Search

In the dynamic landscape of the Web, we are witnessing the emergence of the Web3 paradigm, which dictates that platforms should rely on blockchain technology and cryptocurrencies to sustain themselves and their profitability. Cryptocurrencies are characterised by high market volatility and susceptibility to substantial crashes, issues that require temporal analysis methodologies able to tackle the high temporal resolution, heterogeneity and scale of blockchain data. While existing research attempts to analyse crash events, fundamental questions persist regarding the optimal time scale for analysis, differentiation between long-term and short-term trends, and the identification and characterisation of shock events within these decentralised systems. This paper addresses these issues by examining cryptocurrencies traded on the Ethereum blockchain, with a spotlight on the crash of the stablecoin TerraUSD and the currency LUNA designed to stabilise it. Utilising complex network analysis and a multi-layer temporal graph allows the study of the correlations between the layers representing the currencies and system evolution across diverse time scales. The investigation sheds light on the strong interconnections among stablecoins pre-crash and the significant post-crash transformations. We identify anomalous signals before, during, and after the collapse, emphasising their impact on graph structure metrics and user movement across layers. This paper pioneers temporal, cross-chain graph analysis to explore a cryptocurrency collapse. It emphasises the importance of temporal analysis for studies on web-derived data and how graph-based analysis can enhance traditional econometric results. Overall, this research carries implications beyond its field, for example for regulatory agencies aiming to safeguard users from shocks and monitor investment risks for citizens and clients.

In order to develop robots that can effectively serve as versatile and capable home assistants, it is crucial for them to reliably perceive and interact with a wide variety of objects across diverse environments. To this end, we proposed Open Vocabulary Mobile Manipulation as a key benchmark task for robotics: finding any object in a novel environment and placing it on any receptacle surface within that environment. We organized a NeurIPS 2023 competition featuring both simulation and real-world components to evaluate solutions to this task. Our baselines on the most challenging version of this task, using real perception in simulation, achieved only an 0.8% success rate; by the end of the competition, the best participants achieved an 10.8\% success rate, a 13x improvement. We observed that the most successful teams employed a variety of methods, yet two common threads emerged among the best solutions: enhancing error detection and recovery, and improving the integration of perception with decision-making processes. In this paper, we detail the results and methodologies used, both in simulation and real-world settings. We discuss the lessons learned and their implications for future research. Additionally, we compare performance in real and simulated environments, emphasizing the necessity for robust generalization to novel settings.

Although the use of technologies like multimedia and virtual reality (VR) in training offer the promise of improved learning, these richer and potentially more engaging materials do not consistently produce superior learning outcomes. Default approaches to such training may inadvertently mimic concepts like naive realism in display design, and desirable difficulties in the science of learning - fostering an impression of greater learning dissociated from actual gains in memory. This research examined the influence of format of instructions in learning to assemble items from components. Participants in two experiments were trained on the steps to assemble a series of bars, that resembled Meccano pieces, into eight different shapes. After training on pairs of shapes, participants rated the likelihood they would remember the shapes and then were administered a recognition test. Relative to viewing a static diagram, viewing videos of shapes being constructed in a VR environment (Experiment 1) or viewing within an immersive VR system (Experiment 2) elevated participants' assessments of their learning but without enhancing learning outcomes. Overall, these findings illustrate how future workers might mistakenly come to believe that technologically advanced support improves learning and prefer instructional designs that integrate similarly complex cues into training., Comment: published and presented in I/ITSEC 2022

Distributed ledger technologies have opened up a wealth of fine-grained transaction data from cryptocurrencies like Bitcoin and Ethereum. This allows research into problems like anomaly detection, anti-money laundering, pattern mining and activity clustering (where data from traditional currencies is rarely available). The formalism of temporal networks offers a natural way of representing this data and offers access to a wealth of metrics and models. However, the large scale of the data presents a challenge using standard graph analysis techniques. We use temporal motifs to analyse two Bitcoin datasets and one NFT dataset, using sequences of three transactions and up to three users. We show that the commonly used technique of simply counting temporal motifs over all users and all time can give misleading conclusions. Here we also study the motifs contributed by each user and discover that the motif distribution is heavy-tailed and that the key players have diverse motif signatures. We study the motifs that occur in different time periods and find events and anomalous activity that cannot be seen just by a count on the whole dataset. Studying motif completion time reveals dynamics driven by human behaviour as well as algorithmic behaviour.

