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Asian Americans as a group are overrepresented among STEM college graduates and have the highest average college enrollment rate of any racial or ethnic category. Thus, Asian Americans are typically excluded from educational interventions directed at improving STEM education for Students of Color because they are not considered to be underrepresented minorities. However, statistics obscure the individual needs of the more than 20 ethnic subgroups that fall under the umbrella term Asian Americans. Using a participatory action research approach, this paper documents the institutional and sociocultural factors that push out HMoob (or Hmong) American college students from STEM programs at one large, predominantly White university; and the coordinate processes of gatekeeping and transactional advising that either redirect those students toward non-STEM programs or force them out of the university completely.

Due to the success of the Standard Model~(SM), it is reasonable to anticipate that, the signal of new physics~(NP) beyond the SM is small, and future searches for NP and precision tests of the SM will require high luminosity collider experiments. Moreover, as the precision tests of the SM advances, rarer processes with a greater number of final-state particles will require consideration, which will in turn require the analysis of a multitude of observables. As an inherent consequence of the high luminosity, the generation of a large amount of experimental data in a large feature space presents a significant challenge for data processing. In recent years, quantum machine learning has emerged as a promising approach for processing large amounts of complex data on a quantum computer. In this study, we propose a variational quantum searching neighbor~(VQSN) algorithm to search for NP. As an example, we apply the VQSN in the phenomenological study of the gluon quartic gauge couplings~(gQGCs) at the Large Hadron Collider. The results suggest that VQSN demonstrates superior efficiency to a classical counterpart k-nearest neighbor algorithm, even when dealing with classical data., Comment: 18 pages, 1 figure

In this paper, we review legal testing methods based on Large Language Models (LLMs), using the OPENAI o1 model as a case study to evaluate the performance of large models in applying legal provisions. We compare current state-of-the-art LLMs, including open-source, closed-source, and legal-specific models trained specifically for the legal domain. Systematic tests are conducted on English and Chinese legal cases, and the results are analyzed in depth. Through systematic testing of legal cases from common law systems and China, this paper explores the strengths and weaknesses of LLMs in understanding and applying legal texts, reasoning through legal issues, and predicting judgments. The experimental results highlight both the potential and limitations of LLMs in legal applications, particularly in terms of challenges related to the interpretation of legal language and the accuracy of legal reasoning. Finally, the paper provides a comprehensive analysis of the advantages and disadvantages of various types of models, offering valuable insights and references for the future application of AI in the legal field.

Given the potential applications of generating recipes from food images, this area has garnered significant attention from researchers in recent years. Existing works for recipe generation primarily utilize a two-stage training method, first generating ingredients and then obtaining instructions from both the image and ingredients. Large Multi-modal Models (LMMs), which have achieved notable success across a variety of vision and language tasks, shed light to generating both ingredients and instructions directly from images. Nevertheless, LMMs still face the common issue of hallucinations during recipe generation, leading to suboptimal performance. To tackle this, we propose a retrieval augmented large multimodal model for recipe generation. We first introduce Stochastic Diversified Retrieval Augmentation (SDRA) to retrieve recipes semantically related to the image from an existing datastore as a supplement, integrating them into the prompt to add diverse and rich context to the input image. Additionally, Self-Consistency Ensemble Voting mechanism is proposed to determine the most confident prediction recipes as the final output. It calculates the consistency among generated recipe candidates, which use different retrieval recipes as context for generation. Extensive experiments validate the effectiveness of our proposed method, which demonstrates state-of-the-art (SOTA) performance in recipe generation tasks on the Recipe1M dataset., Comment: ACCEPT on IEEE/CVF Winter Conference on Applications of Computer Vision (WACV) 2025

Axion-photon oscillation effect provides a possible explanation for the presence of very-high-energy (VHE) $\gamma$-ray signals from distant sources. In this work, we propose a model-dependent method to select possible sources that may give sufficient constraints on the axion parameters. We investigate such effect in the spectra of active galactic nuclei (AGN) B2 2234+28A and 3C 454.3 based on data obtained from Fermi Large Area Telescope (Fermi-LAT) and MAGIC U.L. We utilize the Markov Chain Monte Carlo method to fit the axion parameters, yielding a result of $g_{a\gamma}=3.05^{+0.51}_{-0.31} \times 10^{-11}$ GeV$^{-1}$ for the axion-photon coupling strength and $m_{a}=5.25^{+2.35}_{-2.65} \times 10^{-8} $ eV for the axion mass. We also perform 95\% confidence level (CL) constraints to set an upper limit for $g_{a\gamma}$., Comment: 11 pages, 10 figures, 1 table

