Miracle-dz/UniFAR-FTUs huggingface dataset:
Data driven modeling for self-similar dynamics

Multiscale modeling of complex systems is crucial for understanding their intricacies. Data-driven multiscale modeling has emerged as a promising approach to tackle challenges associated with complex systems. On the other hand, self-similarity is prevalent in complex systems, hinting that large-scale complex systems can be modeled at a reduced cost. In this paper, we introduce a multiscale neural network framework that incorporates self-similarity as prior knowledge, facilitating the modeling of self-similar dynamical systems. For deterministic dynamics, our framework can discern whether the dynamics are self-similar. For uncertain dynamics, it can compare and determine which parameter set is closer to self-similarity. The framework allows us to extract scale-invariant kernels from the dynamics for modeling at any scale. Moreover, our method can identify the power law exponents in self-similar systems. Preliminary tests on the Ising model yielded critical exponents consistent with theoretical expectations, providing valuable insights for addressing critical phase transitions in non-equilibrium systems.
Terrain-Adaptive Central Pattern Generators with Reinforcement Learning for Hexapod Locomotion

Inspired by biological motion generation, central pattern generators (CPGs) is frequently employed in legged robot locomotion control to produce natural gait pattern with low-dimensional control signals. However, the limited adaptability and stability over complex terrains hinder its application. To address this issue, this paper proposes a terrain-adaptive locomotion control method that incorporates deep reinforcement learning (DRL) framework into CPG, where the CPG model is responsible for the generation of synchronized signals, providing basic locomotion gait, while DRL is integrated to enhance the adaptability of robot towards uneven terrains by adjusting the parameters of CPG mapping functions. The experiments conducted on the hexapod robot in Isaac Gym simulation environment demonstrated the superiority of the proposed method in terrain-adaptability, convergence rate and reward design complexity.
A Dynamical Explanation of the Dark Matter-Baryon Coincidence

The near equality of the dark matter and baryon energy densities is a remarkable coincidence, especially when one realizes that the baryon mass is exponentially sensitive to UV parameters in the form of dimensional transmutation. We explore a new dynamical mechanism, where in the presence of an arbitrary number density of baryons and dark matter, a scalar adjusts the masses of dark matter and baryons until the two energy densities are comparable. In this manner, the coincidence is explained regardless of the microscopic identity of dark matter and how it was produced. This new scalar causes a variety of experimental effects such as a new force and a (dark) matter density-dependent proton mass.
Hilbert Space Embedding-Based Trajectory Optimization for Multi-Modal Uncertain Obstacle Trajectory Prediction

Safe autonomous driving critically depends on how well the ego-vehicle can predict the trajectories of neighboring vehicles. To this end, several trajectory prediction algorithms have been presented in the existing literature. Many of these approaches output a multimodal distribution of obstacle trajectories instead of a single deterministic prediction to account for the underlying uncertainty. However, existing planners cannot handle the multimodality based on just sample-level information of the predictions. With this motivation, this paper proposes a trajectory optimizer that can leverage the distributional aspects of the prediction in a computationally tractable and sample-efficient manner. Our optimizer can work with arbitrarily complex distributions and thus can be used with output distribution represented as a deep neural network. The core of our approach is built on embedding distribution in Reproducing Kernel Hilbert Space (RKHS), which we leverage in two ways. First, we propose an RKHS embedding approach to select probable samples from the obstacle trajectory distribution. Second, we rephrase chance-constrained optimization as distribution matching in RKHS and propose a novel sampling-based optimizer for its solution. We validate our approach with handcrafted and neural network-based predictors trained on real-world datasets and show improvement over the existing stochastic optimization approaches in safety metrics.
Causality-based Cost Allocation for Peer-to-Peer Energy Trading in Distribution System

While peer-to-peer energy trading has the potential to harness the capabilities of small-scale energy resources, a peer-matching process often overlooks power grid conditions, yielding increased losses, line congestion, and voltage problems. This imposes a great challenge on the distribution system operator (DSO), which can eventually limit peer-to-peer energy trading. To align the peer-matching process with the physical grid conditions, this paper proposes a cost causality-based network cost allocation method and the grid-aware peer-matching process. Building on the cost causality principle, the proposed model utilizes the network cost (loss, congestion, and voltage) as a signal to encourage peers to adjust their preferences ensuring that matches are more in line with grid conditions, leading to enhanced social welfare. Additionally, this paper presents mathematical proof showing the superiority of the causality-based cost allocation over existing methods.
AutoRepo: A general framework for multi-modal LLM-based automated construction reporting