Synthesizing semantic-aware, long-horizon, human-object interaction is critical to simulate realistic human behaviors. In this work, we address the challenging problem of generating synchronized object motion and human motion guided by language descriptions in 3D scenes. We propose Controllable Human-Object Interaction Synthesis (CHOIS), an approach that generates object motion and human motion simultaneously using a conditional diffusion model given a language description, initial object and human states, and sparse object waypoints. Here, language descriptions inform style and intent, and waypoints, which can be effectively extracted from high-level planning, ground the motion in the scene. Naively applying a diffusion model fails to predict object motion aligned with the input waypoints; it also cannot ensure the realism of interactions that require precise hand-object and human-floor contact. To overcome these problems, we introduce an object geometry loss as additional supervision to improve the matching between generated object motion and input object waypoints; we also design guidance terms to enforce contact constraints during the sampling process of the trained diffusion model. We demonstrate that our learned interaction module can synthesize realistic human-object interactions, adhering to provided textual descriptions and sparse waypoint conditions. Additionally, our module seamlessly integrates with a path planning module, enabling the generation of long-term interactions in 3D environments., Comment: ECCV 2024, project webpage: https://lijiaman.github.io/projects/chois/

An important concept in organisational behaviour is how hierarchy affects the voice of individuals, whereby members of a given organisation exhibit differing power relations based on their hierarchical position. Although there have been prior studies of the relationship between hierarchy and voice, they tend to focus on more qualitative small-scale methods and do not account for structural aspects of the organisation. This paper develops large-scale computational techniques utilising temporal network analysis to measure the effect that organisational hierarchy has on communication patterns within an organisation, focusing on the structure of pairwise interactions between individuals. We focus on one major organisation as a case study - the Internet Engineering Task Force (IETF) - a major technical standards development organisation for the Internet. A particularly useful feature of the IETF is a transparent hierarchy, where participants take on explicit roles (e.g. Area Directors, Working Group Chairs). Its processes are also open, so we have visibility into the communication of people at different hierarchy levels over a long time period. We utilise a temporal network dataset of 989,911 email interactions among 23,741 participants to study how hierarchy impacts communication patterns. We show that the middle levels of the IETF are growing in terms of their dominance in communications. Higher levels consistently experience a higher proportion of incoming communication than lower levels, with higher levels initiating more communications too. We find that communication tends to flow "up" the hierarchy more than "down". Finally, we find that communication with higher-levels is associated with future communication more than for lower-levels, which we interpret as "facilitation". We conclude by discussing the implications this has on patterns within the wider IETF and for other organisations.

We present Habitat 3.0: a simulation platform for studying collaborative human-robot tasks in home environments. Habitat 3.0 offers contributions across three dimensions: (1) Accurate humanoid simulation: addressing challenges in modeling complex deformable bodies and diversity in appearance and motion, all while ensuring high simulation speed. (2) Human-in-the-loop infrastructure: enabling real human interaction with simulated robots via mouse/keyboard or a VR interface, facilitating evaluation of robot policies with human input. (3) Collaborative tasks: studying two collaborative tasks, Social Navigation and Social Rearrangement. Social Navigation investigates a robot's ability to locate and follow humanoid avatars in unseen environments, whereas Social Rearrangement addresses collaboration between a humanoid and robot while rearranging a scene. These contributions allow us to study end-to-end learned and heuristic baselines for human-robot collaboration in-depth, as well as evaluate them with humans in the loop. Our experiments demonstrate that learned robot policies lead to efficient task completion when collaborating with unseen humanoid agents and human partners that might exhibit behaviors that the robot has not seen before. Additionally, we observe emergent behaviors during collaborative task execution, such as the robot yielding space when obstructing a humanoid agent, thereby allowing the effective completion of the task by the humanoid agent. Furthermore, our experiments using the human-in-the-loop tool demonstrate that our automated evaluation with humanoids can provide an indication of the relative ordering of different policies when evaluated with real human collaborators. Habitat 3.0 unlocks interesting new features in simulators for Embodied AI, and we hope it paves the way for a new frontier of embodied human-AI interaction capabilities., Comment: Project page: http://aihabitat.org/habitat3

