}$, together with Weyl invariant terms. We derive the effective action that generates the correct form of the hierarchy for the $TTJJ$., Comment: 22 pages, 2 figures. Proceedings of Corfu Summer Institute, Workshop on the Standard Model and Beyond, August 27- September 7, 2023. arXiv admin note: text overlap with arXiv:2212.12779

We investigate the gravitational anomaly vertex $\langle TTJ_5\rangle$ (graviton - graviton - axial current) under conditions of finite density and temperature. Through a direct analysis of perturbative contributions, we demonstrate that neither finite temperature nor finite fermion density affects the gravitational chiral anomaly. These results find application in several contexts, from topological materials to the early universe plasma. They affect the decay of any axion or axion-like particle into gravitational waves, in very dense and hot environments., Comment: 17 pages, 9 figures

In the domain of computer vision, semantic segmentation emerges as a fundamental application within machine learning, wherein individual pixels of an image are classified into distinct semantic categories. This task transcends traditional accuracy metrics by incorporating uncertainty quantification, a critical measure for assessing the reliability of each segmentation prediction. Such quantification is instrumental in facilitating informed decision-making, particularly in applications where precision is paramount. Within this nuanced framework, the metric known as PAvPU (Patch Accuracy versus Patch Uncertainty) has been developed as a specialized tool for evaluating entropy-based uncertainty in image segmentation tasks. However, our investigation identifies three core deficiencies within the PAvPU framework and proposes robust solutions aimed at refining the metric. By addressing these issues, we aim to enhance the reliability and applicability of uncertainty quantification, especially in scenarios that demand high levels of safety and accuracy, thus contributing to the advancement of semantic segmentation methodologies in critical applications., Comment: Premature Submission: accidentally submitted before it was ready

We discuss fundamental aspects of chiral anomaly-driven interactions in conformal field theory (CFT) in four spacetime dimensions. They find application in very general contexts, from early universe plasma to topological condensed matter. We outline the key shared characteristics of these interactions, specifically addressing the case of chiral anomalies, both for vector currents and gravitons. In the case of topological materials, the gravitational chiral anomaly is generated by thermal gradients via the (Tolman-Ehrenfest) Luttinger relation. In the CFT framework, a nonlocal effective action, derived through perturbation theory, indicates that the interaction is mediated by an excitation in the form of an anomaly pole, which appears in the conformal limit of the vertex. To illustrate this, we demonstrate how conformal Ward identities (CWIs) in momentum space allow us to reconstruct the entire chiral anomaly interaction in its longitudinal and transverse sectors just by inclusion of a pole in the longitudinal sector. Both sectors are coupled in amplitudes with an intermediate chiral fermion or a bilinear Chern-Simons current with intermediate photons. In the presence of fermion mass corrections, the pole transforms into a cut, but the absorption amplitude in the axial-vector channel satisfies mass-independent sum rules related to the anomaly in any chiral interaction. The detection of an axion-like/quasiparticle in these materials may rely on a combined investigation of these sum rules, along with the measurement of the angle of rotation of the plane of polarization of incident light when subjected to a chiral perturbation. This phenomenon serves as an analogue of a similar one in ordinary axion physics, in the presence of an axion-like condensate, that we rederive using axion electrodynamics., Comment: 55 pages, 5 figures

We study possible tangles that can occur in singularities of solutions to plane Curve Shortening Flow. We exhibit solutions in which more complicated tangles with more than one self-intersection disappear into a singular point. It seems that there are many examples of this kind and that a complete classification presents a problem similar to the problem of classifying all knots in $\mathbb R^3$. As a particular example, we introduce the so-called $n$-loop curves, which generalize Matt Grayson's Figure-Eight curve, and we conjecture a generalization of the Coiculescu-Schwarz asymptotic bow-tie result, namely, a vanishing $n$-loop, when rescaled anisotropically to fit a square bounding box, converges to a "squeezed bow-tie," i.e. the curve $\{(x, y) : |x|\leq 1, y=\pm x^{n-1}\}\cup\{(\pm 1, y) : |y|\leq 1\}$. As evidence in support of the conjecture, we provide a formal asymptotic analysis on one hand, and a numerical simulation for the cases $n=3$ and $n=4$ on the other., Comment: 21 pages, 14 figures

We investigate the general structure of the chiral anomaly $AVV/AAA$ and $(LLL, RRR)$ vertices, in the presence of chemical potentials in perturbation theory. The study finds application in anomalous transport, whenever chirally unbalanced matter is present, with propagating external currents that are classically conserved. Examples are topological materials and the chiral magnetic effect in the plasma state of matter of the early universe. We classify the minimal number of form factors of the $AVV$ parameterization, by a complete analysis of the Schouten identities in the presence of a heat bath. We show that the longitudinal (anomaly) sector in the axial-vector channel, for on-shell and off-shell photons, is protected against corrections coming from the insertion of a chemical potential in the fermion loop. When the photons are on-shell, we prove that also the transverse sector, in the same channel, is $\mu$-independent and vanishes. The related effective action is shown to be always described by the exchange of a massless anomaly pole, as in the case of vanishing chemical potentials. The pole is interpreted as an interpolating axion-like quasiparticle generated by the anomaly. In each axial-vector channel, it is predicted to be a correlated fermion/antifermion pseudoscalar (axion-like) quasiparticle appearing in the response function, once the material is subjected to an external chiral perturbation. The cancellation of the $\mu$ dependence extends to any chiral current within the Standard Model, including examples like $B$ (baryon), $L$ (lepton), and $B-L$. This holds true irrespective of whether these currents exhibit anomalies., Comment: 56 pages, 6 figures, published version with typos corrections

