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Articulated object manipulation is ubiquitous in daily life. In this paper, we present DexSim2Real$^{2}$, a novel robot learning framework for goal-conditioned articulated object manipulation using both two-finger grippers and multi-finger dexterous hands. The key of our framework is constructing an explicit world model of unseen articulated objects through active one-step interactions. This explicit world model enables sampling-based model predictive control to plan trajectories achieving different manipulation goals without needing human demonstrations or reinforcement learning. It first predicts an interaction motion using an affordance estimation network trained on self-supervised interaction data or videos of human manipulation from the internet. After executing this interaction on the real robot, the framework constructs a digital twin of the articulated object in simulation based on the two point clouds before and after the interaction. For dexterous multi-finger manipulation, we propose to utilize eigengrasp to reduce the high-dimensional action space, enabling more efficient trajectory searching. Extensive experiments validate the framework's effectiveness for precise articulated object manipulation in both simulation and the real world using a two-finger gripper and a 16-DoF dexterous hand. The robust generalizability of the explicit world model also enables advanced manipulation strategies, such as manipulating with different tools., Comment: Project Webpage: https://jiangtaoran.github.io/dexsim2real2_website/. arXiv admin note: text overlap with arXiv:2302.10693

Continuous blood pressure (BP) monitoring is essential for timely diagnosis and intervention in critical care settings. However, BP varies significantly across individuals, this inter-patient variability motivates the development of personalized models tailored to each patient's physiology. In this work, we propose a personalized BP forecasting model mainly using electrocardiogram (ECG) and photoplethysmogram (PPG) signals. This time-series model incorporates 2D representation learning to capture complex physiological relationships. Experiments are conducted on datasets collected from three diverse scenarios with BP measurements from 60 subjects total. Results demonstrate that the model achieves accurate and robust BP forecasts across scenarios within the Association for the Advancement of Medical Instrumentation (AAMI) standard criteria. This reliable early detection of abnormal fluctuations in BP is crucial for at-risk patients undergoing surgery or intensive care. The proposed model provides a valuable addition for continuous BP tracking to reduce mortality and improve prognosis., Comment: 5 pages, 2 figures

Solving real-world nonlinear semiconductor device problems modeled by the drift-diffusion equations coupled with the Poisson equation (also known as the Poisson-Nernst-Planck equations) necessitates an accurate and efficient numerical scheme which can avoid non-physical oscillations even for problems with extremely sharp doping profiles. In this paper, we propose a flexible and high-order hybridizable discontinuous Galerkin (HDG) scheme with harmonic averaging (HA) technique to tackle these challenges. The proposed HDG-HA scheme combines the robustness of finite volume Scharfetter-Gummel (FVSG) method with the high-order accuracy and $hp$-flexibility offered by the locally conservative HDG scheme. The coupled Poisson equation and two drift-diffusion equations are simultaneously solved by the Newton method. Indicators based on the gradient of net doping $N$ and solution variables are proposed to switch between cells with HA technique and high-order conventional HDG cells, utilizing the flexibility of HDG scheme. Numerical results suggest that the proposed scheme does not exhibit oscillations or convergence issues, even when applied to heavily doped and sharp PN-junctions. Devices with circular junctions and realistic doping profiles are simulated in two dimensions, qualifying this scheme for practical simulation of real-world semiconductor devices.

