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Two-dimensional electrides can acquire topologically non-trivial phases due to intriguing interplay between the cationic atomic layers and anionic electron layers. However, experimental evidence of topological surface states has yet to be verified. Here, via angle-resolved photoemission spectroscopy (ARPES) and scanning tunnelling microscopy (STM), we probe the magnetic Weyl states of the ferromagnetic electride $[Gd_{2}$C]^{2+}\cdot2e^{-}$. In particular, the presence of Weyl cones and Fermi-arc states is demonstrated through photon energy-dependent ARPES measurements, agreeing with theoretical band structure calculations. Notably, the STM measurements reveal that the Fermi-arc states exist underneath a floating quantum electron liquid on the top Gd layer, forming double-stacked surface states in a heterostructure. Our work thus not only unveils the non-trivial topology of the $[Gd_{2}$C]^{2+}\cdot2e^{-}$ electride but also realizes a surface heterostructure that can host phenomena distinct from the bulk., Comment: 22 pages, 6 figures

Pose-driven human-image animation diffusion models have shown remarkable capabilities in realistic human video synthesis. Despite the promising results achieved by previous approaches, challenges persist in achieving temporally consistent animation and ensuring robustness with off-the-shelf pose detectors. In this paper, we present TCAN, a pose-driven human image animation method that is robust to erroneous poses and consistent over time. In contrast to previous methods, we utilize the pre-trained ControlNet without fine-tuning to leverage its extensive pre-acquired knowledge from numerous pose-image-caption pairs. To keep the ControlNet frozen, we adapt LoRA to the UNet layers, enabling the network to align the latent space between the pose and appearance features. Additionally, by introducing an additional temporal layer to the ControlNet, we enhance robustness against outliers of the pose detector. Through the analysis of attention maps over the temporal axis, we also designed a novel temperature map leveraging pose information, allowing for a more static background. Extensive experiments demonstrate that the proposed method can achieve promising results in video synthesis tasks encompassing various poses, like chibi. Project Page: https://eccv2024tcan.github.io/, Comment: The first two authors contributed equally

Recently, the demand for psychological counseling has significantly increased as more individuals express concerns about their mental health. This surge has accelerated efforts to improve the accessibility of counseling by using large language models (LLMs) as counselors. To ensure client privacy, training open-source LLMs faces a key challenge: the absence of realistic counseling datasets. To address this, we introduce Cactus, a multi-turn dialogue dataset that emulates real-life interactions using the goal-oriented and structured approach of Cognitive Behavioral Therapy (CBT). We create a diverse and realistic dataset by designing clients with varied, specific personas, and having counselors systematically apply CBT techniques in their interactions. To assess the quality of our data, we benchmark against established psychological criteria used to evaluate real counseling sessions, ensuring alignment with expert evaluations. Experimental results demonstrate that Camel, a model trained with Cactus, outperforms other models in counseling skills, highlighting its effectiveness and potential as a counseling agent. We make our data, model, and code publicly available., Comment: Under Review

Neural rendering-based urban scene reconstruction methods commonly rely on images collected from driving vehicles with cameras facing and moving forward. Although these methods can successfully synthesize from views similar to training camera trajectory, directing the novel view outside the training camera distribution does not guarantee on-par performance. In this paper, we tackle the Extrapolated View Synthesis (EVS) problem by evaluating the reconstructions on views such as looking left, right or downwards with respect to training camera distributions. To improve rendering quality for EVS, we initialize our model by constructing dense LiDAR map, and propose to leverage prior scene knowledge such as surface normal estimator and large-scale diffusion model. Qualitative and quantitative comparisons demonstrate the effectiveness of our methods on EVS. To the best of our knowledge, we are the first to address the EVS problem in urban scene reconstruction. Link to our project page: https://vegs3d.github.io/., Comment: The first two authors contributed equally. Project Page: https://vegs3d.github.io/

In this paper, we conduct a study to utilize LLMs as a solution for decision making that requires complex data analysis. We define Decision QA as the task of answering the best decision, $d_{best}$, for a decision-making question $Q$, business rules $R$ and a database $D$. Since there is no benchmark that can examine Decision QA, we propose Decision QA benchmark, DQA. It has two scenarios, Locating and Building, constructed from two video games (Europa Universalis IV and Victoria 3) that have almost the same goal as Decision QA. To address Decision QA effectively, we also propose a new RAG technique called the iterative plan-then-retrieval augmented generation (PlanRAG). Our PlanRAG-based LM generates the plan for decision making as the first step, and the retriever generates the queries for data analysis as the second step. The proposed method outperforms the state-of-the-art iterative RAG method by 15.8% in the Locating scenario and by 7.4% in the Building scenario, respectively. We release our code and benchmark at https://github.com/myeon9h/PlanRAG., Comment: NAACL 2024

