Miracle-dz/UniFAR-FTUs huggingface dataset:
H-SLAM: Hybrid Direct-Indirect Visual SLAM

The recent success of hybrid methods in monocular odometry has led to many attempts to generalize the performance gains to hybrid monocular SLAM. However, most attempts fall short in several respects, with the most prominent issue being the need for two different map representations (local and global maps), with each requiring different, computationally expensive, and often redundant processes to maintain. Moreover, these maps tend to drift with respect to each other, resulting in contradicting pose and scene estimates, and leading to catastrophic failure. In this paper, we propose a novel approach that makes use of descriptor sharing to generate a single inverse depth scene representation. This representation can be used locally, queried globally to perform loop closure, and has the ability to re-activate previously observed map points after redundant points are marginalized from the local map, eliminating the need for separate and redundant map maintenance processes. The maps generated by our method exhibit no drift between each other, and can be computed at a fraction of the computational cost and memory footprint required by other monocular SLAM systems. Despite the reduced resource requirements, the proposed approach maintains its robustness and accuracy, delivering performance comparable to state-of-the-art SLAM methods (e.g., LDSO, ORB-SLAM3) on the majority of sequences from well-known datasets like EuRoC, KITTI, and TUM VI. The source code is available at: https://github.com/AUBVRL/fslam_ros_docker.
Neural Scene Chronology

In this work, we aim to reconstruct a time-varying 3D model, capable of rendering photo-realistic renderings with independent control of viewpoint, illumination, and time, from Internet photos of large-scale landmarks. The core challenges are twofold. First, different types of temporal changes, such as illumination and changes to the underlying scene itself (such as replacing one graffiti artwork with another) are entangled together in the imagery. Second, scene-level temporal changes are often discrete and sporadic over time, rather than continuous. To tackle these problems, we propose a new scene representation equipped with a novel temporal step function encoding method that can model discrete scene-level content changes as piece-wise constant functions over time. Specifically, we represent the scene as a space-time radiance field with a per-image illumination embedding, where temporally-varying scene changes are encoded using a set of learned step functions. To facilitate our task of chronology reconstruction from Internet imagery, we also collect a new dataset of four scenes that exhibit various changes over time. We demonstrate that our method exhibits state-of-the-art view synthesis results on this dataset, while achieving independent control of view-point, time, and illumination. Code and data are available at https://zju3dv.github. io/NeuSC/
An Evaluation of Multicomponent Weft-Knit Twill Structures for Sensing Tensile Force

We present multicomponent knit resistive sensors for tracking tensile force. The knits were fabricated using a Twill structure, which is a simple pattern featuring anisotropic elastic behavior, providing high stability along the course direction. Our sensors are made of two commercially available conductive yarn types, with highly different linear resistance. We present a variety of integration methods using the proposed Twill structure, all of which can be easily replicated on a two-bed weft-knitting machine. We evaluate the performance of the resulting sensor variations, with respect to consistency, hysteresis, short-term and long-term relaxation, and drift, among other metrics. We found that particulars of the knit’s loop composition have a crucial effect on the consistency of the sensor readings. Furthermore, we show that knitting resistive yarn more tightly than the substrate material gives superior results and that improving elastic recoil by adding Lycra to the supporting substrate can considerably improve performance.
Learning under Selective Labels with Data from Heterogeneous Decision-makers: An Instrumental Variable Approach

We study the problem of learning with selectively labeled data, which arises when outcomes are only partially labeled due to historical decision-making. The labeled data distribution may substantially differ from the full population, especially when the historical decisions and the target outcome can be simultaneously affected by some unobserved factors. Consequently, learning with only the labeled data may lead to severely biased results when deployed to the full population. Our paper tackles this challenge by exploiting the fact that in many applications the historical decisions were made by a set of heterogeneous decision-makers. In particular, we analyze this setup in a principled instrumental variable (IV) framework. We establish conditions for the full-population risk of any given prediction rule to be point-identified from the observed data and provide sharp risk bounds when the point identification fails. We further propose a weighted learning approach that learns prediction rules robust to the label selection bias in both identification settings. Finally, we apply our proposed approach to a semi-synthetic financial dataset and demonstrate its superior performance in the presence of selection bias.
SafeBet: Secure, Simple, and Fast Speculative Execution

