Miracle-dz/UniFAR-FTUs huggingface dataset:
Color-NeuS: Reconstructing Neural Implicit Surfaces with Color

The reconstruction of object surfaces from multi-view images or monocular video is a fundamental issue in computer vision. However, much of the recent research concentrates on reconstructing geometry through implicit or explicit methods. In this paper, we shift our focus towards reconstructing mesh in conjunction with color. We remove the view-dependent color from neural volume rendering while retaining volume rendering performance through a relighting network. Mesh is extracted from the signed distance function (SDF) network for the surface, and color for each surface vertex is drawn from the global color network. To evaluate our approach, we conceived a in hand object scanning task featuring numerous occlusions and dramatic shifts in lighting conditions. We've gathered several videos for this task, and the results surpass those of any existing methods capable of reconstructing mesh alongside color. Additionally, our method's performance was assessed using public datasets, including DTU, BlendedMVS, and OmniObject3D. The results indicated that our method performs well across all these datasets. Project page: https://colmar-zlicheng.github. io/color_neus.
On Semidefinite Relaxations for Matrix-Weighted State-Estimation Problems in Robotics

In recent years, there has been remarkable progress in the development of so-called certifiable perception methods, which leverage semidefinite, convex relaxations to find global optima of perception problems in robotics. However, many of these relaxations rely on simplifying assumptions that facilitate the problem formulation, such as an isotropic measurement noise distribution. In this paper, we explore the tightness of the semidefinite relaxations of matrix-weighted (anisotropic) state-estimation problems and reveal the limitations lurking therein: matrix-weighted factors can cause convex relaxations to lose tightness. In particular, we show that the semidefinite relaxations of localization problems with matrix weights may be tight only for low noise levels. We empirically explore the factors that contribute to this loss of tightness and demonstrate that redundant constraints can be used to regain tightness, albeit at the expense of real-time performance. As a second technical contribution of this paper, we show that the state-of-the-art relaxation of scalar-weighted SLAM cannot be used when matrix weights are considered. We provide an alternate formulation and show that its SDP relaxation is not tight (even for very low noise levels) unless specific redundant constraints are used. We demonstrate the tightness of our formulations on both simulated and real-world data.
HyperSparse Neural Networks: Shifting Exploration to Exploitation through Adaptive Regularization

Sparse neural networks are a key factor in developing resource-efficient machine learning applications. We propose the novel and powerful sparse learning method Adaptive Regularized Training (ART) to compress dense into sparse networks. Instead of the commonly used binary mask during training to reduce the number of model weights, we inherently shrink weights close to zero in an iterative manner with increasing weight regularization. Our method compresses the pre-trained model "knowledge" into the weights of highest magnitude. Therefore, we introduce a novel regularization loss named HyperSparse that exploits the highest weights while conserving the ability of weight exploration. Extensive experiments on CIFAR and TinyImageNet show that our method leads to notable performance gains compared to other sparsification methods, especially in extremely high sparsity regimes up to 99.8% model sparsity. Additional investigations provide new insights into the patterns that are encoded in weights with high magnitudes.1
Design-Informed Generative Modelling using Structural Optimization

Although various structural optimization techniques have a sound mathematical basis, the practical constructability of optimal designs poses a great challenge in the manufacturing stage. Currently, there is only a limited number of unified frameworks which output ready-to-manufacture parametric Computer-Aided Designs (CAD) of the optimal designs. From a generative design perspective, it is essential to have a single platform that outputs a structurally optimized CAD model because CAD models are an integral part of most industrial product development and manufacturing stages. This study focuses on developing a novel unified workflow handling topology, layout and size optimization in a single parametric platform, which subsequently outputs a ready-to-manufacture CAD model. All such outputs are checked and validated for structural requirements; strength, stiffness and stability in accordance with standard codes of practice. In the proposed method, first, topology-optimal model is generated and converted to a one-pixel-wide chain model using skeletonization. Secondly, a spatial frame is extracted from the skeleton for its member size and layout optimization. Finally, the CAD model is generated using constructive solid geometry trees and the structural integrity of each member is assessed to ensure structural robustness prior to manufacturing. Various examples presented in the paper showcase the validity of the proposed method across various engineering disciplines.
Computation and use of volume-weighted-average concentrations to determine long-term variations of selected water-quality constituents in lakes and reservoirs