Ensuring the safety, quality, and timely completion of construction projects is paramount, with construction inspections serving as a vital instrument towards these goals. Nevertheless, the predominantly manual approach of present-day inspections frequently results in inefficiencies and inadequate information management. Such methods often fall short of providing holistic, exhaustive assessments, consequently engendering regulatory oversights and potential safety hazards. To address this issue, this paper presents a novel framework named AutoRepo for automated generation of construction inspection reports. The unmanned vehicles efficiently perform construction inspections and collect scene information, while the multimodal large language models (LLMs) are leveraged to automatically generate the inspection reports. The framework was applied and tested on a real-world construction site, demonstrating its potential to expedite the inspection process, significantly reduce resource allocation, and produce high-quality, regulatory standard-compliant inspection reports. This research thus underscores the immense potential of multimodal large language models in revolutionizing construction inspection practices, signaling a significant leap forward towards a more efficient and safer construction management paradigm.
Explainable Attention for Few-shot Learning and Beyond

Attention mechanisms have exhibited promising potential in enhancing learning models by identifying salient portions of input data. This is particularly valuable in scenarios where limited training samples are accessible due to challenges in data collection and labeling. Drawing inspiration from human recognition processes, we posit that an AI baseline's performance could be more accurate and dependable if it is exposed to essential segments of raw data rather than the entire input dataset, akin to human perception. However, the task of selecting these informative data segments, referred to as hard attention finding, presents a formidable challenge. In situations with few training samples, existing studies struggle to locate such informative regions due to the large number of training parameters that cannot be effectively learned from the available limited samples. In this study, we introduce a novel and practical framework for achieving explainable hard attention finding, specifically tailored for few-shot learning scenarios, called FewXAT. Our approach employs deep reinforcement learning to implement the concept of hard attention, directly impacting raw input data and thus rendering the process interpretable for human understanding. Through extensive experimentation across various benchmark datasets, we demonstrate the efficacy of our proposed method.
A Single Speech Enhancement Model Unifying Dereverberation, Denoising, Speaker Counting, Separation, And Extraction

We propose a multi-task universal speech enhancement (MUSE) model that can perform five speech enhancement (SE) tasks: dereverberation, denoising, speech separation (SS), target speaker extraction (TSE), and speaker counting. This is achieved by integrating two modules into an SE model: 1) an internal separation module that does both speaker counting and separation; and 2) a TSE module that extracts the target speech from the internal separation outputs using target speaker cues. The model is trained to perform TSE if the target speaker cue is given and SS otherwise. By training the model to remove noise and reverberation, we allow the model to tackle the five tasks mentioned above with a single model, which has not been accomplished yet. Evaluation results demonstrate that the proposed MUSE model can successfully handle multiple tasks with a single model.
Frustration propagation in tubular foldable mechanisms

Shell mechanisms are patterned surface-like structures with compliant deformation modes that allow them to change shape drastically. Examples include many origami and kirigami tessellations as well as other periodic truss mechanisms. The deployment paths of a shell mechanism are greatly constrained by the inextensibility of the constitutive material locally and by the compatibility requirements of surface geometry globally. With notable exceptions (e.g., Miura-ori), the deployment of a shell mechanism often couples in-plane stretching and out-of-plane bending. Here, we investigate the repercussions of this kinematic coupling in the presence of geometric confinement, specifically in tubular states. We demonstrate that the confinement in the hoop direction leads to a frustration that propagates axially, as if by buckling. We fully characterize this phenomenon in terms of amplitude, wavelength, and mode shape in the asymptotic regime, where the size of the unit cell of the mechanism r is small compared to the typical radius of curvature ρ. In particular, we conclude that the amplitude and wavelength of the frustration are of order r/ρ and that the mode shape is an elastica solution. Derivations are carried out for a particular pyramidal truss mechanism. The findings are supported by numerical solutions of the exact kinematics.
A Universal Scheme for Partitioned Dynamic Shortest Path Index

Graph partitioning is a common solution to scale up the graph algorithms, and shortest path (SP) computation is one of them. However, the existing solutions typically have a fixed partition method with a fixed path index and fixed partition structure, so it is unclear how the partition method and path index influence the pathfinding performance. Moreover, few studies have explored the index maintenance of partitioned SP (PSP) on dynamic graphs. To provide a deeper insight into the dynamic PSP indexes, we systematically deliberate on the existing works and propose a universal scheme to analyze this problem theoretically. Specifically, we first propose two novel partitioned index strategies and one optimization to improve index construction, query answering, or index maintenance of PSP index. Then we propose a path-oriented graph partitioning classification criteria for easier partition method selection. After that, we re-couple the dimensions in our scheme (partitioned index strategy, path index, and partition structure) to propose five new partitioned SP indexes that are more efficient either in the query or update on different networks. Finally, we demonstrate the effectiveness of our new indexes by comparing them with state-of-the-art PSP indexes through comprehensive evaluations.
Site surveys at the fundamental geodetic station in Ny-lesund, Svalbard .

