Miracle-dz/UniFAR-FTUs huggingface dataset:
ViPR: Visual-Odometry-aided Pose Regression for 6DoF Camera Localization

Visual Odometry (VO) accumulates a positional drift in long-term robot navigation tasks. Although Convolutional Neural Networks (CNNs) improve VO in various aspects, VO still suffers from moving obstacles, discontinuous observation of features, and poor textures or visual information. While recent approaches estimate a 6DoF pose either directly from (a series of) images or by merging depth maps with optical flow (OF), research that combines absolute pose regression with OF is limited.We propose ViPR, a novel modular architecture for longterm 6DoF VO that leverages temporal information and synergies between absolute pose estimates (from PoseNet-like modules) and relative pose estimates (from FlowNet-based modules) by combining both through recurrent layers. Experiments on known datasets and on our own Industry dataset show that our modular design outperforms state ofthe art in long-term navigation tasks.
Regularity properties of Schr\"odinger integral operators and general oscillatory integrals

We introduce the notion of Schr\"odinger integral operators and prove sharp local and global regularity results for these (including propagators for the quantum mechanical harmonic oscillator). Furthermore we introduce general classes of oscillatory integral operators with inhomogeneous phase functions, whose local and global regularity are also established in classical function spaces (both in the Banach and quasi-Banach scales). The results are then applied to obtain optimal (local in time) estimates for the solution to the Cauchy problem for variable-coefficient Schr\"odinger equations as well as other evolutionary partial differential equations.
A consistency test for determining whether ultracompact dwarf galaxies could be the remnant nuclei of threshed galaxies

It has been suggested that ultracompact dwarf (UCD) galaxies are the ‘threshed’ remains of larger galaxies. Simulations have revealed that extensive tidal-stripping may pare a galaxy back to its tightly bound, compact nuclear star cluster. It has therefore been proposed that the two-component nature of UCD galaxies may reflect the original nuclear star cluster surrounded by the paltry remnants of its host galaxy. A simple quantitative test of this theory is devised and applied here. If the mass of the central black hole (BH) in UCD galaxies, relative to the mass of the UCD galaxies’ inner stellar component, i.e. the suspected nuclear star cluster, matches with the (black hole mass)–(nuclear star cluster mass) relation observed in other galaxies, then it would provide quantitative support for the stripped galaxy scenario. Such consistency is found for four of the five UCD galaxies reported to have a massive BH. This (black hole mass)–(nuclear star cluster mass) relation is then used to predict the central BH mass in two additional UCD galaxies, and to reveal that NGC 205 and possibly NGC 404 (which only has an upper limit to its black hole mass) also follow this scaling relation.
A Survey on Document-level Machine Translation: Methods and Evaluation

Machine translation (MT) is an important task in natural language processing (NLP) as it automates the translation process and reduces the reliance on human translators. With the advent of neural networks, the translation quality surpasses that of the translations obtained using statistical techniques. Up until three years ago, all neural translation models translated sentences independently, without incorporating any extra-sentential information. The aim of this paper is to highlight the major works that have been undertaken in the space of document-level machine translation before and after the neural revolution so that researchers can recognise where we started from and which direction we are heading in. When talking about the literature in statistical machine translation (SMT), we focus on works which have tried to improve the translation of specific discourse phenomena, while in neural machine translation (NMT), we focus on works which use the wider context explicitly. In addition to this, we also cover the evaluation strategies that have been introduced to account for the improvements in this domain.
Topological defects as relics of spontaneous symmetry breaking in a holographic superconductor

Formation and evolution of topological defects in course of non-equilibrium symmetry breaking phase transitions is of wide interest in many areas of physics, from cosmology through condensed matter to low temperature physics. Its study in strongly coupled systems, in absence of quasiparticles, is especially challenging. We investigate breaking of U(1) symmetry and the resulting spontaneous formation of vortices in a $(2+1)$-dimensional holographic superconductor employing gauge/gravity duality, a `first-principles' approach to study strongly coupled systems. Magnetic fluxons with quantized fluxes are seen emerging in the post-transition superconducting phase. As expected in type II superconductors, they are trapped in the cores of the order parameter vortices. The dependence of the density of these topological defects on the quench time, the dispersion of the typical winding numbers in the superconductor, and the vortex-vortex correlations are consistent with predictions of the Kibble-Zurek mechanism.
CASSCF with Extremely Large Active Spaces using the Adaptive Sampling Configuration Interaction Method.