THz ISAC aims to integrate novel functionalities, such as positioning and environmental sensing, into communication systems. Accurate channel modeling is crucial for the design and performance evaluation of future ISAC systems. In this paper, a THz measurement campaign for monostatic sensing is presented. VNA-based channel measurements are conducted in a laboratory scenario, where the transmitter and receiver are positioned together to mimic monostatic sensing. The centering frequency and measured bandwidth for these measurements are 300 GHz and 20 GHz, respectively. A DSS scheme is employed to capture spatial sensing channel profiles. Measurements are conducted across 28 transceiver locations arranged along an 'L'-shaped route. Then, an element-wise SAGE algorithm is used to estimate the MPC parameters, i.e., amplitude and delay. Specular and diffuse reflections are analyzed based on geometric principles and the estimated MPC parameters, where the effects from the radiation pattern are observed. A geometry-based MPC trajectory tracking algorithm is then proposed to classify the MPCs and de-embed the effects of the radiation pattern. Following this algorithm, a hybrid channel model is proposed based on the de-embedded MPC parameters. In this hybrid channel model for monostatic sensing, the MPCs are categorized into target-related and environment-related components. The target-related components are utilized for target detection and identification, while the environment-related ones focus on geometrical scenario reconstruction. A demonstration of geometrical environment reconstruction, along with an analysis of reflection loss for target identification, is subsequently presented. This work offers valuable insights into THz monostatic sensing channel modeling and the design of future THz ISAC systems.

We present JanusFlow, a powerful framework that unifies image understanding and generation in a single model. JanusFlow introduces a minimalist architecture that integrates autoregressive language models with rectified flow, a state-of-the-art method in generative modeling. Our key finding demonstrates that rectified flow can be straightforwardly trained within the large language model framework, eliminating the need for complex architectural modifications. To further improve the performance of our unified model, we adopt two key strategies: (i) decoupling the understanding and generation encoders, and (ii) aligning their representations during unified training. Extensive experiments show that JanusFlow achieves comparable or superior performance to specialized models in their respective domains, while significantly outperforming existing unified approaches across standard benchmarks. This work represents a step toward more efficient and versatile vision-language models.

An $r$-graph is called $t$-cancellative if for arbitrary $t+2$ distinct edges $A_1,\ldots,A_t,B,C$, it holds that $(\cup_{i=1}^t A_i)\cup B\neq (\cup_{i=1}^t A_i)\cup C$; it is called $t$-union-free if for arbitrary two distinct subsets $\mathcal{A},\mathcal{B}$, each consisting of at most $t$ edges, it holds that $\cup_{A\in\mathcal{A}} A\neq \cup_{B\in\mathcal{B}} B$. Let $C_t(n,r)$ and $U_t(n,r)$ denote the maximum number of edges that can be contained in an $n$-vertex $t$-cancellative and $t$-union-free $r$-graph, respectively. The study of $C_t(n,r)$ and $U_t(n,r)$ has a long history, dating back to the classic works of Erd\H{o}s and Katona, and Erd\H{o}s and Moser in the 1970s. In 2020, Shangguan and Tamo showed that $C_{2(t-1)}(n,tk)=\Theta(n^k)$ and $U_{t+1}(n,tk)=\Theta(n^k)$ for all $t\ge 2$ and $k\ge 2$. In this paper, we determine the asymptotics of these two functions up to a lower order term, by showing that for all $t\ge 2$ and $k\ge 2$, \begin{align*} \text{$\lim_{n\rightarrow\infty}\frac{C_{2(t-1)}(n,tk)}{n^k}=\lim_{n\rightarrow\infty}\frac{U_{t+1}(n,tk)}{n^k}=\frac{1}{k!}\cdot \frac{1}{\binom{tk-1}{k-1}}$.} \end{align*} Previously, it was only known by a result of F\"uredi in 2012 that $\lim_{n\rightarrow\infty}\frac{C_{2}(n,4)}{n^2}=\frac{1}{6}$. To prove the lower bounds of the limits, we utilize a powerful framework developed recently by Delcourt and Postle, and independently by Glock, Joos, Kim, K\"uhn, and Lichev, which shows the existence of near-optimal hypergraph packings avoiding certain small configurations, and to prove the upper bounds, we apply a novel counting argument that connects $C_{2(t-1)}(n,tk)$ to a classic result of Kleitman and Frankl on a special case of the famous Erd\H{o}s Matching Conjecture., Comment: 21 pages

For any compact Lie group $G$, we introduce a novel notion of average signature $\mathbb A(G)$ valued in its tensor Lie algebra, by taking the average value of the signature of the unique length-minimizing geodesics between all pairs of generic points in $G$. We prove that the trace spectrum of $\mathbb A(G)$ recovers certain geometric quantities of $G$, including the dimension, the diameter, the volume and the scalar curvature., Comment: 27 pages, comments are welcome!

