Miracle-dz/UniFAR-FTUs huggingface dataset:
MTR++: Multi-Agent Motion Prediction with Symmetric Scene Modeling and Guided Intention Querying

Motion prediction is crucial for autonomous driving systems to understand complex driving scenarios and make informed decisions. However, this task is challenging due to the diverse behaviors of traffic participants and complex environmental contexts. In this paper, we propose Motion TRansformer (MTR) frameworks to address these challenges. The initial MTR framework utilizes a transformer encoder-decoder structure with learnable intention queries, enabling efficient and accurate prediction of future trajectories. By customizing intention queries for distinct motion modalities, MTR improves multimodal motion prediction while reducing reliance on dense goal candidates. The framework comprises two essential processes: global intention localization, identifying the agent's intent to enhance overall efficiency, and local movement refinement, adaptively refining predicted trajectories for improved accuracy. Moreover, we introduce an advanced MTR++ framework, extending the capability of MTR to simultaneously predict multimodal motion for multiple agents. MTR++ incorporates symmetric context modeling and mutually-guided intention querying modules to facilitate future behavior interaction among multiple agents, resulting in scene-compliant future trajectories. Extensive experimental results demonstrate that the MTR framework achieves state-of-the-art performance on the highly-competitive motion prediction benchmarks, while the MTR++ framework surpasses its precursor, exhibiting enhanced performance and efficiency in predicting accurate multimodal future trajectories for multiple agents.
A Feasibility Study of Differentially Private Summary Statistics and Regression Analyses with Evaluations on Administrative and Survey Data

Federal administrative data, such as tax data, are invaluable for research, but because of privacy concerns, access to these data is typically limited to select agencies and a few individuals. An alternative to sharing microlevel data is to allow individuals to query statistics without directly accessing the confidential data. This paper studies the feasibility of using differentially private (DP) methods to make certain queries while preserving privacy. We also include new methodological adaptations to existing DP regression methods for using new data types and returning standard error estimates. We define feasibility as the impact of DP methods on analyses for making public policy decisions and the queries accuracy according to several utility metrics. We evaluate the methods using Internal Revenue Service data and public-use Current Population Survey data and identify how specific data features might challenge some of these methods. Our findings show that DP methods are feasible for simple, univariate statistics but struggle to produce accurate regression estimates and confidence intervals. To the best of our knowledge, this is the first comprehensive statistical study of DP regression methodology on real, complex datasets, and the findings have significant implications for the direction of a growing research field and public policy.
Sphere2Vec: A General-Purpose Location Representation Learning over a Spherical Surface for Large-Scale Geospatial Predictions

Generating learning-friendly representations for points in space is a fundamental and long-standing problem in ML. Recently, multi-scale encoding schemes (such as Space2Vec and NeRF) were proposed to directly encode any point in 2D/3D Euclidean space as a high-dimensional vector, and has been successfully applied to various geospatial prediction and generative tasks. However, all current 2D and 3D location encoders are designed to model point distances in Euclidean space. So when applied to large-scale real-world GPS coordinate datasets, which require distance metric learning on the spherical surface, both types of models can fail due to the map projection distortion problem (2D) and the spherical-to-Euclidean distance approximation error (3D). To solve these problems, we propose a multi-scale location encoder called Sphere2Vec which can preserve spherical distances when encoding point coordinates on a spherical surface. We developed a unified view of distance-reserving encoding on spheres based on the DFS. We also provide theoretical proof that the Sphere2Vec preserves the spherical surface distance between any two points, while existing encoding schemes do not. Experiments on 20 synthetic datasets show that Sphere2Vec can outperform all baseline models on all these datasets with up to 30.8% error rate reduction. We then apply Sphere2Vec to three geo-aware image classification tasks - fine-grained species recognition, Flickr image recognition, and remote sensing image classification. Results on 7 real-world datasets show the superiority of Sphere2Vec over multiple location encoders on all three tasks. Further analysis shows that Sphere2Vec outperforms other location encoder models, especially in the polar regions and data-sparse areas because of its nature for spherical surface distance preservation. Code and data are available at https://gengchenmai.github. io/sphere2vec-website/.
Practical and Asymptotically Exact Conditional Sampling in Diffusion Models