The complete active space self-consistent field (CASSCF) method is the principal approach employed for studying strongly correlated systems. However, exact CASSCF can only be performed on small active spaces of ∼20 electrons in ∼20 orbitals due to exponential growth in the computational cost. We show that employing the Adaptive Sampling Configuration Interaction (ASCI) method as an approximate Full CI solver in the active space allows CASSCF-like calculations within chemical accuracy (<1 kcal/mol for relative energies) in active spaces with more than ∼50 active electrons in ∼50 active orbitals, significantly increasing the sizes of systems amenable to accurate multiconfigurational treatment. The main challenge with using any selected CI-based approximate CASSCF is the orbital optimization problem; they tend to exhibit large numbers of local minima in orbital space due to their lack of invariance to active-active rotations (in addition to the local minima that exist in exact CASSCF). We highlight methods that can avoid spurious local extrema as a practical solution to the orbital optimization problem. We employ ASCI-SCF to demonstrate lack of polyradical character in moderately sized periacenes with up to 52 correlated electrons and compare against heat-bath CI on an iron porphyrin system with more than 40 correlated electrons.
Benchmarking the Neural Linear Model for Regression

The neural linear model is a simple adaptive Bayesian linear regression method that has recently been used in a number of problems ranging from Bayesian optimization to reinforcement learning. Despite its apparent successes in these settings, to the best of our knowledge there has been no systematic exploration of its capabilities on simple regression tasks. In this work we characterize these on the UCI datasets, a popular benchmark for Bayesian regression models, as well as on the recently introduced UCI "gap" datasets, which are better tests of out-of-distribution uncertainty. We demonstrate that the neural linear model is a simple method that shows generally good performance on these tasks, but at the cost of requiring good hyperparameter tuning.
On Littlewood-Offord theory for arbitrary distributions

Let $X_1,\ldots,X_n$ be independent identically distributed random vectors in $\mathbb{R}^d$. %The main focus of this paper is to provide We consider upper bounds on $\max_x \mathbb{P}(a_1X_1+\cdots+a_nX_n=x)$ under various restrictions on $X_i$ and the weights $a_i$. When $\mathbb{P}(X_i=\pm 1) = \frac {1} {2}$, this corresponds to the classical Littlewood-Offord problem. We prove that in general for identically distributed random vectors and even values of $n$ the optimal choice for $(a_i)$ is $a_i=1$ for $i\leq \frac{n}{2}$ and $a_i=-1$ for $i > \frac {n} 2$, regardless of the distribution of $X_1$. Applying these results for Bernoulli random variables answers a recent question of Fox, Kwan and Sauermann. Finally, we provide sharp bounds for concentration probabilities of sums of random vectors under the condition $\sup_{x}\mathbb{P}(X_i=x)\leq \alpha$, where it turns out that the worst case scenario is provided by distributions on an arithmetic progression that are in some sense as close to the uniform distribution as possible. An important feature of this work is that unlike much of the literature on the subject we use neither methods of harmonic analysis nor those from extremal combinatorics.
Extreme Values of the Fiedler Vector on Trees

Let $G$ be a connected tree on $n$ vertices and let $L = D-A$ denote the Laplacian matrix on $G$. The second-smallest eigenvalue $\lambda_{2}(G) > 0$, also known as the algebraic connectivity, as well as the associated eigenvector $\phi_2$ have been of substantial interest. We investigate the question of when the maxima and minima of $\phi_2$ are assumed at the endpoints of the longest path in $G$. Our results also apply to more general graphs that `behave globally' like a tree but can exhibit more complicated local structure. The crucial new ingredient is a reproducing formula for the eigenvector $\phi_k$.
A Trial of Goal-Oriented Hemodynamic Therapy in Critically Ill Patients

