Miracle-dz/UniFAR-FTUs huggingface dataset:
An equivariant Reeb–Beltrami correspondence and the Kepler–Euler flow

We prove that the correspondence between Reeb and Beltrami vector fields presented in Etnyre & Ghrist (Etnyre, Ghrist 2000 Nonlinearity 13 , 441–458 ( doi:10.1088/0951-7715/13/2/306 )) can be made equivariant whenever additional symmetries of the underlying geometric structures are considered. As a corollary of this correspondence, we show that energy levels above the maximum of the potential energy of mechanical Hamiltonian systems can be viewed as stationary fluid flows, though the metric is not prescribed. In particular, we showcase the emblematic example of the n -body problem and focus on the Kepler problem. We explicitly construct a compatible Riemannian metric that makes the Kepler problem of celestial mechanics a stationary fluid flow (of Beltrami type) on a suitable manifold, the Kepler–Euler flow .
A Smooth Binary Mechanism for Efficient Private Continual Observation

In privacy under continual observation we study how to release differentially private estimates based on a dataset that evolves over time. The problem of releasing private prefix sums of $x_1,x_2,x_3,\dots \in\{0,1\}$ (where the value of each $x_i$ is to be private) is particularly well-studied, and a generalized form is used in state-of-the-art methods for private stochastic gradient descent (SGD). The seminal binary mechanism privately releases the first $t$ prefix sums with noise of variance polylogarithmic in $t$. Recently, Henzinger et al. and Denisov et al. showed that it is possible to improve on the binary mechanism in two ways: The variance of the noise can be reduced by a (large) constant factor, and also made more even across time steps. However, their algorithms for generating the noise distribution are not as efficient as one would like in terms of computation time and (in particular) space. We address the efficiency problem by presenting a simple alternative to the binary mechanism in which 1) generating the noise takes constant average time per value, 2) the variance is reduced by a factor about 4 compared to the binary mechanism, and 3) the noise distribution at each step is identical. Empirically, a simple Python implementation of our approach outperforms the running time of the approach of Henzinger et al., as well as an attempt to improve their algorithm using high-performance algorithms for multiplication with Toeplitz matrices.
Computer Simulations of Causal Sets

This review introduces Markov Chain Monte Carlo simulations in causal set theory, with a focus on the study of the 2d orders. It will first introduce the Benincasa-Dowker action on causal sets, and cover some musings on the philosophy of computer simulations. And then proceed to review results from the study of the 2d orders, first their general phase transition and scaling behavior and then results on defining a wave function of the universe using these orders and on coupling the 2d orders to an Ising like model. Including matter in this type shows a strong coupling between matter and geometry, that leads to new phase transitions. However, while the matter does induce a new phase transition, it does not change the order of the phase transition of geometry.
DISC: a Dataset for Integrated Sensing and Communication in mmWave Systems

In this paper we present DISC, a dataset of millimeter-wave channel impulse response measurements for integrated human activity sensing and communication. This is the first dataset collected with a software-defined radio testbed that transmits 60 GHz IEEE 802-11ay-compliant packets and estimates the channel response including reflections of the signal on the moving body parts of subjects moving in an indoor environment. The provided data contain the contribution of 7 subjects performing 4 different activities. Differently from available radar-based millimeter-wave sensing datasets, our measurements are collected using both uniform packet transmission times and sparse traffic patterns from real Wi-Fi deployments. Thanks to these unique characteristics, DISC serves as a multi-purpose benchmarking tool for machine learning-based human activity recognition, radio frequency gait analysis, and sparse sensing algorithms for next-generation integrated sensing and communication.
Jumanji: a Diverse Suite of Scalable Reinforcement Learning Environments in JAX