Spectre attacks exploit microprocessor speculative execution to read and transmit forbidden data outside the attacker's trust domain and sandbox. Recent hardware schemes allow potentially-unsafe speculative accesses but prevent the secret's transmission by delaying most access-dependent instructions even in the predominantly-common, no-attack case, which incurs performance loss and hardware complexity. Instead, we propose SafeBet which allows only, and does not delay most, safe accesses, achieving both security and high performance. SafeBet is based on the key observation that speculatively accessing a destination location is safe if the location's access by the same static trust domain has been committed previously; and potentially unsafe, otherwise. We extend this observation to handle inter trust-domain code and data interactions. SafeBet employs the Speculative Memory Access Control Table (SMACT) to track non-speculative trust domain code region-destination pairs. Disallowed accesses wait until reaching commit to trigger well-known replay, with virtually no change to the pipeline. Software simulations using SpecCPU benchmarks show that SafeBet uses an 8.3-KB SMACT per core to perform within 6% on average (63% at worst) of the unsafe baseline behind which NDA-restrictive, a previous scheme of security and hardware complexity comparable to SafeBet's, lags by 83% on average.
SLiSeS: Subsampled Line Search Spectral Gradient Method for Finite Sums

The spectral gradient method is known to be a powerful low-cost tool for solving large-scale optimization problems. In this paper, our goal is to exploit its advantages in the stochastic optimization framework, especially in the case of mini-batch subsampling that is often used in big data settings. To allow the spectral coefficient to properly explore the underlying approximate Hessian spectrum, we keep the same subsample for several iterations before subsampling again. We analyze the required algorithmic features and the conditions for almost sure convergence, and present initial numerical results that show the advantages of the proposed method.
Best-Case Retrieval Evaluation: Improving the Sensitivity of Reciprocal Rank with Lexicographic Precision

Across a variety of ranking tasks, researchers use reciprocal rank to measure the effectiveness for users interested in exactly one relevant item. Despite its widespread use, evidence suggests that reciprocal rank is brittle when discriminating between systems. This brittleness, in turn, is compounded in modern evaluation settings where current, high-precision systems may be difficult to distinguish. We address the lack of sensitivity of reciprocal rank by introducing and connecting it to the concept of best-case retrieval, an evaluation method focusing on assessing the quality of a ranking for the most satisfied possible user across possible recall requirements. This perspective allows us to generalize reciprocal rank and define a new preference-based evaluation we call lexicographic precision or lexiprecision. By mathematical construction, we ensure that lexiprecision preserves differences detected by reciprocal rank, while empirically improving sensitivity and robustness across a broad set of retrieval and recommendation tasks.
Kernelized Reinforcement Learning with Order Optimal Regret Bounds

Reinforcement learning (RL) has shown empirical success in various real world settings with complex models and large state-action spaces. The existing analytical results, however, typically focus on settings with a small number of state-actions or simple models such as linearly modeled state-action value functions. To derive RL policies that efficiently handle large state-action spaces with more general value functions, some recent works have considered nonlinear function approximation using kernel ridge regression. We propose $\pi$-KRVI, an optimistic modification of least-squares value iteration, when the state-action value function is represented by a reproducing kernel Hilbert space (RKHS). We prove the first order-optimal regret guarantees under a general setting. Our results show a significant polynomial in the number of episodes improvement over the state of the art. In particular, with highly non-smooth kernels (such as Neural Tangent kernel or some Mat\'ern kernels) the existing results lead to trivial (superlinear in the number of episodes) regret bounds. We show a sublinear regret bound that is order optimal in the case of Mat\'ern kernels where a lower bound on regret is known.
Oblique rings from migrating exomoons: A possible origin for long-period exoplanets with enlarged radii

Context. The extremely low density of several long-period exoplanets in mature systems is still unexplained -- with HIP 41378 f being archetypical of this category. It has been proposed that such planets could actually have normal densities but be surrounded by a ring observed approximately face on, mimicking the transit depth of a puffy planet. This would imply that the equator of the planet is nearly perpendicular to its orbit plane, which is at odds with the formation process of gas giants. Yet, in the context of the Solar System planets, it has been shown that after gigayears of evolution, the tidal migration of a moon can naturally lead to a very tilted planet with a ring. Aims. As exomoons are expected to be ubiquitous around giant exoplanets, this mechanism may be responsible for the anomalous radii of some observed exoplanets. In preparation for the future discoveries of the PLATO mission, we present a simple method for checking the plausibility of this mechanism for a given exoplanet. Methods. Analytical formulas give the probability density function of the relevant precession harmonics of the planet. For each harmonic, simple criteria set the moon mass and other properties required for the mechanism to operate. Results. We applied this methodology to HIP 41378 f, and we show that in order to reproduce the observed configuration, a hypothetical former moon should have had a moon-to-planet mass ratio of a few times 1e-4 (i.e. roughly the mass of our Moon) and have migrated over a distance of a few planet's radii on a gigayear timescale. These orders of magnitude match the properties of moons expected to exist around gaseous exoplanets. Conclusions. We conclude that the migration of a former moon is a viable formation pathway for the proposed ring and tilt of HIP 41378 f. This example strengthens the ring hypothesis and motivates its application to other targets.
Noisy Positive-Unlabeled Learning with Self-Training for Speculative Knowledge Graph Reasoning