To enforce incumbent protection through a spectrum access system (SAS) or future centralized shared spectrum system, dynamic protection area (DPA) neighborhood distances are employed. These distances are distance radii, in which citizen broadband radio service devices (CBSDs) are considered as potential interferers for the incumbent spectrum users. The goal of this paper is to create an algorithm to define DPA neighborhood distances for radio astronomy (RA) facilities with the intent to incorporate those distances into existing SASs and to adopt for future frameworks to increase national spectrum sharing. This paper first describes an algorithm to calculate sufficient neighborhood distances. Verifying this algorithm by recalculating previously calculated and currently used neighborhood distances for existing DPAs then proves its viability for extension to radio astronomy facilities. Applying the algorithm to the Hat Creek Radio Observatory (HCRO) with customized parameters results in distance recommendations, 112 kilometers for category A (devices with 30 dBm/10 MHz max EIRP) and 144 kilometers for category B (devices with 47 dBm/10MHz max EIRP), for HCRO's inclusion into a SAS and shows that the algorithm can be applied to RA facilities in general. Calculating these distances identifies currently used but likely out-of-date metrics and assumptions that should be revisited for the benefit of spectrum sharing., Comment: 6 pages, 5 figures, 5 tables, published to WCNC 2023

Raphtory is a platform for building and analysing temporal networks. The library includes methods for creating networks from a variety of data sources; algorithms to explore their structure and evolution; and an extensible GraphQL server for deployment of applications built on top. Raphtory's core engine is built in Rust, for efficiency, with Python interfaces, for ease of use. Raphtory is developed by network scientists, with a background in Physics, Applied Mathematics, Engineering and Computer Science, for use across academia and industry.

HomeRobot (noun): An affordable compliant robot that navigates homes and manipulates a wide range of objects in order to complete everyday tasks. Open-Vocabulary Mobile Manipulation (OVMM) is the problem of picking any object in any unseen environment, and placing it in a commanded location. This is a foundational challenge for robots to be useful assistants in human environments, because it involves tackling sub-problems from across robotics: perception, language understanding, navigation, and manipulation are all essential to OVMM. In addition, integration of the solutions to these sub-problems poses its own substantial challenges. To drive research in this area, we introduce the HomeRobot OVMM benchmark, where an agent navigates household environments to grasp novel objects and place them on target receptacles. HomeRobot has two components: a simulation component, which uses a large and diverse curated object set in new, high-quality multi-room home environments; and a real-world component, providing a software stack for the low-cost Hello Robot Stretch to encourage replication of real-world experiments across labs. We implement both reinforcement learning and heuristic (model-based) baselines and show evidence of sim-to-real transfer. Our baselines achieve a 20% success rate in the real world; our experiments identify ways future research work improve performance. See videos on our website: https://ovmm.github.io/., Comment: 37 pages, 22 figures, 8 tables

We contribute the Habitat Synthetic Scene Dataset, a dataset of 211 high-quality 3D scenes, and use it to test navigation agent generalization to realistic 3D environments. Our dataset represents real interiors and contains a diverse set of 18,656 models of real-world objects. We investigate the impact of synthetic 3D scene dataset scale and realism on the task of training embodied agents to find and navigate to objects (ObjectGoal navigation). By comparing to synthetic 3D scene datasets from prior work, we find that scale helps in generalization, but the benefits quickly saturate, making visual fidelity and correlation to real-world scenes more important. Our experiments show that agents trained on our smaller-scale dataset can match or outperform agents trained on much larger datasets. Surprisingly, we observe that agents trained on just 122 scenes from our dataset outperform agents trained on 10,000 scenes from the ProcTHOR-10K dataset in terms of zero-shot generalization in real-world scanned environments.

Motion retargeting is a promising approach for generating natural and compelling animations for nonhuman characters. However, it is challenging to translate human movements into semantically equivalent motions for target characters with different morphologies due to the ambiguous nature of the problem. This work presents a novel learning-based motion retargeting framework, Adversarial Correspondence Embedding (ACE), to retarget human motions onto target characters with different body dimensions and structures. Our framework is designed to produce natural and feasible robot motions by leveraging generative-adversarial networks (GANs) while preserving high-level motion semantics by introducing an additional feature loss. In addition, we pretrain a robot motion prior that can be controlled in a latent embedding space and seek to establish a compact correspondence. We demonstrate that the proposed framework can produce retargeted motions for three different characters -- a quadrupedal robot with a manipulator, a crab character, and a wheeled manipulator. We further validate the design choices of our framework by conducting baseline comparisons and a user study. We also showcase sim-to-real transfer of the retargeted motions by transferring them to a real Spot robot.