Background Hemodynamic therapy to raise the cardiac index and oxygen delivery to supranormal levels may improve outcomes in critically ill patients. We studied whether increasing the cardiac index to a supranormal level (cardiac-index group) or increasing mixed venous oxygen saturation to a normal level (oxygen-saturation group) would decrease morbidity and mortality among critically ill patients, as compared with a control group in which the target was a normal cardiac index. Methods A total of 10,726 patients in 56 intensive care units were screened, among whom 762 patients belonging to predefined diagnostic categories with acute physiology scores of 11 or higher were randomly assigned to the three groups (252 to the control group, 253 to the cardiac-index group, and 257 to the oxygen-saturation group). Results The hemodynamic targets were reached by 94.3 percent of the control group, 44.9 percent of the cardiac-index group, and 66.7 percent of the oxygen-saturation group (P<0.001). Mortality was 48.4, .
A stripped helium star in the potential black hole binary LB-1

Context. The recently claimed discovery of a massive (MBH = 68−13+11 M⊙) black hole in the Galactic solar neighborhood has led to controversial discussions because it severely challenges our current view of stellar evolution. Aims. A crucial aspect for the determination of the mass of the unseen black hole is the precise nature of its visible companion, the B-type star LS V+22 25. Because stars of different mass can exhibit B-type spectra during the course of their evolution, it is essential to obtain a comprehensive picture of the star to unravel its nature and, thus, its mass. Methods. To this end, we study the spectral energy distribution of LS V+22 25 and perform a quantitative spectroscopic analysis that includes the determination of chemical abundances for He, C, N, O, Ne, Mg, Al, Si, S, Ar, and Fe. Results. Our analysis clearly shows that LS V+22 25 is not an ordinary main sequence B-type star. The derived abundance pattern exhibits heavy imprints of the CNO bi-cycle of hydrogen burning, that is, He and N are strongly enriched at the expense of C and O. Moreover, the elements Mg, Al, Si, S, Ar, and Fe are systematically underabundant when compared to normal main-sequence B-type stars. We suggest that LS V+22 25 is a stripped helium star and discuss two possible formation scenarios. Combining our photometric and spectroscopic results with the Gaia parallax, we infer a stellar mass of 1.1 ± 0.5 M⊙. Based on the binary system’s mass function, this yields a minimum mass of 2–3 M⊙ for the compact companion, which implies that it may not necessarily be a black hole but a massive neutron- or main sequence star. Conclusions. The star LS V+22 25 has become famous for possibly having a very massive black hole companion. However, a closer look reveals that the star itself is a very intriguing object. Further investigations are necessary for complete characterization of this object.
Reflecting Modulation

Reconfigurable intelligent surface (RIS) has emerged as a promising technique for future wireless communication networks. How to reliably transmit information in a RIS-based communication system arouses much interest. This paper proposes a reflecting modulation (RM) scheme for RIS-based communications, where both the reflecting patterns and transmit signals can carry information. Depending on that the transmitter and RIS jointly or independently deliver information, RM is further classified into two categories: jointly mapped RM (JRM) and separately mapped RM (SRM). JRM and SRM are naturally superior to existing schemes, because the transmit signal vectors, reflecting patterns, and bit mapping methods of JRM and SRM are more flexibly designed. To enhance transmission reliability, this paper proposes a discrete optimization-based joint signal mapping, shaping, and reflecting (DJMSR) design for JRM and SRM to minimize the bit error rate (BER) with a given transmit signal candidate set and a given reflecting pattern candidate set. To further improve the performance, this paper optimizes multiple reflecting patterns and their associated transmit signal sets in continuous fields for JRM and SRM. Numerical results show that JRM and SRM with the proposed system optimization methods considerably outperform existing schemes in BER.
Three-dimensional higher-order topological acoustic system with multidimensional topological states

