Miracle-dz/UniFAR-FTUs huggingface dataset:
Learning to Explore Indoor Environments using Autonomous Micro Aerial Vehicles

In this paper, we address the challenge of exploring unknown indoor aerial environments using autonomous aerial robots with Size Weight and Power (SWaP) constraints. The SWaP constraints induce limits on mission time requiring efficiency in exploration. We present a novel exploration framework that uses Deep Learning (DL) to predict the most likely indoor map given the previous observations, and Deep Reinforcement Learning (DRL) for exploration, designed to run on modern SWaP constraints neural processors. The DL-based map predictor provides a prediction of the occupancy of the unseen environment while the DRL-based planner determines the best navigation goals that can be safely reached to provide the most information. The two modules are tightly coupled and run onboard allowing the vehicle to safely map an unknown environment. Extensive experimental and simulation results show that our approach surpasses state-of-the-art methods by 50-60% in efficiency, which we measure by the fraction of the explored space as a function of the length of the trajectory traveled.
Jupiter’s Metastable Companions

Jovian co-orbitals share Jupiter’s orbit and exhibit 1:1 mean-motion resonance with the planet. This includes >10,000 so-called Trojan asteroids surrounding the leading (L4) and trailing (L5) Lagrange points, viewed as stable groups dating back to planet formation. A small number of extremely transient horseshoe and quasi-satellite co-orbitals have been identified, which only briefly (<1,000 yr) exhibit co-orbital motions. Via an extensive numerical study, we identify for the first time some Trojans that are certainly only “metastable”; instead of being primordial, they are recent captures from heliocentric orbits into moderately long-lived (10 kyr–100 Myr) metastable states that will escape back to the scattering regime. We have also identified (1) the first two Jovian horseshoe co-orbitals that exist for many resonant libration periods and (2) eight Jovian quasi-satellites with metastable lifetimes of 4–130 kyr. Our perspective on the Trojan population is thus now more complex as Jupiter joins the other giant planets in having known metastable co-orbitals that are in steady-state equilibrium with the planet-crossing Centaur and asteroid populations; the 27 identified here are in agreement with theoretical estimates.
Evaluating HPX and Kokkos on RISC-V using an astrophysics application Octo-Tiger

In recent years, computers based on the RISC-V architecture have raised broad interest in the high-performance computing (HPC) community. As the RISC-V community develops the core instruction set architecture (ISA) along with ISA extensions, the HPC community has been actively ensuring HPC applications and environments [10, 29] are supported. In this context, assessing the performance of asynchronous many-task runtime systems (AMT) is essential. In this paper, we describe our experience with porting of a full 3D adaptive mesh-refinement, multi-scale, multi-model, and multi-physics application, Octo-Tiger, that is based on the HPX AMT, and we explore its performance characteristics on different RISC-V systems. Despite the (limited) capabilities of the RISC-V test systems we used, Octo-Tiger already shows promising results and good scaling. We, however, expect that additional hardware support based on dedicated ISA extensions (such as single-cycle context switches, extended atomic operations, and direct support for HPX’s global address space) would allow for even better performance results.
Funneling and spin-orbit coupling in transition metal dichalcogenide nanotubes and wrinkles

Strain engineering provides a powerful means to tune the properties of two-dimensional materials. Accordingly, numerous studies have investigated the effect of bi- and uniaxial strain. Yet, the strain fields in many systems such as nanotubes and nanoscale wrinkles are intrinsically inhomogeneous and the consequences of this symmetry breaking are much less studied. Understanding how this affects the electronic properties is crucial especially since wrinkling is a powerful method to apply strain to two-dimensional materials in a controlled manner. In this paper, we employ density functional theory to understand the correlation between the atomic and the electronic structure in nanoscale wrinkles and nanotubes of the prototypical transition metal dichalcogenide $\mathrm{WSe}_2$. Our research shows that the symmetry breaking in these structures leads to strong Rashba-like splitting of the bands at the $\Gamma$ point and they thus may be utilized in future tunable spintronic devices. The inhomogeneous strain reduces the band gap and leads to a localization of the band edges in the highest-curvature region, thus funneling excitons there. Moreover, we show how wrinkles can be modeled as nanotubes with the same curvature and when this comparison breaks down and further inhomogenities have to be taken into account.
Enhancing Keyphrase Generation by BART Finetuning with Splitting and Shuffling