We present a replication and correction of a recent article (Ramirez, P., Reade, J.J., Singleton, C., Betting on a buzz: Mispricing and inefficiency in online sportsbooks, International Journal of Forecasting, 39:3, 2023, pp. 1413-1423, doi: 10.1016/j.ijforecast.2022.07.011). RRS measure profile page views on Wikipedia to generate a "buzz factor" metric for tennis players and show that it can be used to form a profitable gambling strategy by predicting bookmaker mispricing. Here, we use the same dataset as RRS to reproduce their results exactly, thus confirming the robustness of their mispricing claim. However, we discover that the published betting results are significantly affected by a single bet (the "Hercog" bet), which returns substantial outlier profits based on erroneously long odds. When this data quality issue is resolved, the majority of reported profits disappear and only one strategy, which bets on "competitive" matches, remains significantly profitable in the original out-of-sample period. While one profitable strategy offers weaker support than the original study, it still provides an indication that market inefficiencies may exist, as originally claimed by RRS. As an extension, we continue backtesting after 2020 on a cleaned dataset. Results show that (a) the "competitive" strategy generates no further profits, potentially suggesting markets have become more efficient, and (b) model coefficients estimated over this more recent period are no longer reliable predictors of bookmaker mispricing. We present this work as a case study demonstrating the importance of replication studies in sports forecasting, and the necessity to clean data. We open-source release comprehensive datasets and code., Comment: 24 pages, 2 figures. Revised argument; minor edits and funding acknowledgement; typos corrected. This paper is a replication and correction study and longer version of an accepted journal article. Replication code and data are available online: https://github.com/Faxulous/notFeelingTheBuzz

Solving optimization problems is challenging for existing digital computers and even for future quantum hardware. The practical importance of diverse problems, from healthcare to financial optimization, has driven the emergence of specialised hardware over the past decade. However, their support for problems with only binary variables severely restricts the scope of practical problems that can be efficiently embedded. We build analog iterative machine (AIM), the first instance of an opto-electronic solver that natively implements a wider class of quadratic unconstrained mixed optimization (QUMO) problems and supports all-to-all connectivity of both continuous and binary variables.Beyond synthetic 7-bit problems at small-scale, AIM solves the financial transaction settlement problem entirely in analog domain with higher accuracy than quantum hardware and at room temperature. With compute-in-memory operation and spatial-division multiplexed representation of variables, the design of AIM paves the path to chip-scale architecture with 100 times speed-up per unit-power over the latest GPUs for solving problems with 10,000 variables. The robustness of the AIM algorithm at such scale is further demonstrated by comparing it with commercial production solvers across multiple benchmarks, where for several problems we report new best solutions. By combining the superior QUMO abstraction, sophisticated gradient descent methods inspired by machine learning, and commodity hardware, AIM introduces a novel platform with a step change in expressiveness, performance, and scalability, for optimization in the post-Moores law era., Comment: Main sections plus supplementa material for a total of 41 pages. 7 figures

We present Adaptive Skill Coordination (ASC) -- an approach for accomplishing long-horizon tasks like mobile pick-and-place (i.e., navigating to an object, picking it, navigating to another location, and placing it). ASC consists of three components -- (1) a library of basic visuomotor skills (navigation, pick, place), (2) a skill coordination policy that chooses which skill to use when, and (3) a corrective policy that adapts pre-trained skills in out-of-distribution states. All components of ASC rely only on onboard visual and proprioceptive sensing, without requiring detailed maps with obstacle layouts or precise object locations, easing real-world deployment. We train ASC in simulated indoor environments, and deploy it zero-shot (without any real-world experience or fine-tuning) on the Boston Dynamics Spot robot in eight novel real-world environments (one apartment, one lab, two microkitchens, two lounges, one office space, one outdoor courtyard). In rigorous quantitative comparisons in two environments, ASC achieves near-perfect performance (59/60 episodes, or 98%), while sequentially executing skills succeeds in only 44/60 (73%) episodes. Extensive perturbation experiments show that ASC is robust to hand-off errors, changes in the environment layout, dynamic obstacles (e.g., people), and unexpected disturbances. Supplementary videos at adaptiveskillcoordination.github.io.