Diffusion models have been successful on a range of conditional generation tasks including molecular design and text-to-image generation. However, these achievements have primarily depended on task-specific conditional training or error-prone heuristic approximations. Ideally, a conditional generation method should provide exact samples for a broad range of conditional distributions without requiring task-specific training. To this end, we introduce the Twisted Diffusion Sampler, or TDS. TDS is a sequential Monte Carlo (SMC) algorithm that targets the conditional distributions of diffusion models. The main idea is to use twisting, an SMC technique that enjoys good computational efficiency, to incorporate heuristic approximations without compromising asymptotic exactness. We first find in simulation and on MNIST image inpainting and class-conditional generation tasks that TDS provides a computational statistical trade-off, yielding more accurate approximations with many particles but with empirical improvements over heuristics with as few as two particles. We then turn to motif-scaffolding, a core task in protein design, using a TDS extension to Riemannian diffusion models. On benchmark test cases, TDS allows flexible conditioning criteria and often outperforms the state of the art.
On the Cause of Unfairness: A Training Sample Perspective

Identifying the causes of a model's unfairness is an important yet relatively unexplored task. We look into this problem through the lens of training data - the major source of unfairness. We ask the following questions: How would the unfairness of a model change if its training samples (1) were collected from a different (e.g. demographic) group, (2) were labeled differently, or (3) whose features were modified? In other words, we quantify the influence of training samples on unfairness by counterfactually changing samples based on predefined concepts, i.e. data attributes such as features, labels, and sensitive attributes. Our framework not only can help practitioners understand the observed unfairness and mitigate it by repairing their training data, but also leads to many other applications, e.g. detecting mislabeling, fixing imbalanced representations, and detecting fairness-targeted poisoning attacks.
The Shaped Transformer: Attention Models in the Infinite Depth-and-Width Limit

In deep learning theory, the covariance matrix of the representations serves as a proxy to examine the network's trainability. Motivated by the success of Transformers, we study the covariance matrix of a modified Softmax-based attention model with skip connections in the proportional limit of infinite-depth-and-width. We show that at initialization the limiting distribution can be described by a stochastic differential equation (SDE) indexed by the depth-to-width ratio. To achieve a well-defined stochastic limit, the Transformer's attention mechanism is modified by centering the Softmax output at identity, and scaling the Softmax logits by a width-dependent temperature parameter. We examine the stability of the network through the corresponding SDE, showing how the scale of both the drift and diffusion can be elegantly controlled with the aid of residual connections. The existence of a stable SDE implies that the covariance structure is well-behaved, even for very large depth and width, thus preventing the notorious issues of rank degeneracy in deep attention models. Finally, we show, through simulations, that the SDE provides a surprisingly good description of the corresponding finite-size model. We coin the name shaped Transformer for these architectural modifications.
Numerical Investigation of Two Plasmon Decay Instability with Zakharov Model

Two plasmon decay instability (TPD) is a three wave parametric decay instability where a light wave decays into two electron plasma waves (plasmons). It is important in direct-drive inertial confinement fusion (ICF) because large amplitude plasma waves are able to generate hot electrons. These electrons might penetrate and preheat the ignition target while success of the scheme requires that the fuel is sufficiently cold. We investigated the TPD instability in 3D geometry driven by multiple laser beams for the first time with a new developed code called ZAK3D. ZAK3D is a fluid code solving driven and extended Zakharov equations. The stability properties and nonlinear evolution of TPD have been examined for various laser beam configurations that are relevant to ICF experiments. We find that absolute threshold of the TPD instability is determined by the total laser intensity of multiple beams if they could drive a common Langmuir wave in small wave number region. Half harmonic emission is one of the few important experimental diagnostics of the TPD instability. Historically, analysis of half harmonic emission has proven to be very difficult because of its complicated generation mechanisms. By extending ZAK3D, we developed a self consistent model, which can simultaneously calculate parametric instabilities and the generation of half harmonic light wave via linear mode conversion, nonlinear mode conversion, Thomson down scattering and stimulated Raman scattering. In the regime of low laser intensities (below TPD absolute threshold), we observed a two-peaked feature which is
A Quic(k) Security Overview: A Literature Research on Implemented Security Recommendations

