Miracle-dz/UniFAR-FTUs huggingface dataset:
STUPD: A Synthetic Dataset for Spatial and Temporal Relation Reasoning

Understanding relations between objects is crucial for understanding the semantics of a visual scene. It is also an essential step in order to bridge visual and language models. However, current state-of-the-art computer vision models still lack the ability to perform spatial reasoning well. Existing datasets mostly cover a relatively small number of spatial relations, all of which are static relations that do not intrinsically involve motion. In this paper, we propose the Spatial and Temporal Understanding of Prepositions Dataset (STUPD) -- a large-scale video dataset for understanding static and dynamic spatial relationships derived from prepositions of the English language. The dataset contains 150K visual depictions (videos and images), consisting of 30 distinct spatial prepositional senses, in the form of object interaction simulations generated synthetically using Unity3D. In addition to spatial relations, we also propose 50K visual depictions across 10 temporal relations, consisting of videos depicting event/time-point interactions. To our knowledge, no dataset exists that represents temporal relations through visual settings. In this dataset, we also provide 3D information about object interactions such as frame-wise coordinates, and descriptions of the objects used. The goal of this synthetic dataset is to help models perform better in visual relationship detection in real-world settings. We demonstrate an increase in the performance of various models over 2 real-world datasets (ImageNet-VidVRD and Spatial Senses) when pretrained on the STUPD dataset, in comparison to other pretraining datasets.
Operationally independent events can influence each other in quantum theory

In any known description of nature, two physical systems are considered independent of each other if any action on one of the systems does not change the other system. From our classical intuitions about the world, we further conclude that these two systems are not affecting each other in any possible way, and thus these two systems are causally disconnected or they do not influence each other. Building on this idea, we show that in quantum theory such a notion of classical independence is not satisfied, that is, two quantum systems can still influence each other even if any operation on one of the systems does not create an observable effect on the other. For our purpose, we consider the framework of quantum networks and construct a linear witness utilizing the Clauser-Horne-Shimony-Holt inequality. We also discuss one of the interesting applications resulting from the maximal violation of classical independence towards device-independent certification of quantum states and measurements.
IMU-based Online Multi-lidar Calibration

Modern autonomous systems typically use several sensors for perception. For best performance, accurate and reliable extrinsic calibration is necessary. In this research, we propose a reliable technique for the extrinsic calibration of several lidars on a vehicle without the need for odometry estimation or fiducial markers. First, our method generates an initial guess of the extrinsics by matching the raw signals of IMUs co-located with each lidar. This initial guess is then used in ICP and point cloud feature matching which refines and verifies this estimate. Furthermore, we can use observability criteria to choose a subset of the IMU measurements that have the highest mutual information -- rather than comparing all the readings. We have successfully validated our methodology using data gathered from Scania test vehicles.
The end sum of surfaces

End sum is a natural operation for combining two noncompact manifolds and has been used to construct various manifolds with interesting properties. The uniqueness of end sum has been well-studied in dimensions three and higher. We study end sum -- and the more general notion of adding a 1-handle at infinity -- for surfaces and prove uniqueness results. The result of adding a 1-handle at infinity to distinct ends of a surface with compact boundary is uniquely determined by the chosen ends and the orientability of the 1-handle. As a corollary, the end sum of two surfaces with compact boundary is uniquely determined by the chosen ends. Unlike uniqueness results in higher dimensions, which rely on isotopy uniqueness of rays, our results rely fundamentally on a classification of noncompact surfaces.
Dynamical convergence analysis for nonconvex linearized proximal ADMM algorithms

The convergence analysis of optimization algorithms using continuous-time dynamical systems has received much attention in recent years. In this paper, we investigate applications of these systems to analyze the convergence of linearized proximal ADMM algorithms for nonconvex composite optimization, whose objective function is the sum of a continuously differentiable function and a composition of a possibly nonconvex function with a linear operator. We first derive a first-order differential inclusion for the linearized proximal ADMM algorithm, LP-ADMM. Both the global convergence and the convergence rates of the generated trajectory are established with the use of Kurdyka-\L{}ojasiewicz (KL) property. Then, a stochastic variant, LP-SADMM, is delved into an investigation for finite-sum nonconvex composite problems. Under mild conditions, we obtain the stochastic differential equation corresponding to LP-SADMM, and demonstrate the almost sure global convergence of the generated trajectory by leveraging the KL property. Based on the almost sure convergence of trajectory, we construct a stochastic process that converges almost surely to an approximate critical point of objective function, and derive the expected convergence rates associated with this stochastic process. Moreover, we propose an accelerated LP-SADMM that incorporates Nesterov's acceleration technique. The continuous-time dynamical system of this algorithm is modeled as a second-order stochastic differential equation. Within the context of KL property, we explore the related almost sure convergence and expected convergence rates.
Circle Feature Graphormer: Can Circle Features Stimulate Graph Transformer?