This paper studies speculative reasoning task on real-world knowledge graphs (KG) that contain both \textit{false negative issue} (i.e., potential true facts being excluded) and \textit{false positive issue} (i.e., unreliable or outdated facts being included). State-of-the-art methods fall short in the speculative reasoning ability, as they assume the correctness of a fact is solely determined by its presence in KG, making them vulnerable to false negative/positive issues. The new reasoning task is formulated as a noisy Positive-Unlabeled learning problem. We propose a variational framework, namely nPUGraph, that jointly estimates the correctness of both collected and uncollected facts (which we call \textit{label posterior}) and updates model parameters during training. The label posterior estimation facilitates speculative reasoning from two perspectives. First, it improves the robustness of a label posterior-aware graph encoder against false positive links. Second, it identifies missing facts to provide high-quality grounds of reasoning. They are unified in a simple yet effective self-training procedure. Empirically, extensive experiments on three benchmark KG and one Twitter dataset with various degrees of false negative/positive cases demonstrate the effectiveness of nPUGraph.
Dynamics and phases of nonunitary Floquet transverse-field Ising model

Inspired by current research on measurement-induced quantum phase transitions, we analyze the nonunitary Floquet transverse-field Ising model with complex nearest-neighbor couplings and complex transverse fields. Unlike its unitary counterpart, the model shows a number of steady phases, stable to integrability breaking perturbations. Some phases have robust edge modes and/or spatiotemporal long-range orders in the bulk. The transitions between the phases have extensive entanglement entropy, whose scaling with the system size depends on the number of the real quasiparticle modes in the spectrum at the transition. In particular, the volume law scaling appears on some critical lines, protected by pseudo-Hermiticity. Both the scaling of entanglement entropy in steady states and the evolution after a quench are compatible with the non-Hermitian generalization of the quasiparticle picture of Calabrese and Cardy at least qualitatively.
DeepTransition: Viability Leads to the Emergence of Gait Transitions in Learning Anticipatory Quadrupedal Locomotion Skills

Quadruped animals seamlessly transition between gaits as they change locomotion speeds. While the most widely accepted explanation for gait transitions is energy efficiency, there is no clear consensus on the determining factor, nor on the potential effects from terrain properties. In this article, we propose that viability, i.e. the avoidance of falls, represents an important criterion for gait transitions. We investigate the emergence of gait transitions through the interaction between supraspinal drive (brain), the central pattern generator in the spinal cord, the body, and exteroceptive sensing by leveraging deep reinforcement learning and robotics tools. Consistent with quadruped animal data, we show that the walk-trot gait transition for quadruped robots on flat terrain improves both viability and energy efficiency. Furthermore, we investigate the effects of discrete terrain (i.e. crossing successive gaps) on imposing gait transitions, and find the emergence of trot-pronk transitions to avoid non-viable states. Compared with other potential criteria such as peak forces and energy efficiency, viability is the only improved factor after gait transitions on both flat and discrete gap terrains, suggesting that viability could be a primary and universal objective of gait transitions, while other criteria are secondary objectives and/or a consequence of viability. Moreover, we deploy our learned controller in sim-to-real hardware experiments and demonstrate state-of-the-art quadruped agility in challenging scenarios, where the Unitree A1 quadruped autonomously transitions gaits between trot and pronk to cross consecutive gaps of up to 30 cm (83.3 % of the body-length) at over 1.3 m/s.
Particle simulation methods for the Landau-Fokker-Planck equation with uncertain data

The design of particle simulation methods for collisional plasma physics has always represented a challenge due to the unbounded total collisional cross section, which prevents a natural extension of the classical Direct Simulation Monte Carlo (DSMC) method devised for the Boltzmann equation. One way to overcome this problem is to consider the design of Monte Carlo algorithms that are robust in the so-called grazing collision limit. In the first part of this manuscript, we will focus on the construction of collision algorithms for the Landau-Fokker-Planck equation based on the grazing collision asymptotics and which avoids the use of iterative solvers. Subsequently, we discuss problems involving uncertainties and show how to develop a stochastic Galerkin projection of the particle dynamics which permits to recover spectral accuracy for smooth solutions in the random space. Several classical numerical tests are reported to validate the present approach.
Composing Efficient, Robust Tests for Policy Selection

