Miracle-dz/UniFAR-FTUs huggingface dataset:
Whole-Body Dynamic Telelocomotion: A Step-to-Step Dynamics Approach to Human Walking Reference Generation

Teleoperated humanoid robots hold significant potential as physical avatars for humans in hazardous and inaccessible environments, with the goal of channeling human intelligence and sensorimotor skills through these robotic counterparts. Precise coordination between humans and robots is crucial for accomplishing whole-body behaviors involving locomotion and manipulation. To progress successfully, dynamic synchronization between humans and humanoid robots must be achieved. This work enhances advancements in whole-body dynamic telelocomotion, addressing challenges in robustness. By embedding the hybrid and underactuated nature of bipedal walking into a virtual human walking interface, we achieve dynamically consistent walking gait generation. Additionally, we integrate a reactive robot controller into a whole-body dynamic telelocomotion framework. Thus, allowing the realization of telelocomotion behaviors on the full-body dynamics of a bipedal robot. Real-time telelocomotion simulation experiments validate the effectiveness of our methods, demonstrating that a trained human pilot can dynamically synchronize with a simulated bipedal robot, achieving sustained locomotion, controlling walking speeds within the range of 0.0 m/s to 0.3 m/s, and enabling backward walking for distances of up to 2.0 m. This research contributes to advancing teleoperated humanoid robots and paves the way for future developments in synchronized locomotion between humans and bipedal robots.
Simplicial $*$-modules and mild actions

We develop an analogue of the theory of $*$-modules in the world of simplicial sets, based on actions of a certain simplicial monoid $E\mathcal M$ originally appearing in the construction of global algebraic $K$-theory. As our main results, we show that strictly commutative monoids with respect to a certain box product on these simplicial $*$-modules yield models of equivariantly and globally coherently commutative monoids, and we give a characterization of simplicial $*$-modules in terms of a certain mildness condition on the $E\mathcal M$-action, relaxing the notion of tameness previously investigated by Sagave-Schwede and the first author.
Investigating the Factual Knowledge Boundary of Large Language Models with Retrieval Augmentation

Knowledge-intensive tasks (e.g., open-domain question answering (QA)) require a substantial amount of factual knowledge and often rely on external information for assistance. Recently, large language models (LLMs) (e.g., ChatGPT), have demonstrated impressive prowess in solving a wide range of tasks with world knowledge, including knowledge-intensive tasks. However, it remains unclear how well LLMs are able to perceive their factual knowledge boundaries, particularly how they behave when incorporating retrieval augmentation. In this study, we present an initial analysis of the factual knowledge boundaries of LLMs and how retrieval augmentation affects LLMs on open-domain QA. Specially, we focus on three primary research questions and analyze them by examining QA performance, priori judgement and posteriori judgement of LLMs. We show evidence that LLMs possess unwavering confidence in their capabilities to respond to questions and the accuracy of their responses. Furthermore, retrieval augmentation proves to be an effective approach in enhancing LLMs' awareness of knowledge boundaries, thereby improving their judgemental abilities. Additionally, we also find that LLMs have a propensity to rely on the provided retrieval results when formulating answers, while the quality of these results significantly impacts their reliance. The code to reproduce this work is available at https://github.com/RUCAIBox/LLM-Knowledge-Boundary.
Path planning on SE(3) for AUVs using the RRT method

This paper presents a kinematic path planning method for a slender autonomous underwater vehicle (AUV) using a technique based on the Rapid-Exploring Random Tree (RRT) algorithm extended to the Euclidean group of motions SE(3). The paths are generated by connecting sub-Riemannian curves on SE(3) that are optimal with respect to a weighted quadratic cost function of the translational and angular velocities subject to the kinematic constraints of the vehicle and are C smooth for translational motions. Unlike the majority of other AUV path planning methods, our framework provides a full description of the rotational and translational position as a function of time and the curves satisfy the differential constraints of the vehicle. The modified RRT method is demonstrated in two scenarios, the first with a sparse obstacle field and the second with a dense obstacle field. In both cases the algorithm successfully generates a six degree-offreedom path from the initial position to a desired final position.
On Combining Expert Demonstrations in Imitation Learning via Optimal Transport

Imitation learning (IL) seeks to teach agents specific tasks through expert demonstrations. One of the key approaches to IL is to define a distance between agent and expert and to find an agent policy that minimizes that distance. Optimal transport methods have been widely used in imitation learning as they provide ways to measure meaningful distances between agent and expert trajectories. However, the problem of how to optimally combine multiple expert demonstrations has not been widely studied. The standard method is to simply concatenate state (-action) trajectories, which is problematic when trajectories are multi-modal. We propose an alternative method that uses a multi-marginal optimal transport distance and enables the combination of multiple and diverse state-trajectories in the OT sense, providing a more sensible geometric average of the demonstrations. Our approach enables an agent to learn from several experts, and its efficiency is analyzed on OpenAI Gym control environments and demonstrates that the standard method is not always optimal.
A Survey on Dialogue Management in Human-Robot Interaction