The Space-Geodetic Observatory at Ny-Ålesund, Svalbard, was officially opened in 1995 and is operated by the Norwegian Mapping Authority. Over recent years it has developed into a fundamental geodetic station. At such fundamental sites, detailed knowledge of the stability of the station, both locally and with respect to the region, is essential for geodetic and geophysical applications of the observations. The extensive foot-print study for the observatory includes repeated GPS campaigns on a 50 km by 30 km outer control network and repeated also for most of the inner control network extending 400 m by 40 m. Gravity measurements have been carried out for these nets. In addision are also classical surveys carried out for the inner network. The results from the GPS campagins indicate neo-tectonic movements in the vicinity of the observatory.
A Systematic Evaluation of Automated Tools for Side-Channel Vulnerabilities Detection in Cryptographic Libraries

To protect cryptographic implementations from side-channel vulnerabilities, developers must adopt constant-time programming practices. As these can be error-prone, many side-channel detection tools have been proposed. Despite this, such vulnerabilities are still manually found in cryptographic libraries. While a recent paper by Jancar et al. shows that developers rarely perform side-channel detection, it is unclear if existing detection tools could have found these vulnerabilities in the first place. To answer this question we surveyed the literature to build a classification of 34 side-channel detection frameworks. The classification we offer compares multiple criteria, including the methods used, the scalability of the analysis or the threat model considered. We then built a unified common benchmark of representative cryptographic operations on a selection of 5 promising detection tools. This benchmark allows us to better compare the capabilities of each tool, and the scalability of their analysis. Additionally, we offer a classification of recently published side-channel vulnerabilities. We then test each of the selected tools on benchmarks reproducing a subset of these vulnerabilities as well as the context in which they appear. We find that existing tools can struggle to find vulnerabilities for a variety of reasons, mainly the lack of support for SIMD instructions, implicit flows, and internal secret generation. Based on our findings, we develop a set of recommendations for the research community and cryptographic library developers, with the goal to improve the effectiveness of side-channel detection tools.
Getting Bored of Cyberwar: Exploring the Role of Low-level Cybercrime Actors in the Russia-Ukraine Conflict

There has been substantial commentary on the role of cyberattacks carried by low-level cybercrime actors in the Russia-Ukraine conflict. We analyse 358k web defacement attacks, 1.7M reflected DDoS attacks, 1764 Hack Forums posts mentioning the two countries, and 441 announcements (with 58k replies) of a volunteer hacking group for two months before and four months after the invasion. We find the conflict briefly but notably caught the attention of low-level cybercrime actors, with significant increases in online discussion and both types of attack targeting Russia and Ukraine. However, there was little evidence of high-profile actions; the role of these players in the ongoing hybrid warfare is minor, and they should be separated from persistent and motivated 'hacktivists' in state-sponsored operations. Their involvement in the conflict appears to have been short-lived and fleeting, with a clear loss of interest in discussing the situation and carrying out both defacement and DDoS attacks against either Russia or Ukraine after a few weeks.
Orbit Environment Analysis of the Space-borne Imaging Spectrometer

This paper summarizes the technical specifications of the Space-borne Imaging Spectrometer. The remote sensor consists of 20 bands including visible, near infrared, short wave infrared and thermal infrared channels. The engineering model (EM) was completed. Using the software CODEV, we discuss the influence of the space-borne environment, different temperature, especially different assembling material on this instrument. Data show that the main optical system is sensitive to the space-borne temperature; the space image quality is affected heavily by the assembling material and etc. The orbit environment analysis is of great advantage to the optical set-up, environment experimentations and cost saving.
Robo Sapiens

This paper proposes a new method of natural language acquisition for robots that does not require the conversion of speech to text. Folks'Talks employs voice2voice technology that enables a robot to understand the meaning of what it is told and to have the ability to learn and understand new languages - inclusive of accent, dialect, and physiological differences. To do this, sound processing and computer vision are incorporated to give the robot a sense of spatiotemporal causality. The"language model"we are proposing equips a robot to imitate a natural speaker's conversational behavior by thinking contextually and articulating its surroundings.
The Impact of Time Step Frequency on the Realism of Robotic Manipulation Simulation for Objects of Different Scales