In this paper, the solution of HYU MLLAB KT Team to the Multimodal Algorithmic Reasoning Task: SMART-101 CVPR 2024 Challenge is presented. Beyond conventional visual question-answering problems, the SMART-101 challenge aims to achieve human-level multimodal understanding by tackling complex visio-linguistic puzzles designed for children in the 6-8 age group. To solve this problem, we suggest two main ideas. First, to utilize the reasoning ability of a large-scale language model (LLM), the given visual cues (images) are grounded in the text modality. For this purpose, we generate highly detailed text captions that describe the context of the image and use these captions as input for the LLM. Second, due to the nature of puzzle images, which often contain various geometric visual patterns, we utilize an object detection algorithm to ensure these patterns are not overlooked in the captioning process. We employed the SAM algorithm, which can detect various-size objects, to capture the visual features of these geometric patterns and used this information as input for the LLM. Under the puzzle split configuration, we achieved an option selection accuracy Oacc of 29.5 on the test set and a weighted option selection accuracy (WOSA) of 27.1 on the challenge set.

In 1730, Euler defined the Gamma function $\Gamma(x)$ by the integral representation. It possesses many interesting properties and has wide applications in various branches of mathematics and sciences. According to Lerch, the Gamma function $\Gamma(x)$ can also be defined by the derivative of the Hurwitz zeta function $$\zeta(z,x)=\sum_{n=0}^{\infty}\frac{1}{(n+x)^{z}}$$ at $z=0$. Recently, Hu and Kim defined the corresponding Stieltjes constants $\widetilde{\gamma}_{k}(x)$ and Euler constant $\widetilde{\gamma}_{0}$ from the Taylor series of the alternating Hurwitz zeta function $\zeta_{E}(z,x)$ $$\zeta_{E}(z,x)=\sum_{n=0}^{\infty}\frac{(-1)^n}{(n+x)^z}.$$ And they also introduced the corresponding Gamma function $\widetilde{\Gamma}(x)$ which has the following Weierstrass--Hadamard type product $$\widetilde{\Gamma}(x)=\frac{1}{x}e^{\widetilde{\gamma}_{0}x}\prod_{k=1}^{\infty}\left(e^{-\frac{x}{k}}\left(1+\frac{x}{k}\right)\right)^{(-1)^{k+1}}.$$ In this paper, we shall further investigate the function $\widetilde{\Gamma}(x)$, that is, we obtain several properties in analogy to the classical Gamma function $\Gamma(x)$, including the integral representation, the limit representation, the recursive formula, the special values, the log-convexity, the duplication formula and the reflection equation. Furthermore, we also prove a Lerch-type formula, which shows that the derivative of $\zeta_{E}(z,x)$ can be representative by $\widetilde\Gamma(x)$. As an application to Stark's conjecture in algebraic number theory, we will explicit calculate the derivatives of the partial zeta functions for the maximal real subfield of cyclotomic fields at $z=0$., Comment: 24 pages

We introduce HyperCLOVA X, a family of large language models (LLMs) tailored to the Korean language and culture, along with competitive capabilities in English, math, and coding. HyperCLOVA X was trained on a balanced mix of Korean, English, and code data, followed by instruction-tuning with high-quality human-annotated datasets while abiding by strict safety guidelines reflecting our commitment to responsible AI. The model is evaluated across various benchmarks, including comprehensive reasoning, knowledge, commonsense, factuality, coding, math, chatting, instruction-following, and harmlessness, in both Korean and English. HyperCLOVA X exhibits strong reasoning capabilities in Korean backed by a deep understanding of the language and cultural nuances. Further analysis of the inherent bilingual nature and its extension to multilingualism highlights the model's cross-lingual proficiency and strong generalization ability to untargeted languages, including machine translation between several language pairs and cross-lingual inference tasks. We believe that HyperCLOVA X can provide helpful guidance for regions or countries in developing their sovereign LLMs., Comment: 44 pages; updated authors list and fixed author names

We present a method to reconstruct indoor and outdoor static scene geometry and appearance from an omnidirectional video moving in a small circular sweep. This setting is challenging because of the small baseline and large depth ranges, making it difficult to find ray crossings. To better constrain the optimization, we estimate geometry as a signed distance field within a spherical binoctree data structure and use a complementary efficient tree traversal strategy based on a breadth-first search for sampling. Unlike regular grids or trees, the shape of this structure well-matches the camera setting, creating a better memory-quality trade-off. From an initial depth estimate, the binoctree is adaptively subdivided throughout the optimization; previous methods use a fixed depth that leaves the scene undersampled. In comparison with three neural optimization methods and two non-neural methods, ours shows decreased geometry error on average, especially in a detailed scene, while significantly reducing the required number of voxels to represent such details.