Achieving robust legged locomotion on complex terrains poses challenges due to the high uncertainty in robot-environment interactions. Recent advances in bipedal and quadrupedal robots demonstrate good mobility on rugged terrains but rely heavily on sensors for stability due to low static stability from a high center of mass and a narrow base of support. We hypothesize that a multi-legged robotic system can leverage morphological redundancy from additional legs to minimize sensing requirements when traversing challenging terrains. Studies suggest that a multi-legged system with sufficient legs can reliably navigate noisy landscapes without sensing and control, albeit at a low speed of up to 0.1 body lengths per cycle (BLC). However, the control framework to enhance speed on challenging terrains remains underexplored due to the complex environmental interactions, making it difficult to identify the key parameters to control in these high-degree-of-freedom systems. Here, we present a bio-inspired vertical body undulation wave as a novel approach to mitigate environmental disturbances affecting robot speed, supported by experiments and probabilistic models. Finally, we introduce a control framework which monitors foot-ground contact patterns on rugose landscapes using binary foot-ground contact sensors to estimate terrain rugosity. The controller adjusts the vertical body wave based on the deviation of the limb's averaged actual-to-ideal foot-ground contact ratio, achieving a significant enhancement of up to 0.235 BLC on rugose laboratory terrain. We observed a $\sim$ 50\% increase in speed and a $\sim$ 40\% reduction in speed variance compared to the open-loop controller. Additionally, the controller operates in complex terrains outside the lab, including pine straw, robot-sized rocks, mud, and leaves., Comment: Submitted to IEEE Transactions on Robotics (T-RO)

Due to its ability of significantly improving data rate, intelligent reflecting surface (IRS) will be a potential crucial technique for the future generation wireless networks like 6G. In this paper, we will focus on the analysis of degree of freedom (DoF) in IRS-aided multi-user MIMO network. Firstly, the DoF upper bound of IRS-aided single-user MIMO network, i.e., the achievable maximum DoF of such a system, is derived, and the corresponding results are extended to the case of IRS-aided multiuser MIMO by using the matrix rank inequalities. In particular, in serious rank-deficient, also called low-rank, channels like line-of-sight (LoS), the network DoF may doubles over no-IRS with the help of IRS. To verify the rate performance gain from augmented DoF, three closed-form beamforming methods, null-space projection plus maximize transmit power and maximize receive power (NSP-MTP-MRP), Schmidt orthogonalization plus minimum mean square error (SO-MMSE) and two-layer leakage plus MMSE (TLL-MMSE) are proposed to achieve the maximum DoF. Simulation results shows that IRS does make a dramatic rate enhancement. For example, in a serious deficient channel, the sum-rate of the proposed TLL-MMSE aided by IRS is about twice that of no IRS. This means that IRS may achieve a significant DoF improvement in such a channel., Comment: 12 pages, 9 figures

Current large language models (LLM) provide a strong foundation for large-scale user-oriented natural language tasks. Many users can easily inject adversarial text or instructions through the user interface, thus causing LLM model security challenges like the language model not giving the correct answer. Although there is currently a large amount of research on black-box attacks, most of these black-box attacks use random and heuristic strategies. It is unclear how these strategies relate to the success rate of attacks and thus effectively improve model robustness. To solve this problem, we propose our target-driven black-box attack method to maximize the KL divergence between the conditional probabilities of the clean text and the attack text to redefine the attack's goal. We transform the distance maximization problem into two convex optimization problems based on the attack goal to solve the attack text and estimate the covariance. Furthermore, the projected gradient descent algorithm solves the vector corresponding to the attack text. Our target-driven black-box attack approach includes two attack strategies: token manipulation and misinformation attack. Experimental results on multiple Large Language Models and datasets demonstrate the effectiveness of our attack method., Comment: 12 pages, 7 figures. This work is an extension of the arXiv:2404.07234 work. We propose new methods. 27th European Conference on Artificial Intelligence 2024