This work evaluates the impact of time step frequency and component scale on robotic manipulation simulation accuracy. Increasing the time step frequency for small-scale objects is shown to improve simulation accuracy. This simulation, demonstrating pre-assembly part picking for two object geometries, serves as a starting point for discussing how to improve Sim2Real transfer in robotic assembly processes.
SEE-OoD: Supervised Exploration For Enhanced Out-of-Distribution Detection

Current techniques for Out-of-Distribution (OoD) detection predominantly rely on quantifying predictive uncertainty and incorporating model regularization during the training phase, using either real or synthetic OoD samples. However, methods that utilize real OoD samples lack exploration and are prone to overfit the OoD samples at hand. Whereas synthetic samples are often generated based on features extracted from training data, rendering them less effective when the training and OoD data are highly overlapped in the feature space. In this work, we propose a Wasserstein-score-based generative adversarial training scheme to enhance OoD detection accuracy, which, for the first time, performs data augmentation and exploration simultaneously under the supervision of limited OoD samples. Specifically, the generator explores OoD spaces and generates synthetic OoD samples using feedback from the discriminator, while the discriminator exploits both the observed and synthesized samples for OoD detection using a predefined Wasserstein score. We provide theoretical guarantees that the optimal solutions of our generative scheme are statistically achievable through adversarial training in empirical settings. We then demonstrate that the proposed method outperforms state-of-the-art techniques on various computer vision datasets and exhibits superior generalizability to unseen OoD data.
3D Heisenberg universality in the Van der Waals antiferromagnet NiPS$_3$

Van der Waals (vdW) magnetic materials are comprised of layers of atomically thin sheets, making them ideal platforms for studying magnetism at the two-dimensional (2D) limit. These materials are at the center of a host of novel types of experiments, however, there are notably few pathways to directly probe their magnetic structure. We report the magnetic order within a single crystal of NiPS$_3$ and show it can be accessed with resonant elastic X-ray diffraction along the edge of the vdW planes in a carefully grown crystal by detecting structurally forbidden resonant magnetic X-ray scattering. We find the magnetic order parameter has a critical exponent of $\beta\sim0.36$, indicating that the magnetism of these vdW crystals is more adequately characterized by the three-dimensional (3D) Heisenberg universality class. We verify these findings with first-principle density functional theory, Monte-Carlo simulations, and density matrix renormalization group calculations.
Neural network approach to quasiparticle dispersions in doped antiferromagnets

Numerically simulating spinful, fermionic systems is of great interest from the perspective of condensed matter physics. However, the exponential growth of the Hilbert space dimension with system size renders an exact parameterization of large quantum systems prohibitively demanding. This is a perfect playground for neural networks, owing to their immense representative power that often allows to use only a fraction of the parameters that are needed in exact methods. Here, we investigate the ability of neural quantum states (NQS) to represent the bosonic and fermionic $t-J$ model - the high interaction limit of the Fermi-Hubbard model - on different 1D and 2D lattices. Using autoregressive recurrent neural networks (RNNs) with 2D tensorized gated recurrent units, we study the ground state representations upon doping the half-filled system with holes. Moreover, we present a method to calculate dispersion relations from the neural network state representation, applicable to any neural network architecture and any lattice geometry, that allows to infer the low-energy physics from the NQS. To demonstrate our approach, we calculate the dispersion of a single hole in the $t-J$ model on different 1D and 2D square and triangular lattices. Furthermore, we analyze the strengths and weaknesses of the RNN approach for fermionic systems, pointing the way for an accurate and efficient parameterization of fermionic quantum systems using neural quantum states.
Singular Perturbation via Contraction Theory

In this paper, we provide a novel contraction-theoretic approach to analyze two-time scale systems. In our proposed framework, systems enjoy several robustness properties, which can lead to a more complete characterization of their behaviors. Key assumptions are the contractivity of the fast sub-system and of the reduced model, combined with an explicit upper bound on the time-scale parameter. For two-time scale systems subject to disturbances, we show that the distance between solutions of the nominal system and solutions of its reduced model is uniformly upper bounded by a function of contraction rates, Lipschitz constants, the time-scale parameter, and the time variability of the disturbances. We also show local contractivity of the two-time scale system and give sufficient conditions for global contractivity. We then consider two special cases: for autonomous nonlinear systems we obtain sharper bounds than our general results and for linear time-invariant systems we present novel bounds based upon log norms and induced norms. Finally, we apply our theory to two application areas -- online feedback optimization and Stackelberg games -- and obtain new individual tracking error bounds showing that solutions converge to their (time-varying) optimizer and computing overall contraction rates.