Omnidirectional cameras are extensively used in various applications to provide a wide field of vision. However, they face a challenge in synthesizing novel views due to the inevitable presence of dynamic objects, including the photographer, in their wide field of view. In this paper, we introduce a new approach called Omnidirectional Local Radiance Fields (OmniLocalRF) that can render static-only scene views, removing and inpainting dynamic objects simultaneously. Our approach combines the principles of local radiance fields with the bidirectional optimization of omnidirectional rays. Our input is an omnidirectional video, and we evaluate the mutual observations of the entire angle between the previous and current frames. To reduce ghosting artifacts of dynamic objects and inpaint occlusions, we devise a multi-resolution motion mask prediction module. Unlike existing methods that primarily separate dynamic components through the temporal domain, our method uses multi-resolution neural feature planes for precise segmentation, which is more suitable for long 360-degree videos. Our experiments validate that OmniLocalRF outperforms existing methods in both qualitative and quantitative metrics, especially in scenarios with complex real-world scenes. In particular, our approach eliminates the need for manual interaction, such as drawing motion masks by hand and additional pose estimation, making it a highly effective and efficient solution.

In this paper, we propose a model predictive control (MPC) that accomplishes interactive robotic tasks, in which multiple contacts may occur at unknown locations. To address such scenarios, we made an explicit contact feedback loop in the MPC framework. An algorithm called Multi-Contact Particle Filter with Exploration Particle (MCP-EP) is employed to establish real-time feedback of multi-contact information. Then the interaction locations and forces are accommodated in the MPC framework via a spring contact model. Moreover, we achieved real-time control for a 7 degrees of freedom robot without any simplifying assumptions by employing a Differential-Dynamic-Programming algorithm. We achieved 6.8kHz, 1.9kHz, and 1.8kHz update rates of the MPC for 0, 1, and 2 contacts, respectively. This allows the robot to handle unexpected contacts in real time. Real-world experiments show the effectiveness of the proposed method in various scenarios., Comment: This paper has been accepted for publication at the IEEE International Conference on Robotics and Automation (ICRA), Yokohama, 2024

This study presents a model of automatic speech recognition (ASR) designed to diagnose pronunciation issues in children with speech sound disorders (SSDs) to replace manual transcriptions in clinical procedures. Since ASR models trained for general purposes primarily predict input speech into real words, employing a well-known high-performance ASR model for evaluating pronunciation in children with SSDs is impractical. We fine-tuned the wav2vec 2.0 XLS-R model to recognize speech as pronounced rather than as existing words. The model was fine-tuned with a speech dataset from 137 children with inadequate speech production pronouncing 73 Korean words selected for actual clinical diagnosis. The model's predictions of the pronunciations of the words matched the human annotations with about 90% accuracy. While the model still requires improvement in recognizing unclear pronunciation, this study demonstrates that ASR models can streamline complex pronunciation error diagnostic procedures in clinical fields., Comment: 12 pages, 2 figures

The effectiveness of clopidogrel, a widely used antiplatelet medication, varies significantly among individuals, necessitating the development of precise predictive models to optimize patient care. In this study, we leverage federated learning strategies to address clopidogrel treatment failure detection. Our research harnesses the collaborative power of multiple healthcare institutions, allowing them to jointly train machine learning models while safeguarding sensitive patient data. Utilizing the UK Biobank dataset, which encompasses a vast and diverse population, we partitioned the data based on geographic centers and evaluated the performance of federated learning. Our results show that while centralized training achieves higher Area Under the Curve (AUC) values and faster convergence, federated learning approaches can substantially narrow this performance gap. Our findings underscore the potential of federated learning in addressing clopidogrel treatment failure detection, offering a promising avenue for enhancing patient care through personalized treatment strategies while respecting data privacy. This study contributes to the growing body of research on federated learning in healthcare and lays the groundwork for secure and privacy-preserving predictive models for various medical conditions.