Open-source reinforcement learning (RL) environments have played a crucial role in driving progress in the development of AI algorithms. In modern RL research, there is a need for simulated environments that are performant, scalable, and modular to enable their utilization in a wider range of potential real-world applications. Therefore, we present Jumanji, a suite of diverse RL environments specifically designed to be fast, flexible, and scalable. Jumanji provides a suite of environments focusing on combinatorial problems frequently encountered in industry, as well as challenging general decision-making tasks. By leveraging the efficiency of JAX and hardware accelerators like GPUs and TPUs, Jumanji enables rapid iteration of research ideas and large-scale experimentation, ultimately empowering more capable agents. Unlike existing RL environment suites, Jumanji is highly customizable, allowing users to tailor the initial state distribution and problem complexity to their needs. Furthermore, we provide actor-critic baselines for each environment, accompanied by preliminary findings on scaling and generalization scenarios. Jumanji aims to set a new standard for speed, adaptability, and scalability of RL environments.
Collapsed Inference for Bayesian Deep Learning

Bayesian neural networks (BNNs) provide a formalism to quantify and calibrate uncertainty in deep learning. Current inference approaches for BNNs often resort to few-sample estimation for scalability, which can harm predictive performance, while its alternatives tend to be computationally prohibitively expensive. We tackle this challenge by revealing a previously unseen connection between inference on BNNs and volume computation problems. With this observation, we introduce a novel collapsed inference scheme that performs Bayesian model averaging using collapsed samples. It improves over a Monte-Carlo sample by limiting sampling to a subset of the network weights while pairing it with some closed-form conditional distribution over the rest. A collapsed sample represents uncountably many models drawn from the approximate posterior and thus yields higher sample efficiency. Further, we show that the marginalization of a collapsed sample can be solved analytically and efficiently despite the non-linearity of neural networks by leveraging existing volume computation solvers. Our proposed use of collapsed samples achieves a balance between scalability and accuracy. On various regression and classification tasks, our collapsed Bayesian deep learning approach demonstrates significant improvements over existing methods and sets a new state of the art in terms of uncertainty estimation as well as predictive performance.
Low-Switching Policy Gradient with Exploration via Online Sensitivity Sampling

Policy optimization methods are powerful algorithms in Reinforcement Learning (RL) for their flexibility to deal with policy parameterization and ability to handle model misspecification. However, these methods usually suffer from slow convergence rates and poor sample complexity. Hence it is important to design provably sample efficient algorithms for policy optimization. Yet, recent advances for this problems have only been successful in tabular and linear setting, whose benign structures cannot be generalized to non-linearly parameterized policies. In this paper, we address this problem by leveraging recent advances in value-based algorithms, including bounded eluder-dimension and online sensitivity sampling, to design a low-switching sample-efficient policy optimization algorithm, LPO, with general non-linear function approximation. We show that, our algorithm obtains an $\varepsilon$-optimal policy with only $\widetilde{O}(\frac{\text{poly}(d)}{\varepsilon^3})$ samples, where $\varepsilon$ is the suboptimality gap and $d$ is a complexity measure of the function class approximating the policy. This drastically improves previously best-known sample bound for policy optimization algorithms, $\widetilde{O}(\frac{\text{poly}(d)}{\varepsilon^8})$. Moreover, we empirically test our theory with deep neural nets to show the benefits of the theoretical inspiration.
Tell Me Where to Go: A Composable Framework for Context-Aware Embodied Robot Navigation

Humans have the remarkable ability to navigate through unfamiliar environments by solely relying on our prior knowledge and descriptions of the environment. For robots to perform the same type of navigation, they need to be able to associate natural language descriptions with their associated physical environment with a limited amount of prior knowledge. Recently, Large Language Models (LLMs) have been able to reason over billions of parameters and utilize them in multi-modal chat-based natural language responses. However, LLMs lack real-world awareness and their outputs are not always predictable. In this work, we develop NavCon, a low-bandwidth framework that solves this lack of real-world generalization by creating an intermediate layer between an LLM and a robot navigation framework in the form of Python code. Our intermediate shoehorns the vast prior knowledge inherent in an LLM model into a series of input and output API instructions that a mobile robot can understand. We evaluate our method across four different environments and command classes on a mobile robot and highlight our NavCon's ability to interpret contextual commands.
CAJun: Continuous Adaptive Jumping using a Learned Centroidal Controller