In this paper, we introduce two local graph features for missing link prediction tasks on ogbl-citation2. We define the features as Circle Features, which are borrowed from the concept of circle of friends. We propose the detailed computing formulas for the above features. Firstly, we define the first circle feature as modified swing for common graph, which comes from bipartite graph. Secondly, we define the second circle feature as bridge, which indicates the importance of two nodes for different circle of friends. In addition, we firstly propose the above features as bias to enhance graph transformer neural network, such that graph self-attention mechanism can be improved. We implement a Circled Feature aware Graph transformer (CFG) model based on SIEG network, which utilizes a double tower structure to capture both global and local structure features. Experimental results show that CFG achieves the state-of-the-art performance on dataset ogbl-citation2.
Belief Control Barrier Functions for Risk-Aware Control

Ensuring safety in real-world robotic systems is often challenging due to unmodeled disturbances and noisy sensors. To account for such stochastic uncertainties, many robotic systems leverage probabilistic state estimators such as Kalman filters to obtain a robot's belief, i.e. a probability distribution over possible states. We propose belief control barrier functions (BCBFs) to enable risk-aware control, leveraging all information provided by state estimators. This allows robots to stay in predefined safety regions with desired confidence under these stochastic uncertainties. BCBFs are general and can be applied to a variety of robots that use extended Kalman filters as state estimator. We demonstrate BCBFs on a quadrotor that is exposed to external disturbances and varying sensing conditions. Our results show improved safety compared to traditional state-based approaches while allowing control frequencies of up to 1 kHz.
Oceananigans.jl: A model that achieves breakthrough resolution, memory and energy efficiency in global ocean simulations

Climate models must simulate hundreds of future scenarios for hundreds of years at coarse resolutions, and a handful of high-resolution decadal simulations to resolve localized extreme events. Using Oceananigans.jl, written from scratch in Julia, we report several achievements: First, a global ocean simulation with breakthrough horizontal resolution -- 488m -- reaching 15 simulated days per day (0.04 simulated years per day; SYPD). Second, Oceananigans simulates the global ocean at 488m with breakthrough memory efficiency on just 768 Nvidia A100 GPUs, a fraction of the resources available on current and upcoming exascale supercomputers. Third, and arguably most significant for climate modeling, Oceananigans achieves breakthrough energy efficiency reaching 0.95 SYPD at 1.7 km on 576 A100s and 9.9 SYPD at 10 km on 68 A100s -- the latter representing the highest horizontal resolutions employed by current IPCC-class ocean models. Routine climate simulations with 10 km ocean components are within reach.
Modeling the 3-Micron Class Er-Doped Fluoride Fiber Laser With a Cubic Energy Transfer Rate Dependence

We propose an energy transfer model with a cubic atomic population dependence to accurately model the behavior of various reported high-power erbium-doped fluoride fiber lasers operating near 2.8 microns. We first show that the previously introduced weakly interacting (WI) and strongly interacting (SI) models are not adequate for precisely modeling such high-power erbium-doped fluoride fiber lasers. We compare results obtained with the WI and SI models to the proposed model by simulating 4 different highly doped (7 mol.%) fiber lasers previously reported in the literature. Laser efficiencies and powers are reproduced with great accuracy. In addition, four other fiber laser systems based on erbium concentrations varying from 1–6 mol. % are also simulated with good accuracy using the proposed model with the exact same set of spectroscopic parameters, which confirms its validity for various erbium doping concentrations. Redshifting of laser wavelength is also taken into account by considering the full cross section spectra and computing signal powers over several wavelength channels.
Multiplexed Streaming Codes for Messages With Different Decoding Delays in Channel with Burst and Random Erasures