We investigated the effect of Ni doping in a recently proposed quantum spin liquid (QSL) candidate Li$_4$CuTeO$_6$. We performed a comprehensive study on the structural and magnetic properties. We find that the anti-site disorder between Li$^+$ and Cu$^{2+}$ persists until 50\% Ni doping in which Ni and Cu occupy different crystallographic sites. As a result, while Cu sits in both triangular and honeycomb layers in Li$_4$CuTeO$_6$, Ni forms only honeycomb layer in Li$_4$NiTeO$_6$ and Li$_4$Cu$_{0.5}$Ni$_{0.5}$TeO$_6$. Our magnetic susceptibility measurements show that the Weiss temperature decreases from -145.68 K in Li$_4$CuTeO$_6$ to -6.15 K in Li$_4$NiTeO$_6$ as Ni doping increases, and find no hint of magnetic ordering or freezing down to 1.8 K. Our analysis implies the existence of abundant low energy excitations in these materials., Comment: 7 pages, 4 figures

Let $\left\{E_n\right\}_{n=1}^{\infty}$ be the set of energy levels corresponding to a Hamiltonian $H$. Denote by $$\lambda_{0}=0~~\textrm{and}~~\lambda_{n}=E_{n}$$ for $n\in\mathbb N.$ In this paper, we shall construct and investigate the $p$-adic counterparts of the Hurwitz-type spectral zeta function \begin{equation} \zeta^{H}(s,\lambda)=\sum_{n=0}^{\infty}\frac{1}{(\lambda_{n}+\lambda)^{s}} \end{equation} and its alternating form \begin{equation} \zeta_{E}^{H}(s,\lambda)=2\sum_{n=0}^{\infty}\frac{(-1)^{n}}{(\lambda_{n}+\lambda)^{s}} \end{equation} in a parallel way., Comment: 20 pages

We aim to provide an explanation for how the human brain might connect words for sentence formation. A novel approach to modeling syntactic representation is introduced, potentially showing the existence of universal syntactic structures for all natural languages. As the discovery of DNA's double helix structure shed light on the inner workings of genetics, we wish to introduce a basic understanding of how language might work in the human brain. It could be the brain's way of encoding and decoding knowledge. It also brings some insight into theories in linguistics, psychology, and cognitive science. After looking into the logic behind universal syntactic structures and the methodology of the modeling technique, we attempt to analyze corpora that showcase universality in the language process of different natural languages such as English and Korean. Lastly, we discuss the critical period hypothesis, universal grammar, and a few other assertions on language for the purpose of advancing our understanding of the human brain., Comment: 22 pages, 9 figures

We introduce an oriented rational band move, a generalization of an ordinary oriented band move, and show that if a knot $K$ in the three-sphere can be made into the $(n+1)$-component unlink by $n$ oriented rational band moves, then $K$ is rationally slice.

Scaling superconducting digital circuits requires fundamental changes in the current material set and fabrication process. The transition to 300 mm wafers and the implementation of advanced lithography are instrumental in facilitating mature CMOS processes, ensuring uniformity, and optimizing the yield. This study explores the properties of NbxTi(1-x)N films fabricated by magnetron DC sputtering on 300 mm Si wafers. As a promising alternative to traditional Nb in device manufacturing, NbxTi(1-x)N offers numerous advantages, including enhanced stability and scalability to smaller dimensions, in both processing and design. As a ternary material, NbxTi(1-x)N allows engineering material parameters by changing deposition conditions. The engineered properties can be used to modulate device parameters through the stack and mitigate failure modes. We report characterization of NbxTi(1-x)N films at less than 2% thickness variability, 2.4% Tc variability and 3% composition variability. The films material properties such as resistivity (140-375 {\Omega}cm) and critical temperature Tc (4.6 K - 14.1 K) are correlated with stoichiometry and morphology of the films. Our results highlight the significant influence of deposition conditions on crystallographic texture along the films and its correlation with Tc., Comment: 8 pages 8 figures

We aim to solve the problem of data-driven collision-distance estimation given 3-dimensional (3D) geometries. Conventional algorithms suffer from low accuracy due to their reliance on limited representations, such as point clouds. In contrast, our previous graph-based model, GraphDistNet, achieves high accuracy using edge information but incurs higher message-passing costs with growing graph size, limiting its applicability to 3D geometries. To overcome these challenges, we propose GDN-R, a novel 3D graph-based estimation network.GDN-R employs a layer-wise probabilistic graph-rewiring algorithm leveraging the differentiable Gumbel-top-K relaxation. Our method accurately infers minimum distances through iterative graph rewiring and updating relevant embeddings. The probabilistic rewiring enables fast and robust embedding with respect to unforeseen categories of geometries. Through 41,412 random benchmark tasks with 150 pairs of 3D objects, we show GDN-R outperforms state-of-the-art baseline methods in terms of accuracy and generalizability. We also show that the proposed rewiring improves the update performance reducing the size of the estimation model. We finally show its batch prediction and auto-differentiation capabilities for trajectory optimization in both simulated and real-world scenarios., Comment: 7 pages, 6 figures

