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Bathymetry, the study of underwater topography, relies on sonar mapping of submerged structures. These measurements, critical for infrastructure health monitoring, often require expensive instrumentation. The high financial risk associated with sensor damage or vessel loss creates a reluctance to deploy uncrewed surface vessels (USVs) for bathymetry. However, the crewed-boat bathymetry operations, are costly, pose hazards to personnel, and frequently fail to achieve the stable conditions necessary for bathymetry data collection, especially under high currents. Further research is essential to advance autonomous control, navigation, and data processing technologies, with a particular focus on bathymetry. There is a notable lack of accessible hardware platforms that allow for integrated research in both bathymetry-focused autonomous control and navigation, as well as data evaluation and processing. This paper addresses this gap through the design and implementation of two complementary USV systems tailored for uncrewed bathymetry research. This includes a low-cost USV for Navigation And Control research (NAC-USV) and a second, high-end USV equipped with a high-resolution multi-beam sonar and the associated hardware for Bathymetry data quality Evaluation and Post-processing research (BEP-USV). The NAC-USV facilitates the investigation of autonomous, fail-safe navigation and control, emphasizing the stability requirements for high-quality bathymetry data collection while minimizing the risk to equipment. The BEP-USV, which mirrors the NAC-USV hardware, is then used for additional control validation and in-depth exploration of bathymetry data evaluation and post-processing methodologies. We detail the design and implementation of both systems, and open source the design. Furthermore, we demonstrate the system's effectiveness in a range of operational scenarios., Comment: Corresponding author: Iman Soltani (isoltani@ucdavis.edu)

Financial Sentiment Analysis (FSA) traditionally relies on human-annotated sentiment labels to infer investor sentiment and forecast market movements. However, inferring the potential market impact of words based on human-perceived intentions is inherently challenging. We hypothesize that the historical market reactions to words, offer a more reliable indicator of their potential impact on markets than subjective sentiment interpretations by human annotators. To test this hypothesis, a market-derived labeling approach is proposed to assign tweet labels based on ensuing short-term price trends, enabling the language model to capture the relationship between textual signals and market dynamics directly. A domain-specific language model was fine-tuned on these labels, achieving up to an 11% improvement in short-term trend prediction accuracy over traditional sentiment-based benchmarks. Moreover, by incorporating market and temporal context through prompt-tuning, the proposed context-aware language model demonstrated an accuracy of 89.6% on a curated dataset of 227 impactful Bitcoin-related news events with significant market impacts. Aggregating daily tweet predictions into trading signals, our method outperformed traditional fusion models (which combine sentiment-based and price-based predictions). It challenged the assumption that sentiment-based signals are inferior to price-based predictions in forecasting market movements. Backtesting these signals across three distinct market regimes yielded robust Sharpe ratios of up to 5.07 in trending markets and 3.73 in neutral markets. Our findings demonstrate that language models can serve as effective short-term market predictors. This paradigm shift underscores the untapped capabilities of language models in financial decision-making and opens new avenues for market prediction applications., Comment: 13 pages, 6 figures

An experiment or theory is classically explainable if it can be reproduced by some noncontextual ontological model. In this work, we adapt the notion of ontological models and generalized noncontextuality so it applies to the framework of operational probabilistic theories (OPTs). A defining feature of quotiented OPTs, which sets them apart from the closely related framework of generalized probabilistic theories (GPTs), is their explicit specification of the structure of instruments, these being generalizations of $\textit{quantum instruments}$ (including nondestructive measurements); in particular, one needs to explicitly declare which collections of transformations constitute a valid instrument. We are particularly interested in strongly causal OPTs, in which the choice of a future instrument can be conditioned on a past measurement outcome. This instrument structure might seem to permit the possibility of a contextual kind of ontological representation, where the representation of a given transformation depends on which instrument it is considered a part of. However, we prove that this is not possible by showing that for strongly causal quotiented OPTs the structure of instruments does $\textit{not}$ allow for such a contextual ontological representation. It follows that ontological representations of strongly causal quotiented OPTs are entirely determined by their action on individual transformations, with no dependence on the structure of instruments.

