Miracle-dz/UniFAR-FTUs huggingface dataset:
Cheating Depth: Enhancing 3D Surface Anomaly Detection via Depth Simulation

RGB-based surface anomaly detection methods have advanced significantly. However, certain surface anomalies remain practically invisible in RGB alone, necessitating the incorporation of 3D information. Existing approaches that employ point-cloud backbones suffer from suboptimal representations and reduced applicability due to slow processing. Re-training RGB backbones, designed for faster dense input processing, on industrial depth datasets is hindered by the limited availability of sufficiently large datasets. We make several contributions to address these challenges. (i) We propose a novel Depth-Aware Discrete Autoencoder (DADA) architecture, that enables learning a general discrete latent space that jointly models RGB and 3D data for 3D surface anomaly detection. (ii) We tackle the lack of diverse industrial depth datasets by introducing a simulation process for learning informative depth features in the depth encoder. (iii) We propose a new surface anomaly detection method 3DSR, which outperforms all existing state-of-the-art on the challenging MVTec3D anomaly detection benchmark, both in terms of accuracy and processing speed. The experimental results validate the effectiveness and efficiency of our approach, highlighting the potential of utilizing depth information for improved surface anomaly detection.
Hyperbolic isometries of the fine curve graph of higher genus surfaces

We prove that for a homeomorphism f that is isotopic to the identity on a closed hyperbolic surface, the following are equivalent: * f acts hyperbolically on the fine curve graph; * f is isotopic to a pseudo-Anosov map relative to a finite f-invariant set; * the ergodic homological rotation set of f has nonempty interior.
A quantum-classical performance separation in nonconvex optimization

In this paper, we identify a family of nonconvex continuous optimization instances, each $d$-dimensional instance with $2^d$ local minima, to demonstrate a quantum-classical performance separation. Specifically, we prove that the recently proposed Quantum Hamiltonian Descent (QHD) algorithm [Leng et al., arXiv:2303.01471] is able to solve any $d$-dimensional instance from this family using $\widetilde{\mathcal{O}}(d^3)$ quantum queries to the function value and $\widetilde{\mathcal{O}}(d^4)$ additional 1-qubit and 2-qubit elementary quantum gates. On the other side, a comprehensive empirical study suggests that representative state-of-the-art classical optimization algorithms/solvers (including Gurobi) would require a super-polynomial time to solve such optimization instances.
Automatic Robot Hand-Eye Calibration Enabled by Learning-Based 3D Vision

Hand-eye calibration, as a fundamental task in vision-based robotic systems, aims to estimate the transformation matrix between the coordinate frame of the camera and the robot flange. Most approaches to hand-eye calibration rely on external markers or human assistance. We proposed Look at Robot Base Once (LRBO), a novel methodology that addresses the hand-eye calibration problem without external calibration objects or human support, but with the robot base. Using point clouds of the robot base, a transformation matrix from the coordinate frame of the camera to the robot base is established as I=AXB. To this end, we exploit learning-based 3D detection and registration algorithms to estimate the location and orientation of the robot base. The robustness and accuracy of the method are quantified by ground-truth-based evaluation, and the accuracy result is compared with other 3D vision-based calibration methods. To assess the feasibility of our methodology, we carried out experiments utilizing a low-cost structured light scanner across varying joint configurations and groups of experiments. The proposed hand-eye calibration method achieved a translation deviation of 0.930 mm and a rotation deviation of 0.265 degrees according to the experimental results. Additionally, the 3D reconstruction experiments demonstrated a rotation error of 0.994 degrees and a position error of 1.697 mm. Moreover, our method offers the potential to be completed in 1 second, which is the fastest compared to other 3D hand-eye calibration methods. Code is released at github.com/leihui6/LRBO.
PIAug - Physics Informed Augmentation for Learning Vehicle Dynamics for Off-Road Navigation

Modeling the precise dynamics of off-road vehicles is a complex yet essential task due to the challenging terrain they encounter and the need for optimal performance and safety. Recently, there has been a focus on integrating nominal physics-based models alongside data-driven neural networks using Physics Informed Neural Networks. These approaches often assume the availability of a well-distributed dataset; however, this assumption may not hold due to regions in the physical distribution that are hard to collect, such as high-speed motions and rare terrains. Therefore, we introduce a physics-informed data augmentation methodology called PIAug. We show an example use case of the same by modeling high-speed and aggressive motion predictions, given a dataset with only low-speed data. During the training phase, we leverage the nominal model for generating target domain (medium and high velocity) data using the available source data (low velocity). Subsequently, we employ a physics-inspired loss function with this augmented dataset to incorporate prior knowledge of physics into the neural network. Our methodology results in up to 67% less mean error in trajectory prediction in comparison to a standalone nominal model, especially during aggressive maneuvers at speeds outside the training domain. In real-life navigation experiments, our model succeeds in 4x tighter waypoint tracking constraints than the Kinematic Bicycle Model (KBM) at out-of-domain velocities.
Improving Robustness via Tilted Exponential Layer: A Communication-Theoretic Perspective