Recent advances in prototypical learning have shown remarkable potential to provide useful decision interpretations associating activation maps and predictions with class-specific training prototypes. Such prototypical learning has been well-studied for various single-label diseases, but for quite relevant and more challenging multi-label diagnosis, where multiple diseases are often concurrent within an image, existing prototypical learning models struggle to obtain meaningful activation maps and effective class prototypes due to the entanglement of the multiple diseases. In this paper, we present a novel Cross- and Intra-image Prototypical Learning (CIPL) framework, for accurate multi-label disease diagnosis and interpretation from medical images. CIPL takes advantage of common cross-image semantics to disentangle the multiple diseases when learning the prototypes, allowing a comprehensive understanding of complicated pathological lesions. Furthermore, we propose a new two-level alignment-based regularisation strategy that effectively leverages consistent intra-image information to enhance interpretation robustness and predictive performance. Extensive experiments show that our CIPL attains the state-of-the-art (SOTA) classification accuracy in two public multi-label benchmarks of disease diagnosis: thoracic radiography and fundus images. Quantitative interpretability results show that CIPL also has superiority in weakly-supervised thoracic disease localisation over other leading saliency- and prototype-based explanation methods.

CLIP is one of the most important multimodal foundational models today. What powers CLIP's capabilities? The rich supervision signals provided by natural language, the carrier of human knowledge, shape a powerful cross-modal representation space. However, with the rapid advancements in large language models LLMs like GPT-4 and LLaMA, the boundaries of language comprehension and generation are continually being pushed. This raises an intriguing question: can the capabilities of LLMs be harnessed to further improve multimodal representation learning? The potential benefits of incorporating LLMs into CLIP are clear. LLMs' strong textual understanding can fundamentally improve CLIP's ability to handle image captions, drastically enhancing its ability to process long and complex texts, a well-known limitation of vanilla CLIP. Moreover, LLMs are trained on a vast corpus of text, possessing open-world knowledge. This allows them to expand on caption information during training, increasing the efficiency of the learning process. In this paper, we propose LLM2CLIP, a novel approach that embraces the power of LLMs to unlock CLIP's potential. By fine-tuning the LLM in the caption space with contrastive learning, we extract its textual capabilities into the output embeddings, significantly improving the output layer's textual discriminability. We then design an efficient training process where the fine-tuned LLM acts as a powerful teacher for CLIP's visual encoder. Thanks to the LLM's presence, we can now incorporate longer and more complex captions without being restricted by vanilla CLIP's text encoder's context window and ability limitations. Our experiments demonstrate that this approach brings substantial improvements in cross-modal tasks.

This study investigates Neutral Triple Gauge Couplings (nTGCs) through $ZZ$ production at future electron-positron colliders. The impact of beam polarization on cross section is analyzed. We compare the signals and backgrounds for five different $ZZ$ decay channels and present our event selection strategies for future $e^+e^-$ colliders. The expected coefficient constraints for each decay channels are provided, and final expected constraints are derived by combining results from the different decay patterns. Our analysis indicates that future electron-positron colliders will have significantly enhanced detection capabilities for nTGCs compared to the current LHC experiments, with expected improvements in constraints by one to two orders of magnitude., Comment: 36 pages, 25 figures, 19 tables

Differential absorption Lidar (DIAL) in the ultraviolet (UV) region is an effective approach for monitoring tropospheric ozone. 4H-SiC single-photon detectors (SPDs) are emergent devices for UV single-photon detection. Here, we demonstrate a 4H-SiC SPD-based ozone DIAL. We design and fabricate the 4H-SiC single-photon avalanche diode with a beveled mesa structure and optimized layer thickness. An active quenching circuit with a quenching time of 1.03 ns is developed to significantly mitigate the afterpulsing effect while enhancing the maximum count rate. After characterization, the SPD exhibits excellent performance with a photon detection efficiency of 16.6% at 266 nm, a dark count rate of 138 kcps, a maximum count rate of 13 Mcps, and an afterpulse probability of 2.7% at room temperature. Then, we apply two 4H-SiC SPDs in an ozone DIAL. The measured ozone concentrations at altitudes of 1-3.5 km agree well with the results of a commercial ozone DIAL. Our work provides an alternative solution for general UV Lidar applications., Comment: Accepted by Applied Physics Letters

Cooperatively Localizing robots should seek optimal control strategies to maximize precision of position estimation and ensure safety in flight. Observability-Aware Trajectory Optimization has strong potential to address this issue, but no concrete link between observability and precision has been proven yet. In this paper, we prove that improvement in positioning precision inherently follows from optimizing observability. Based on this finding, we develop an Observability-Aware Control principle to generate observability-optimal control strategies. We implement this principle in a Model Predictive Control framework, and we verify it on a team of quadrotor Unmanned Aerial Vehicles comprising a follower vehicle localizing itself by tracking a leader vehicle in both simulations and real-world flight tests. Our results demonstrate that maximizing observability contributed to improving global positioning precision for the quadrotor team., Comment: 12 pages, 5 figures