Implicit Neural Representations (INRs) have emerged as a powerful framework for modeling continuous signals. The spectral bias of ReLU-based networks is a well-established limitation, restricting their ability to capture fine-grained details in target signals. While previous works have attempted to mitigate this issue through frequency-based encodings or architectural modifications, these approaches often introduce additional complexity and do not fully address the underlying challenge of learning high-frequency components efficiently. We introduce Sinusoidal Trainable Activation Functions (STAF), designed to directly tackle this limitation by enabling networks to adaptively learn and represent complex signals with higher precision and efficiency. STAF inherently modulates its frequency components, allowing for self-adaptive spectral learning. This capability significantly improves convergence speed and expressivity, making STAF highly effective for both signal representations and inverse problems. Through extensive evaluations, we demonstrate that STAF outperforms state-of-the-art (SOTA) methods in accuracy and reconstruction fidelity with superior Peak Signal-to-Noise Ratio (PSNR). These results establish STAF as a robust solution for overcoming spectral bias and the capacity-convergence gap, making it valuable for computer graphics and related fields. Our codebase is publicly accessible on the https://github.com/AlirezaMorsali/STAF.

In recent years, there have been significant improvements in various forms of image outlier detection. However, outlier detection performance under adversarial settings lags far behind that in standard settings. This is due to the lack of effective exposure to adversarial scenarios during training, especially on unseen outliers, leading to detection models failing to learn robust features. To bridge this gap, we introduce RODEO, a data-centric approach that generates effective outliers for robust outlier detection. More specifically, we show that incorporating outlier exposure (OE) and adversarial training can be an effective strategy for this purpose, as long as the exposed training outliers meet certain characteristics, including diversity, and both conceptual differentiability and analogy to the inlier samples. We leverage a text-to-image model to achieve this goal. We demonstrate both quantitatively and qualitatively that our adaptive OE method effectively generates ``diverse'' and ``near-distribution'' outliers, leveraging information from both text and image domains. Moreover, our experimental results show that utilizing our synthesized outliers significantly enhances the performance of the outlier detector, particularly in adversarial settings., Comment: Accepted at the Forty-First International Conference on Machine Learning (ICML) 2024. The implementation of our work is available at: \url{https://github.com/rohban-lab/RODEO}

Artificial Intelligence (AI)-native receivers prove significant performance improvement in high noise regimes and can potentially reduce communication overhead compared to the traditional receiver. However, their performance highly depends on the representativeness of the training dataset. A major issue is the uncertainty of whether the training dataset covers all test environments and waveform configurations, and thus, whether the trained model is robust in practical deployment conditions. To this end, we propose a joint measurement-recovery framework for AI-native transceivers post deployment, called VERITAS, that continuously looks for distribution shifts in the received signals and triggers finite re-training spurts. VERITAS monitors the wireless channel using 5G pilots fed to an auxiliary neural network that detects out-of-distribution channel profile, transmitter speed, and delay spread. As soon as such a change is detected, a traditional (reference) receiver is activated, which runs for a period of time in parallel to the AI-native receiver. Finally, VERTIAS compares the bit probabilities of the AI-native and the reference receivers for the same received data inputs, and decides whether or not a retraining process needs to be initiated. Our evaluations reveal that VERITAS can detect changes in the channel profile, transmitter speed, and delay spread with 99%, 97%, and 69% accuracies, respectively, followed by timely initiation of retraining for 86%, 93.3%, and 94.8% of inputs in channel profile, transmitter speed, and delay spread test sets, respectively., Comment: This work has been submitted to the IEEE for possible publication

The performance differential of large language models (LLM) between languages hinders their effective deployment in many regions, inhibiting the potential economic and societal value of generative AI tools in many communities. However, the development of functional LLMs in many languages (\ie, multilingual LLMs) is bottlenecked by the lack of high-quality evaluation resources in languages other than English. Moreover, current practices in multilingual benchmark construction often translate English resources, ignoring the regional and cultural knowledge of the environments in which multilingual systems would be used. In this work, we construct an evaluation suite of 197,243 QA pairs from local exam sources to measure the capabilities of multilingual LLMs in a variety of regional contexts. Our novel resource, INCLUDE, is a comprehensive knowledge- and reasoning-centric benchmark across 44 written languages that evaluates multilingual LLMs for performance in the actual language environments where they would be deployed.