As social robots see increasing deployment within the general public, improving the interaction with those robots is essential. Spoken language offers an intuitive interface for the human-robot interaction (HRI), with dialogue management (DM) being a key component in those interactive systems. Yet, to overcome current challenges and manage smooth, informative and engaging interaction a more structural approach to combining HRI and DM is needed. In this systematic review, we analyse the current use of DM in HRI and focus on the type of dialogue manager used, its capabilities, evaluation methods and the challenges specific to DM in HRI. We identify the challenges and current scientific frontier related to the DM approach, interaction domain, robot appearance, physical situatedness and multimodality.
Energy-consistent discretization of viscous dissipation with application to natural convection flow

A new energy-consistent discretization of the viscous dissipation function in incompressible flows is proposed. It is implied by choosing a discretization of the diffusive terms and a discretization of the local kinetic energy equation and by requiring that continuous identities like the product rule are mimicked discretely. The proposed viscous dissipation function has a quadratic, strictly dissipative form, for both simplified (constant viscosity) stress tensors and general stress tensors. The proposed expression is not only useful in evaluating energy budgets in turbulent flows, but also in natural convection flows, where it appears in the internal energy equation and is responsible for viscous heating. The viscous dissipation function is such that a consistent total energy balance is obtained: the 'implied' presence as sink in the kinetic energy equation is exactly balanced by explicitly adding it as source term in the internal energy equation. Numerical experiments of Rayleigh-B\'enard convection (RBC) and Rayleigh-Taylor instabilities confirm that with the proposed dissipation function, the energy exchange between kinetic and internal energy is exactly preserved. The experiments show furthermore that viscous dissipation does not affect the critical Rayleigh number at which instabilities form, but it does significantly impact the development of instabilities once they occur. Consequently, the value of the Nusselt number on the cold plate becomes larger than on the hot plate, with the difference increasing with increasing Gebhart number. Finally, 3D simulations of turbulent RBC show that energy balances are exactly satisfied even for very coarse grids; therefore, we consider that the proposed discretization forms an excellent starting point for testing sub-grid scale models.
Quantum Query Complexity of Boolean Functions under Indefinite Causal Order

The standard model of quantum circuits assumes operations are applied in a fixed sequential"causal"order. In recent years, the possibility of relaxing this constraint to obtain causally indefinite computations has received significant attention. The quantum switch, for example, uses a quantum system to coherently control the order of operations. Several ad hoc computational and information-theoretical advantages have been demonstrated, raising questions as to whether advantages can be obtained in a more unified complexity theoretic framework. In this paper, we approach this problem by studying the query complexity of Boolean functions under general higher order quantum computations. To this end, we generalise the framework of query complexity from quantum circuits to quantum supermaps to compare different models on an equal footing. We show that the recently introduced class of quantum circuits with quantum control of causal order cannot lead to any reduction in query complexity, and that any potential advantage arising from causally indefinite supermaps can be bounded by the polynomial method, as is the case with quantum circuits. Nevertheless, we find some functions for which the minimum error with which they can be computed using two queries is strictly lower when exploiting causally indefinite supermaps.
A natural language processing approach to Malware classification

Many different machine learning and deep learning techniques have been successfully employed for malware detection and classification. Examples of popular learning techniques in the malware domain include Hidden Markov Models (HMM), Random Forests (RF), Convolutional Neural Networks (CNN), Support Vector Machines (SVM), and Recurrent Neural Networks (RNN) such as Long Short-Term Memory (LSTM) networks. In this research, we consider a hybrid architecture, where HMMs are trained on opcode sequences, and the resulting hidden states of these trained HMMs are used as feature vectors in various classifiers. In this context, extracting the HMM hidden state sequences can be viewed as a form of feature engineering that is somewhat analogous to techniques that are commonly employed in Natural Language Processing (NLP). We find that this NLP-based approach outperforms other popular techniques on a challenging malware dataset, with an HMM-Random Forest model yielding the best results.
Modifications of the Miller definition of contrastive (counterfactual) explanations

Miller recently proposed a definition of contrastive (counterfactual) explanations based on the well-known Halpern-Pearl (HP) definitions of causes and (non-contrastive) explanations. Crucially, the Miller definition was based on the original HP definition of explanations, but this has since been modified by Halpern; presumably because the original yields counterintuitive results in many standard examples. More recently Borner has proposed a third definition, observing that this modified HP definition may also yield counterintuitive results. In this paper we show that the Miller definition inherits issues found in the original HP definition. We address these issues by proposing two improved variants based on the more robust modified HP and Borner definitions. We analyse our new definitions and show that they retain the spirit of the Miller definition where all three variants satisfy an alternative unified definition that is modular with respect to an underlying definition of non-contrastive explanations. To the best of our knowledge this paper also provides the first explicit comparison between the original and modified HP definitions.
Interpretable Timbre Synthesis using Variational Autoencoders Regularized on Timbre Descriptors

