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The study of transient and variable events, including novae, active galactic nuclei, and black hole binaries, has historically been a fruitful path for elucidating the evolutionary mechanisms of our universe. The study of such events in the millimeter and submillimeter is, however, still in its infancy. Submillimeter observations probe a variety of materials, such as optically thick dust, which are hard to study in other wavelengths. Submillimeter observations are sensitive to a number of emission mechanisms, from the aforementioned cold dust, to hot free-free emission, and synchrotron emission from energetic particles. Study of these phenomena has been hampered by a lack of prompt, high sensitivity submillimeter follow-up, as well as by a lack of high-sky-coverage submillimeter surveys. In this paper, we describe how the proposed Atacama Large Aperture Submillimeter Telescope (AtLAST) could fill in these gaps in our understanding of the transient universe. We discuss a number of science cases that would benefit from AtLAST observations, and detail how AtLAST is uniquely suited to contributing to them. In particular, AtLAST's large field of view will enable serendipitous detections of transient events, while its anticipated ability to get on source quickly and observe simultaneously in multiple bands make it also ideally suited for transient follow-up. We make theoretical predictions for the instrumental and observatory properties required to significantly contribute to these science cases, and compare them to the projected AtLAST capabilities. Finally, we consider the unique ways in which transient science cases constrain the observational strategies of AtLAST, and make prescriptions for how AtLAST should observe in order to maximize its transient science output without impinging on other science cases., Comment: 19 pages, 5 figures

In this work we define the plasma dispersion function for a suprathermal plasma described with a regularized kappa distribution. As is known from Maxwellian as well as (standard) kappa plasmas, the respective Fried-Conte and the modified plasma dispersion functions are valuable tools for various analytical studies. For the latter is has been proven very useful to know about the mathematical properties, as analytical continuation, series expansions as well as asymptotic expressions. Given the growing popularity of the regularized kappa distribution, as indicated by its increasing number of applications to various problems related to suprathermal plasmas, we extend its theoretical treatment here by providing the corresponding plasma dispersion function along with various of its properties., Comment: Accepted for publication in Physics of Plasmas

Reinforcement learning is a powerful framework aiming to determine optimal behavior in highly complex decision-making scenarios. This objective can be achieved using policy iteration, which requires to solve a typically large linear system of equations. We propose the variational quantum policy iteration (VarQPI) algorithm, realizing this step with a NISQ-compatible quantum-enhanced subroutine. Its scalability is supported by an analysis of the structure of generic reinforcement learning environments, laying the foundation for potential quantum advantage with utility-scale quantum computers. Furthermore, we introduce the warm-start initialization variant (WS-VarQPI) that significantly reduces resource overhead. The algorithm solves a large FrozenLake environment with an underlying 256x256-dimensional linear system, indicating its practical robustness., Comment: Accepted to the IEEE International Conference on Quantum Computing and Engineering (QCE 2024), Montr\'eal, Qu\'ebec, Canada. 9 pages, 6 figures, 1 table

It is notorious that quantum mechanics (QM) cannot predict well-defined values for all physical quantities. Less well-known, however, is the fact that QM is unable to furnish probabilistic predictions even in emblematic scenarios such as the double-slit experiment. In contrast, equipped with postulate trajectories, Bohmian mechanics (BM) has inherited more predictive power. It follows that, contrary to common belief, QM and BM are not just different interpretations but distinct theories. This work formalizes the aforementioned assertions and illustrates them through three case studies: (i) free particle, (ii) free fall under a uniform gravitational field, and (iii) the double-slit experiment. Specifically, we introduce a prescription for constructing a flight-time probability distribution within generic trajectory-equipped theories. We then apply our formalism to BM and derive probability distributions that are unreachable by QM. Our results can, in principle, be tested against real experiments, thereby assessing the validity of Bohmian trajectories., Comment: 8 pages, 4 figures. Comments are welcome