Keyphrase generation is a task of identifying a set of phrases that best repre-sent the main topics or themes of a given text. Keyphrases are dividend int pre-sent and absent keyphrases. Recent approaches utilizing sequence-to-sequence models show effectiveness on absent keyphrase generation. However, the per-formance is still limited due to the hardness of finding absent keyphrases. In this paper, we propose Keyphrase-Focused BART, which exploits the differ-ences between present and absent keyphrase generations, and performs fine-tuning of two separate BART models for present and absent keyphrases. We further show effective approaches of shuffling keyphrases and candidate keyphrase ranking. For absent keyphrases, our Keyphrase-Focused BART achieved new state-of-the-art score on F1@5 in two out of five keyphrase gen-eration benchmark datasets.
Dynamic Spectrum Mixer for Visual Recognition

Recently, MLP-based vision backbones have achieved promising performance in several visual recognition tasks. However, the existing MLP-based methods directly aggregate tokens with static weights, leaving the adaptability to different images untouched. Moreover, Recent research demonstrates that MLP-Transformer is great at creating long-range dependencies but ineffective at catching high frequencies that primarily transmit local information, which prevents it from applying to the downstream dense prediction tasks, such as semantic segmentation. To address these challenges, we propose a content-adaptive yet computationally efficient structure, dubbed Dynamic Spectrum Mixer (DSM). The DSM represents token interactions in the frequency domain by employing the Discrete Cosine Transform, which can learn long-term spatial dependencies with log-linear complexity. Furthermore, a dynamic spectrum weight generation layer is proposed as the spectrum bands selector, which could emphasize the informative frequency bands while diminishing others. To this end, the technique can efficiently learn detailed features from visual input that contains both high- and low-frequency information. Extensive experiments show that DSM is a powerful and adaptable backbone for a range of visual recognition tasks. Particularly, DSM outperforms previous transformer-based and MLP-based models, on image classification, object detection, and semantic segmentation tasks, such as 83.8 \% top-1 accuracy on ImageNet, and 49.9 \% mIoU on ADE20K.
Generalizable Neural Fields as Partially Observed Neural Processes

Neural fields, which represent signals as a function parameterized by a neural network, are a promising alternative to traditional discrete vector or grid-based representations. Compared to discrete representations, neural representations both scale well with increasing resolution, are continuous, and can be many-times differentiable. However, given a dataset of signals that we would like to represent, having to optimize a separate neural field for each signal is inefficient, and cannot capitalize on shared information or structures among signals. Existing generalization methods view this as a meta-learning problem and employ gradient-based meta-learning to learn an initialization which is then fine-tuned with test-time optimization, or learn hypernetworks to produce the weights of a neural field. We instead propose a new paradigm that views the large-scale training of neural representations as a part of a partially-observed neural process framework, and leverage neural process algorithms to solve this task. We demonstrate that this approach outperforms both state-of-the-art gradient-based meta-learning approaches and hypernetwork approaches.
Contrast-Phys+: Unsupervised and Weakly-supervised Video-based Remote Physiological Measurement via Spatiotemporal Contrast

Video-based remote physiological measurement utilizes facial videos to measure the blood volume change signal, which is also called remote photoplethysmography (rPPG). Supervised methods for rPPG measurements have been shown to achieve good performance. However, the drawback of these methods is that they require facial videos with ground truth (GT) physiological signals, which are often costly and difficult to obtain. In this paper, we propose Contrast-Phys+, a method that can be trained in both unsupervised and weakly-supervised settings. We employ a 3DCNN model to generate multiple spatiotemporal rPPG signals and incorporate prior knowledge of rPPG into a contrastive loss function. We further incorporate the GT signals into contrastive learning to adapt to partial or misaligned labels. The contrastive loss encourages rPPG/GT signals from the same video to be grouped together, while pushing those from different videos apart. We evaluate our methods on five publicly available datasets that include both RGB and Near-infrared videos. Contrast-Phys+ outperforms the state-of-the-art supervised methods, even when using partially available or misaligned GT signals, or no labels at all. Additionally, we highlight the advantages of our methods in terms of computational efficiency, noise robustness, and generalization. Our code is available at https://github.com/zhaodongsun/contrast-phys.
Bias Amplification Enhances Minority Group Performance

Neural networks produced by standard training are known to suffer from poor accuracy on rare subgroups despite achieving high accuracy on average, due to the correlations between certain spurious features and labels. Previous approaches based on worst-group loss minimization (e.g. Group-DRO) are effective in improving worse-group accuracy but require expensive group annotations for all the training samples. In this paper, we focus on the more challenging and realistic setting where group annotations are only available on a small validation set or are not available at all. We propose BAM, a novel two-stage training algorithm: in the first stage, the model is trained using a bias amplification scheme via introducing a learnable auxiliary variable for each training sample; in the second stage, we upweight the samples that the bias-amplified model misclassifies, and then continue training the same model on the reweighted dataset. Empirically, BAM achieves competitive performance compared with existing methods evaluated on spurious correlation benchmarks in computer vision and natural language processing. Moreover, we find a simple stopping criterion based on minimum class accuracy difference that can remove the need for group annotations, with little or no loss in worst-group accuracy. We perform extensive analyses and ablations to verify the effectiveness and robustness of our algorithm in varying class and group imbalance ratios.
UnifiedGesture: A Unified Gesture Synthesis Model for Multiple Skeletons