Built on top of UDP, the relatively new QUIC protocol serves as the baseline for modern web protocol stacks. Equipped with a rich feature set, the protocol is defined by a 151 pages strong IETF standard complemented by several additional documents. Enabling fast updates and feature iteration, most QUIC implementations are implemented as user space libraries leading to a large and fragmented ecosystem. This work addresses the research question, “if a complex standard with a large number of different implementations leads to an insecure ecosystem? ”. The relevant RFC documents were studied and “Security Consideration” items describing conceptional problems were extracted. During the research, 13 popular production ready QUIC implementations were compared by evaluating 10 security considerations from RFC9000. While related studies mostly focused on the functional part of QUIC, this study confirms that available QUIC implementations are not yet mature enough from a security point of view.
Analysis of Oversampling in Uplink Massive MIMO-OFDM with Low-Resolution ADCs

Low-resolution analog-to-digital converters (ADCs) have emerged as an efficient solution for massive multiple-input multiple-output (MIMO) systems to reap high data rates with reasonable power consumption and hardware complexity. In this paper, we analyze the performance of oversampling in up-link massive MIMO orthogonal frequency-division multiplexing (MIMO-OFDM) systems with low-resolution ADCs. Considering both the temporal and spatial correlation of the quantization distortion, we derive an approximate closed-form expression of an achievable sum rate, which reveals how the oversampling ratio (OSR), the ADC resolution, and the signal-to-noise ratio (SNR) jointly affect the system performance. In particular, we demonstrate that oversampling can effectively improve the sum rate by mitigating the impact of the quantization distortion, especially at high SNR and with very low ADC resolution. Furthermore, we show that the considered low-resolution massive MIMO-OFDM system can achieve the same performance as the unquantized one when both the SNR and the OSR are sufficiently high. Numerical simulations confirm our analysis.
Tube2Vec: Social and Semantic Embeddings of YouTube Channels

Research using YouTube data often explores social and semantic dimensions of channels and videos. Typically, analyses rely on laborious manual annotation of content and content creators, often found by low-recall methods such as keyword search. Here, we explore an alternative approach, using latent representations (embeddings) obtained via machine learning. Using a large dataset of YouTube links shared on Reddit; we create embeddings that capture social sharing behavior, video metadata (title, description, etc.), and YouTube's video recommendations. We evaluate these embeddings using crowdsourcing and existing datasets, finding that recommendation embeddings excel at capturing both social and semantic dimensions, although social-sharing embeddings better correlate with existing partisan scores. We share embeddings capturing the social and semantic dimensions of 44,000 YouTube channels for the benefit of future research on YouTube: https://github.com/epfl-dlab/youtube-embeddings.
Why can neural language models solve next-word prediction? A mathematical perspective

Recently, deep learning has revolutionized the field of natural language processing, with neural language models proving to be very effective for next-word prediction. However, a rigorous theoretical explanation for their success in the context of formal language theory has not yet been developed, as it is unclear why neural language models can learn the combinatorial rules that govern the next-word prediction task. In this paper, we study a class of formal languages that can be used to model real-world examples of English sentences. We construct neural language models can solve the next-word prediction task in this context with zero error. Our proof highlights the different roles of the embedding layer and the fully connected component within the neural language model.
Why does my medical AI look at pictures of birds? Exploring the efficacy of transfer learning across domain boundaries