Linear systems of equations can be found in various mathematical domains, as well as in the field of machine learning. By employing noisy intermediate-scale quantum devices, variational solvers promise to accelerate finding solutions for large systems. Although there is a wealth of theoretical research on these algorithms, only fragmentary implementations exist. To fill this gap, we have developed the variational-lse-solver framework, which realizes existing approaches in literature, and introduces several enhancements. The user-friendly interface is designed for researchers that work at the abstraction level of identifying and developing end-to-end applications., Comment: Accepted to the 2nd International Workshop on Quantum Machine Learning: From Research to Practice (QML@QCE 2024), Montr\'eal, Qu\'ebec, Canada. 4 pages, 2 figures, 1 table

Quantum computer simulation software is an integral tool for the research efforts in the quantum computing community. An important aspect is the efficiency of respective frameworks, especially for training variational quantum algorithms. Focusing on the widely used Qiskit software environment, we develop the qiskit-torch-module. It improves runtime performance by two orders of magnitude over comparable libraries, while facilitating low-overhead integration with existing codebases. Moreover, the framework provides advanced tools for integrating quantum neural networks with PyTorch. The pipeline is tailored for single-machine compute systems, which constitute a widely employed setup in day-to-day research efforts., Comment: Accepted to the IEEE International Conference on Quantum Computing and Engineering (QCE 2024), Montr\'eal, Qu\'ebec, Canada. 7 pages, 4 figures, 3 tables

Quantum computing is a promising technology to address combinatorial optimization problems, for example via the quantum approximate optimization algorithm (QAOA). Its potential, however, hinges on scaling toy problems to sizes relevant for industry. In this study, we address this challenge by an elaborate combination of two decomposition methods, namely graph shrinking and circuit cutting. Graph shrinking reduces the problem size before encoding into QAOA circuits, while circuit cutting decomposes quantum circuits into fragments for execution on medium-scale quantum computers. Our shrinking method adaptively reduces the problem such that the resulting QAOA circuits are particularly well-suited for circuit cutting. Moreover, we integrate two cutting techniques which allows us to run the resulting circuit fragments sequentially on the same device. We demonstrate the utility of our method by successfully applying it to the archetypical traveling salesperson problem (TSP) which often occurs as a sub-problem in practically relevant vehicle routing applications. For a TSP with seven cities, we are able to retrieve an optimum solution by consecutively running two 7-qubit QAOA circuits. Without decomposition methods, we would require five times as many qubits. Our results offer insights into the performance of algorithms for combinatorial optimization problems within the constraints of current quantum technology.

Few-shot object detection has drawn increasing attention in the field of robotic exploration, where robots are required to find unseen objects with a few online provided examples. Despite recent efforts have been made to yield online processing capabilities, slow inference speeds of low-powered robots fail to meet the demands of real-time detection-making them impractical for autonomous exploration. Existing methods still face performance and efficiency challenges, mainly due to unreliable features and exhaustive class loops. In this work, we propose a new paradigm AirShot, and discover that, by fully exploiting the valuable correlation map, AirShot can result in a more robust and faster few-shot object detection system, which is more applicable to robotics community. The core module Top Prediction Filter (TPF) can operate on multi-scale correlation maps in both the training and inference stages. During training, TPF supervises the generation of a more representative correlation map, while during inference, it reduces looping iterations by selecting top-ranked classes, thus cutting down on computational costs with better performance. Surprisingly, this dual functionality exhibits general effectiveness and efficiency on various off-the-shelf models. Exhaustive experiments on COCO2017, VOC2014, and SubT datasets demonstrate that TPF can significantly boost the efficacy and efficiency of most off-the-shelf models, achieving up to 36.4% precision improvements along with 56.3% faster inference speed. Code and Data are at: https://github.com/ImNotPrepared/AirShot.