We explore semiclassical stellar collapse scenarios with pressure within the framework of effective loop quantum gravity. The objective of this work is to generalize existent models of semiclassical dust collapse and examine the role of pressure in the formation of shell-crossing singularities in a semiclassical context. Numerical investigations show that the shell-focusing singularity characterizing the end state of any classical stellar collapse is here resolved by quantum gravitational effects and replaced by a bounce of the star. However, they also show that shell-crossing singularities remain a general feature of these models and that the inclusion of pressure does not alter the qualitative picture emerging from semiclassical models of inhomogeneous dust collapse. Given the absence of a shell-focusing singularity and the possibility of extending spacetime in the future of the trapped region formed by gravitational collapse, the investigation of the causal structure of the spacetime describing the semiclassical collapse of a star is inevitably tied to a better understanding of the physics of these shell-crossing singularities., Comment: 31 pages, 14 figures

Understanding and classifying chiral structural color of scarab beetles across the phylogenetic tree is an important scientific tool to explore the origins of the homochiral optical response in biological structures with a potential relation to the homochirality of (chitin) molecules. We report hyperspectral polarization resolved images of the scarab beetle \textit{Protaetia speciosa jousselini} (Gory \& Percheron, 1833) and resolve the state of polarization as a function of both position (spatial resolution of $\sim$20 $\mu$m $\times$ 10 $\mu$m) and wavelength (spectral resolution of 5.5 nm). We observe a strong left-handed chiral Bragg reflection and analyze the center wavelength and width of the spectrum. The reflection and state of polarization scale with the center wavelength of the Bragg reflection, while the relative width of reflection spectrum is characterized by a chiral photonic strength parameter $\psi_C \approx 0.14$ that is independent of the reflected color and position. Based on the self-similarity of the reflection spectra we interpret variation in reflectivity as variations in the thickness of the chiral Bragg reflector across the beetle., Comment: 13 pages, 8 figures

The widespread implementation of urban surveillance systems has necessitated more sophisticated techniques for anomaly detection to ensure enhanced public safety. This paper presents a significant advancement in the field of anomaly detection through the application of Two-Stream Inflated 3D (I3D) Convolutional Networks. These networks substantially outperform traditional 3D Convolutional Networks (C3D) by more effectively extracting spatial and temporal features from surveillance videos, thus improving the precision of anomaly detection. Our research advances the field by implementing a weakly supervised learning framework based on Multiple Instance Learning (MIL), which uniquely conceptualizes surveillance videos as collections of 'bags' that contain instances (video clips). Each instance is innovatively processed through a ranking mechanism that prioritizes clips based on their potential to display anomalies. This novel strategy not only enhances the accuracy and precision of anomaly detection but also significantly diminishes the dependency on extensive manual annotations. Moreover, through meticulous optimization of model settings, including the choice of optimizer, our approach not only establishes new benchmarks in the performance of anomaly detection systems but also offers a scalable and efficient solution for real-world surveillance applications. This paper contributes significantly to the field of computer vision by delivering a more adaptable, efficient, and context-aware anomaly detection system, which is poised to redefine practices in urban surveillance., Comment: 11 pages, 8 figures

Online competitive action games have flourished as a space for entertainment and social connections, yet they face challenges from a small percentage of players engaging in disruptive behaviors. This study delves into the under-explored realm of understanding the effects of moderation on player behavior within online gaming on an example of a popular title - Call of Duty(R): Modern Warfare(R)II. We employ a quasi-experimental design and causal inference techniques to examine the impact of moderation in a real-world industry-scale moderation system. We further delve into novel aspects around the impact of delayed moderation, as well as the severity of applied punishment. We examine these effects on a set of four disruptive behaviors including cheating, offensive user name, chat, and voice. Our findings uncover the dual impact moderation has on reducing disruptive behavior and discouraging disruptive players from participating. We further uncover differences in the effectiveness of quick and delayed moderation and the varying severity of punishment. Our examination of real-world gaming interactions sets a precedent in understanding the effectiveness of moderation and its impact on player behavior. Our insights offer actionable suggestions for the most promising avenues for improving real-world moderation practices, as well as the heterogeneous impact moderation has on indifferent players.