Controllable timbre synthesis has been a subject of research for several decades, and deep neural networks have been the most successful in this area. Deep generative models such as Variational Autoencoders (VAEs) have the ability to generate a high-level representation of audio while providing a structured latent space. Despite their advantages, the interpretability of these latent spaces in terms of human perception is often limited. To address this limitation and enhance the control over timbre generation, we propose a regularized VAE-based latent space that incorporates timbre descriptors. Moreover, we suggest a more concise representation of sound by utilizing its harmonic content, in order to minimize the dimensionality of the latent space.
Particle discrimination in a NaI crystal using the COSINUS remote TES design

The COSINUS direct dark matter experiment situated at Laboratori Nazionali del Gran Sasso in Italy is set to investigate the nature of the annually modulating signal detected by the DAMA/LIBRA experiment. COSINUS has already demonstrated that sodium iodide crystals can be operated at mK temperature as cryogenic scintillating calorimeters using transition edge sensors, despite the complication of handling a hygroscopic and low melting point material. With results from a new COSINUS prototype, we show that particle discrimination on an event-by-event basis in NaI is feasible using the dual-channel readout of both phonons and scintillation light. The detector was mounted in the novel remoTES design and operated in an above-ground facility for 9.06 g$\cdot$d of exposure. With a 3.7 g NaI crystal, e$^-$/$\gamma$ events could be clearly distinguished from nuclear recoils down to the nuclear recoil energy threshold of 15 keV.
Spatially coupled low-density parity-check error correction for holographic data storage

The spatially coupled low-density parity-check (SC-LDPC) was considered for holographic data storage. The superiority of SC-LDPC was studied by simulation. The simulations show that the performance of SC-LDPC depends on the lifting number, and when the lifting number is over 100, SC-LDPC shows better error correctability compared with irregular LDPC. SC-LDPC is applied to the 5:9 modulation code, which is one of the differential codes. The error-free point is near 2.8 dB and over 10−1 can be corrected in simulation. From these simulation results, this error correction code can be applied to actual holographic data storage test equipment. Results showed that 8 × 10−2 can be corrected, furthermore it works effectively and shows good error correctability.
Fast and Furious: A High-Frequency Analysis of Robinhood Users' Trading Behavior (preprint)

We analyze Robinhood (RH) investors' trading reactions to intraday hourly and overnight price changes. Contrasting with recent studies focusing on daily behaviors, we find that RH users strongly favor big losers over big gainers. We also uncover that they react rapidly, typically within an hour, when acquiring stocks that exhibit extreme negative returns. Further analyses suggest greater (lower) attention to overnight (intraday) movements and exacerbated behaviors post-COVID-19 announcement. Moreover, trading attitudes significantly vary across firm size and industry, with a more contrarian strategy towards larger-cap firms and a heightened activity on energy and consumer discretionary stocks.
Transfer Learning and Bias Correction with Pre-trained Audio Embeddings

Deep neural network models have become the dominant approach to a large variety of tasks within music information retrieval (MIR). These models generally require large amounts of (annotated) training data to achieve high accuracy. Because not all applications in MIR have sufficient quantities of training data, it is becoming increasingly common to transfer models across domains. This approach allows representations derived for one task to be applied to another, and can result in high accuracy with less stringent training data requirements for the downstream task. However, the properties of pre-trained audio embeddings are not fully understood. Specifically, and unlike traditionally engineered features, the representations extracted from pre-trained deep networks may embed and propagate biases from the model's training regime. This work investigates the phenomenon of bias propagation in the context of pre-trained audio representations for the task of instrument recognition. We first demonstrate that three different pre-trained representations (VGGish, OpenL3, and YAMNet) exhibit comparable performance when constrained to a single dataset, but differ in their ability to generalize across datasets (OpenMIC and IRMAS). We then investigate dataset identity and genre distribution as potential sources of bias. Finally, we propose and evaluate post-processing countermeasures to mitigate the effects of bias, and improve generalization across datasets.
X-ray Binary Evolution and the Connection to Star Formation in Nearby Galaxies with the Chandra Local Volume Survey