With the increasing sophistication and capability of quantum hardware, its integration, and employment in high performance computing (HPC) infrastructure becomes relevant. This opens largely unexplored access models and scheduling questions in such quantum-classical computing environments, going beyond the current cloud access model. SCIM MILQ is a scheduler for quantum tasks in HPC infrastructure. It combines well-established scheduling techniques with methods unique to quantum computing, such as circuit cutting. SCIM MILQ can schedule tasks while minimizing the makespan, i.e., the time that elapses from the start of work to the end, improving on average by 25%. Additionally, it reduces the noise in the circuit by up to 10%, increasing the outcome's reliability. We compare it against an existing baseline and show its viability in an HPC environment., Comment: 9 pages, 2 figures, 3 tables, 1 algorithm, submission to Quantum Week 2024

Observing and filming a group of moving actors with a team of aerial robots is a challenging problem that combines elements of multi-robot coordination, coverage, and view planning. A single camera may observe multiple actors at once, and a robot team may observe individual actors from multiple views. As actors move about, groups may split, merge, and reform, and robots filming these actors should be able to adapt smoothly to such changes in actor formations. Rather than adopt an approach based on explicit formations or assignments, we propose an approach based on optimizing views directly. We model actors as moving polyhedra and compute approximate pixel densities for each face and camera view. Then, we propose an objective that exhibits diminishing returns as pixel densities increase from repeated observation. This gives rise to a multi-robot perception planning problem that we solve via a combination of value iteration and greedy submodular maximization. We evaluate our approach on challenging scenarios modeled after various social behaviors and featuring different numbers of robots and actors and observe that robot assignments and formations arise implicitly given the movements of groups of actors. Simulation results demonstrate that our approach consistently outperforms baselines, and in addition to performing well with the planner's approximation of pixel densities our approach also performs comparably for evaluation based on rendered views. Overall, the multi-round variant of the sequential planner we propose meets (within 1%) or exceeds formation and assignment baselines in all scenarios., Comment: CDC 2024: 10 pages, 5 figures

Transformer networks are rapidly becoming SotA in many fields, such as NLP and CV. Similarly to CNN, there is a strong push for deploying Transformer models at the extreme edge, ultimately fitting the tiny power budget and memory footprint of MCUs. However, the early approaches in this direction are mostly ad-hoc, platform, and model-specific. This work aims to enable and optimize the flexible, multi-platform deployment of encoder Tiny Transformers on commercial MCUs. We propose a complete framework to perform end-to-end deployment of Transformer models onto single and multi-core MCUs. Our framework provides an optimized library of kernels to maximize data reuse and avoid unnecessary data marshaling operations into the crucial attention block. A novel MHSA inference schedule, named Fused-Weight Self-Attention, is introduced, fusing the linear projection weights offline to further reduce the number of operations and parameters. Furthermore, to mitigate the memory peak reached by the computation of the attention map, we present a Depth-First Tiling scheme for MHSA. We evaluate our framework on three different MCU classes exploiting ARM and RISC-V ISA, namely the STM32H7, the STM32L4, and GAP9 (RV32IMC-XpulpV2). We reach an average of 4.79x and 2.0x lower latency compared to SotA libraries CMSIS-NN (ARM) and PULP-NN (RISC-V), respectively. Moreover, we show that our MHSA depth-first tiling scheme reduces the memory peak by up to 6.19x, while the fused-weight attention can reduce the runtime by 1.53x, and number of parameters by 25%. We report significant improvements across several Tiny Transformers: for instance, when executing a transformer block for the task of radar-based hand-gesture recognition on GAP9, we achieve a latency of 0.14ms and energy consumption of 4.92 micro-joules, 2.32x lower than the SotA PULP-NN library on the same platform., Comment: Pre-print manuscript submitted for review to the IEEE Transactions on Computers

We propose a novel method to improve estimation of asset returns for portfolio optimization. This approach first performs a monthly directional market forecast using an online decision tree. The decision tree is trained on a novel set of features engineered from portfolio theory: the efficient frontier functional coefficients. Efficient frontiers can be decomposed to their functional form, a square-root second-order polynomial, and the coefficients of this function captures the information of all the constituents that compose the market in the current time period. To make these forecasts actionable, these directional forecasts are integrated to a portfolio optimization framework using expected returns conditional on the market forecast as an estimate for the return vector. This conditional expectation is calculated using the inverse Mills ratio, and the Capital Asset Pricing Model is used to translate the market forecast to individual asset forecasts. This novel method outperforms baseline portfolios, as well as other feature sets including technical indicators and the Fama-French factors. To empirically validate the proposed model, we employ a set of market sector ETFs.