Programming a quantum device describes the usage of quantum logic gates, agnostic of hardware specifics, to perform a sequence of operations with (typically) a computing or sensing task in mind. Such programs have been executed on digital quantum computers, which despite their noisy character, have shown the ability to optimize metrological functions, for example in the generation of spin squeezing and optimization of quantum Fisher information for signals manifesting as spin rotations in a quantum register. However, the qubits of these programmable quantum sensors are tightly spatially confined and therefore suboptimal for enclosing the kinds of large spacetime areas required for performing inertial sensing. In this work, we derive a set of quantum logic gates for a cold atom optical lattice interferometer that manipulates the momentum of atoms. Here, the operations are framed in terms of single qubit operations and mappings between qubit subspaces with internal levels given by the Bloch (crystal) eigenstates of the lattice. We describe how the quantum optimal control method of direct collocation is well suited for obtaining the modulation waveforms of the lattice which achieve these operations.

One dimensional fluid/electron Monte Carlo simulations of capacitively coupled Ar/O2 discharges driven by sawtooth up voltage waveforms are performed as a function of the number of consecutive harmonics driving frequencies of 13.56 MHz, N (1-3), pressure (200-500 mTorr) and gas mixture (10-90 % admixture of O2 to Ar). The effects of these external parameters on the electron dynamics, and the transport of ions and neutrals are revealed at constant peak-to-peak driving voltage. The electronegativity is found to decline as the number of consecutive harmonics increases and the DC self-bias voltage decreases. Increasing the pressure also leads to a decrease in electronegativity. The combination of a decrease in the mean free path of electrons and the presence of the Electrical Asymmetry Effect (EAE) result in different spatio-temporal distributions of the ionization rate, which lead to a reduction in the amplitude of the DC self-bias at higher pressure. As the admixture of electronegative O2 increases, the electronegativity is enhanced, and the discharge mode changes from an {\alpha}-Drift Ambipolar (DA) hybrid to DA mode. This work focuses on linking these fundamental changes of the plasma physics induced by changing external parameters to process relevant charged particle and neutral fluxes to the electrodes. Particular attention is paid to O(1D) flux, because it is a precursor of deposition. In discharges driven by sawtooth up voltage waveforms, placing the substrate on the grounded electrode and increasing the number of consecutive harmonics, N, can facilitate the deposition process, since the O(1D) flux to the substrate is higher in these scenarios. Moreover, at an O2 admixture of 20%, the O(1D) flux is nearly as high as that at an O2 admixture of 90%, indicating that a higher O(1D) flux can be achieved without excessively increasing the O2 admixture., Comment: Ar/O2 gas discharges, electron dynamics, transport of charged and neutral particles, sawtooth up voltage waveforms

Diffeomorphic image registration is crucial for various medical imaging applications because it can preserve the topology of the transformation. This study introduces DCCNN-LSTM-Reg, a learning framework that evolves dynamically and learns a symmetrical registration path by satisfying a specified control increment system. This framework aims to obtain symmetric diffeomorphic deformations between moving and fixed images. To achieve this, we combine deep learning networks with diffeomorphic mathematical mechanisms to create a continuous and dynamic registration architecture, which consists of multiple Symmetric Registration (SR) modules cascaded on five different scales. Specifically, our method first uses two U-nets with shared parameters to extract multiscale feature pyramids from the images. We then develop an SR-module comprising a sequential CNN-LSTM architecture to progressively correct the forward and reverse multiscale deformation fields using control increment learning and the homotopy continuation technique. Through extensive experiments on three 3D registration tasks, we demonstrate that our method outperforms existing approaches in both quantitative and qualitative evaluations., Comment: 12 pages,7 figures

Multi-objective Bayesian optimization has been widely adopted in scientific experiment design, including drug discovery and hyperparameter optimization. In practice, regulatory or safety concerns often impose additional thresholds on certain attributes of the experimental outcomes. Previous work has primarily focused on constrained single-objective optimization tasks or active search under constraints. We propose CMOBO, a sample-efficient constrained multi-objective Bayesian optimization algorithm that balances learning of the feasible region (defined on multiple unknowns) with multi-objective optimization within the feasible region in a principled manner. We provide both theoretical justification and empirical evidence, demonstrating the efficacy of our approach on various synthetic benchmarks and real-world applications.