Quantitative magnetic resonance imaging (qMRI) is increasingly investigated for use in a variety of clinical tasks from diagnosis, through staging, to treatment monitoring. However, experiment design in qMRI, the identification of the optimal acquisition protocols, has been focused on obtaining the most precise parameter estimations, with no regard for the specific requirements of downstream tasks. Here we propose SCREENER: A general framework for task-specific experiment design in quantitative MRI. SCREENER incorporates a task-specific objective and seeks the optimal protocol with a deep-reinforcement-learning (DRL) based optimization strategy. To illustrate this framework, we employ a task of classifying the inflammation status of bone marrow using diffusion MRI data with intravoxel incoherent motion (IVIM) modelling. Results demonstrate SCREENER outperforms previous ad hoc and optimized protocols under clinical signal-to-noise ratio (SNR) conditions, achieving significant improvement, both in binary classification tasks, e.g. from 67% to 89%, and in a multi-class classification task, from 46% to 59%. Additionally, we show this improvement is robust to the SNR. Lastly, we demonstrate the advantage of DRL-based optimization strategy, enabling zero-shot discovery of near-optimal protocols for a range of SNRs not used in training. In conclusion, SCREENER has the potential to enable wider uptake of qMRI in the clinic.

We develop link rate control policies to minimize the queueing delay of packets in overloaded networks. We show that increasing link rates does not guarantee delay reduction during overload. We consider a fluid queueing model that facilitates explicit characterization of the queueing delay of packets, and establish explicit conditions on link rates that can minimize the average and maximum queueing delay in both single-hop and multi-stage (switching) networks. These min-delay conditions require maintaining an identical ratio between the ingress and egress rates of different nodes at the same layer of the network. We term the policies that follow these conditions rate-proportional policies. We further generalize the rate-proportional policies to queue-proportional policies, which minimize the queueing delay asymptotically based on the time-varying queue length while remaining agnostic of packet arrival rates. We validate that the proposed policies lead to minimum queueing delay under various network topologies and settings, compared with benchmarks including the backpressure policy that maximizes network throughput and the max-link-rate policy that fully utilizes bandwidth. We further remark that the explicit min-delay policy design in multi-stage networks facilitates co-optimization with other metrics, such as minimizing total bandwidth, balancing link utilization and node buffer usage. This demonstrates the wider utility of our main results in data center network optimization in practice.

Anomalous Hall effect (AHE), one of the most important electronic transport phenomena, generally appears in ferromagnetic materials but is rare in materials without magnetic elements. Here, we present a study of La$_3$MgBi$_5$, whose band structure carries multitype Dirac fermions. Although magnetic elements are absent in La$_3$MgBi$_5$, clear signals of AHE can be observed. In particular, the anomalous Hall conductivity is extremely large, reaching 42,356 $\Omega^{-1}$ cm$^{-1}$ with an anomalous Hall angle of 8.8 %, the largest one that has been observed in the current AHE systems. The AHE is suggested to originate from the combination of skew scattering and Berry curvature. Another unique property discovered in La$_3$MgBi$_5$ is the axial diamagnetism. The diamagnetism is significantly enhanced and dominates the magnetization in the axial directions, which is the result of restricted motion of the Dirac fermion at Fermi level. Our findings not only establish La$_3$MgBi$_5$ as a suitable platform to study AHE and quantum transport, but also indicate the great potential of 315-type Bi-based materials for exploring novel physical properties.

This paper proposes a novel method rooted in differential geometry to approximate the voltage stability boundary of power systems under high variability of renewable generation. We extract intrinsic geometric information of the power flow solution manifold at a given operating point. Specifically, coefficients of the Levi-Civita connection are constructed to approximate the geodesics of the manifold starting at an operating point along any interested directions that represent possible fluctuations in generation and load. Then, based on the geodesic approximation, we further predict the voltage collapse point by solving a few univariate quadratic equations. Conventional methods mostly rely on either expensive numerical continuation at specified directions or numerical optimization. Instead, the proposed approach constructs the Christoffel symbols of the second kind from the Riemannian metric tensors to characterize the complete local geometry which is then extended to the proximity of the stability boundary with efficient computations. As a result, this approach is suitable to handle high-dimensional variability in operating points due to the large-scale integration of renewable resources. Using various case studies, we demonstrate the advantages of the proposed method and provide additional insights and discussions on voltage stability in renewable-rich power systems., Comment: 8 pages, 9 figures