We present a simple and effective way to account for non-convex costs and constraints~in~state feedback synthesis, and an interpretation for the variables in which state feedback synthesis is typically convex. We achieve this by deriving the controller design using moment matrices of state and input. It turns out that this approach allows the consideration of non-convex constraints by relaxing them as expectation constraints, and that the variables in which state feedback synthesis is typically convexified can be identified with blocks of these moment matrices., Comment: Preprent to be submitted to IEEE Conference on Decision and Control

High-speed off-road navigation requires long-range, high-resolution maps to enable robots to safely navigate over different surfaces while avoiding dangerous obstacles. However, due to limited computational power and sensing noise, most approaches to off-road mapping focus on producing coarse (20-40cm) maps of the environment. In this paper, we propose Future Fusion, a framework capable of generating dense, high-resolution maps from sparse sensing data (30m forward at 2cm). This is accomplished by - (1) the efficient realization of the well-known Bayes filtering within the standard deep learning models that explicitly accounts for the sparsity pattern in stereo and LiDAR depth data, and (2) leveraging perceptual losses common in generative image completion. The proposed methodology outperforms the conventional baselines. Moreover, the learned features and the completed dense maps lead to improvements in the downstream navigation task.

Given a simple undirected graph $G$, a quasi-clique is a subgraph of $G$ whose density is at least $\gamma$ $(0 < \gamma \leq 1)$. Finding a maximum quasi-clique has been addressed from two different perspectives: $i)$ maximizing vertex cardinality for a given edge density; and $ii)$ maximizing edge density for a given vertex cardinality. However, when no a priori preference information about cardinality and density is available, a more natural approach is to consider the problem from a multiobjective perspective. We introduce the Multiobjective Quasi-clique Problem (MOQC), which aims to find a quasi-clique by simultaneously maximizing both vertex cardinality and edge density. To efficiently address this problem, we explore the relationship among MOQC, its single-objective counterpart problems, and a biobjective optimization problem, along with several properties of the MOQC problem and quasi-cliques. We propose a baseline approach using $\varepsilon$-constraint scalarization and introduce a Two-phase strategy, which applies a dichotomic search based on weighted sum scalarization in the first phase and an $\varepsilon$-constraint methodology in the second phase. Additionally, we present a Three-phase strategy that combines the dichotomic search used in Two-phase with a vertex-degree-based local search employing novel sufficient conditions to assess quasi-clique efficiency, followed by an $\varepsilon$-constraint in a final stage. Experimental results on real-world sparse graphs indicate that the integrated use of dichotomic search and local search, together with mechanisms to assess quasi-clique efficiency, makes the Three-phase strategy an effective approach for solving the MOQC problem in terms of running time and ability to produce new efficient quasi-cliques.

In this paper, we present a unified general non-strict Finsler lemma. This result is general in the sense that it does not impose any restrictions on the involved matrices and, thereby, it encompasses all existing non-strict versions of Finsler's lemma that do impose such restrictions. To further illustrate its usefulness, we showcase applications of the non-strict Finsler's lemma in deriving a structured solution to a special case of the non-strict projection lemma, and we use the unified non-strict Finsler's lemma to prove a more general version of the matrix Finsler's lemma.