In this paper, we introduce Hunyuan-Large, which is currently the largest open-source Transformer-based mixture of experts model, with a total of 389 billion parameters and 52 billion activation parameters, capable of handling up to 256K tokens. We conduct a thorough evaluation of Hunyuan-Large's superior performance across various benchmarks including language understanding and generation, logical reasoning, mathematical problem-solving, coding, long-context, and aggregated tasks, where it outperforms LLama3.1-70B and exhibits comparable performance when compared to the significantly larger LLama3.1-405B model. Key practice of Hunyuan-Large include large-scale synthetic data that is orders larger than in previous literature, a mixed expert routing strategy, a key-value cache compression technique, and an expert-specific learning rate strategy. Additionally, we also investigate the scaling laws and learning rate schedule of mixture of experts models, providing valuable insights and guidances for future model development and optimization. The code and checkpoints of Hunyuan-Large are released to facilitate future innovations and applications. Codes: https://github.com/Tencent/Hunyuan-Large Models: https://huggingface.co/tencent/Tencent-Hunyuan-Large, Comment: 17 pages, 4 Figures

In this paper we present a novel method for efficient and effective 3D surface reconstruction in open scenes. Existing Neural Radiance Fields (NeRF) based works typically require extensive training and rendering time due to the adopted implicit representations. In contrast, 3D Gaussian splatting (3DGS) uses an explicit and discrete representation, hence the reconstructed surface is built by the huge number of Gaussian primitives, which leads to excessive memory consumption and rough surface details in sparse Gaussian areas. To address these issues, we propose Gaussian Voxel Kernel Functions (GVKF), which establish a continuous scene representation based on discrete 3DGS through kernel regression. The GVKF integrates fast 3DGS rasterization and highly effective scene implicit representations, achieving high-fidelity open scene surface reconstruction. Experiments on challenging scene datasets demonstrate the efficiency and effectiveness of our proposed GVKF, featuring with high reconstruction quality, real-time rendering speed, significant savings in storage and training memory consumption., Comment: NeurIPS 2024

Localization is one of the most crucial tasks for Unmanned Aerial Vehicle systems (UAVs) directly impacting overall performance, which can be achieved with various sensors and applied to numerous tasks related to search and rescue operations, object tracking, construction, etc. However, due to the negative effects of challenging environments, UAVs may lose signals for localization. In this paper, we present an effective path-planning system leveraging semantic segmentation information to navigate around texture-less and problematic areas like lakes, oceans, and high-rise buildings using a monocular camera. We introduce a real-time semantic segmentation architecture and a novel keyframe decision pipeline to optimize image inputs based on pixel distribution, reducing processing time. A hierarchical planner based on the Dynamic Window Approach (DWA) algorithm, integrated with a cost map, is designed to facilitate efficient path planning. The system is implemented in a photo-realistic simulation environment using Unity, aligning with segmentation model parameters. Comprehensive qualitative and quantitative evaluations validate the effectiveness of our approach, showing significant improvements in the reliability and efficiency of UAV localization in challenging environments., Comment: In The 24th International Conference on Control, Automation, and Systems (ICCAS 2024), Jeju, Korea

Navigating safely in dynamic human environments is crucial for mobile service robots, and social navigation is a key aspect of this process. In this paper, we proposed an integrative approach that combines motion prediction and trajectory planning to enable safe and socially-aware robot navigation. The main idea of the proposed method is to leverage the advantages of Socially Acceptable trajectory prediction and Timed Elastic Band (TEB) by incorporating human interactive information including position, orientation, and motion into the objective function of the TEB algorithms. In addition, we designed social constraints to ensure the safety of robot navigation. The proposed system is evaluated through physical simulation using both quantitative and qualitative metrics, demonstrating its superior performance in avoiding human and dynamic obstacles, thereby ensuring safe navigation. The implementations are open source at: \url{https://github.com/thanhnguyencanh/SGan-TEB.git}, Comment: In the 24th International Conference on Control, Automation, and Systems (ICCAS 2024), Jeju, Korea

Background: Cone-beam computed tomography (CBCT) plays a crucial role in image-guided radiotherapy, but artifacts and noise make them unsuitable for accurate dose calculation. Artificial intelligence methods have shown promise in enhancing CBCT quality to produce synthetic CT (sCT) images. However, existing methods either produce images of suboptimal quality or incur excessive time costs, failing to satisfy clinical practice standards. Methods and materials: We propose a novel hybrid conditional latent diffusion model for efficient and accurate CBCT-to-CT synthesis, named HC$^3$L-Diff. We employ the Unified Feature Encoder (UFE) to compress images into a low-dimensional latent space, thereby optimizing computational efficiency. Beyond the use of CBCT images, we propose integrating its high-frequency knowledge as a hybrid condition to guide the diffusion model in generating sCT images with preserved structural details. This high-frequency information is captured using our designed High-Frequency Extractor (HFE). During inference, we utilize denoising diffusion implicit model to facilitate rapid sampling. We construct a new in-house prostate dataset with paired CBCT and CT to validate the effectiveness of our method. Result: Extensive experimental results demonstrate that our approach outperforms state-of-the-art methods in terms of sCT quality and generation efficiency. Moreover, our medical physicist conducts the dosimetric evaluations to validate the benefit of our method in practical dose calculation, achieving a remarkable 93.8% gamma passing rate with a 2%/2mm criterion, superior to other methods. Conclusion: The proposed HC$^3$L-Diff can efficiently achieve high-quality CBCT-to-CT synthesis in only over 2 mins per patient. Its promising performance in dose calculation shows great potential for enhancing real-world adaptive radiotherapy., Comment: 13 pages, 5 figures

