Miracle-dz/UniFAR-FTUs huggingface dataset:
Model Predictive Control with Gaussian-Process-Supported Dynamical Constraints for Autonomous Vehicles

We propose a model predictive control approach for autonomous vehicles that exploits learned Gaussian processes for predicting human driving behavior. The proposed approach employs the uncertainty about the GP's prediction to achieve safety. A multi-mode predictive control approach considers the possible intentions of the human drivers. While the intentions are represented by different Gaussian processes, their probabilities foreseen in the observed behaviors are determined by a suitable online classification. Intentions below a certain probability threshold are neglected to improve performance. The proposed multi-mode model predictive control approach with Gaussian process regression support enables repeated feasibility and probabilistic constraint satisfaction with high probability. The approach is underlined in simulation, considering real-world measurements for training the Gaussian processes.
A Threefold Review on Deep Semantic Segmentation: Efficiency-oriented, Temporal and Depth-aware design

Semantic image and video segmentation stand among the most important tasks in computer vision nowadays, since they provide a complete and meaningful representation of the environment by means of a dense classification of the pixels in a given scene. Recently, Deep Learning, and more precisely Convolutional Neural Networks, have boosted semantic segmentation to a new level in terms of performance and generalization capabilities. However, designing Deep Semantic Segmentation models is a complex task, as it may involve application-dependent aspects. Particularly, when considering autonomous driving applications, the robustness-efficiency trade-off, as well as intrinsic limitations - computational/memory bounds and data-scarcity - and constraints - real-time inference - should be taken into consideration. In this respect, the use of additional data modalities, such as depth perception for reasoning on the geometry of a scene, and temporal cues from videos to explore redundancy and consistency, are promising directions yet not explored to their full potential in the literature. In this paper, we conduct a survey on the most relevant and recent advances in Deep Semantic Segmentation in the context of vision for autonomous vehicles, from three different perspectives: efficiency-oriented model development for real-time operation, RGB-Depth data integration (RGB-D semantic segmentation), and the use of temporal information from videos in temporally-aware models. Our main objective is to provide a comprehensive discussion on the main methods, advantages, limitations, results and challenges faced from each perspective, so that the reader can not only get started, but also be up to date in respect to recent advances in this exciting and challenging research field.
End-to-end Face-swapping via Adaptive Latent Representation Learning

Taking full advantage of the excellent performance of StyleGAN, style transfer-based face swapping methods have been extensively investigated recently. However, these studies require separate face segmentation and blending modules for successful face swapping, and the fixed selection of the manipulated latent code in these works is reckless, thus degrading face swapping quality, generalizability, and practicability. This paper proposes a novel and end-to-end integrated framework for high resolution and attribute preservation face swapping via Adaptive Latent Representation Learning. Specifically, we first design a multi-task dual-space face encoder by sharing the underlying feature extraction network to simultaneously complete the facial region perception and face encoding. This encoder enables us to control the face pose and attribute individually, thus enhancing the face swapping quality. Next, we propose an adaptive latent codes swapping module to adaptively learn the mapping between the facial attributes and the latent codes and select effective latent codes for improved retention of facial attributes. Finally, the initial face swapping image generated by StyleGAN2 is blended with the facial region mask generated by our encoder to address the background blur problem. Our framework integrating facial perceiving and blending into the end-to-end training and testing process can achieve high realistic face-swapping on wild faces without segmentation masks. Experimental results demonstrate the superior performance of our approach over state-of-the-art methods.
Streaming Kernel PCA Algorithm With Small Space

Principal Component Analysis (PCA) is a widely used technique in machine learning, data analysis and signal processing. With the increase in the size and complexity of datasets, it has become important to develop low-space usage algorithms for PCA. Streaming PCA has gained significant attention in recent years, as it can handle large datasets efficiently. The kernel method, which is commonly used in learning algorithms such as Support Vector Machines (SVMs), has also been applied in PCA algorithms. We propose a streaming algorithm for Kernel PCA problems based on the traditional scheme by Oja. Our algorithm addresses the challenge of reducing the memory usage of PCA while maintaining its accuracy. We analyze the performance of our algorithm by studying the conditions under which it succeeds. Specifically, we show that, when the spectral ratio $R := \lambda_1/\lambda_2$ of the target covariance matrix is lower bounded by $C \cdot \log n\cdot \log d$, the streaming PCA can be solved with $O(d)$ space cost. Our proposed algorithm has several advantages over existing methods. First, it is a streaming algorithm that can handle large datasets efficiently. Second, it employs the kernel method, which allows it to capture complex nonlinear relationships among data points. Third, it has a low-space usage, making it suitable for applications where memory is limited.
THERIF: A Pipeline for Generating Themes for Readability with Iterative Feedback