In a real-time transmission scenario, messages are transmitted through a channel that is subject to packet loss. The destination must recover the messages within the required deadline. In this paper, we consider a setup where two different types of messages with distinct decoding deadlines are transmitted through a channel that can introduce burst erasures of a length at most $B$, or $N$ random erasures. The message with a short decoding deadline $T_u$ is referred to as an urgent message, while the other one with a decoding deadline $T_v$ ($T_v>T_u$) is referred to as a less urgent message. We propose a merging method to encode two message streams of different urgency levels into a single flow. We consider the scenario where $T_v>T_u + B$. We establish that any coding strategy based on this merging approach has a closed-form upper limit on its achievable sum rate. Moreover, we present explicit constructions within a finite field that scales quadratically with the imposed delay, ensuring adherence to the upper bound. In a given parameter configuration, we rigorously demonstrate that the sum rate of our proposed streaming codes consistently surpasses that of separate encoding, which serves as a baseline for comparison.
On the Contraction Coefficient of the Schrödinger Bridge for Stochastic Linear Systems

Schrödinger bridge is a stochastic optimal control problem to steer a given initial state density to another, subject to controlled diffusion and deadline constraints. A popular method to numerically solve the Schrödinger bridge problems, in both classical and in the linear system settings, is via contractive fixed point recursions. These recursions can be seen as dynamic versions of the well-known Sinkhorn iterations, and under mild assumptions, they solve the so-called Schrödinger systems with guaranteed linear convergence. In this letter, we study a priori estimates for the contraction coefficients associated with the convergence of respective Schrödinger systems. We provide new geometric and control-theoretic interpretations for the same. Building on these newfound interpretations, we point out the possibility of improved computation for the worst-case contraction coefficients of linear SBPs by preconditioning the endpoint support sets.
Collectionless Artificial Intelligence

By and large, the professional handling of huge data collections is regarded as a fundamental ingredient of the progress of machine learning and of its spectacular results in related disciplines, with a growing agreement on risks connected to the centralization of such data collections. This paper sustains the position that the time has come for thinking of new learning protocols where machines conquer cognitive skills in a truly human-like context centered on environmental interactions. This comes with specific restrictions on the learning protocol according to the collectionless principle, which states that, at each time instant, data acquired from the environment is processed with the purpose of contributing to update the current internal representation of the environment, and that the agent is not given the privilege of recording the temporal stream. Basically, there is neither permission to store the temporal information coming from the sensors, thus promoting the development of self-organized memorization skills at a more abstract level, instead of relying on bare storage to simulate learning dynamics that are typical of offline learning algorithms. This purposely extreme position is intended to stimulate the development of machines that learn to dynamically organize the information by following human-based schemes. The proposition of this challenge suggests developing new foundations on computational processes of learning and reasoning that might open the doors to a truly orthogonal competitive track on AI technologies that avoid data accumulation by design, thus offering a framework which is better suited concerning privacy issues, control and customizability. Finally, pushing towards massively distributed computation, the collectionless approach to AI will likely reduce the concentration of power in companies and governments, thus better facing geopolitical issues.
MCNS: Mining Causal Natural Structures Inside Time Series via A Novel Internal Causality Scheme

Causal inference permits us to discover covert relationships of various variables in time series. However, in most existing works, the variables mentioned above are the dimensions. The causality between dimensions could be cursory, which hinders the comprehension of the internal relationship and the benefit of the causal graph to the neural networks (NNs). In this paper, we find that causality exists not only outside but also inside the time series because it reflects a succession of events in the real world. It inspires us to seek the relationship between internal subsequences. However, the challenges are the hardship of discovering causality from subsequences and utilizing the causal natural structures to improve NNs. To address these challenges, we propose a novel framework called Mining Causal Natural Structure (MCNS), which is automatic and domain-agnostic and helps to find the causal natural structures inside time series via the internal causality scheme. We evaluate the MCNS framework and impregnation NN with MCNS on time series classification tasks. Experimental results illustrate that our impregnation, by refining attention, shape selection classification, and pruning datasets, drives NN, even the data itself preferable accuracy and interpretability. Besides, MCNS provides an in-depth, solid summary of the time series and datasets.
Low-complexity hardware and algorithm for joint communication and sensing