The multi-modal posterior under unidentified nonparametric models yields poor mixing of Markov Chain Monte Carlo (MCMC), which is a stumbling block to Bayesian predictions. In this article, we conceptualize a prior informativeness threshold that is essentially the variance of posterior modes and expressed by the uncertainty hyperparameters of nonparametric priors. The threshold plays the role of a lower bound of the within-chain MCMC variance to ensure MCMC mixing, and engines prior modification through hyperparameter tuning to descend the mode variance. Our method distinguishes from existing postprocessing methods in that it directly samples well-mixed MCMC chains on the unconstrained space, and inherits the original posterior predictive distribution in predictive inference. Our method succeeds in Bayesian survival predictions under an unidentified nonparametric transformation model, guarded by the inferential theories of the posterior variance, under elicitation of two delicate nonparametric priors. Comprehensive simulations and real-world data analysis demonstrate that our method achieves MCMC mixing and outperforms existing approaches in survival predictions.

Flat bands typically describe energy bands whose energy dispersion is entirely or almost entirely degenerate. One effective method to form flat bands is by constructing Moir\'e superlattices. Recently, there has been a shift in perspective regarding the roles of space (momentum) and time (energy) in a lattice, with the concept of photonic time crystals that has sparked discussions on momentum dispersion such as the presence of a bandgap in momentum. Here we propose a photonic time moir\'e superlattice achieved by overlaying two photonic time crystals with different periods. The resulting momentum bandgap of this superlattice supports isolated momentum bands that are nearly independent of energy, which we refer to as momentum flat bands. Unlike energy flat bands, which have zero group velocity, momentum flat bands exhibit infinitely large group velocity across a broad frequency range. Unlike previous optical media supporting broadband superluminal propagation based on gain, the effective refractive index of the momentum flat bands is real-valued, leading to more stabilized superluminal pulse propagation., Comment: 6 pages, 4 figures

We consider the problem of physically-based inverse rendering using 3D Gaussian Splatting (3DGS) representations. While recent 3DGS methods have achieved remarkable results in novel view synthesis (NVS), accurately capturing high-fidelity geometry, physically interpretable materials and lighting remains challenging, as it requires precise geometry modeling to provide accurate surface normals, along with physically-based rendering (PBR) techniques to ensure correct material and lighting disentanglement. Previous 3DGS methods resort to approximating surface normals, but often struggle with noisy local geometry, leading to inaccurate normal estimation and suboptimal material-lighting decomposition. In this paper, we introduce GeoSplatting, a novel hybrid representation that augments 3DGS with explicit geometric guidance and differentiable PBR equations. Specifically, we bridge isosurface and 3DGS together, where we first extract isosurface mesh from a scalar field, then convert it into 3DGS points and formulate PBR equations for them in a fully differentiable manner. In GeoSplatting, 3DGS is grounded on the mesh geometry, enabling precise surface normal modeling, which facilitates the use of PBR frameworks for material decomposition. This approach further maintains the efficiency and quality of NVS from 3DGS while ensuring accurate geometry from the isosurface. Comprehensive evaluations across diverse datasets demonstrate the superiority of GeoSplatting, consistently outperforming existing methods both quantitatively and qualitatively., Comment: Project page: https://pku-vcl-geometry.github.io/GeoSplatting/

The magnetised near detector (ND280) of the T2K long-baseline neutrino oscillation experiment has been recently upgraded aiming to satisfy the requirement of reducing the systematic uncertainty from measuring the neutrinonucleus interaction cross section, which is the largest systematic uncertainty in the search for leptonic charge-parity symmetry violation. A key component of the upgrade is SuperFGD, a 3D segmented plastic scintillator detector made of approximately 2,000,000 optically-isolated 1 cm3 cubes. It will provide a 3D image of GeV neutrino interactions by combining tracking and stopping power measurements of final state particles with sub-nanosecond time resolution. The performance of SuperFGD is characterized by the precision of its response to charged particles as well as the systematic effects that might affect the physics measurements. Hence, a detailed Geant4 based optical simulation of the SuperFGD building block, i.e. a plastic scintillating cube read out by three wavelength shifting fibers, has been developed and validated with the different datasets collected in various beam tests. In this manuscript the description of the optical model as well as the comparison with data are reported., Comment: 31 pages, 15 figures