Existing time-resolved non-line-of-sight (NLOS) imaging methods reconstruct hidden scenes by inverting the optical paths of indirect illumination measured at visible relay surfaces. These methods are prone to reconstruction artifacts due to inversion ambiguities and capture noise, which are typically mitigated through the manual selection of filtering functions and parameters. We introduce a fully-differentiable end-to-end NLOS inverse rendering pipeline that self-calibrates the imaging parameters during the reconstruction of hidden scenes, using as input only the measured illumination while working both in the time and frequency domains. Our pipeline extracts a geometric representation of the hidden scene from NLOS volumetric intensities and estimates the time-resolved illumination at the relay wall produced by such geometric information using differentiable transient rendering. We then use gradient descent to optimize imaging parameters by minimizing the error between our simulated time-resolved illumination and the measured illumination. Our end-to-end differentiable pipeline couples diffraction-based volumetric NLOS reconstruction with path-space light transport and a simple ray marching technique to extract detailed, dense sets of surface points and normals of hidden scenes. We demonstrate the robustness of our method to consistently reconstruct geometry and albedo, even under significant noise levels.

This paper presents a tutorial overview of path integral (PI) control approaches for stochastic optimal control and trajectory optimization. We concisely summarize the theoretical development of path integral control to compute a solution for stochastic optimal control and provide algorithmic descriptions of the cross-entropy (CE) method, an open-loop controller using the receding horizon scheme known as the model predictive path integral (MPPI), and a parameterized state feedback controller based on the path integral control theory. We discuss policy search methods based on path integral control, efficient and stable sampling strategies, extensions to multi-agent decision-making, and MPPI for the trajectory optimization on manifolds. For tutorial demonstrations, some PI-based controllers are implemented in Python, MATLAB and ROS2/Gazebo simulations for trajectory optimization. The simulation frameworks and source codes are publicly available at https://github.com/INHA-Autonomous-Systems-Laboratory-ASL/An-Overview-on-Recent-Advances-in-Path-Integral-Control., Comment: 16 pages, 9 figures

This paper introduces TRACE-GPT, which stands for Time-seRies Anomaly-detection with Convolutional Embedding and Generative Pre-trained Transformers. TRACE-GPT is designed to pre-train univariate time-series sensor data and detect faults on unlabeled datasets in semiconductor manufacturing. In semiconductor industry, classifying abnormal time-series sensor data from normal data is important because it is directly related to wafer defect. However, small, unlabeled, and even mixed training data without enough anomalies make classification tasks difficult. In this research, we capture features of time-series data with temporal convolutional embedding and Generative Pre-trained Transformer (GPT) to classify abnormal sequences from normal sequences using cross entropy loss. We prove that our model shows better performance than previous unsupervised models with both an open dataset, the University of California Riverside (UCR) time-series classification archive, and the process log of our Chemical Vapor Deposition (CVD) equipment. Our model has the highest F1 score at Equal Error Rate (EER) across all datasets and is only 0.026 below the supervised state-of-the-art baseline on the open dataset.

In his second notebook, Ramanujan discovered the following identity for the special values of $\zeta(s)$ at the odd positive integers \begin{equation*}\begin{aligned}\alpha^{-m}\,\left\{\dfrac{1}{2}\,\zeta(2m + 1) + \sum_{n = 1}^{\infty}\dfrac{n^{-2m - 1}}{e^{2\alpha n} - 1}\right\} &-(- \beta)^{-m}\,\left\{\dfrac{1}{2}\,\zeta(2m + 1) + \sum_{n = 1}^{\infty}\dfrac{n^{-2m - 1}}{e^{2\beta n} - 1}\right\}\nonumber &=2^{2m}\sum_{k = 0}^{m + 1}\dfrac{\left(-1\right)^{k-1}B_{2k}\,B_{2m - 2k+2}}{\left(2k\right)!\left(2m -2k+2\right)!}\,\alpha^{m - k + 1}\beta^k \label{(1.2)},\end{aligned} \end{equation*} where $ \alpha $ and $ \beta $ are positive numbers such that $ \alpha\beta = \pi^2 $ and $ m $ is a positive integer. As shown by Berndt in the viewpoint of general transformation of analytic Eisenstein series, it is a natural companion of Euler's famous formula for even zeta values. In this note, we prove an analogue of the above Ramanujan's identity in the functions fields setting, which involves the Bernoulli-Carlitz numbers., Comment: 8 pages