It is an open secret that ImageNet is treated as the panacea of pretraining. Particularly in medical machine learning, models not trained from scratch are often finetuned based on ImageNet-pretrained models. We posit that pretraining on data from the domain of the downstream task should almost always be preferred instead. We leverage RadNet-12M, a dataset containing more than 12 million computed tomography (CT) image slices, to explore the efficacy of self-supervised pretraining on medical and natural images. Our experiments cover intra- and cross-domain transfer scenarios, varying data scales, finetuning vs. linear evaluation, and feature space analysis. We observe that intra-domain transfer compares favorably to cross-domain transfer, achieving comparable or improved performance (0.44% - 2.07% performance increase using RadNet pretraining, depending on the experiment) and demonstrate the existence of a domain boundary-related generalization gap and domain-specific learned features.
Defect-Induced Low-Energy Majorana Excitations in the Kitaev Magnet 
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The excitations in the Kitaev spin liquid (KSL) can be described by Majorana fermions, which have characteristic field dependence of bulk gap and topological edge modes. In the high-field state of layered honeycomb magnet $\alpha$-RuCl$_3$, experimental results supporting these Majorana features have been reported recently. However, there are challenges due to sample dependence and the impact of inevitable disorder on the KSL is poorly understood. Here we study how low-energy excitations are modified by introducing point defects in $\alpha$-RuCl$_3$ using electron irradiation, which induces site vacancies and exchange randomness. High-resolution measurements of the temperature dependence of specific heat $C(T)$ under in-plane fields $H$ reveal that while the field-dependent Majorana gap is almost intact, additional low-energy states with $C/T=A(H)T$ are induced by introduced defects. At low temperatures, we obtain the data collapse of $C/T\sim H^{-\gamma}(T/H)$ expected for a disordered quantum spin system, but with an anomalously large exponent $\gamma$. This leads us to find a power-law relationship between the coefficient $A(H)$ and the field-sensitive Majorana gap. These results are consistent with the picture that the disorder induces low-energy linear Majorana excitations, which may be considered as a weak localization effect of Majorana fermions in the KSL.
GMM: Delving into Gradient Aware and Model Perceive Depth Mining for Monocular 3D Detection

Depth perception is a crucial component of monoc-ular 3D detection tasks that typically involve ill-posed problems. In light of the success of sample mining techniques in 2D object detection, we propose a simple yet effective mining strategy for improving depth perception in 3D object detection. Concretely, we introduce a plain metric to evaluate the quality of depth predictions, which chooses the mined sample for the model. Moreover, we propose a Gradient-aware and Model-perceive Mining strategy (GMM) for depth learning, which exploits the predicted depth quality for better depth learning through easy mining. GMM is a general strategy that can be readily applied to several state-of-the-art monocular 3D detectors, improving the accuracy of depth prediction. Extensive experiments on the nuScenes dataset demonstrate that the proposed methods significantly improve the performance of 3D object detection while outperforming other state-of-the-art sample mining techniques by a considerable margin. On the nuScenes benchmark, GMM achieved the state-of-the-art (42.1% mAP and 47.3% NDS) performance in monocular object detection.
Modelling repetition in zDM: A single population of repeating fast radio bursts can explain CHIME data

Abstract Regardless of whether or not all fast radio bursts (FRBs) repeat, those that do form a population with a distribution of rates. This work considers a power-law model of this population, with rate distribution $\Phi_r \sim R^{{\gamma_r}}$ between ${R_{\rm min}}$ and ${R_{\rm max}}$ . The zDM code is used to model the probability of detecting this population as either apparently once-off or repeat events as a function of redshift, z, and dispersion measure, DM. I demonstrate that in the nearby Universe, repeating sources can contribute significantly to the total burst rate. This causes an apparent deficit in the total number of observed sources (once-off and repeaters) relative to the distant Universe that will cause a bias in FRB population models. Thus instruments with long exposure times should explicitly take repetition into account when fitting the FRB population. I then fit data from The Canadian Hydrogen Intensity Mapping Experiment (CHIME). The relative number of repeat and apparently once-off FRBs, and their DM, declination, and burst rate distributions, can be well explained by 50–100% of CHIME single FRBs being due to repeaters, with ${R_{\rm max}} > 0.75$ d $^{-1}$ above $10^{39}$ erg, and ${{\gamma_r}} = -2. 2_{-0.8}^{+0.6}$ . This result is surprisingly consistent with follow-up studies of FRBs detected by the Australian Square Kilometre Array Pathfinder (ASKAP). Thus the evidence suggests that CHIME and ASKAP view the same repeating FRB population, which is responsible not just for repeating FRBs, but the majority of apparently once-off bursts. For greater quantitative accuracy, non-Poissonian arrival times, second-order effects in the CHIME response, and a simultaneous fit to the total FRB population parameters, should be treated in more detail in future studies.
Modeling the Performance of Early Fault-Tolerant Quantum Algorithms