In this paper we present the results of a blind survey for compact sources in 243 Galaxy clusters that were identified using the thermal Sunyaev-Zeldovich effect (tSZ). The survey was carried out at 90 GHz using MUSTANG2 on the Green Bank telescope and achieved a $5\sigma$ detection limit of 1 mJy in the center of each cluster. We detected 24 discrete sources. The majority (18) of these correspond to known radio sources, and of these, 5 show signs of significant variability, either with time or in spectral index. The remaining sources have no clear counterparts at other wavelengths. Searches for galaxy clusters via the tSZ effect strongly rely on observations at 90 GHz, and the sources found have the potential to bias mass estimates of clusters. We compare our results to the simulation Websky that can be used to estimate the source contamination in galaxy cluster catalogs. While the simulation showed a good match to our observations at the clusters' centers, it does not match our source distribution further out. Sources over 104" from a cluster's center bias the tSZ signal high, for some of our sources, by over 50%. When averaged over the whole cluster population the effect is smaller but still at a level of 1 to 2%. We also discovered that unlike previous measurements and simulations we see an enhancement of source counts in the outer regions of the clusters and fewer sources than expected in the centers of this tSZ selected sample., Comment: 11 pages, 7 figures and 2 tables Extended version of figure 4 is included and the full data for table 1 can be found as the auxiliary file tab1.txt

Given an undirected graph $G$, a quasi-clique is a subgraph of $G$ whose density is at least $\gamma$ $(0 < \gamma \leq 1)$. Two optimization problems can be defined for quasi-cliques: the Maximum Quasi-Clique (MQC) Problem, which finds a quasi-clique with maximum vertex cardinality, and the Densest $k$-Subgraph (DKS) Problem, which finds the densest subgraph given a fixed cardinality constraint. Most existing approaches to solve both problems often disregard the requirement of connectedness, which may lead to solutions containing isolated components that are meaningless for many real-life applications. To address this issue, we propose two flow-based connectedness constraints to be integrated into known Mixed-Integer Linear Programming (MILP) formulations for either MQC or DKS problems. We compare the performance of MILP formulations enhanced with our connectedness constraints in terms of both running time and number of solved instances against existing approaches that ensure quasi-clique connectedness. Experimental results demonstrate that our constraints are quite competitive, making them valuable for practical applications requiring connectedness.

An open problem in mobile manipulation is how to represent objects and scenes in a unified manner, so that robots can use it both for navigating in the environment and manipulating objects. The latter requires capturing intricate geometry while understanding fine-grained semantics, whereas the former involves capturing the complexity inherit to an expansive physical scale. In this work, we present GeFF (Generalizable Feature Fields), a scene-level generalizable neural feature field that acts as a unified representation for both navigation and manipulation that performs in real-time. To do so, we treat generative novel view synthesis as a pre-training task, and then align the resulting rich scene priors with natural language via CLIP feature distillation. We demonstrate the effectiveness of this approach by deploying GeFF on a quadrupedal robot equipped with a manipulator. We evaluate GeFF's ability to generalize to open-set objects as well as running time, when performing open-vocabulary mobile manipulation in dynamic scenes., Comment: Preprint. Project website is at: https://geff-b1.github.io/

Monochromatic gamma-ray signals constitute a potential smoking gun signature for annihilating or decaying dark matter particles that could relatively easily be distinguished from astrophysical or instrumental backgrounds. We provide an updated assessment of the sensitivity of the Cherenkov Telescope Array (CTA) to such signals, based on observations of the Galactic centre region as well as of selected dwarf spheroidal galaxies. We find that current limits and detection prospects for dark matter masses above 300 GeV will be significantly improved, by up to an order of magnitude in the multi-TeV range. This demonstrates that CTA will set a new standard for gamma-ray astronomy also in this respect, as the world's largest and most sensitive high-energy gamma-ray observatory, in particular due to its exquisite energy resolution at TeV energies and the adopted observational strategy focussing on regions with large dark matter densities. Throughout our analysis, we use up-to-date instrument response functions, and we thoroughly model the effect of instrumental systematic uncertainties in our statistical treatment. We further present results for other potential signatures with sharp spectral features, e.g.~box-shaped spectra, that would likewise very clearly point to a particle dark matter origin., Comment: 44 pages JCAP style (excluding author list and references), 19 figures; minor changes to match published version