The task of spatial clustering of transcriptomics data is of paramount importance. It enables the classification of tissue samples into diverse subpopulations of cells, which, in turn, facilitates the analysis of the biological functions of clusters, tissue reconstruction, and cell-cell interactions. Many approaches leverage gene expressions, spatial locations, and histological images to detect spatial domains; however, Graph Neural Networks (GNNs) as state of the art models suffer from a limitation in the assumption of pairwise connections between nodes. In the case of domain detection in spatial transcriptomics, some cells are found to be not directly related. Still, they are grouped as the same domain, which shows the incapability of GNNs for capturing implicit connections among the cells. While graph edges connect only two nodes, hyperedges connect an arbitrary number of nodes along their edges, which lets Hypergraph Neural Networks (HGNNs) capture and utilize richer and more complex structural information than traditional GNNs. We use autoencoders to address the limitation of not having the actual labels, which are well-suited for unsupervised learning. Our model has demonstrated exceptional performance, achieving the highest iLISI score of 1.843 compared to other methods. This score indicates the greatest diversity of cell types identified by our method. Furthermore, our model outperforms other methods in downstream clustering, achieving the highest ARI values of 0.51 and Leiden score of 0.60.

Climate change is negatively impacting the world's biodiversity. To build automated systems to monitor these negative biodiversity impacts, large-scale, volunteer-collected datasets like iNaturalist are built from community-identified, natural imagery. However, such volunteer-based data are opportunistic and lack a structured sampling strategy, resulting in geographic, temporal, observation quality, and socioeconomic, biases that stymie uptake of these models for downstream biodiversity monitoring tasks. Here we introduce DivShift North American West Coast (DivShift-NAWC), a curated dataset of almost 8 million iNaturalist plant images across the western coast of North America, for exploring the effects of these biases on deep learning model performance. We compare model performance across four known biases and observe that they indeed confound model performance. We suggest practical strategies for curating datasets to train deep learning models for monitoring climate change's impacts on the world's biodiversity., Comment: Accepted to NeurIPS 2024 Workshop on Tackling Climate Change with Machine Learning

Navigating autonomously in marine environments including dynamic and static obstacles, and strong flow disturbances, such as in high-flow rivers, poses significant challenges for USVs. To address these challenges, we propose a novel methodology that leverages two types of attention: spatial attention, which learns to integrate diverse environmental factors and sensory information into navigation decisions, and temporal attention within a transformer framework to account for the dynamic, continuously changing nature of the environment. We devise MarineFormer, a Trans${\bf \text{former}}$-based navigation policy for dynamic ${\bf \text{Marine}}$ environments, trained end-to-end through reinforcement learning (RL). At its core, MarineFormer uses graph attention to capture spatial information and a transformer architecture to process temporal sequences in an environment that simulates a 2D turbulent marine condition involving multiple static and dynamic obstacles. We extensively evaluate the performance of the proposed method versus the state-of-the-art methods, as well as other classical planners. Our approach outperforms the state-of-the-art by nearly $20\%$ in episode completion success rate and additionally enhances the USV's path length efficiency.

In-hand manipulation of tools using dexterous hands in real-world is an underexplored problem in the literature. In addition to more complex geometry and larger size of the tools compared to more commonly used objects like cubes or cylinders, task oriented in-hand tool manipulation involves many sub-tasks to be performed sequentially. This may involve reaching to the tool, picking it up, reorienting it in hand with or without regrasping to reach to a desired final grasp appropriate for the tool usage, and carrying the tool to the desired pose. Research on long-horizon manipulation using dexterous hands is rather limited and the existing work focus on learning the individual sub-tasks using a method like reinforcement learning (RL) and combine the policies for different subtasks to perform a long horizon task. However, in general a single method may not be the best for all the sub-tasks, and this can be more pronounced when dealing with multi-fingered hands manipulating objects with complex geometry like tools. In this paper, we investigate the use of a mixed-method approach to solve for the long-horizon task of tool usage and we use imitation learning, reinforcement learning and model based control. We also discuss a new RL-based teacher-student framework that combines real world data into offline training. We show that our proposed approach for each subtask outperforms the commonly adopted reinforcement learning approach across different subtasks and in performing the long horizon task in simulation. Finally we show the successful transferability to real world.