Digital reading applications give readers the ability to customize fonts, sizes, and spacings, all of which have been shown to improve the reading experience for readers from different demographics. However, tweaking these text features can be challenging, especially given their interactions on the final look and feel of the text. Our solution is to offer readers preset combinations of font, character, word and line spacing, which we bundle together into reading themes. To arrive at a recommended set of reading themes, we present our THERIF pipeline, which combines crowdsourced text adjustments, ML-driven clustering of text formats, and design sessions. We show that after four iterations of our pipeline, we converge on a set of three COR themes (Compact, Open, and Relaxed) that meet diverse readers' preferences, when evaluating the reading speeds, comprehension scores, and preferences of hundreds of readers with and without dyslexia, using crowdsourced experiments.
A Graph-Based Optimization Framework for Hand-Eye Calibration for Multi-Camera Setups

Hand-eye calibration is the problem of estimating the spatial transformation between a reference frame, usually the base of a robot arm or its gripper, and the reference frame of one or multiple cameras. Generally, this calibration is solved as a non-linear optimization problem, what instead is rarely done is to exploit the underlying graph structure of the problem itself. Actually, the problem of hand-eye calibration can be seen as an instance of the Simultaneous Localization and Mapping (SLAM) problem. Inspired by this fact, in this work we present a pose-graph approach to the hand-eye calibration problem that extends a recent state-of-the-art solution in two different ways: i) by formulating the solution to eye-on-base setups with one camera; ii) by covering multi-camera robotic setups. The proposed approach has been validated in simulation against standard hand-eye calibration methods. Moreover, a real application is shown. In both scenarios, the proposed approach overcomes all alternative methods. We release with this paper an open-source implementation of our graph-based optimization framework for multi-camera setups.
Discrete Higher Berry Phases and Matrix Product States

A $1$-parameter family of invertible states gives a topological transport phenomenon, similar to the Thouless pumping. As a natural generalization of this, we can consider a family of invertible states parametrized by some topological space $X$. This is called a higher pump. It is conjectured that $(1+1)$-dimensional bosonic invertible state parametrized by $X$ is classified by $\mathrm{H}^{3}(X;\mathbb{Z})$. In this paper, we construct two higher pumping models parametrized by $X=\mathbb{R}P^{2}\times S^1$ and $X=\mathrm{L}(3,1)\times S^1$ that corresponds to the torsion part of $\mathrm{H}^{3}(X;\mathbb{Z})$. As a consequence of the nontriviality as a family, we find that a quantum mechanical system with a nontrivial discrete Berry phase is pumped to the boundary of the $(1+1)$-dimensional system. We also study higher pump phenomena by using matrix product states (MPS), and construct a higher pump invariant which takes value in a torsion part of $\mathrm{H}^{3}(X;\mathbb{Z})$. This is a higher analog of the ordinary discrete Berry phase that takes value in the torsion part of $\mathrm{H}^{2}(X;\mathbb{Z})$. In order to define the higher pump invariant, we utilize the smooth Deligne cohomology and its integration theory. We confirm that the higher pump invariant of the model has a nontrivial value.
Xel-FPGAs: An End-to-End Automated Exploration Framework for Approximate Accelerators in FPGA-Based Systems

Generation and exploration of approximate circuits and accelerators has been a prominent research domain to achieve energy-efficiency and/or performance improvements. This research has predominantly focused on ASICs, while not achieving similar gains when deployed for FPGA-based accelerator systems, due to the inherent architectural differences between the two. In this work, we propose a novel framework, Xel-FPGAs, which leverages statistical or machine learning models to effectively explore the architecture-space of state-of-the-art ASIC-based approximate circuits to cater them for FPGA-based systems given a simple RTL description of the target application. We have also evaluated the scalability of our framework on a multi-stage application using a hierarchical search strategy. The Xel-FPGAs framework is capable of reducing the exploration time by up to 95%, when compared to the default synthesis, place, and route approaches, while identifying an improved set of Pareto-optimal designs for a given application, when compared to the state-of-the-art. The complete framework is open-source and available online at https://github.com/ehw-fit/xel-fpgas.
The SAMI Galaxy Survey: Environmental analysis of the orbital structures of passive galaxies