A computer program using the Statistical Analysis System has been developed to perform the arithmetic calculations and regression analyses to determine volume-weighted-average concentrations of selected water-quality constituents in lakes and reservoirs. The program has been used in Texas to show decreasing trends in dissolved-solids and total-phosphorus concentrations in Lake Arlington after the discharge of sewage effluent into the reservoir was stopped. The program also was used to show that the August 1978 and October 1981 floods on the Brazos River greatly decreased the volume-weighted-average concentrations of selected constituents in Hubbard Creek Reservoir and Possum Kingdom Lake.
Counting spanning subgraphs in dense hypergraphs

We give a simple method to estimate the number of distinct copies of some classes of spanning subgraphs in hypergraphs with high minimum degree. In particular, for each $k\geq 2$ and $1\leq \ell\leq k-1$, we show that every $k$-graph on $n$ vertices with minimum codegree at least $$\cases{\left(\dfrac{1}{2}+o(1)\right)n&if $(k-\ell)\mid k$,\\&\\ \left(\dfrac{1}{\lceil \frac{k}{k-\ell}\rceil(k-\ell)}+o(1)\right)n&if $(k-\ell)\nmid k$,}$$ contains $\exp(n\log n-\Theta(n))$ Hamilton $\ell$-cycles as long as $(k-\ell)\mid n$. When $(k-\ell)\mid k$ this gives a simple proof of a result of Glock, Gould, Joos, K\"uhn and Osthus, while, when $(k-\ell)\nmid k$ this gives a weaker count than that given by Ferber, Hardiman and Mond or, when $\ell<k/2$, by Ferber, Krivelevich and Sudakov, but one that holds for an asymptotically optimal minimum codegree bound.
Ground Manipulator Primitive Tasks to Executable Actions using Large Language Models

Layered architectures have been widely used in robot systems. The majority of them implement planning and execution functions in separate layers. However, there still lacks a straightforward way to transit high-level tasks in the planning layer to the low-level motor commands in the execution layer. In order to tackle this challenge, we propose a novel approach to ground the manipulator primitive tasks to robot low-level actions using large language models (LLMs). We designed a program-function-like prompt based on the task frame formalism. In this way, we enable LLMs to generate position/force set-points for hybrid control. Evaluations over several state-of-the-art LLMs are provided.
On the relative abundances of Cavansite and Pentagonite

Cavansite is a visually stunning blue vanadosilicate mineral with limited occurrences worldwide, whereas Pentagonite is a closely related dimorph with similar physical and chemical properties, yet is extremely rare compared to Cavansite. The reasons behind Pentagonite's exceptional rarity remain largely unknown. In this study, (a) density functional theory (DFT) is utilized to investigate the electronic structures of Cavansite and Pentagonite at ground state and finite pressures; (b) a two-state Boltzmann probability model is then employed to construct a comprehensive phase diagram that reveals the abundance of each species across a wide range of pressure and temperature conditions; and (c) dehydration characteristics of these two minerals are explored. The present analysis reveals the key factors that contribute to the relative scarcity of Pentagonite, including differences in structural arrangement and electronic configurations between the two minerals. Specifically, it shows that (a) because of the peculiar arrangements of SiO4 polyhedra, Cavansite forms a compact structure (about 2.7% less in volume) resulting in lower energy; (b) at a temperature of about 650K only about 1% Pentagonite can form; (c) vanadium induces a highly localized state in both of these otherwise large-band-gap insulators resulting in an extremely weak magnetic phase that is unlikely to be observed at any reasonable finite temperature; and (d) water molecules are loosely bound inside the microporous crystals of Cavansite and Pentagonite, suggesting potential applications of these minerals in various technological fields.
mmHawkeye: Passive UAV Detection with a COTS mmWave Radar

