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We present an open-source implementation of the Descript Audio Codec (DAC) using Google's JAX ecosystem of Flax, Optax, Orbax, AUX, and CLU. Our codebase enables the reuse of model weights from the original PyTorch DAC, and we confirm that the two implementations produce equivalent token sequences and decoded audio if given the same input. We provide a training and fine-tuning script which supports device parallelism, although we have only verified it using brief training runs with a small dataset. Even with limited GPU memory, the original DAC can compress or decompress a long audio file by processing it as a sequence of overlapping "chunks." We implement this feature in JAX and benchmark the performance on two types of GPUs. On a consumer-grade GPU, DAC-JAX outperforms the original DAC for compression and decompression at all chunk sizes. However, on a high-performance, cluster-based GPU, DAC-JAX outperforms the original DAC for small chunk sizes but performs worse for large chunks., Comment: 5 pages, 3 figures, 2 tables

In May 2022, mpox (formerly monkeypox) spread to non-endemic countries rapidly. Human judgment is a forecasting approach that has been sparsely evaluated during the beginning of an outbreak. We collected -- between May 19, 2022 and July 31, 2022 -- 1275 forecasts from 442 individuals of six questions about the mpox outbreak where ground truth data are now available. Individual human judgment forecasts and an equally weighted ensemble were evaluated, as well as compared to a random walk, autoregressive, and doubling time model. We found (1) individual human judgment forecasts underestimated outbreak size, (2) the ensemble forecast median moved closer to the ground truth over time but uncertainty around the median did not appreciably decrease, and (3) compared to computational models, for 2-8 week ahead forecasts, the human judgment ensemble outperformed all three models when using median absolute error and weighted interval score; for one week ahead forecasts a random walk outperformed human judgment. We propose two possible explanations: at the time a forecast was submitted, the mode was correlated with the most recent (and smaller) observation that would eventually determine ground truth. Several forecasts were solicited on a logarithmic scale which may have caused humans to generate forecasts with unintended, large uncertainty intervals. To aide in outbreak preparedness, platforms that solicit human judgment forecasts may wish to assess whether specifying a forecast on logarithmic scale matches an individual's intended forecast, support human judgment by finding cues that are typically used to build forecasts, and, to improve performance, tailor their platform to allow forecasters to assign zero probability to events.

Springs are commonly used in wearable robotic devices to provide assistive joint torque without the need for motors and batteries. However, different tasks (such as walking or running) and different users (such as athletes with strong legs or the elderly with weak legs) necessitate different assistive joint torques, and therefore, springs with different stiffness. Variable stiffness springs are a special class of springs which can exert more or less torque upon the same deflection, provided that the user is able to change the stiffness of the spring. In this paper, we present a novel variable stiffness spring design in which the user can select a preferred spring stiffness similar to switching gears on a bicycle. Using a leg-swing experiment, we demonstrate that the user can increment and decrement spring stiffness in a large range to effectively assist the hip joint during leg oscillations. Variable stiffness springs with human-selectable stiffness could be key components of wearable devices which augment locomotion tasks, such as walking, running, and swimming., Comment: Accepted for presentation at the 2023 IEEE International Conference on Robotics and Automation

Springs are efficient in storing and returning elastic potential energy but are unable to hold the energy they store in the absence of an external load. Lockable springs use clutches to hold elastic potential energy in the absence of an external load, but have not yet been widely adopted in applications, partly because clutches introduce design complexity, reduce energy efficiency, and typically do not afford high fidelity control over the energy stored by the spring. Here, we present the design of a novel lockable compression spring that uses a small capstan clutch to passively lock a mechanical spring. The capstan clutch can lock over 1000 N force at any arbitrary deflection, unlock the spring in less than 10 ms with a control force less than 1 % of the maximal spring force, and provide an 80 % energy storage and return efficiency (comparable to a highly efficient electric motor operated at constant nominal speed). By retaining the form factor of a regular spring while providing high-fidelity locking capability even under large spring forces, the proposed design could facilitate the development of energy-efficient spring-based actuators and robots., Comment: Accepted for presentation at the 2023 IEEE International Conference on Robotics and Automation

Springs can provide force at zero net energy cost by recycling negative mechanical work to benefit motor-driven robots or spring-augmented humans. However, humans have limited force and range of motion, and motors have a limited ability to produce force. These limits constrain how much energy a conventional spring can store and, consequently, how much assistance a spring can provide. In this paper, we introduce an approach to accumulating negative work in assistive springs over several motion cycles. We show that, by utilizing a novel floating spring mechanism, the weight of a human or robot can be used to iteratively increase spring compression, irrespective of the potential energy stored by the spring. Decoupling the force required to compress a spring from the energy stored by a spring advances prior works, and could enable spring-driven robots and humans to perform physically demanding tasks without the use of large actuators., Comment: This work has been submitted to the IEEE International Conference on Robotics and Automation 2023 for possible publication