This study investigates the impact of monochromatic lighting on visual acuity (VA) and contrast sensitivity (CS). Traditional assessments of VA and CS are typically conducted under the illumination of ``white'' light, but variations in color temperature can influence outcomes. Utilizing data from an exhibition by Olafur Eliasson, where a room was illuminated with low-pressure sodium lamps, creating an almost monochromatic yellow light, we compared visual assessments in the yellow room with conventional lighting in a white room. For VA, the results show no significant differences between the two lighting conditions, while for CS, a more nuanced situation is observed. The bias in CS measurements is clinically relevant, and the p-value suggests that further investigation with a larger, more diverse sample may be worthwhile. Despite limitations, such as higher illumination conditions than standard protocols, the unique ``laboratory'' offered by the exhibition facilitated measurements not easily achievable in a traditional setting., Comment: Submitted to Nuovo Cimento, special number for "SIF simposio Optometria": this version is before referee comments

We construct a splitting of the cohomology of configuration spaces of points on a smooth proper variety with a multiplicative Chow--K\"unneth decomposition. Applied to hyperelliptic curves, this shows that the hyperelliptic Torelli group acts trivially on the rational cohomology of ordered configuration spaces of points. Moreover, if $H_{g,n}$ denotes the moduli space of $n$-pointed hyperelliptic curves, the Leray spectral sequence for the forgetful map $H_{g,n} \to H_g$ degenerates immediately, in sharp contrast to the forgetful map from $M_{g,n}$ to $M_g$. This allows for new detailed calculations of the cohomology of $M_{2,n}$ for $n \leq 5$, and the stable cohomology of $H_{g,n}$ for $n \leq 5$. We also give a detailed study of the cohomology of symplectic local systems on $M_2$., Comment: Richard Hain has communicated to us that Corollary 1.10 contradicts known statements in the literature

This study focuses on the estimation of the Emax dose-response model, a widely utilized framework in clinical trials, agriculture, and environmental experiments. Existing challenges in obtaining maximum likelihood estimates (MLE) for model parameters are often ascribed to computational issues but, in reality, stem from the absence of a MLE. Our contribution provides a new understanding and control of all the experimental situations that practitioners might face, guiding them in the estimation process. We derive the exact MLE for a three-point experimental design and we identify the two scenarios where the MLE fails. To address these challenges, we propose utilizing Firth's modified score, providing its analytical expression as a function of the experimental design. Through a simulation study, we demonstrate that, in one of the problematic cases, the Firth modification yields a finite estimate. For the remaining case, we introduce a design-augmentation strategy akin to a hypothesis test., Comment: new title, with new figures and restructuring to provide clarity

Pufferfish privacy is a flexible generalization of differential privacy that allows to model arbitrary secrets and adversary's prior knowledge about the data. Unfortunately, designing general and tractable Pufferfish mechanisms that do not compromise utility is challenging. Furthermore, this framework does not provide the composition guarantees needed for a direct use in iterative machine learning algorithms. To mitigate these issues, we introduce a R\'enyi divergence-based variant of Pufferfish and show that it allows us to extend the applicability of the Pufferfish framework. We first generalize the Wasserstein mechanism to cover a wide range of noise distributions and introduce several ways to improve its utility. We also derive stronger guarantees against out-of-distribution adversaries. Finally, as an alternative to composition, we prove privacy amplification results for contractive noisy iterations and showcase the first use of Pufferfish in private convex optimization. A common ingredient underlying our results is the use and extension of shift reduction lemmas.

We introduce PolyDiff, the first diffusion-based approach capable of directly generating realistic and diverse 3D polygonal meshes. In contrast to methods that use alternate 3D shape representations (e.g. implicit representations), our approach is a discrete denoising diffusion probabilistic model that operates natively on the polygonal mesh data structure. This enables learning of both the geometric properties of vertices and the topological characteristics of faces. Specifically, we treat meshes as quantized triangle soups, progressively corrupted with categorical noise in the forward diffusion phase. In the reverse diffusion phase, a transformer-based denoising network is trained to revert the noising process, restoring the original mesh structure. At inference, new meshes can be generated by applying this denoising network iteratively, starting with a completely noisy triangle soup. Consequently, our model is capable of producing high-quality 3D polygonal meshes, ready for integration into downstream 3D workflows. Our extensive experimental analysis shows that PolyDiff achieves a significant advantage (avg. FID and JSD improvement of 18.2 and 5.8 respectively) over current state-of-the-art methods.

Varying dynamics parameters in simulation is a popular Domain Randomization (DR) approach for overcoming the reality gap in Reinforcement Learning (RL). Nevertheless, DR heavily hinges on the choice of the sampling distribution of the dynamics parameters, since high variability is crucial to regularize the agent's behavior but notoriously leads to overly conservative policies when randomizing excessively. In this paper, we propose a novel approach to address sim-to-real transfer, which automatically shapes dynamics distributions during training in simulation without requiring real-world data. We introduce DOmain RAndomization via Entropy MaximizatiON (DORAEMON), a constrained optimization problem that directly maximizes the entropy of the training distribution while retaining generalization capabilities. In achieving this, DORAEMON gradually increases the diversity of sampled dynamics parameters as long as the probability of success of the current policy is sufficiently high. We empirically validate the consistent benefits of DORAEMON in obtaining highly adaptive and generalizable policies, i.e. solving the task at hand across the widest range of dynamics parameters, as opposed to representative baselines from the DR literature. Notably, we also demonstrate the Sim2Real applicability of DORAEMON through its successful zero-shot transfer in a robotic manipulation setup under unknown real-world parameters., Comment: Published as a conference paper at ICLR 2024. Project website at https://gabrieletiboni.github.io/doraemon/