Most dynamical models of galaxies to date assume axisymmetry, which is not representative of a significant fraction of massive galaxies. We have built triaxial orbit-superposition Schwarzschild models of galaxies observed by the SAMI Galaxy Survey, in order to reconstruct their inner orbital structure and mass distribution. The sample consists of 153 passive galaxies with total stellar masses in the range 109.5 to 1012 M⊙. We present an analysis of the internal structures and intrinsic properties of these galaxies as a function of their environment. We measure their environment using three proxies: central or satellite designation, halo mass and local 5th nearest neighbour galaxy density. We find that although these intrinsic properties correlate most strongly with stellar mass, environment does play a secondary role: at fixed stellar mass, galaxies in the densest regions are more radially anisotropic. In addition, central galaxies, and galaxies in high local densities show lower values of edge-on spin parameter proxy λRe, EO. We also find suggestions of a possible trend of the fractions of orbits with environment for lower-mass galaxies (between 109.5 and 1011 M⊙) such that, at fixed stellar mass, galaxies in higher local densities and halo mass have higher fractions of hot orbits and lower fractions of warm orbits. Our results demonstrate that after stellar mass, environment does play a role in shaping present-day passive galaxies.
Extracting Digital Biomarkers for Unobtrusive Stress State Screening from Multimodal Wearable Data

With the development of wearable technologies, a new kind of healthcare data has become valuable as medical information. These data provide meaningful information regarding an individual's physiological and psychological states, such as activity level, mood, stress, and cognitive health. These biomarkers are named digital since they are collected from digital devices integrated with various sensors. In this study, we explore digital biomarkers related to stress modality by examining data collected from mobile phones and smartwatches. We utilize machine learning techniques on the Tesserae dataset, precisely Random Forest, to extract stress biomarkers. Using feature selection techniques, we utilize weather, activity, heart rate (HR), stress, sleep, and location (work-home) measurements from wearables to determine the most important stress-related biomarkers. We believe we contribute to interpreting stress biomarkers with a high range of features from different devices. In addition, we classify the $5$ different stress levels with the most important features, and our results show that we can achieve $85\%$ overall class accuracy by adjusting class imbalance and adding extra features related to personality characteristics. We perform similar and even better results in recognizing stress states with digital biomarkers in a daily-life scenario targeting a higher number of classes compared to the related studies.
Cavitation instabilities in amorphous solids via secondary mechanical perturbations

Amorphous solids are known to fail catastrophically and in some situations, nano-scaled cavities are believed to play a significant role in the failure. In a recent work, using numerical simulations, we have shown the correspondence between cavitation under uniform expansion of amorphous solids and the yielding under shear. In this study, we probe the stability of spatially-homogeneous states sampled from expansion trajectories to alternate modes of driving, viz. macroscopic cyclic shear or local random deformation via activity. We find that, under cyclic shear and activity, the cavitation instabilities can occur in expanded states at much higher densities than under pure uniform-expansion, and the shift in density is determined by the magnitude of the secondary deformation. We also show that barriers to cavitation on the energy landscape are much smaller for cyclic-shear and activity than seen under expansion. Further, we also analyse the spatial manifestation of cavitation and investigate whether large scale irreversible plasticity can set in due to the combination of expansion and the secondary deformation. Overall, our study reveals the interplay between expansion and other deformation modes leading to cavitation instabilities and the existence of abundant relaxation pathways for such processes.
The Realization of Genetic Algorithm in Terms of Checkers Evaluation Function

The GA(Genetic Algorithm) is used in this paper to solve the evaluation problem in the checkers game. The evaluation parameter is chosen based on six critical facts, such as the number of black pieces and the number of red pieces. The evaluation function is linear with different weights. Using the weights as the chromosome, along with the local hill-climbing method in GA and the mathematical statistical method to choose child generation, the algorithm realizes evolution automatically. With sufficient evolution times, new chromosome appears, leading to the formation of an optimized evaluation function. Based on the experimental data analysis, the algorithm could enhance the power of checkers program effectively.
Control of domain wall and pinning disorder interaction by light He$^+$ ion irradiation in Pt/Co/AlOx ultrathin films

We have studied the effect of He$^+$ irradiation on the dynamics of chiral domain walls in Pt/Co/AlOx trilayers in the creep regime. The irradiation leads to a strong decrease of the depinning field and a non-monotonous change of the effective pinning barriers. The variations of domain wall dynamics result essentially from the strong decrease of the effective anisotropy constant, which increases the domain wall width. The latter is found to present a perfect scaling with the length-scale of the interaction between domain wall and disorder, $\xi$. On the other hand, the strength of the domain wall-disorder interaction, $f_{pin}$, is weakly impacted by the irradiation, suggesting that the length-scales of the disorder fluctuation remain smaller than the domain wall width.
HyT-NAS: Hybrid Transformers Neural Architecture Search for Edge Devices