We introduce TartanAviation, an open-source multi-modal dataset focused on terminal-area airspace operations. TartanAviation provides a holistic view of the airport environment by concurrently collecting image, speech, and ADS-B trajectory data using setups installed inside airport boundaries. The datasets were collected at both towered and non-towered airfields across multiple months to capture diversity in aircraft operations, seasons, aircraft types, and weather conditions. In total, TartanAviation provides 3.1M images, 3374 hours of Air Traffic Control speech data, and 661 days of ADS-B trajectory data. The data was filtered, processed, and validated to create a curated dataset. In addition to the dataset, we also open-source the code-base used to collect and pre-process the dataset, further enhancing accessibility and usability. We believe this dataset has many potential use cases and would be particularly vital in allowing AI and machine learning technologies to be integrated into air traffic control systems and advance the adoption of autonomous aircraft in the airspace., Comment: 8 pages, 6 figures, 2 tables

Observations at (sub-)millimeter wavelengths offer a complementary perspective on our Sun and other stars, offering significant insights into both the thermal and magnetic composition of their chromospheres. Despite the fundamental progress in (sub-)millimeter observations of the Sun, some important aspects require diagnostic capabilities that are not offered by existing observatories. In particular, simultaneously observations of the radiation continuum across an extended frequency range would facilitate the mapping of different layers and thus ultimately the 3D structure of the solar atmosphere. Mapping large regions on the Sun or even the whole solar disk at a very high temporal cadence would be crucial for systematically detecting and following the temporal evolution of flares, while synoptic observations, i.e., daily maps, over periods of years would provide an unprecedented view of the solar activity cycle in this wavelength regime. As our Sun is a fundamental reference for studying the atmospheres of active main sequence stars, observing the Sun and other stars with the same instrument would unlock the enormous diagnostic potential for understanding stellar activity and its impact on exoplanets. The Atacama Large Aperture Submillimeter Telescope (AtLAST), a single-dish telescope with 50\,m aperture proposed to be built in the Atacama desert in Chile, would be able to provide these observational capabilities. Equipped with a large number of detector elements for probing the radiation continuum across a wide frequency range, AtLAST would address a wide range of scientific topics including the thermal structure and heating of the solar chromosphere, flares and prominences, and the solar activity cycle. In this white paper, the key science cases and their technical requirements for AtLAST are discussed., Comment: 14 pages, 4 figures, submitted to Open Research Europe as part of a collection on the Atacama Large Aperture Submillimeter Telescope (AtLAST)

Submillimeter single-dish telescopes offer two key advantages compared to interferometers: they can efficiently map larger portions of the sky and recover larger spatial scales. Nonetheless, fluctuations in the atmosphere limit the accurate retrieval of signals from astronomical sources. Therefore, we introduce a user-friendly simulator named ${\tt maria}$ to optimize scanning strategies and instrument designs to efficiently reduce atmospheric noise and filtering effects. We further use this tool to produce synthetic time streams and maps from hydrodynamical simulations, enabling a fair comparison between theory and reality. ${\tt maria}$ has implemented a suite of telescope and instrument designs intended to mimic current and future facilities. To generate synthetic time-ordered data, each mock observatory scans through the atmosphere in a configurable pattern over the celestial object. We generate evolving and location-and-time-specific weather for each of the fiducial sites using a combination of satellite and ground-based measurements. While ${\tt maria}$ is a generic virtual telescope, this study specifically focuses on mimicking broadband bolometers observing at 100 GHz. To validate our virtual telescope, we compare the mock time streams with real MUSTANG-2 observations and find that they are quantitatively similar by conducting a k-sample Anderson-Darling test resulting in p<0.001. Subsequently, we image the time-ordered data to create noise maps and mock observations of clusters of galaxies for both MUSTANG-2 and an instrument concept for the 50m Atacama Large Aperture Submillimeter Telescope (AtLAST). Furthermore, using ${\tt maria}$, we find that a 50m dish provides the highest levels of correlation of atmospheric signals across adjacent detectors compared to smaller apertures (e.g., 42-cm and 6-m survey experiments), facilitating removal of atmospheric signal on large scales.