In this paper, we present an adjustable-equilibrium parallel elastic actuator (AE-PEA). The actuator consists of a motor, an equilibrium adjusting mechanism, and a spring arranged into a cylindrical geometry, similar to a motor-gearbox assembly. The novel component of the actuator is the equilibrium adjusting mechanism which (i) does not require external energy to maintain the equilibrium position of the actuator even if the spring is deformed and (ii) enables equilibrium position control with low energy cost by rotating the spring while keeping it undeformed. Adjustable equilibrium parallel elastic actuators resolve the main limitation of parallel elastic actuators (PEAs) by enabling energy-efficient operation at different equilibrium positions, instead of being limited to energy-efficient operation at a single equilibrium position. We foresee the use of AE-PEAs in industrial robots, mobile robots, exoskeletons, and prostheses, where efficient oscillatory motion and gravity compensation at different positions are required., Comment: 6 pages, 5 figures

Springs store mechanical energy similar to batteries storing electrical energy. However, conventional springs are heavy and store limited amounts of mechanical energy relative to batteries, i.e they have low mass-energy-density. Next-generation 3D printing technology could potentially enable manufacturing low cost lightweight springs with high energy storage capacity. Here we present a novel design of a high-energy-density 3D printed torsional spiral spring using structural optimization. By optimizing the internal structure of the spring we obtained a 45% increase in the mass energy density, compared to a torsional spiral spring of uniform thickness. Our result suggests that optimally designed 3D printed springs could enable robots to recycle more mechanical energy per unit mass, potentially reducing the energy required to control robots., Comment: This work has been submitted to the IEEE International Conference on Robotics and Automation 2023 for possible publication

Aggregated human judgment forecasts for COVID-19 targets of public health importance are accurate, often outperforming computational models. Our work shows aggregated human judgment forecasts for infectious agents are timely, accurate, and adaptable, and can be used as tool to aid public health decision making during outbreaks.

Forecasts of the trajectory of an infectious agent can help guide public health decision making. A traditional approach to forecasting fits a computational model to structured data and generates a predictive distribution. However, human judgment has access to the same data as computational models plus experience, intuition, and subjective data. We propose a chimeric ensemble -- a combination of computational and human judgment forecasts -- as a novel approach to predicting the trajectory of an infectious agent. Each month from January, 2021 to June, 2021 we asked two generalist crowds, using the same criteria as the COVID-19 Forecast Hub, to submit a predictive distribution over incident cases and deaths at the US national level either two or three weeks into the future and combined these human judgment forecasts with forecasts from computational models submitted to the COVID-19 Forecasthub into a chimeric ensemble. We find a chimeric ensemble compared to an ensemble including only computational models improves predictions of incident cases and shows similar performance for predictions of incident deaths. A chimeric ensemble is a flexible, supportive public health tool and shows promising results for predictions of the spread of an infectious agent.

Several tools have been developed to enhance automation of theorem proving in the 2D plane. However, in 3D, only a few approaches have been studied, and to our knowledge, nothing has been done in higher dimensions. In this paper, we present a few examples of incidence geometry theorems in dimensions 3, 4, and 5. We then prove them with the help of a combinatorial prover based on matroid theory applied to geometry., Comment: In Proceedings ADG 2021, arXiv:2112.14770

Audio production techniques which previously only existed in GUI-constrained digital audio workstations, livecoding environments, or C++ APIs are now accessible with our new Python module called DawDreamer. DawDreamer therefore bridges the gap between real sound engineers and coders imitating them with offline batch-processing. Like contemporary modules in this domain, DawDreamer can create directed acyclic graphs of audio processors such as VSTs which generate or manipulate audio streams. DawDreamer can also dynamically compile and execute code from Faust, a powerful signal processing language which can be deployed to many platforms and microcontrollers. We discuss DawDreamer's unique features in detail and potential applications across music information retrieval including source separation, transcription, and audio effect parameter inference. We provide fully cross-platform PyPI installers, a Linux Dockerfile, and an example Jupyter notebook., Comment: 3 pages with 0 figures. Included in the Late-Breaking Demo Session of the 22nd International Society for Music Information Retrieval Conference