Modern reinforcement learning systems produce many high-quality policies throughout the learning process. However, to choose which policy to actually deploy in the real world, they must be tested under an intractable number of environmental conditions. We introduce RPOSST, an algorithm to select a small set of test cases from a larger pool based on a relatively small number of sample evaluations. RPOSST treats the test case selection problem as a two-player game and optimizes a solution with provable $k$-of-$N$ robustness, bounding the error relative to a test that used all the test cases in the pool. Empirical results demonstrate that RPOSST finds a small set of test cases that identify high quality policies in a toy one-shot game, poker datasets, and a high-fidelity racing simulator.
Robust Reinforcement Learning through Efficient Adversarial Herding

Although reinforcement learning (RL) is considered the gold standard for policy design, it may not always provide a robust solution in various scenarios. This can result in severe performance degradation when the environment is exposed to potential disturbances. Adversarial training using a two-player max-min game has been proven effective in enhancing the robustness of RL agents. In this work, we extend the two-player game by introducing an adversarial herd, which involves a group of adversaries, in order to address ($\textit{i}$) the difficulty of the inner optimization problem, and ($\textit{ii}$) the potential over pessimism caused by the selection of a candidate adversary set that may include unlikely scenarios. We first prove that adversarial herds can efficiently approximate the inner optimization problem. Then we address the second issue by replacing the worst-case performance in the inner optimization with the average performance over the worst-$k$ adversaries. We evaluate the proposed method on multiple MuJoCo environments. Experimental results demonstrate that our approach consistently generates more robust policies.
Planetesimals drifting through dusty and gaseous white dwarf debris discs: Types I, II and III-like migration

The suite of over 60 known planetary debris discs which orbit white dwarfs, along with detections of multiple minor planets in these systems, motivate investigations about the migration properties of planetesimals embedded within the discs. Here, we determine whether any of the migration regimes which are common in (pre-)main-sequence protoplanetary discs, debris discs, and ring systems could be active and important in white dwarf discs. We investigate both dust-dominated and gas-dominated regions, and quantitatively demonstrate that Type I and Type II migration, as well as their particulate disc analogues, are too slow to be relevant in white dwarf discs. However, we find that the analogue of Type III migration for particulate discs may be rapid in the dusty regions of asteroid- or moon-generated (>1018 kg) white dwarf discs, where a planetesimal exterior to its Roche radius may migrate across the entire disc within its lifetime. This result holds over a wide range of disc boundaries, both within and exterior to 1R⊙, and such that the probability of migration occurring increases with higher disc masses.
A Comparative Study of Factor Models for Different Periods of the Electricity Spot Price Market

Due to major shifts in European energy supply, a structural change can be observed in Austrian electricity spot price data starting from the second quarter of the year 2021 onward. In this work we study the performance of two different factor models for the electricity spot price in three different time periods. To this end, we consider three samples of EEX data for the Austrian base load electricity spot price, one from the pre-crises from 2018 to 2021, the second from the time of the crisis from 2021 to 2023 and the whole data from 2018 to 2023. For each of these samples, we investigate the fit of a classical 3-factor model with a Gaussian base signal and one positive and one negative jump signal and compare it with a 4-factor model to assess the effect of adding a second Gaussian base signal to the model. For the calibration of the models we develop a tailor-made Markov Chain Monte Carlo method based on Gibbs sampling. To evaluate the model adequacy, we provide simulations of the spot price as well as a posterior predictive check for the 3- and the 4-factor model. We find that the 4-factor model outperforms the 3-factor model in times of non-crises. In times of crises, the second Gaussian base signal does not lead to a better fit of the model. To the best of our knowledge, this is the first study regarding stochastic electricity spot price models in this new market environment. Hence, it serves as a solid base for future research.
Linear Polycatenanes from Kinetoplast Edge Loops

We use graph theory simulations and single molecule experiments to investigate percolation properties of kinetoplasts, the topologically linked mitochondrial DNA from trypanosome parasites. The edges of some kinetoplast networks contain a fiber of redundantly catenated DNA loops, but previous investigations of kinetoplast topology did not take this into account. Our graph simulations track the size of connected components in lattices as nodes are removed, analogous to the removal of minicircles from kinetoplasts. We find that when the edge loop is taken into account, the largest component after the network de-percolates is a remnant of the edge loop, before it undergoes a second percolation transition and breaks apart. This implies that stochastically removing minicircles from kinetoplast DNA would isolate large polycatenanes, which is observed in experiments that use photonicking to stochastically destroy kinetoplasts from Crithidia fasciculata. Our results imply kinetoplasts may be used as a source of linear polycatenanes for future experiments.