We present CAJun, a novel hierarchical learning and control framework that enables legged robots to jump continuously with adaptive jumping distances. CAJun consists of a high-level centroidal policy and a low-level leg controller. In particular, we use reinforcement learning (RL) to train the centroidal policy, which specifies the gait timing, base velocity, and swing foot position for the leg controller. The leg controller optimizes motor commands for the swing and stance legs according to the gait timing to track the swing foot target and base velocity commands using optimal control. Additionally, we reformulate the stance leg optimizer in the leg controller to speed up policy training by an order of magnitude. Our system combines the versatility of learning with the robustness of optimal control. By combining RL with optimal control methods, our system achieves the versatility of learning while enjoys the robustness from control methods, making it easily transferable to real robots. We show that after 20 minutes of training on a single GPU, CAJun can achieve continuous, long jumps with adaptive distances on a Go1 robot with small sim-to-real gaps. Moreover, the robot can jump across gaps with a maximum width of 70cm, which is over 40% wider than existing methods.
Motion Comfort Optimization for Autonomous Vehicles: Concepts, Methods, and Techniques

This article outlines the architecture of autonomous driving and related complementary frameworks from the perspective of human comfort. The technical elements for measuring autonomous vehicle (AV) user comfort and psychoanalysis are listed here. At the same time, this article introduces the technology related to the structure of automatic driving and the reaction time of automatic driving. We also discuss the technical details related to the automatic driving comfort system, the response time of the AV driver, the comfort level of the AV, motion sickness, and related optimization technologies. The function of the sensor is affected by various factors. Since the sensor of automatic driving mainly senses the environment around a vehicle, including “the weather” which introduces the challenges and limitations of second-hand sensors in AVs under different weather conditions. The comfort and safety of autonomous driving are also factors that affect the development of autonomous driving technologies. This article further analyzes the impact of autonomous driving on the user’s physical and psychological states and how the comfort factors of AVs affect the automotive market. Also, part of our focus is on the benefits and shortcomings of autonomous driving. The goal is to present an exhaustive overview of the most relevant technical matters to help researchers and application developers comprehend the different comfort factors and systems of autonomous driving. Finally, we provide detailed automated driving comfort use cases to illustrate the comfort-related issues of autonomous driving. Then, we provide implications and insights for the future of autonomous driving.
QH9: A Quantum Hamiltonian Prediction Benchmark for QM9 Molecules

Supervised machine learning approaches have been increasingly used in accelerating electronic structure prediction as surrogates of first-principle computational methods, such as density functional theory (DFT). While numerous quantum chemistry datasets focus on chemical properties and atomic forces, the ability to achieve accurate and efficient prediction of the Hamiltonian matrix is highly desired, as it is the most important and fundamental physical quantity that determines the quantum states of physical systems and chemical properties. In this work, we generate a new Quantum Hamiltonian dataset, named as QH9, to provide precise Hamiltonian matrices for 999 or 2998 molecular dynamics trajectories and 130,831 stable molecular geometries, based on the QM9 dataset. By designing benchmark tasks with various molecules, we show that current machine learning models have the capacity to predict Hamiltonian matrices for arbitrary molecules. Both the QH9 dataset and the baseline models are provided to the community through an open-source benchmark, which can be highly valuable for developing machine learning methods and accelerating molecular and materials design for scientific and technological applications. Our benchmark is publicly available at https://github.com/divelab/AIRS/tree/main/OpenDFT/QHBench.
Robot Learning with Sensorimotor Pre-training