The automatic co-speech gesture generation draws much attention in computer animation. Previous works designed network structures on individual datasets, which resulted in a lack of data volume and generalizability across different motion capture standards. In addition, it is a challenging task due to the weak correlation between speech and gestures. To address these problems, we present UnifiedGesture, a novel diffusion model-based speech-driven gesture synthesis approach, trained on multiple gesture datasets with different skeletons. Specifically, we first present a retargeting network to learn latent homeomorphic graphs for different motion capture standards, unifying the representations of various gestures while extending the dataset. We then capture the correlation between speech and gestures based on a diffusion model architecture using cross-local attention and self-attention to generate better speech-matched and realistic gestures. To further align speech and gesture and increase diversity, we incorporate reinforcement learning on the discrete gesture units with a learned reward function. Extensive experiments show that UnifiedGesture outperforms recent approaches on speech-driven gesture generation in terms of CCA, FGD, and human-likeness.
Local spectral optimisation for Robin problems with negative boundary parameter on quadrilaterals

We investigate the Robin eigenvalue problem for the Laplacian with negative boundary parameter on quadrilateral domains of fixed area. In this paper, we prove that the square is a local maximiser of the first eigenvalue with respect to the Hausdorff metric. We also provide asymptotic results relating to the optimality of the square for extreme values of the Robin parameter.
Multi-dimensional Fusion and Consistency for Semi-supervised Medical Image Segmentation

In this paper, we introduce a novel semi-supervised learning framework tailored for medical image segmentation. Central to our approach is the innovative Multi-scale Text-aware ViT-CNN Fusion scheme. This scheme adeptly combines the strengths of both ViTs and CNNs, capitalizing on the unique advantages of both architectures as well as the complementary information in vision-language modalities. Further enriching our framework, we propose the Multi-Axis Consistency framework for generating robust pseudo labels, thereby enhancing the semisupervised learning process. Our extensive experiments on several widelyused datasets unequivocally demonstrate the efficacy of our approach.
Neural network-based coronary dominance classification of RCA angiograms

Background. Cardiac dominance classification is essential for SYNTAX score estimation, which is a tool used to determine the complexity of coronary artery disease and guide patient selection toward optimal revascularization strategy. Objectives. Cardiac dominance classification algorithm based on the analysis of right coronary artery (RCA) angiograms using neural network Method. We employed convolutional neural network ConvNext and Swin transformer for 2D image (frames) classification, along with a majority vote for cardio angiographic view classification. An auxiliary network was also used to detect irrelevant images which were then excluded from the data set. Our data set consisted of 828 angiographic studies, 192 of them being patients with left dominance. Results. 5-fold cross validation gave the following dominance classification metrics (p=95%): macro recall=93.1%, accuracy=93.5%, macro F1=89.2%. The most common case in which the model regularly failed was RCA occlusion, as it requires utilization of LCA information. Another cause for false prediction is a small diameter combined with poor quality cardio angiographic view. In such cases, cardiac dominance classification can be complex and may require discussion among specialists to reach an accurate conclusion. Conclusion. The use of machine learning approaches to classify cardiac dominance based on RCA alone has been shown to be successful with satisfactory accuracy. However, for higher accuracy, it is necessary to utilize LCA information in the case of an occluded RCA and detect cases where there is high uncertainty.
Native Language Identification with Big Bird Embeddings

Native Language Identification (NLI) intends to classify an author's native language based on their writing in another language. Historically, the task has heavily relied on time-consuming linguistic feature engineering, and transformer-based NLI models have thus far failed to offer effective, practical alternatives. The current work investigates if input size is a limiting factor, and shows that classifiers trained using Big Bird embeddings outperform linguistic feature engineering models by a large margin on the Reddit-L2 dataset. Additionally, we provide further insight into input length dependencies, show consistent out-of-sample performance, and qualitatively analyze the embedding space. Given the effectiveness and computational efficiency of this method, we believe it offers a promising avenue for future NLI work.
Manufacturing Quality Control with Autoencoder-Based Defect Localization and Unsupervised Class Selection