Recent advances in quantum information processing with superconducting qubits have fueled a growing demand for scaling and miniaturizing circuit layouts. Despite significant progress, accurately predicting the Hamiltonian of complex circuits remains a challenging task. In this work, we propose an improved method for quantizing superconducting circuits that incorporates material- and geometry-dependent kinetic inductance. Our approach models thin superconducting films as equivalent reactive boundary elements, seamlessly integrating into the conventional circuit quantization framework without adding computational complexity. As a proof of concept, we experimentally verify our method using planar superconducting quantum devices made of 35 nm-thick disordered niobium films, known to exhibit large kinetic inductance values. We demonstrate significantly improved accuracy in predicting the Hamiltonian based solely on the chip layout and material properties of the superconducting films and Josephson junctions, with discrepancies in mode frequencies remaining below 2%. Our method enables systematic studies of superconducting devices based on disordered thin films or compact, fine-pitched elements and, more broadly, facilitates the precise engineering of superconducting quantum circuits at scale., Comment: 12 pages, 4 figures, 1 table

Motivated by the study of a variant of sunflowers, Alon and Holzman recently introduced focal-free hypergraphs. In this paper, we show that there is an interesting connection between the maximum size of focal-free hypergraphs and the renowned Erd\H{o}s Matching Conjecture on the maximum number of edges that can be contained in a uniform hypergraph with bounded matching number. As a consequence, we give asymptotically optimal bounds on the maximum sizes of focal-free uniform hypergraphs and codes, thereby significantly improving the previous results of Alon and Holzman. Moreover, by using the existentce results of combinatorial designs and orthogonal arrays, we are able to explicitly determine the exact sizes of maximum focal-free uniform hypergraphs and codes for a wide range of parameters.

Terahertz (THz) integrated sensing and communication (ISAC) technology is envisioned to achieve high communication performance alongside advanced sensing abilities. For various applications of ISAC, accurate environment reconstruction including geometry reconstruction and material identification is critical. This paper presents a highly precise geometry reconstruction algorithm and material identification scheme for a monostatic sensing case in a typical indoor scenario. Experiments are conducted in the frequency range from 290 GHz to 310 GHz using a vector network analyzer (VNA)-based channel sounder by co-locating the transmitter and receiver. A joint delay and angle space-alternating generalized expectation-maximization (SAGE)-based algorithm is implemented to estimate multipath component (MPC) parameters and the indoor geometry is reconstructed based on the extracted parameters. Furthermore, a geometry-based method is employed to model and remove the spurious path of the corner, reaching an accuracy of 1.75 cm. Additionally, a material database using THz time-domain spectroscopy (THz-TDS) is established, capturing reflection losses of over 200 common material samples. Applying this database to our monostatic sensing, the measured reflection losses of wall and window frame are accurately identified as cement and steel, respectively. Our results demonstrate the centimeter-level geometry reconstruction and accurate material identification for practical THz ISAC scenarios, which unleash unprecedented sensing potential compared to microwave and millimeter-wave bands.

We consider the problem of novel view synthesis from unposed images in a single feed-forward. Our framework capitalizes on fast speed, scalability, and high-quality 3D reconstruction and view synthesis capabilities of 3DGS, where we further extend it to offer a practical solution that relaxes common assumptions such as dense image views, accurate camera poses, and substantial image overlaps. We achieve this through identifying and addressing unique challenges arising from the use of pixel-aligned 3DGS: misaligned 3D Gaussians across different views induce noisy or sparse gradients that destabilize training and hinder convergence, especially when above assumptions are not met. To mitigate this, we employ pre-trained monocular depth estimation and visual correspondence models to achieve coarse alignments of 3D Gaussians. We then introduce lightweight, learnable modules to refine depth and pose estimates from the coarse alignments, improving the quality of 3D reconstruction and novel view synthesis. Furthermore, the refined estimates are leveraged to estimate geometry confidence scores, which assess the reliability of 3D Gaussian centers and condition the prediction of Gaussian parameters accordingly. Extensive evaluations on large-scale real-world datasets demonstrate that PF3plat sets a new state-of-the-art across all benchmarks, supported by comprehensive ablation studies validating our design choices., Comment: project page: https://cvlab-kaist.github.io/PF3plat/