Classic Graph Neural Network (GNN) inference approaches, designed for static graphs, are ill-suited for streaming graphs that evolve with time. The dynamism intrinsic to streaming graphs necessitates constant updates, posing unique challenges to acceleration on GPU. We address these challenges based on two key insights: (1) Inside the $k$-hop neighborhood, a significant fraction of the nodes is not impacted by the modified edges when the model uses min or max as aggregation function; (2) When the model weights remain static while the graph structure changes, node embeddings can incrementally evolve over time by computing only the impacted part of the neighborhood. With these insights, we propose a novel method, InkStream, designed for real-time inference with minimal memory access and computation, while ensuring an identical output to conventional methods. InkStream operates on the principle of propagating and fetching data only when necessary. It uses an event-based system to control inter-layer effect propagation and intra-layer incremental updates of node embedding. InkStream is highly extensible and easily configurable by allowing users to create and process customized events. We showcase that less than 10 lines of additional user code are needed to support popular GNN models such as GCN, GraphSAGE, and GIN. Our experiments with three GNN models on four large graphs demonstrate that InkStream accelerates by 2.5-427$\times$ on a CPU cluster and 2.4-343$\times$ on two different GPU clusters while producing identical outputs as GNN model inference on the latest graph snapshot.

Coarse-Grained Reconfigurable Arrays (CGRA) are promising edge accelerators due to the outstanding balance in flexibility, performance, and energy efficiency. Classic CGRAs statically map compute operations onto the processing elements (PE) and route the data dependencies among the operations through the Network-on-Chip. However, CGRAs are designed for fine-grained static instruction-level parallelism and struggle to accelerate applications with dynamic and irregular data-level parallelism, such as graph processing. To address this limitation, we present Flip, a novel accelerator that enhances traditional CGRA architectures to boost the performance of graph applications. Flip retains the classic CGRA execution model while introducing a special data-centric mode for efficient graph processing. Specifically, it exploits the natural data parallelism of graph algorithms by mapping graph vertices onto processing elements (PEs) rather than the operations, and supporting dynamic routing of temporary data according to the runtime evolution of the graph frontier. Experimental results demonstrate that Flip achieves up to 36$\times$ speedup with merely 19% more area compared to classic CGRAs. Compared to state-of-the-art large-scale graph processors, Flip has similar energy efficiency and 2.2$\times$ better area efficiency at a much-reduced power/area budget.

Purpose: Slice-to-volume registration and super-resolution reconstruction (SVR-SRR) is commonly used to generate 3D volumes of the fetal brain from 2D stacks of slices acquired in multiple orientations. A critical initial step in this pipeline is to select one stack with the minimum motion as a reference for registration. An accurate and unbiased motion assessment (MA) is thus crucial for successful selection. Methods: We presented a MA method that determines the minimum motion stack based on 3D low-rank approximation using CANDECOMP/PARAFAC (CP) decomposition. Compared to the current 2D singular value decomposition (SVD) based method that requires flattening stacks into matrices to obtain ranks, in which the spatial information is lost, the CP-based method can factorize 3D stack into low-rank and sparse components in a computationally efficient manner. The difference between the original stack and its low-rank approximation was proposed as the motion indicator. Results: Compared to SVD-based methods, our proposed CP-based MA demonstrated higher sensitivity in detecting small motion with a lower baseline bias. Experiments on randomly simulated motion illustrated that the proposed CP method achieved a higher success rate of 95.45% in identifying the minimum motion stack, compared to SVD-based method with a success rate of 58.18%. We further demonstrated that combining CP-based MA with existing SRR-SVR pipeline significantly improved 3D volume reconstruction. Conclusion: The proposed CP-based MA method showed superior performance compared to SVD-based methods with higher sensitivity to motion, success rate, and lower baseline bias, and can be used as a prior step to improve fetal brain reconstruction., Comment: 6 figures. Correspondence to: Dan Wu, Ph.D. E-mail: danwu.bme@zju.edu.cn