Small Unmanned Aerial Vehicles (UAVs) are becoming potential threats to security-sensitive areas and personal privacy. A UAV can shoot photos at height, but how to detect such an uninvited intruder is an open problem. This paper presents mmHawkeye, a passive approach for UAV detection with a COTS millimeter wave (mmWave) radar. mmHawkeye doesn’t require prior knowledge of the type, motions, and flight trajectory of the UAV, while exploiting the signal feature induced by the UAV’s periodic micro-motion (PMM) for long-range accurate detection. The design is therefore effective in dealing with low-SNR and uncertain reflected signals from the UAV. mmHawkeye can further track the UAV’s position with dynamic programming and particle filtering, and identify it with a Long Short-Term Memory (LSTM) based detector. We implement mmHawkeye on a commercial mmWave radar and evaluate its performance under varied settings. The experimental results show that mmHawkeye has a detection accuracy of 95.8% and can realize detection at a range up to 80m.
Insurance pricing on price comparison websites via reinforcement learning

The emergence of price comparison websites (PCWs) has presented insurers with unique challenges in formulating effective pricing strategies. Operating on PCWs requires insurers to strike a delicate balance between competitive premiums and profitability, amidst obstacles such as low historical conversion rates, limited visibility of competitors' actions, and a dynamic market environment. In addition to this, the capital intensive nature of the business means pricing below the risk levels of customers can result in solvency issues for the insurer. To address these challenges, this paper introduces reinforcement learning (RL) framework that learns the optimal pricing policy by integrating model-based and model-free methods. The model-based component is used to train agents in an offline setting, avoiding cold-start issues, while model-free algorithms are then employed in a contextual bandit (CB) manner to dynamically update the pricing policy to maximise the expected revenue. This facilitates quick adaptation to evolving market dynamics and enhances algorithm efficiency and decision interpretability. The paper also highlights the importance of evaluating pricing policies using an offline dataset in a consistent fashion and demonstrates the superiority of the proposed methodology over existing off-the-shelf RL/CB approaches. We validate our methodology using synthetic data, generated to reflect private commercially available data within real-world insurers, and compare against 6 other benchmark approaches. Our hybrid agent outperforms these benchmarks in terms of sample efficiency and cumulative reward with the exception of an agent that has access to perfect market information which would not be available in a real-world set-up.
The Color Clifford Hardy Signal: Application to Color Edge Detection and Optical Flow

This paper introduces the idea of the color Clifford Hardy signal, which can be used to process color images. As a complex analytic function's high-dimensional analogue, the color Clifford Hardy signal inherits many desirable qualities of analyticity. A crucial tool for getting the color and structural data is the local feature representation of a color image in the color Clifford Hardy signal. By looking at the extended Cauchy-Riemann equations in the high-dimensional space, it is possible to see the connection between the different parts of the color Clifford Hardy signal. Based on the distinctive and important local amplitude and local phase generated by the color Clifford Hardy signal, we propose five methods to identify the edges of color images with relation to a certain color. To prove the superiority of the offered methodologies, numerous comparative studies employing image quality assessment criteria are used. Specifically by using the multi-scale structure of the color Clifford Hardy signal, the proposed approaches are resistant to a variety of noises. In addition, a color optical flow detection method with anti-noise ability is provided as an example of application.
BiHeartS: Bilateral Heart Rate from multiple devices and body positions for Sleep measurement Dataset