X-ray Binary Evolution and the Connection to Star Formation in Nearby Galaxies with the Chandra Local Volume Survey Breanna Arlene Binder Chair of the Supervisory Committee: Dr. Scott Anderson Department of Astronomy X-ray binaries, especially those with a massive stellar companion, provide a unique probe through which one can study the end-points of high-mass stellar evolution while simultaneously tracing recent star formation. In this thesis, I analyze the high-mass X-ray binary populations of five nearby galaxies using matched observations from the Chandra X-ray Observatory and the Hubble Space Telescope. The global X-ray properties of the X-ray binary populations of these galaxies is correlated with the star formation histories of the host galaxies. Unlike previous studies of the X-ray–star formation connection, which corrects for contamination by background sources only in a statistical sense, I have developed a source classification scheme utilizing the resolved stellar populations from Hubble imaging to separate X-ray binary candidates from contaminating X-ray sources. This thesis validates the statistical corrective approach typically applied to more distant galaxies, where it is not possible to resolve individual stars. Additionally, the X-ray binary populations of these nearby galaxies is used to constrain models of massive star evolution. This includes an estimate of the fraction of massive evolved binaries that undergo an X-ray luminous phase, the characteristic timescale of the X-ray luminous phase, and the mass distribution of stellar companions in X-ray binaries.
On the Real-Time Semantic Segmentation of Aphid Clusters in the Wild

Aphid infestations can cause extensive damage to wheat and sorghum fields and spread plant viruses, resulting in significant yield losses in agriculture. To address this issue, farmers often rely on chemical pesticides, which are inefficiently applied over large areas of fields. As a result, a considerable amount of pesticide is wasted on areas without pests, while inadequate amounts are applied to areas with severe infestations. The paper focuses on the urgent need for an intelligent autonomous system that can locate and spray infestations within complex crop canopies, reducing pesticide use and environmental impact. We have collected and labeled a large aphid image dataset in the field, and propose the use of real-time semantic segmentation models to segment clusters of aphids. A multiscale dataset is generated to allow for learning the clusters at different scales. We compare the segmentation speeds and accuracy of four state-of-the-art real-time semantic segmentation models on the aphid cluster dataset, benchmarking them against nonreal-time models. The study results show the effectiveness of a real-time solution, which can reduce inefficient pesticide use and increase crop yields, paving the way towards an autonomous pest detection system.
Intrinsic Image Decomposition Using Point Cloud Representation

The purpose of intrinsic decomposition is to separate an image into its albedo (reflective properties) and shading components (illumination properties). This is challenging because it's an ill-posed problem. Conventional approaches primarily concentrate on 2D imagery and fail to fully exploit the capabilities of 3D data representation. 3D point clouds offer a more comprehensive format for representing scenes, as they combine geometric and color information effectively. To this end, in this paper, we introduce Point Intrinsic Net (PoInt-Net), which leverages 3D point cloud data to concurrently estimate albedo and shading maps. The merits of PoInt-Net include the following aspects. First, the model is efficient, achieving consistent performance across point clouds of any size with training only required on small-scale point clouds. Second, it exhibits remarkable robustness; even when trained exclusively on datasets comprising individual objects, PoInt-Net demonstrates strong generalization to unseen objects and scenes. Third, it delivers superior accuracy over conventional 2D approaches, demonstrating enhanced performance across various metrics on different datasets. (Code Released)
Automated Action Model Acquisition from Narrative Texts

Action models, which take the form of precondition/effect axioms, facilitate causal and motivational connections between actions for AI agents. Action model acquisition has been identified as a bottleneck in the application of planning technology, especially within narrative planning. Acquiring action models from narrative texts in an automated way is essential, but challenging because of the inherent complexities of such texts. We present NaRuto, a system that extracts structured events from narrative text and subsequently generates planning-language-style action models based on predictions of commonsense event relations, as well as textual contradictions and similarities, in an unsupervised manner. Experimental results in classical narrative planning domains show that NaRuto can generate action models of significantly better quality than existing fully automated methods, and even on par with those of semi-automated methods.
On minimizing the training set fill distance in machine learning regression

For regression tasks one often leverages large datasets for training predictive machine learning models. However, using large datasets may not be feasible due to computational limitations or high data labelling costs. Therefore, suitably selecting small training sets from large pools of unlabelled data points is essential to maximize model performance while maintaining efficiency. In this work, we study Farthest Point Sampling (FPS), a data selection approach that aims to minimize the fill distance of the selected set. We derive an upper bound for the maximum expected prediction error, conditional to the location of the unlabelled data points, that linearly depends on the training set fill distance. For empirical validation, we perform experiments using two regression models on three datasets. We empirically show that selecting a training set by aiming to minimize the fill distance, thereby minimizing our derived bound, significantly reduces the maximum prediction error of various regression models, outperforming alternative sampling approaches by a large margin. Furthermore, we show that selecting training sets with the FPS can also increase model stability for the specific case of Gaussian kernel regression approaches.