Planning contact-rich interactions for multi-finger manipulation is challenging due to the high-dimensionality and hybrid nature of dynamics. Recent advances in data-driven methods have shown promise, but are sensitive to the quality of training data. Combining learning with classical methods like trajectory optimization and search adds additional structure to the problem and domain knowledge in the form of constraints, which can lead to outperforming the data on which models are trained. We present Diffusion-Informed Probabilistic Contact Search (DIPS), which uses an A* search to plan a sequence of contact modes informed by a diffusion model. We train the diffusion model on a dataset of demonstrations consisting of contact modes and trajectories generated by a trajectory optimizer given those modes. In addition, we use a particle filter-inspired method to reason about variability in diffusion sampling arising from model error, estimating likelihoods of trajectories using a learned discriminator. We show that our method outperforms ablations that do not reason about variability and can plan contact sequences that outperform those found in training data across multiple tasks. We evaluate on simulated tabletop card sliding and screwdriver turning tasks, as well as the screwdriver task in hardware to show that our combined learning and planning approach transfers to the real world.

Imitation learning has demonstrated significant potential in performing high-precision manipulation tasks using visual feedback from cameras. However, it is common practice in imitation learning for cameras to be fixed in place, resulting in issues like occlusion and limited field of view. Furthermore, cameras are often placed in broad, general locations, without an effective viewpoint specific to the robot's task. In this work, we investigate the utility of active vision (AV) for imitation learning and manipulation, in which, in addition to the manipulation policy, the robot learns an AV policy from human demonstrations to dynamically change the robot's camera viewpoint to obtain better information about its environment and the given task. We introduce AV-ALOHA, a new bimanual teleoperation robot system with AV, an extension of the ALOHA 2 robot system, incorporating an additional 7-DoF robot arm that only carries a stereo camera and is solely tasked with finding the best viewpoint. This camera streams stereo video to an operator wearing a virtual reality (VR) headset, allowing the operator to control the camera pose using head and body movements. The system provides an immersive teleoperation experience, with bimanual first-person control, enabling the operator to dynamically explore and search the scene and simultaneously interact with the environment. We conduct imitation learning experiments of our system both in real-world and in simulation, across a variety of tasks that emphasize viewpoint planning. Our results demonstrate the effectiveness of human-guided AV for imitation learning, showing significant improvements over fixed cameras in tasks with limited visibility. Project website: https://soltanilara.github.io/av-aloha/, Comment: 6 pages, 4 figures

Human navigation is facilitated through the association of actions with landmarks, tapping into our ability to recognize salient features in our environment. Consequently, navigational instructions for humans can be extremely concise, such as short verbal descriptions, indicating a small memory requirement and no reliance on complex and overly accurate navigation tools. Conversely, current autonomous navigation schemes rely on accurate positioning devices and algorithms as well as extensive streams of sensory data collected from the environment. Inspired by this human capability and motivated by the associated technological gap, in this work we propose a hierarchical end-to-end meta-learning scheme that enables a mobile robot to navigate in a previously unknown environment upon presentation of only a few sample images of a set of landmarks along with their corresponding high-level navigation actions. This dramatically simplifies the wayfinding process and enables easy adoption to new environments. For few-shot waypoint detection, we implement a metric-based few-shot learning technique through distribution embedding. Waypoint detection triggers the multi-task low-level maneuver controller module to execute the corresponding high-level navigation action. We demonstrate the effectiveness of the scheme using a small-scale autonomous vehicle on novel indoor navigation tasks in several previously unseen environments., Comment: Appeared at the 40th Anniversary of the IEEE International Conference on Robotics and Automation (ICRA@40), 23-26 September, 2024, Rotterdam, The Netherlands. 9 pages, 5 figures