Sleep is the primary mean of recovery from accumulated fatigue and thus plays a crucial role in fostering people's mental and physical well-being. Sleep quality monitoring systems are often implemented using wearables that leverage their sensing capabilities to provide sleep behaviour insights and recommendations to users. Building models to estimate sleep quality from sensor data is a challenging task, due to the variability of both physiological data, perception of sleep quality, and the daily routine across users. This challenge gauges the need for a comprehensive dataset that includes information about the daily behaviour of users, physiological signals as well as the perceived sleep quality. In this paper, we try to narrow this gap by proposing Bilateral Heart rate from multiple devices and body positions for Sleep measurement (BiHeartS) dataset. The dataset is collected in the wild from 10 participants for 30 consecutive nights. Both research-grade and commercial wearable devices are included in the data collection campaign. Also, comprehensive self-reports are collected about the sleep quality and the daily routine.
Optimal strategies for kiiking: active pumping to invert a swing

Kiiking is an extreme sport in which athletes alternate between standing and squatting to pump a standing swing till it is inverted and completes a rotation. A minimal model of the sport may be cast in terms of the control of an actively driven pendulum of varying length to determine optimal strategies. We show that an optimal control perspective, subject to known biological constraints, yields time-optimal control strategy similar to a greedy algorithm that aims to maximize the potential energy gain at the end of every cycle. A reinforcement learning algorithms with a simple reward is consistent with the optimal control strategy. When accounting for air drag, our theoretical framework is quantitatively consistent with experimental observations while pointing to the ultimate limits of kiiking performance.
Aggressive Aerial Grasping using a Soft Drone with Onboard Perception

Contrary to the stunning feats observed in birds of prey, aerial manipulation and grasping with flying robots still lack versatility and agility. Conventional approaches using rigid manipulators require precise positioning and are subject to large reaction forces at grasp, which limit performance at high speeds. The few reported examples of aggressive aerial grasping rely on motion capture systems, or fail to generalize across environments and grasp targets. We describe the first example of a soft aerial manipulator equipped with a fully onboard perception pipeline, capable of robustly localizing and grasping visually and morphologically varied objects. The proposed system features a novel passively closing tendon-actuated soft gripper that enables fast closure at grasp, while compensating for position errors, complying to the target-object morphology, and dampening reaction forces. The system includes an onboard perception pipeline that combines a neural-network-based semantic keypoint detector with a state-of-the-art robust 3D object pose estimator, whose estimate is further refined using a fixed-lag smoother. The resulting pose estimate is passed to a minimum-snap trajectory planner, tracked by an adaptive controller that fully compensates for the added mass of the grasped object. Finally, a finite-element-based controller determines optimal gripper configurations for grasping. Rigorous experiments confirm that our approach enables dynamic, aggressive, and versatile grasping. We demonstrate fully onboard vision-based grasps of a variety of objects, in both indoor and outdoor environments, and up to speeds of 2.0 m/s -- the fastest vision-based grasp reported in the literature. Finally, we take a major step in expanding the utility of our platform beyond stationary targets, by demonstrating motion-capture-based grasps of targets moving up to 0.3 m/s, with relative speeds up to 1.5 m/s.
BehaVR: User Identification Based on VR Sensor Data

Virtual reality (VR) platforms enable a wide range of applications, however pose unique privacy risks. In particular, VR devices are equipped with a rich set of sensors that collect personal and sensitive information (e.g., body motion, eye gaze, hand joints, and facial expression), which can be used to uniquely identify a user, even without explicit identifiers. In this paper, we are interested in understanding the extent to which a user can be identified based on data collected by different VR sensors. We consider adversaries with capabilities that range from observing APIs available within a single VR app (app adversary) to observing all, or selected, sensor measurements across all apps on the VR device (device adversary). To that end, we introduce BEHAVR, a framework for collecting and analyzing data from all sensor groups collected by all apps running on a VR device. We use BEHAVR to perform a user study and collect data from real users that interact with popular real-world apps. We use that data to build machine learning models for user identification, with features extracted from sensor data available within and across apps. We show that these models can identify users with an accuracy of up to 100%, and we reveal the most important features and sensor groups, depending on the functionality of the app and the strength of the adversary, as well as the minimum time needed for user identification. To the best of our knowledge, BEHAVR is the first to analyze user identification in VR comprehensively, i.e., considering jointly all sensor measurements available on a VR device (whether within an app or across multiple apps), collected by real-world, as opposed to custom-made, apps.
Distinguishing Risk Preferences using Repeated Gambles