We present a self-supervised sensorimotor pre-training approach for robotics. Our model, called RPT, is a Transformer that operates on sequences of sensorimotor tokens. Given a sequence of camera images, proprioceptive robot states, and actions, we encode the sequence into tokens, mask out a subset, and train a model to predict the missing content from the rest. We hypothesize that if a robot can predict the masked-out content it will have acquired a good model of the physical world that can enable it to act. RPT is designed to operate on latent visual representations which makes prediction tractable, enables scaling to larger models, and allows fast inference on a real robot. To evaluate our approach, we collected a dataset of 20,000 real-world trajectories over 9 months using a combination of motion planning and grasping algorithms. We find that sensorimotor pre-training consistently outperforms training from scratch, has favorable scaling properties, and enables transfer across different tasks, environments, and robots.
Echocardiography Segmentation Using Neural ODE-based Diffeomorphic Registration Field

Convolutional neural networks (CNNs) have recently proven their excellent ability to segment 2D cardiac ultrasound images. However, the majority of attempts to perform full-sequence segmentation of cardiac ultrasound videos either rely on models trained only on keyframe images or fail to maintain the topology over time. To address these issues, in this work, we consider segmentation of ultrasound video as a registration estimation problem and present a novel method for diffeomorphic image registration using neural ordinary differential equations (Neural ODE). In particular, we consider the registration field vector field between frames as a continuous trajectory ODE. The estimated registration field is then applied to the segmentation mask of the first frame to obtain a segment for the whole cardiac cycle. The proposed method, Echo-ODE, introduces several key improvements compared to the previous state-of-the-art. Firstly, by solving a continuous ODE, the proposed method achieves smoother segmentation, preserving the topology of segmentation maps over the whole sequence (Hausdorff distance: 3.7-4.4). Secondly, it maintains temporal consistency between frames without explicitly optimizing for temporal consistency attributes, achieving temporal consistency in 91% of the videos in the dataset. Lastly, the proposed method is able to maintain the clinical accuracy of the segmentation maps (MAE of the LVEF: 2.7-3.1). The results show that our method surpasses the previous state-of-the-art in multiple aspects, demonstrating the importance of spatial-temporal data processing for the implementation of Neural ODEs in medical imaging applications. These findings open up new research directions for solving echocardiography segmentation tasks.
Gluelump masses and mass splittings from SU(3) lattice gauge theory

We compute gluelump masses and mass differences using SU(3) lattice gauge theory. We study states with total angular momentum up to $J = 3$, parity $P = +,-$ and charge conjugation $C = +,-$. Computations on four ensembles with rather fine lattice spacings in the range $0.040 \, \text{fm} \ldots 0.093 \, \text{fm}$ allow continuum extrapolations of gluelump mass differences. We complement existing results on hybrid static potentials with the obtained gluelump masses, which represent the limit of vanishing quark-antiquark separation. We also discuss the conversion of lattice gluelump masses to the Renormalon Subtracted scheme, which is e.g. important for studies of heavy hybrid mesons in the Born-Oppenheimer approximation.
The influence of user personality and rating scale features on rating behaviour: an empirical study

User ratings are widely used in web systems and applications to provide personalized interaction and to help other users make better choices. Previous research has shown that rating scale features and user personality can both influence users’ rating behaviour, but relatively little work has been devoted to understanding if the effects of rating scale features may vary depending on users’ personality. In this paper, we study the impact of scale granularity and colour on the ratings of individuals with different personalities, represented according to the Big Five model. To this aim, we carried out a user study with 203 participants, in the context of a web-based survey where users were assigned an image rating task. Our results confirm that both colour and granularity can affect user ratings, but their specific effects also depend on user scores for certain personality traits, in particular agreeableness, openness to experience and conscientiousness.
Reproducibility in NLP: What Have We Learned from the Checklist?