Capabilities of long-range flight and vertical take-off and landing (VTOL) are essential for Urban Air Mobility (UAM). Tiltrotor VTOLs have the advantage of balancing control simplicity and system complexity due to their redundant control authority. Prior work on controlling these aircraft either requires separate controllers and switching modes for different vehicle configurations or performs the control allocation on separate actuator sets, which cannot fully use the potential of the redundancy of tiltrotor. This paper introduces a unified MPC-based control strategy for a customized tiltrotor VTOL Unmanned Aerial Vehicle (UAV), which does not require mode-switching and can perform the control allocation in a consistent way. The incorporation of four independently controllable rotors in VTOL design offers an extra level of redundancy, allowing the VTOL to accommodate actuator failures. The result shows that our approach outperforms PID controllers while maintaining unified control. It allows the VTOL to perform smooth acceleration/deceleration, and precise coordinated turns. In addition, the independently controlled tilts enable the vehicle to handle actuator failures, ensuring that the aircraft remains operational even in the event of a servo or motor malfunction., Comment: In proceedings of the 2024 AIAA SciTech Forum, Session: Guidance, Navigation, and Control GNC-49

We leverage multilevel Monte Carlo (MLMC) to improve the performance of multi-step look-ahead Bayesian optimization (BO) methods that involve nested expectations and maximizations. Often these expectations must be computed by Monte Carlo (MC). The complexity rate of naive MC degrades for nested operations, whereas MLMC is capable of achieving the canonical MC convergence rate for this type of problem, independently of dimension and without any smoothness assumptions. Our theoretical study focuses on the approximation improvements for twoand three-step look-ahead acquisition functions, but, as we discuss, the approach is generalizable in various ways, including beyond the context of BO. Our findings are verified numerically and the benefits of MLMC for BO are illustrated on several benchmark examples. Code is available at https://github.com/Shangda-Yang/MLMCBO ., Comment: Preprint ICML 2024

We present TartanDrive 2.0, a large-scale off-road driving dataset for self-supervised learning tasks. In 2021 we released TartanDrive 1.0, which is one of the largest datasets for off-road terrain. As a follow-up to our original dataset, we collected seven hours of data at speeds of up to 15m/s with the addition of three new LiDAR sensors alongside the original camera, inertial, GPS, and proprioceptive sensors. We also release the tools we use for collecting, processing, and querying the data, including our metadata system designed to further the utility of our data. Custom infrastructure allows end users to reconfigure the data to cater to their own platforms. These tools and infrastructure alongside the dataset are useful for a variety of tasks in the field of off-road autonomy and, by releasing them, we encourage collaborative data aggregation. These resources lower the barrier to entry to utilizing large-scale datasets, thereby helping facilitate the advancement of robotics in areas such as self-supervised learning, multi-modal perception, inverse reinforcement learning, and representation learning. The dataset is available at https://github.com/castacks/tartan drive 2.0.

Technology enhanced learning analytics has the potential to play a significant role in higher education in the future. Opinions and expectations towards technology and learning analytics, thus, are vital to consider for institutional developments in higher education institutions. The Sheila framework offers instruments to yield exploratory knowledge about stakeholder aspirations towards technology, such as learning analytics in higher education. The sample of the study consists of students (N = 1169) and teachers (N = 497) at a higher education institution in Germany. Using self-report questionnaires, we assessed students and teachers attitudes towards learning analytics in higher education teaching, comparing ideal and expected circumstances. We report results on the attitudes of students, teachers, as well as comparisons of the two groups and different disciplines. We discuss the results with regard to practical implications for the implementation and further developments of learning analytics in higher education.

Aerial field robotics research represents the domain of study that aims to equip unmanned aerial vehicles - and as it pertains to this chapter, specifically Micro Aerial Vehicles (MAVs)- with the ability to operate in real-life environments that present challenges to safe navigation. We present the key elements of autonomy for MAVs that are resilient to collisions and sensing degradation, while operating under constrained computational resources. We overview aspects of the state of the art, outline bottlenecks to resilient navigation autonomy, and overview the field-readiness of MAVs. We conclude with notable contributions and discuss considerations for future research that are essential for resilience in aerial robotics., Comment: Accepted in the Encyclopedia of Robotics, Springer

The International Crises Behavior Events (ICBe) ontology provides high coverage over the thoughts, communications, and actions that constitute international relations. A major disadvantage of that level of detail is that it requires large human capital costs to apply it manually to new texts. Whether such an ontolgy is practical for international relations research given limited human and financial resources is a pressing concern. We introduce a working proof of concept showing that ICBe codings can be reliably extracted from new texts using the current generation of open source large language models (LLM) running on consumer grade computer hardware. Our solution requires no finetuning and only limited prompt engineering. We detail our solution and present benchmarks against the original ICBe codings. We conclude by discussing the implications of very high quality event coding of any text being within reach of individual researchers with limited resources.