Proto-Danksharding, proposed in Ethereum Improvement Proposal 4844 (EIP-4844), aims to incrementally improve the scalability of the Ethereum blockchain by introducing a new type of transaction known as blob-carrying transactions. These transactions incorporate binary large objects (blobs) of data that are stored off-chain but referenced and verified on-chain to ensure data availability. By decoupling data availability from transaction execution, Proto-Danksharding alleviates network congestion and reduces gas fees, laying the groundwork for future, more advanced sharding solutions. This letter provides an analytical model to derive the delay for these new transactions. We model the system as an $\mathrm{M/D}^B/1$ queue which we then find its steady state distribution through embedding a Markov chain and use of supplementary variable method. We show that transactions with more blobs but less frequent impose higher delays on the system compared to lower blobs but more frequent.

Hypergraphs tackle the limitations of traditional graphs by introducing {\em hyperedges}. While graph edges connect only two nodes, hyperedges connect an arbitrary number of nodes along their edges. Also, the underlying message-passing mechanisms in Hypergraph Neural Networks (HGNNs) are in the form of vertex-hyperedge-vertex, which let HGNNs capture and utilize richer and more complex structural information than traditional Graph Neural Networks (GNNs). More recently, the idea of overlapping subgraphs has emerged. These subgraphs can capture more information about subgroups of vertices without limiting one vertex belonging to just one group, allowing vertices to belong to multiple groups or subgraphs. In addition, one of the most important problems in graph clustering is to find densest overlapping subgraphs (DOS). In this paper, we propose a solution to the DOS problem via Agglomerative Greedy Enumeration (DOSAGE) algorithm as a novel approach to enhance the process of generating the densest overlapping subgraphs and, hence, a robust construction of the hypergraphs. Experiments on standard benchmarks show that the DOSAGE algorithm significantly outperforms the HGNNs and six other methods on the node classification task.

Bimanual manipulation presents unique challenges compared to unimanual tasks due to the complexity of coordinating two robotic arms. In this paper, we introduce InterACT: Inter-dependency aware Action Chunking with Hierarchical Attention Transformers, a novel imitation learning framework designed specifically for bimanual manipulation. InterACT leverages hierarchical attention mechanisms to effectively capture inter-dependencies between dual-arm joint states and visual inputs. The framework comprises a Hierarchical Attention Encoder, which processes multi-modal inputs through segment-wise and cross-segment attention mechanisms, and a Multi-arm Decoder that generates each arm's action predictions in parallel, while sharing information between the arms through synchronization blocks by providing the other arm's intermediate output as context. Our experiments, conducted on various simulated and real-world bimanual manipulation tasks, demonstrate that InterACT outperforms existing methods. Detailed ablation studies further validate the significance of key components, including the impact of CLS tokens, cross-segment encoders, and synchronization blocks on task performance. We provide supplementary materials and videos on our project page., Comment: Accepted at Conference on Robot Learning (CoRL) 2024

Recent advances in deep learning have completely transformed the domain of computational pathology (CPath). More specifically, it has altered the diagnostic workflow of pathologists by integrating foundation models (FMs) and vision-language models (VLMs) in their assessment and decision-making process. The limitations of existing deep learning approaches in CPath can be overcome by FMs through learning a representation space that can be adapted to a wide variety of downstream tasks without explicit supervision. Deploying VLMs allow pathology reports written in natural language be used as rich semantic information sources to improve existing models as well as generate predictions in natural language form. In this survey, a holistic and systematic overview of recent innovations in FMs and VLMs in CPath is presented. Furthermore, the tools, datasets and training schemes for these models are summarized in addition to categorizing them into distinct groups. This extensive survey highlights the current trends in CPath and its possible revolution through the use of FMs and VLMs in the future., Comment: 20 pages, 19 figures and 9 tables