The problem of representing nodes in a signed network as low-dimensional vectors, known as signed network embedding (SNE), has garnered considerable attention in recent years. While several SNE methods based on graph convolutional networks (GCN) have been proposed for this problem, we point out that they significantly rely on the assumption that the decades-old balance theory always holds in the real-world. To address this limitation, we propose a novel GCN-based SNE approach, named as TrustSGCN, which corrects for incorrect embedding propagation in GCN by utilizing the trustworthiness on edge signs for high-order relationships inferred by the balance theory. The proposed approach consists of three modules: (M1) generation of each node's extended ego-network; (M2) measurement of trustworthiness on edge signs; and (M3) trustworthiness-aware propagation of embeddings. Furthermore, TrustSGCN learns the node embeddings by leveraging two well-known societal theories, i.e., balance and status. The experiments on four real-world signed network datasets demonstrate that TrustSGCN consistently outperforms five state-of-the-art GCN-based SNE methods. The code is available at https://github.com/kmj0792/TrustSGCN., Comment: 12 pages, 8 figures, 9 tables

As recent advances in Neural Radiance Fields (NeRF) have enabled high-fidelity 3D face reconstruction and novel view synthesis, its manipulation also became an essential task in 3D vision. However, existing manipulation methods require extensive human labor, such as a user-provided semantic mask and manual attribute search unsuitable for non-expert users. Instead, our approach is designed to require a single text to manipulate a face reconstructed with NeRF. To do so, we first train a scene manipulator, a latent code-conditional deformable NeRF, over a dynamic scene to control a face deformation using the latent code. However, representing a scene deformation with a single latent code is unfavorable for compositing local deformations observed in different instances. As so, our proposed Position-conditional Anchor Compositor (PAC) learns to represent a manipulated scene with spatially varying latent codes. Their renderings with the scene manipulator are then optimized to yield high cosine similarity to a target text in CLIP embedding space for text-driven manipulation. To the best of our knowledge, our approach is the first to address the text-driven manipulation of a face reconstructed with NeRF. Extensive results, comparisons, and ablation studies demonstrate the effectiveness of our approach., Comment: ICCV 2023 project page at https://faceclipnerf.github.io

Indirect time-of-flight (iToF) imaging allows us to capture dense depth information at a low cost. However, iToF imaging often suffers from multipath interference (MPI) artifacts in the presence of scattering media, resulting in severe depth-accuracy degradation. For instance, iToF cameras cannot measure depth accurately through fog because ToF active illumination scatters back to the sensor before reaching the farther target surface. In this work, we propose a polarimetric iToF imaging method that can capture depth information robustly through scattering media. Our observations on the principle of indirect ToF imaging and polarization of light allow us to formulate a novel computational model of scattering-aware polarimetric phase measurements that enables us to correct MPI errors. We first devise a scattering-aware polarimetric iToF model that can estimate the phase of unpolarized backscattered light. We then combine the optical filtering of polarization and our computational modeling of unpolarized backscattered light via scattering analysis of phase and amplitude. This allows us to tackle the MPI problem by estimating the scattering energy through the participating media. We validate our method on an experimental setup using a customized off-the-shelf iToF camera. Our method outperforms baseline methods by a significant margin by means of our scattering model and polarimetric phase measurements.

During operation, aerial manipulation systems are affected by various disturbances. Among them is a gravitational torque caused by the weight of the robotic arm. Common propeller-based actuation is ineffective against such disturbances because of possible overheating and high power consumption. To overcome this issue, in this paper we propose a winchbased actuation for the crane-stationed cable-suspended aerial manipulator. Three winch-controlled suspension rigging cables produce a desired cable tension distribution to generate a wrench that reduces the effect of gravitational torque. In order to coordinate the robotic arm and the winch-based actuation, a model-based hierarchical whole-body controller is adapted. It resolves two tasks: keeping the robotic arm end-effector at the desired pose and shifting the system center of mass in the location with zero gravitational torque. The performance of the introduced actuation system as well as control strategy is validated through experimental studies., Comment: accepted to IEEE International Conference on Robotics and Automation (ICRA) 2023