Topologically protected gapless edge/surface states are phases of quantum matter which behave as massless Dirac fermions and are immune to disorders and continuous perturbations. Recently, a new class of topological insulators (TIs) with gapped edge states and in-gap corner states has been theoretically predicted in electronic systems and experimentally realized in two-dimensional (2D) mechanical and electromagnetic systems, electrical circuits, optical and sonic crystals, and elastic phononic plates. Here we elaborately design a three-dimensional topological acoustic system by arranging acoustic meta-atoms in a simple cubic lattice. Under the direct field measurements, besides the 2D surface propagations on all of the six surfaces, the one-dimensional hinge propagations behaving as acoustic fibers along the 12 hinges, and the zero-dimensional corner modes working as localized resonances at the eight corners are experimentally confirmed. As these multidimensional topological states are activated in different frequencies and independent spaces, our works may provide a new pathway for designing high-performance integrated acoustic devices that can manipulate the propagation of sound waves in multiple dimensions.
Effective charge from lattice QCD

Using lattice configurations for quantum chromodynamics (QCD) generated with three domain-wall fermions at a physical pion mass, we obtain a parameter-free prediction of QCD’s renormalisation-group-invariant process-independent effective charge, . Owing to the dynamical breaking of scale invariance, evident in the emergence of a gluon mass-scale, GeV, this coupling saturates at infrared momenta: . Amongst other things: is almost identical to the process-dependent (PD) effective charge defined via the Bjorken sum rule; and also that PD charge which, employed in the one-loop evolution equations, delivers agreement between pion parton distribution functions computed at the hadronic scale and experiment. The diversity of unifying roles played by suggests that it is a strong candidate for that object which represents the interaction strength in QCD at any given momentum scale; and its properties support a conclusion that QCD is a mathematically well-defined quantum field theory in four dimensions.
Gamma-Ray Burst Host Galaxies: Specific Star Formation Rate versus Metallicity

The observed properties of long gamma-ray burst (GRB) host galaxies show them to often be of a rather low metallicity and/or of high specific star formation rate (SFR). It is not clear which of these properties is a dominant factor in determining if a galaxy will host a GRB or not. In fact there are indications, at least in the local universe, that the two may be anticorrelated and that the metallicity is the deciding parameter. Here, we consider GRB production models dependent on both quantities and show that when compared to the best available data, the respective star formation fractions appear indistinguishable out to a redshift of z ∼ 4. However, the fraction of galaxies hosting a GRB, as determined by the specific SFR, is less at tension with the observed host galaxy fraction than the corresponding metallicity determined fraction, but this conclusion is model dependent. Well established galaxy stellar mass and star formation rate functions at high redshift are crucial in breaking the apparent degeneracy between the specific rate and metallicity in GRB production probability.
Non-Gaussianity constraints using future radio continuum surveys and the multitracer technique

Tighter constraints on measurements of primordial non-Gaussianity will allow the differentiation of inflationary scenarios. The cosmic microwave background bispectrum-the standard method of measuring the local non-Gaussianity-is limited by cosmic variance. Therefore, it is sensible to investigate measurements of non-Gaussianity using the large-scale structure. This can be done by investigating the effects of non-Gaussianity on the power spectrum on large scales. In this study we forecast the constraints on the local primordial non-Gaussianity parameter $f_{\rm NL}$ that can be obtained with future radio surveys. We utilize the multi-tracer method which reduces the effect of cosmic variance and takes advantage of the multiple radio galaxy populations which are differently biased tracers of the same underlying dark matter distribution. Improvements on previous work include the use of observational bias and halo mass estimates, updated simulations and realistic photometric redshift expectations, thus producing more realistic forecasts. Combinations of SKA simulations and radio observations were used as well as different redshift ranges and redshift bin sizes. It was found that in the most realistic case the 1 - $\sigma$ error on $f_{\rm NL}$ falls within the range 4.07 and 6.58, rivalling the tightest constraints currently available.
Cosmological parameters and neutrino masses from the final 
Planck
 and full-shape BOSS data