Parameterizing finger rolling and finger-object contacts in a differentiable manner is important for formulating dexterous manipulation as a trajectory optimization problem. In contrast to previous methods which often assume simplified geometries of the robot and object or do not explicitly model finger rolling, we propose a method to further extend the capabilities of dexterous manipulation by accounting for non-trivial geometries of both the robot and the object. By integrating the object's Signed Distance Field (SDF) with a sampling method, our method estimates contact and rolling-related variables in a differentiable manner and includes those in a trajectory optimization framework. This formulation naturally allows for the emergence of finger-rolling behaviors, enabling the robot to locally adjust the contact points. To evaluate our method, we introduce a benchmark featuring challenging multi-finger dexterous manipulation tasks, such as screwdriver turning and in-hand reorientation. Our method outperforms baselines in terms of achieving desired object configurations and avoiding dropping the object. We also successfully apply our method to a real-world screwdriver turning task and a cuboid alignment task, demonstrating its robustness to the sim2real gap.

Novelty detection is a critical task for deploying machine learning models in the open world. A crucial property of novelty detection methods is universality, which can be interpreted as generalization across various distributions of training or test data. More precisely, for novelty detection, distribution shifts may occur in the training set or the test set. Shifts in the training set refer to cases where we train a novelty detector on a new dataset and expect strong transferability. Conversely, distribution shifts in the test set indicate the methods' performance when the trained model encounters a shifted test sample. We experimentally show that existing methods falter in maintaining universality, which stems from their rigid inductive biases. Motivated by this, we aim for more generalized techniques that have more adaptable inductive biases. In this context, we leverage the fact that contrastive learning provides an efficient framework to easily switch and adapt to new inductive biases through the proper choice of augmentations in forming the negative pairs. We propose a novel probabilistic auto-negative pair generation method AutoAugOOD, along with contrastive learning, to yield a universal novelty detector method. Our experiments demonstrate the superiority of our method under different distribution shifts in various image benchmark datasets. Notably, our method emerges universality in the lens of adaptability to different setups of novelty detection, including one-class, unlabeled multi-class, and labeled multi-class settings. Code: https://github.com/mojtaba-nafez/UNODE, Comment: 16 pages, 5 figures, conference

Training data sets intended for unsupervised anomaly detection, typically presumed to be anomaly-free, often contain anomalies (or contamination), a challenge that significantly undermines model performance. Most robust unsupervised anomaly detection models rely on contamination ratio information to tackle contamination. However, in reality, contamination ratio may be inaccurate. We investigate on the impact of inaccurate contamination ratio information in robust unsupervised anomaly detection. We verify whether they are resilient to misinformed contamination ratios. Our investigation on 6 benchmark data sets reveals that such models are not adversely affected by exposure to misinformation. In fact, they can exhibit improved performance when provided with such inaccurate contamination ratios., Comment: This is an accepted extended abstract at Black in AI Workshop which will be co-located with NeurIPS 2024 in Canada

This research project's objective was to investigate the impacts of transit stop location (near-side versus far-side) on pedestrian safety and traffic operations. Three different video-based behavioral observation data collections at signalized intersections in Utah were utilized, studying: (1) transit vehicle stop events and transit rider crossing behaviors and vehicle conflicts; (2) pedestrian conflicts with right-turning vehicles (driver/pedestrian reactions, conflict severity); and (3) pedestrian crossing behaviors (crossing location, crossing behaviors). These outcomes were statistically compared for near-side versus far-side transit stop locations. Far-side transit stops appear better for general traffic operations. Although transit departure delays are more likely and impactful at far-side stops, actions can be taken to improve transit operations there. On the other hand, far-side transit stops appear to be worse for pedestrian safety, corroborating prior crash-based research findings. Specifically, conflicts at far-side stops were more severe, and drivers were less likely to slow or stop for pedestrians. Reconciling these differing findings likely requires improving pedestrian safety at some far-side transit stops, and prioritizing safety over operational efficiency at other near-side transit stops.