Vision Transformers have enabled recent attention-based Deep Learning (DL) architectures to achieve remarkable results in Computer Vision (CV) tasks. However, due to the extensive computational resources required, these architectures are rarely implemented on resource-constrained platforms. Current research investigates hybrid handcrafted convolution-based and attention-based models for CV tasks such as image classification and object detection. In this paper, we propose HyT-NAS, an efficient Hardware-aware Neural Architecture Search (HW-NAS) including hybrid architectures targeting vision tasks on tiny devices. HyT-NAS improves state-of-the-art HW-NAS by enriching the search space and enhancing the search strategy as well as the performance predictors. Our experiments show that HyT-NAS achieves a similar hypervolume with less than ~5x training evaluations. Our resulting architecture outperforms MLPerf MobileNetV1 by 6.3% accuracy improvement with 3.5x less number of parameters on Visual Wake Words.
Image Inpainting via Iteratively Decoupled Probabilistic Modeling

Generative adversarial networks (GANs) have made great success in image inpainting yet still have difficulties tackling large missing regions. In contrast, iterative probabilistic algorithms, such as autoregressive and denoising diffusion models, have to be deployed with massive computing resources for decent effect. To achieve high-quality results with low computational cost, we present a novel pixel spread model (PSM) that iteratively employs decoupled probabilistic modeling, combining the optimization efficiency of GANs with the prediction tractability of probabilistic models. As a result, our model selectively spreads informative pixels throughout the image in a few iterations, largely enhancing the completion quality and efficiency. On multiple benchmarks, we achieve new state-of-the-art performance. Code is released at https://github.com/fenglinglwb/PSM.
Time-Optimal Control via Heaviside Step-Function Approximation

Least-squares programming is a popular tool in robotics due to its simplicity and availability of open-source solvers. However, certain problems like sparse programming in the $\ell_{0}$- or $\ell_{0}-\mathbf{norm}$ for time-optimal control are not equivalently solvable. In this work, we propose a non-linear hierarchical least-squares programming (NL-HLSP) for time-optimal control of non-linear discrete dynamic systems. We use a continuous approximation of the heaviside step function with an additional term that avoids vanishing gradients. We use a simple discretization method by keeping states and controls piece-wise constant between discretization steps. This way, we obtain a comparatively easily implementable NL-HLSP in contrast to direct transcription approaches of optimal control. We show that the NL-HLSP indeed recovers the discrete time-optimal control in the limit for resting goal points. We confirm the results in simulation for linear and non-linear control scenarios.
rang: Reconstructing reproducible R computational environments

A complete declarative description of the computational environment is usually missing when researchers share their materials. Without such description, software obsolescence and missing system components can jeopardize computational reproducibility in the future, even when data and computer code are available. The R package rang is a complete solution for generating the declarative description for other researchers to automatically reconstruct the computational environment at a specific time point. The reconstruction process, based on Docker, has been tested for R code as old as 2001. The declarative description generated by rang satisfies the definition of a reproducible research compendium and can be shared as such. In this contribution, we show how rang can be used to make otherwise unexecutable code, spanning fields such as computational social science and bioinformatics, executable again. We also provide instructions on how to use rang to construct reproducible and shareable research compendia of current research. The package is currently available from CRAN (https://cran.r-project.org/web/packages/rang/index.html) and GitHub (https://github.com/chainsawriot/rang).
Evolutionary Reinforcement Learning: A Survey

Reinforcement learning (RL) is a machine learning approach that trains agents to maximize cumulative rewards through interactions with environments. The integration of RL with deep learning has recently resulted in impressive achievements in a wide range of challenging tasks, including board games, arcade games, and robot control. Despite these successes, there remain several crucial challenges, including brittle convergence properties caused by sensitive hyperparameters, difficulties in temporal credit assignment with long time horizons and sparse rewards, a lack of diverse exploration, especially in continuous search space scenarios, difficulties in credit assignment in multi-agent reinforcement learning, and conflicting objectives for rewards. Evolutionary computation (EC), which maintains a population of learning agents, has demonstrated promising performance in addressing these limitations. This article presents a comprehensive survey of state-of-the-art methods for integrating EC into RL, referred to as evolutionary reinforcement learning (EvoRL). We categorize EvoRL methods according to key research fields in RL, including hyperparameter optimization, policy search, exploration, reward shaping, meta-RL, and multi-objective RL. We then discuss future research directions in terms of efficient methods, benchmarks, and scalable platforms. This survey serves as a resource for researchers and practitioners interested in the field of EvoRL, highlighting the important challenges and opportunities for future research. With the help of this survey, researchers and practitioners can develop more efficient methods and tailored benchmarks for EvoRL, further advancing this promising cross-disciplinary research field.