When a dangerous international crisis begins, leaders need to know whether their next move is going to resolve the dispute or amplify it out of control. Theories of conflict have mainly served to deepen the confusion, revealing fighting, bargaining, and signaling to be high-dimensional and subtle equilibrium behaviors with deeply contextual consequences. Should a leader communicate resolve through aggressive acts, avoid spirals through accommodation, or focus on ensuring the possibility of a bargain? We offer a data-driven empirical solution to this logjam in the form of a new large-scale analysis of actions taken within 475 crises. We combine two complimentary measurement projects, the human-coded International Crisis Behavior Events (ICBe) dataset and the new machine-coded ICBeLLM. We model directly whether an action tends to shorten or extend the length of a crisis. The result is a directly interpretable measure of the latent escalatory/de-escalatory nature of each action leaders have chosen over the last century.

Extended reality (XR) applications are Machine Learning (ML)-intensive, featuring deep neural networks (DNNs) with millions of weights, tightly latency-bound (10-20 ms end-to-end), and power-constrained (low tens of mW average power). While ML performance and efficiency can be achieved by introducing neural engines within low-power systems-on-chip (SoCs), system-level power for nontrivial DNNs depends strongly on the energy of non-volatile memory (NVM) access for network weights. This work introduces Siracusa, a near-sensor heterogeneous SoC for next-generation XR devices manufactured in 16 nm CMOS. Siracusa couples an octa-core cluster of RISC-V digital signal processing cores with a novel tightly-coupled "At-Memory" integration between a state-of-the-art digital neural engine called N-EUREKA and an on-chip NVM based on magnetoresistive memory(MRAM), achieving 1.7x higher throughput and 3x better energy efficiency than XR SoCs using NVM as background memory. The fabricated SoC prototype achieves an area efficiency of 65.2 GOp/s/mm2 and a peak energy efficiency of 8.84 TOp/J for DNN inference while supporting complex heterogeneous application workloads, which combine ML with conventional signal processing and control., Comment: Final accepted manuscript pre-print submitted to the IEEE Journal of Solid-State Circuits

The understanding of phenomena falling outside the Ginzburg-Landau paradigm of phase transitions represents a key challenge in condensed matter physics. A famous class of examples is constituted by the putative deconfined quantum critical points between two symmetry-broken phases in layered quantum magnets, such as pressurised SrCu$_2$(BO$_3$)$_2$. Experiments find a weak first-order transition, which simulations of relevant microscopic models can reproduce. The origin of this behaviour has been a matter of considerable debate for several years. In this work, we demonstrate that the nature of the deconfined quantum critical point can be best understood in terms of a novel dynamical mechanism, termed Nordic walking. Nordic walking denotes a renormalisation group flow arising from a beta function that is flat over a range of couplings. This gives rise to a logarithmic flow that is faster than the well-known walking behaviour, associated with the annihilation and complexification of fixed points, but still significantly slower than the generic running of couplings. The Nordic-walking mechanism can thus explain weak first-order transitions, but may also play a role in high-energy physics, where it could solve hierarchy problems. We analyse the Wess-Zumino-Witten field theory pertinent to deconfined quantum critical points with a topological term in 2+1 dimensions. To this end, we construct an advanced functional renormalisation group approach based on higher-order regulators. We thereby calculate the beta function directly in 2+1 dimensions and provide evidence for Nordic walking., Comment: 12 + 11 pages (typeset with sn-jnl.cls), 4 + 1 figures; comments welcome