Recent advancements in learned image compression (LIC) methods have demonstrated superior performance over traditional hand-crafted codecs. These learning-based methods often employ convolutional neural networks (CNNs) or Transformer-based architectures. However, these nonlinear approaches frequently overlook the frequency characteristics of images, which limits their compression efficiency. To address this issue, we propose a novel Transformer-based image compression method that enhances the transformation stage by considering frequency components within the feature map. Our method integrates a novel Hybrid Spatial-Channel Attention Transformer Block (HSCATB), where a spatial-based branch independently handles high and low frequencies at the attention layer, and a Channel-aware Self-Attention (CaSA) module captures information across channels, significantly improving compression performance. Additionally, we introduce a Mixed Local-Global Feed Forward Network (MLGFFN) within the Transformer block to enhance the extraction of diverse and rich information, which is crucial for effective compression. These innovations collectively improve the transformation's ability to project data into a more decorrelated latent space, thereby boosting overall compression efficiency. Experimental results demonstrate that our framework surpasses state-of-the-art LIC methods in rate-distortion performance.

In this study, we explored whether and how area-wide air pollution affected individuals' activity participation and travel behaviors, and how these effects differed by neighborhood context. Using multi-day travel survey data provided by 403 adults from 230 households in a small urban area in northern Utah, US, we analyzed a series of 20 activity and travel outcomes. We investigated the associations of three different metrics of (measured and perceived) air quality with these outcomes, separately for residents of urban and suburban/rural neighborhoods, and controlled for personal and household characteristics. Our models found some measurable changes in activity and travel patterns on days with poor air quality. In urban areas, people engaged in more mandatory (work/school) activities, whereas there was no discernible change in suburban/rural areas. The total travel time for urban residents increased, driven by increases in trip-making and travel time by public modes (bus) and increases in travel time by private modes (car). On the other hand, suburban/rural residents traveled shorter total distances (mostly through lower vehicle miles traveled), and there was a notable uptick in the probability of being an active mode user (walk/bike). Air quality perceptions also seemed to play a role, at least for urban residents who walked/biked longer distances, rode the bus for longer distances/times, and drove fewer miles on days with worse perceived air pollution. Overall, the results are somewhat encouraging, finding more evidence of altruistic than risk-averse travel behavioral responses to episodes of area-wide air pollution; although, more research is needed.

Tomographic locality is a principle commonly used in the program of finding axioms that pick out quantum theory within the landscape of possible theories. The principle asserts the sufficiency of local measurements for achieving a tomographic characterization of any bipartite state. In this work, we explore the meaning of the principle of tomographic locality by developing a simple scheme for generating a wide variety of theories that violate the principle. In this scheme, one starts with a tomographically local theory -- which can be classical, quantum or post-quantum -- and a physical symmetry, and one restricts the processes in the theory to all and only those that are covariant with respect to the collective action of that symmetry. We refer to the resulting theories as twirled worlds. We show that failures of tomographic locality are ubiquitous in twirled worlds. From the possibility of such failures in classical twirled worlds, we argue that the failure of tomographic locality (i.e., tomographic nonlocality) does not imply ontological holism. Our results also demonstrate the need for researchers seeking to axiomatize quantum theory to take a stand on the question of whether there are superselection rules that have a fundamental status., Comment: 5+11 pages, 2 figures. Comments welcome!

Deep learning (DL) has emerged as a crucial tool in network anomaly detection (NAD) for cybersecurity. While DL models for anomaly detection excel at extracting features and learning patterns from data, they are vulnerable to data contamination -- the inadvertent inclusion of attack-related data in training sets presumed benign. This study evaluates the robustness of six unsupervised DL algorithms against data contamination using our proposed evaluation protocol. Results demonstrate significant performance degradation in state-of-the-art anomaly detection algorithms when exposed to contaminated data, highlighting the critical need for self-protection mechanisms in DL-based NAD models. To mitigate this vulnerability, we propose an enhanced auto-encoder with a constrained latent representation, allowing normal data to cluster more densely around a learnable center in the latent space. Our evaluation reveals that this approach exhibits improved resistance to data contamination compared to existing methods, offering a promising direction for more robust NAD systems., Comment: arXiv admin note: text overlap with arXiv:2207.03576