Manufacturing industries require efficient and voluminous production of high-quality finished goods. In the context of Industry 4.0, visual anomaly detection poses an optimistic solution for automatically controlling product quality with high precision. Automation based on computer vision poses a promising solution to prevent bottlenecks at the product quality checkpoint. We considered recent advancements in machine learning to improve visual defect localization, but challenges persist in obtaining a balanced feature set and database of the wide variety of defects occurring in the production line. This paper proposes a defect localizing autoencoder with unsupervised class selection by clustering with k-means the features extracted from a pre-trained VGG-16 network. The selected classes of defects are augmented with natural wild textures to simulate artificial defects. The study demonstrates the effectiveness of the defect localizing autoencoder with unsupervised class selection for improving defect detection in manufacturing industries. The proposed methodology shows promising results with precise and accurate localization of quality defects on melamine-faced boards for the furniture industry. Incorporating artificial defects into the training data shows significant potential for practical implementation in real-world quality control scenarios.
DF-TransFusion: Multimodal Deepfake Detection via Lip-Audio Cross-Attention and Facial Self-Attention

With the rise in manipulated media, deepfake detection has become an imperative task for preserving the authenticity of digital content. In this paper, we present a novel multi-modal audio-video framework designed to concurrently process audio and video inputs for deepfake detection tasks. Our model capitalizes on lip synchronization with input audio through a cross-attention mechanism while extracting visual cues via a fine-tuned VGG-16 network. Subsequently, a transformer encoder network is employed to perform facial self-attention. We conduct multiple ablation studies highlighting different strengths of our approach. Our multi-modal methodology outperforms state-of-the-art multi-modal deepfake detection techniques in terms of F-1 and per-video AUC scores.
ProMap: Datasets for Product Mapping in E-commerce

The goal of product mapping is to decide, whether two listings from two different e-shops describe the same products. Existing datasets of matching and non-matching pairs of products, however, often suffer from incomplete product information or contain only very distant non-matching products. Therefore, while predictive models trained on these datasets achieve good results on them, in practice, they are unusable as they cannot distinguish very similar but non-matching pairs of products. This paper introduces two new datasets for product mapping: ProMapCz consisting of 1,495 Czech product pairs and ProMapEn consisting of 1,555 English product pairs of matching and non-matching products manually scraped from two pairs of e-shops. The datasets contain both images and textual descriptions of the products, including their specifications, making them one of the most complete datasets for product mapping. Additionally, the non-matching products were selected in two phases, creating two types of non-matches -- close non-matches and medium non-matches. Even the medium non-matches are pairs of products that are much more similar than non-matches in other datasets -- for example, they still need to have the same brand and similar name and price. After simple data preprocessing, several machine learning algorithms were trained on these and two the other datasets to demonstrate the complexity and completeness of ProMap datasets. ProMap datasets are presented as a golden standard for further research of product mapping filling the gaps in existing ones.
Newcomb-Benford Law in Neuromuscular Transmission: Validation at Hyperkalemic Conditions (preprint)

Recently, we demonstrated the validity of anomalous numbers law, known as Newcomb-Benford´s law, at the mammalian neuromuscular transmission, considering different extracellular calcium concentrations . The present work continues to examine how alterations in extracellular solution modulate the first digit law in the context of the spontaneous release of acetylcholine from the neuromuscular junction. We investigated if the intervals of miniature potentials collected at the neuromuscular junction obey the law in a hyperkalemic environment. The analysis showed that the interval between the miniature potentials at high potassium concentrations follows Newcomb-Benford´s law. Also, our data allowed us to uncover a conformity fluctuation as a function of the number of intervals of the miniature potentials. Finally, we discuss the biophysical implications of the present findings.
QCD phase transitions in the light quark chiral limit

We investigate the order of the QCD chiral transition in the limit of vanishing bare up/down quark masses and variations of the bare strange-quark mass $0 \le m_{\mathrm{s}} \le \infty$. In this limit and due to universality long range correlations with the quantum numbers of pseudoscalar and scalar mesons may dominate the physics. In order to study the interplay between the microscopic quark and gluon degrees of freedom and the long range correlations we extend a combination of lattice Yang--Mills theory and a (truncated) version of Dyson--Schwinger equations by also taking back-reactions of mesonic degrees of freedom into account. Both this system and the meson backcoupling approach have been studied extensively in the past but this is the first work in a full $(2 + 1)$-flavor setup. Starting from the physical point, we determine the chiral susceptibilities for decreasing up/down quark masses and find good agreement with both lattice and functional renormalization group results. We then proceed to determine the order of the chiral transition along the left-hand side of the Columbia plot, for chemical potentials in the range $-(30 \,\textrm{MeV})^2 \le \mu_q^2 \le (30 \,\textrm{MeV})^2$. We find a second-order phase transition throughout and no trace of a first-order region in the $N_{f} = 3$ corner of the Columbia plot. This result remains unchanged when an additional Goldstone boson due to a restored axial $\mathrm{U_A}(1)$ is taken into account.