Joint Communication and Sensing (JCAS) is foreseen as one very distinctive feature of the emerging 6G systems providing, in addition to fast end reliable communication, the ability to obtain an accurate perception of the physical environment. In this paper, we propose a JCAS algorithm that exploits a novel beamforming architecture, which features a combination of wideband analog and narrowband digital beamforming. This allows accurate estimation of Time of Arrival (ToA), exploiting the large bandwidth and Angle of Arrival (AoA), exploiting the high-rank digital beamforming. In our proposal, we separately estimate the ToA and AoA. The association between ToA and AoA is solved by acquiring multiple non-coherent frames and adding up the signal from each frame such that a specific component is combined coherently before the AoA estimation. Consequently, this removes the need to use 2D and 3D joint estimation methods, thus significantly lowering complexity. The resolution performance of the method is compared with that of 2D MUltiple SIgnal Classification (2D-MUSIC) algorithm, using a fully-digital wideband beamforming architecture. The results show that the proposed method can achieve performance similar to a fully-digital high-bandwidth system, while requiring a fraction of the total aggregate sampling rate and having much lower complexity.
Efficient Reinforcement Learning for Jumping Monopods

In this work, we consider the complex control problem of making a monopod reach a target with a jump. The monopod can jump in any direction and the terrain underneath its foot can be uneven. This is a template of a much larger class of problems, which are extremely challenging and computationally expensive to solve using standard optimisation-based techniques. Reinforcement Learning (RL) could be an interesting alternative, but the application of an end-to-end approach in which the controller must learn everything from scratch, is impractical. The solution advocated in this paper is to guide the learning process within an RL framework by injecting physical knowledge. This expedient brings to widespread benefits, such as a drastic reduction of the learning time, and the ability to learn and compensate for possible errors in the low-level controller executing the motion. We demonstrate the advantage of our approach with respect to both optimization-based and end-to-end RL approaches.
Action Segmentation Using 2D Skeleton Heatmaps

This paper presents a 2D skeleton-based action segmentation method with applications in fine-grained human activity recognition. In contrast with state-of-the-art methods which directly take sequences of 3D skeleton coordinates as inputs and apply Graph Convolutional Networks (GCNs) for spatiotemporal feature learning, our main idea is to use sequences of 2D skeleton heatmaps as inputs and employ Temporal Convolutional Networks (TCNs) to extract spatiotemporal features. Despite lacking 3D information, our approach yields comparable/superior performances and better robustness against missing keypoints than previous methods on action segmentation datasets. Moreover, we improve the performances further by using both 2D skeleton heatmaps and RGB videos as inputs. To our best knowledge, this is the first work to utilize 2D skeleton heatmap inputs and the first work to explore 2D skeleton+RGB fusion for action segmentation.
Remote Sensing Object Detection Meets Deep Learning: A metareview of challenges and advances

Remote sensing object detection (RSOD), one of the most fundamental and challenging tasks in the remote sensing field, has received long-standing attention. In recent years, deep learning techniques have demonstrated robust feature representation capabilities and led to a big leap in the development of RSOD techniques. In this era of rapid technical evolution, this article aims to present a comprehensive review of the recent achievements in deep learning-based RSOD methods. More than 300 papers are covered in this review. We identify five main challenges in RSOD, including multiscale object detection, rotated object detection, weak object detection, tiny object detection, and object detection with limited supervision, and systematically review the corresponding methods developed in a hierarchical division manner. We also review the widely used benchmark datasets and evaluation metrics within the field of RSOD as well as the application scenarios for RSOD. Future research directions are provided for further promoting the research in RSOD.
SHARM: Segmented Head Anatomical Reference Models

Reliable segmentation of anatomical tissues of human head is a major step in several clinical applications such as brain mapping, surgery planning and associated computational simulation studies. Segmentation is based on identifying different anatomical structures through labeling different tissues through medical imaging modalities. The segmentation of brain structures is commonly feasible with several remarkable contributions mainly for medical perspective; however, non-brain tissues are of less interest due to anatomical complexity and difficulties to be observed using standard medical imaging protocols. The lack of whole head segmentation methods and unavailability of large human head segmented datasets limiting the variability studies, especially in the computational evaluation of electrical brain stimulation (neuromodulation), human protection from electromagnetic field, and electroencephalography where non-brain tissues are of great importance. To fill this gap, this study provides an open-access Segmented Head Anatomical Reference Models (SHARM) that consists of 196 subjects. These models are segmented into 15 different tissues; skin, fat, muscle, skull cancellous bone, skull cortical bone, brain white matter, brain gray matter, cerebellum white matter, cerebellum gray matter, cerebrospinal fluid, dura, vitreous humor, lens, mucous tissue and blood vessels. The segmented head models are generated using open-access IXI MRI dataset through convolutional neural network structure named ForkNet+. Results indicate a high consistency in statistical characteristics of different tissue distribution in age scale with real measurements. SHARM is expected to be a useful benchmark not only for electromagnetic dosimetry studies but also for different human head segmentation applications.