Progress in fault-tolerant quantum computation (FTQC) has driven the pursuit of practical applications with early fault-tolerant quantum computers (EFTQC). These devices, limited in their qubit counts and fault-tolerance capabilities, require algorithms that can accommodate some degrees of error, which are known as EFTQC algorithms. To predict the onset of early quantum advantage, a comprehensive methodology is needed to develop and analyze EFTQC algorithms, drawing insights from both the methodologies of noisy intermediate-scale quantum (NISQ) and traditional FTQC. To address this need, we propose such a methodology for modeling algorithm performance on EFTQC devices under varying degrees of error. As a case study, we apply our methodology to analyze the performance of Randomized Fourier Estimation (RFE), an EFTQC algorithm for phase estimation. We investigate the runtime performance and the fault-tolerant overhead of RFE in comparison to the traditional quantum phase estimation algorithm. Our analysis reveals that RFE achieves significant savings in physical qubit counts while having a much higher runtime upper bound. We anticipate even greater physical qubit savings when considering more realistic assumptions about the performance of EFTQC devices. By providing insights into the performance trade-offs and resource requirements of EFTQC algorithms, our work contributes to the development of practical and efficient quantum computing solutions on the path to quantum advantage.
Entropy Product Function and Central charges in NUT Geometry

We define an \emph{entropy product function}~(EPF) for Taub-Newman-Unti-Tamburino~(TNUT) black hole~(BH) following the prescription suggested by Wu et al.~\cite{wu} ~[PRD 100, 101501(R) (2019)]. The prescription argues that a generic four-dimensional TNUT spacetime might be expressed in terms of three or four different types of thermodynamic hairs. They can be defined as the Komar mass~($M=m$), the angular momentum~($J_{n}=mn$), the gravitomagnetic charge ($N=n$), the dual~(magnetic) mass $(\tilde{M}=n)$. Taking this prescription and using the \emph{EPF}, we derive the \emph{central charges} of dual CFT~(conformal field theory) via Cardy's formula. Remarkably, we \emph{find} that for TNUT BH there exists a relation between the \emph{central charges and EPF} as $c=6\left(\frac{\partial {\cal F}}{\partial {\cal N}_{i}}\right)$, where ${\cal F}$ is EPF and ${\cal N}_{i}$ is one of the integer-valued charges i.e. the NUT charges~($N$) or any new conserved charges~($J_{N}$). We reverify these results by calculating the exact values of different thermodynamic parameters. We define the EPF~${\cal F}$ from the first law of thermodynamics of both horizons. Moreover, we write the first laws of both the horizons for left-moving and right-moving sectors. Introducing the B\'{e}zout's identity, we show that for TNUT BH one can generate more holographic descriptions described by a pair of integers $(a,b)$. More holographic pictures have a great significance in understanding the holographic nature of quantum gravity. Furthermore, using the \emph{EPF} we derive the central charges for Reissner-Nordstr\"{o}m-NUT~(RNNUT) BH, Kerr-Taub-NUT~(KNUT) BH and Kerr-Newman-NUT~(KNNUT) BH. Finally, we prove that they are equal in both sectors provided that the EPF is mass-independent~(or universal).