Sequences of repeated gambles provide an experimental tool to characterize the risk preferences of humans or artificial decision-making agents. The difficulty of this inference depends on factors including the details of the gambles offered and the number of iterations of the game played. In this paper we explore in detail the practical challenges of inferring risk preferences from the observed choices of artificial agents who are presented with finite sequences of repeated gambles. We are motivated by the fact that the strategy to maximize long-run wealth for sequences of repeated additive gambles (where gains and losses are independent of current wealth) is different to the strategy for repeated multiplicative gambles (where gains and losses are proportional to current wealth.) Accurate measurement of risk preferences would be needed to tell whether an agent is employing the optimal strategy or not. To generalize the types of gambles our agents face we use the Yeo-Johnson transformation, a tool borrowed from feature engineering for time series analysis, to construct a family of gambles that interpolates smoothly between the additive and multiplicative cases. We then analyze the optimal strategy for this family, both analytically and numerically. We find that it becomes increasingly difficult to distinguish the risk preferences of agents as their wealth increases. This is because agents with different risk preferences eventually make the same decisions for sufficiently high wealth. We believe that these findings are informative for the effective design of experiments to measure risk preferences in humans.
Hydrogen Supply Infrastructure Network Planning Approach towards Chicken-egg Conundrum

In the early commercialization stage of hydrogen fuel cell vehicles (HFCVs), reasonable hydrogen supply infrastructure (HSI) planning decisions is a premise for promoting the popularization of HFCVs. However, there is a strong causality between HFCVs and hydrogen refueling stations (HRSs): the planning decisions of HRSs could affect the hydrogen refueling demand of HFCVs, and the growth of demand would in turn stimulate the further investment in HRSs, which is also known as the ``chicken and egg'' conundrum. Meanwhile, the hydrogen demand is uncertain with insufficient prior knowledge, and thus there is a decision-dependent uncertainty (DDU) in the planning issue. This poses great challenges to solving the optimization problem. To this end, this work establishes a multi-network HSI planning model coordinating hydrogen, power, and transportation networks. Then, to reflect the causal relationship between HFCVs and HRSs effectively without sufficient historical data, a distributionally robust optimization framework with decision-dependent uncertainty is developed. The uncertainty of hydrogen demand is modeled as a Wasserstein ambiguity set with a decision-dependent empirical probability distribution. Subsequently, to reduce the computational complexity caused by the introduction of a large number of scenarios and high-dimensional nonlinear constraints, we developed an improved distribution shaping method and techniques of scenario and variable reduction to derive the solvable form with less computing burden. Finally, the simulation results demonstrate that this method can reduce costs by at least 10.4% compared with traditional methods and will be more effective in large-scale HSI planning issues. Further, we put forward effective suggestions for the policymakers and investors to formulate relevant policies and decisions.
Indirect dark matter search in the Galactic Centre with IceCube

It is assumed that dark matter can annihilate or decay into Standard Model particles which then can produce a neutrino flux detectable at IceCube. Such a signal can be emitted from the Galactic Center thanks to the high density of dark matter abundance being gravitationally captured. This analysis aims at searching for neutrino signals from dark matter annihilation and decay in the Galactic Center using $\sim$9 years of IceCube-DeepCore data with an optimized selection for low energy. In this contribution, we present the sensitivities on the thermally averaged dark matter self-annihilation cross-section for dark matter masses ranging from 5 GeV up to 8 TeV.