Scientific progress in NLP rests on the reproducibility of researchers' claims. The *CL conferences created the NLP Reproducibility Checklist in 2020 to be completed by authors at submission to remind them of key information to include. We provide the first analysis of the Checklist by examining 10,405 anonymous responses to it. First, we find evidence of an increase in reporting of information on efficiency, validation performance, summary statistics, and hyperparameters after the Checklist's introduction. Further, we show acceptance rate grows for submissions with more Yes responses. We find that the 44% of submissions that gather new data are 5% less likely to be accepted than those that did not; the average reviewer-rated reproducibility of these submissions is also 2% lower relative to the rest. We find that only 46% of submissions claim to open-source their code, though submissions that do have 8% higher reproducibility score relative to those that do not, the most for any item. We discuss what can be inferred about the state of reproducibility in NLP, and provide a set of recommendations for future conferences, including: a) allowing submitting code and appendices one week after the deadline, and b) measuring dataset reproducibility by a checklist of data collection practices.
Are Large Language Models Really Good Logical Reasoners? A Comprehensive Evaluation From Deductive, Inductive and Abductive Views

Large Language Models (LLMs) have achieved great success in various natural language tasks. It has aroused much interest in evaluating the specific reasoning capability of LLMs, such as multilingual reasoning and mathematical reasoning. However, as one of the key reasoning perspectives, logical reasoning capability has not yet been thoroughly evaluated. In this work, we aim to bridge those gaps and provide comprehensive evaluations. Firstly, to offer systematic evaluations, this paper selects fifteen typical logical reasoning datasets and organizes them into deductive, inductive, abductive and mixed-form reasoning settings. Considering the comprehensiveness of evaluations, we include three representative LLMs (i.e., text-davinci-003, ChatGPT and BARD) and evaluate them on all selected datasets under zero-shot, one-shot and three-shot settings. Secondly, different from previous evaluations relying only on simple metrics (e.g., accuracy), we propose fine-level evaluations from objective and subjective manners, covering both answers and explanations. Also, to uncover the logical flaws of LLMs, bad cases will be attributed to five error types from two dimensions Evidence Selection Process and Reasoning Process . The former one includes evidence selection error and hallucination , while the latter one includes no reasoning , mistakes of reasoning perspectives and mistakes during reasoning process . Thirdly, to avoid the influences of knowledge bias and purely focus on benchmarking the logical reasoning capability of LLMs, we propose a new dataset with neutral content. It contains 3K samples and covers deductive, inductive and abductive reasoning settings. Based on the in-depth evaluations, this paper finally concludes the ability maps of logical reasoning capability from six dimensions (i.e., correct, rigorous, self-aware, active, oriented and no hallucination). It reflects the pros and cons of LLMs and gives guiding directions for future works.
Inverse Scaling: When Bigger Isn't Better

Work on scaling laws has found that large language models (LMs) show predictable improvements to overall loss with increased scale (model size, training data, and compute). Here, we present evidence for the claim that LMs may show inverse scaling, or worse task performance with increased scale, e.g., due to flaws in the training objective and data. We present empirical evidence of inverse scaling on 11 datasets collected by running a public contest, the Inverse Scaling Prize, with a substantial prize pool. Through analysis of the datasets, along with other examples found in the literature, we identify four potential causes of inverse scaling: (i) preference to repeat memorized sequences over following in-context instructions, (ii) imitation of undesirable patterns in the training data, (iii) tasks containing an easy distractor task which LMs could focus on, rather than the harder real task, and (iv) correct but misleading few-shot demonstrations of the task. We release the winning datasets at https://inversescaling.com/data to allow for further investigation of inverse scaling. Our tasks have helped drive the discovery of U-shaped and inverted-U scaling trends, where an initial trend reverses, suggesting that scaling trends are less reliable at predicting the behavior of larger-scale models than previously understood. Overall, our results suggest that there are tasks for which increased model scale alone may not lead to progress, and that more careful thought needs to go into the data and objectives for training language models.