Synthesizing 3D human motion in a contextual, ecological environment is important for simulating realistic activities people perform in the real world. However, conventional optics-based motion capture systems are not suited for simultaneously capturing human movements and complex scenes. The lack of rich contextual 3D human motion datasets presents a roadblock to creating high-quality generative human motion models. We propose a novel motion acquisition system in which the actor perceives and operates in a highly contextual virtual world while being motion captured in the real world. Our system enables rapid collection of high-quality human motion in highly diverse scenes, without the concern of occlusion or the need for physical scene construction in the real world. We present CIRCLE, a dataset containing 10 hours of full-body reaching motion from 5 subjects across nine scenes, paired with ego-centric information of the environment represented in various forms, such as RGBD videos. We use this dataset to train a model that generates human motion conditioned on scene information. Leveraging our dataset, the model learns to use ego-centric scene information to achieve nontrivial reaching tasks in the context of complex 3D scenes. To download the data please visit https://stanford-tml.github.io/circle_dataset/.

While visual search for targets within a complex scene might benefit from using augmented-reality (AR) head-mounted display (HMD) technologies helping to efficiently direct human attention, imperfectly reliable automation support could manifest in occasional errors. The current study examined the effectiveness of different HMD cues that might support visual search performance and their respective consequences following automation errors. Fifty-six participants searched a 3D environment containing 48 objects in a room, in order to locate a target object that was viewed prior to each trial. They searched either unaided or assisted by one of three HMD types of cues: an arrow pointing to the target, a plan-view minimap highlighting the target, and a constantly visible icon depicting the appearance of the target object. The cue was incorrect on 17% of the trials for one group of participants and 100% correct for the second group. Through both analysis and modeling of both search speed and accuracy, the results indicated that the arrow and minimap cues depicting location information were more effective than the icon cue depicting visual appearance, both overall, and when the cue was correct. However, there was a tradeoff on the infrequent occasions when the cue erred. The most effective AR-based cue led to a greater automation bias, in which the cue was more often blindly followed without careful examination of the raw images. The results speak to the benefits of augmented reality and the need to examine potential costs when AR-conveyed information may be incorrect because of imperfectly reliable systems., Comment: Under revision in IEEE Transactions on Human-Machine Systems; Number of pages: 12; Number of figures: 5

Recent years have witnessed the availability of richer and richer datasets in a variety of domains, where signals often have a multi-modal nature, blending temporal, relational and semantic information. Within this context, several works have shown that standard network models are sometimes not sufficient to properly capture the complexity of real-world interacting systems. For this reason, different attempts have been made to enrich the network language, leading to the emerging field of higher-order networks. In this work, we investigate the possibility of applying methods from higher-order networks to extract information from the online trade of Non-fungible tokens (NFTs), leveraging on their intrinsic temporal and non-Markovian nature. While NFTs as a technology open up the realms for many exciting applications, its future is marred by challenges of proof of ownership, scams, wash trading and possible money laundering. We demonstrate that by investigating time-respecting non-Markovian paths exhibited by NFT trades, we provide a practical path-based approach to fraud detection., Comment: Abstract accepted as a workshop presentation at Complex Data Blocks, a satellite of the 2022 Conference of Complex Systems

In-hand object manipulation is challenging to simulate due to complex contact dynamics, non-repetitive finger gaits, and the need to indirectly control unactuated objects. Further adapting a successful manipulation skill to new objects with different shapes and physical properties is a similarly challenging problem. In this work, we show that natural and robust in-hand manipulation of simple objects in a dynamic simulation can be learned from a high quality motion capture example via deep reinforcement learning with careful designs of the imitation learning problem. We apply our approach on both single-handed and two-handed dexterous manipulations of diverse object shapes and motions. We then demonstrate further adaptation of the example motion to a more complex shape through curriculum learning on intermediate shapes morphed between the source and target object. While a naive curriculum of progressive morphs often falls short, we propose a simple greedy curriculum search algorithm that can successfully apply to a range of objects such as a teapot, bunny, bottle, train, and elephant., Comment: Published as a conference paper at EuroGraphics 2023