We present a joint analysis of the Planck cosmic microwave background (CMB) and Baryon Oscillation Spectroscopic Survey (BOSS) final data releases. A key novelty of our study is the use of a new full-shape (FS) likelihood for the redshift-space galaxy power spectrum of the BOSS data, based on an improved perturbation theory template. We show that the addition of the redshift space galaxy clustering measurements breaks degeneracies present in the CMB data alone and tightens constraints on cosmological parameters. Assuming the minimal $\Lambda$CDM cosmology with massive neutrinos, we find the following late-Universe parameters: the Hubble constant \mbox{$H_0=67.95^{+0.66}_{-0.52}$ km s$^{-1}$Mpc$^{-1}$}, the matter density fraction \mbox{$\Omega_m=0.3079^{+0.0065}_{-0.0085}\,$}, the mass fluctuation amplitude \mbox{$\sigma_8=0. 8087_{-0.0072}^{+0.012}\,$}, and an upper limit on the sum of neutrino masses \mbox{$M_{\text{tot}} <0.16\,$ eV} ($95\%$ CL). This can be contrasted with the Planck-only measurements: \mbox{$H_0=67. 14_{-0.72}^{+1.3}$} km s$^{-1}$Mpc$^{-1}$, $\Omega_m=0.3188^{+0.0091}_{-0.016}\,$, \mbox{$\sigma_8=0. 8053_{-0.0091}^{+0.019}\,$}, and \mbox{$M_{\text{tot}} <0.26\,$ eV} ($95\%$ CL). Our bound on the sum of neutrino masses relaxes once the hierarchy-dependent priors from the oscillation experiments are imposed. The addition of the new FS likelihood also constrains the effective number of extra relativistic degrees of freedom, \mbox{$N_{\text{eff}}=2.88\pm 0.17$}. Our study shows that the current FS and the pure baryon acoustic oscillation data add a similar amount of information in combination with the Planck likelihood. We argue that this is just a coincidence given the BOSS volume and efficiency of the current reconstruction algorithms.In the era of future surveys FS will play a dominant role in cosmological parameter measurements.
The loop-mediated isothermal amplification technique to determine T. gondii infection in women with spontaneous abortion

Background Toxoplasmosis caused by Toxoplasma gondii is well-known as one of the most widespread parasitic diseases, which has now infected nearly a third of the world's population. Among the infectious agents, T. gondii is considered as one of the main causes of spontaneous abortion (SA). The present study aimed to use the loop-mediated isothermal amplification (LAMP) technique in comparison with serological tests to determine the rate of T. gondii infection in women suffering from SA in Lorestan Province, Western Iran. Methods A total of 140 women suffering from their first spontaneous abortion and who had been referred to the Obstetrics and Gynecology Department, Asalian hospital (Khorramabad, Iran) were included in this study. The collected aborted fetal remains and blood samples (5 ml) from each patient were examined in sterilized conditions using the LAMP technique and ELISA commercial kits to determine the specific IgM and IgG anti-Toxoplasma antibodies respectively. Moreover, a questionnaire about some demographic and risk factors, such as the mother’s age, gestational age, and contact with cats was completed for each patient. Results Of the 140 women, 80 (57.1%) tested seropositive for anti-T. gondii antibodies by ELISA, 72 (51.4%) women tested seropositive for the IgG antibody, 8 (5.7%) tested seropositive for the IgM antibody. Among the 8 women who’d had their first spontaneous abortion who tested seropositive for IgM antibody by ELISA, only 5 cases (62.5%) reported positively to the LAMP test. The difference in the frequency distribution of the LAMP results for measuring the Toxoplasma infection in pregnant women under study was statistically significant (P <0.001) from the results of the serological test (ELISA). Although there was a significant difference between age and positivity in the LAMP test (P = 0.017), no significant difference was observed between positivity in the LAMP test and residence, education, job, and contact with cats. Conclusion The findings of the present investigation suggest that LAMP is a preferred method for determining Toxoplasma infection in pregnant women suffering from spontaneous abortion compared with other routine serological tests.