State-of-the-art techniques for enhancing robustness of deep networks mostly rely on empirical risk minimization with suitable data augmentation. In this paper, we propose a complementary approach motivated by communication theory, aimed at enhancing the signal-to-noise ratio at the output of a neural network layer via neural competition during learning and inference. In addition to standard empirical risk minimization, neurons compete to sparsely represent layer inputs by maximization of a tilted exponential (TEXP) objective function for the layer. TEXP learning can be interpreted as maximum likelihood estimation of matched filters under a Gaussian model for data noise. Inference in a TEXP layer is accomplished by replacing batch norm by a tilted softmax, which can be interpreted as computation of posterior probabilities for the competing signaling hypotheses represented by each neuron. After providing insights via simplified models, we show, by experimentation on standard image datasets, that TEXP learning and inference enhances robustness against noise and other common corruptions, without requiring data augmentation. Further cumulative gains in robustness against this array of distortions can be obtained by appropriately combining TEXP with data augmentation techniques. The code for all our experiments is available at https://github.com/bhagyapuranik/texp_for_robustness.
A Lightweight Routing Layer Using a Reliable Link-Layer Protocol

In today’s data centers, the performance of interconnects plays a pivotal role. However, many of the underlying technologies for these interconnects have a history of several decades and existed long before data centers came into being. To better cater to the requirements of data center networks, particularly in the context of intra-rack communication, we have developed a new interconnect. This interconnect is based on a lossless link layer protocol, named RIFL. In this work, we designed and implemented RIFL Layer 2, a scalable network that supports up to multi-hundred Gbps communication. RIFL Layer 2 includes the RIFL switch and RIFL NIC. By utilizing a simple Batcher Banyan and iSLIP RIFL switch, we effectively keep the typical intra-rack latency under 400 nanoseconds. Moreover, for a 32-port 100Gbps network, under both Bernoulli arrival and bursty arrival traffic patterns, we ensure that the 99% tail latency does not exceed 12 microseconds.
Transformable Superisostatic Crystals Self-Assembled from Segment Colloidal Rods.

Transformable mechanical structures can switch between distinct mechanical states. Whether this kind of structure can be self-assembled from simple building blocks at microscale is a question to be answered. In this work, we propose a self-assembly strategy for these structures based on a nematic monolayer of segmented colloidal rods with lateral cutting. By using Monte Carlo simulation, we find that rods with different cutting degrees can self-assemble into different crystals characterized by bond coordination z that varies from 3 to 6. Among these, we identify a transformable superisostatic structure with pgg symmetry and redundant bonds (z = 5). We show that this structure can support either soft bulk modes or soft edge modes depending on its Poisson's ratio, which can be tuned from positive to negative through a uniform soft deformation. We also prove that the bulk soft modes are associated with states of self-stress along the direction of zero strain during uniform soft deformation. The self-assembled transformable structures may act as mechanical metamaterials with potential applications in micromechanical engineering.
2-Fault-Tolerant Strong Connectivity Oracles

We study the problem of efficiently answering strong connectivity queries under two vertex failures. Given a directed graph $G$ with $n$ vertices, we provide a data structure with $O(nh)$ space and $O(h)$ query time, where $h$ is the height of a decomposition tree of $G$ into strongly connected subgraphs. This immediately implies data structures with $O(n \log{n})$ space and $O(\log{n})$ query time for graphs of constant treewidth, and $O(n^{3/2})$ space and $O(\sqrt{n})$ query time for planar graphs. For general directed graphs, we give a refined version of our data structure that achieves $O(n\sqrt{m})$ space and $O(\sqrt{m})$ query time, where $m$ is the number of edges of the graph. We also provide some simple BFS-based heuristics that seem to work remarkably well in practice. In the experimental part, we first evaluate various methods to construct a decomposition tree with small height $h$ in practice. Then we provide efficient implementations of our data structures, and evaluate their empirical performance by conducting an extensive experimental study on graphs taken from real-world applications.
High-temperature effects for transition state calculations in solids.

Transition state calculation is a critical technique to understand and predict versatile dynamical phenomena in solids. However, the transition state results obtained at 0 K are often utilized for the prediction or interpretation of dynamical processes at high temperatures, and the error bars of such an approximation are largely unknown. In this benchmark study, all the major temperature effects, including lattice expansion, lattice vibration, electron excitation, and band-edge shift, are evaluated with first-principles calculations for defect diffusion in solids. With the inclusion of these temperature effects, the notable discrepancies between theoretical predictions at 0 K and the experimental diffusivities at high temperatures are dramatically reduced. In particular, we find that lattice expansion and lattice vibration are the dominant factors lowering the defect formation energies and hopping barriers at high temperatures, but the electron excitation exhibits minor effects. In sharp contrast to typical assumptions, the attempt frequency with lattice expansion and vibration varies significantly with materials: several THz for aluminum bulk but surprisingly over 500 THz for 4H-SiC. For defects in semiconductors, the band-edge shift is also significant at high temperatures and plays a vital role in defect diffusion. We expect that this study would help accurately predict the dynamical processes at high temperatures.
A Dynamic Temporal Logic for Quality of Service in Choreographic Models

We propose a framework for expressing and analyzing the Quality of Service (QoS) of message-passing systems using a choreographic model that consists of g-choreographies and Communicating Finite State machines (CFSMs). The following are our three main contributions: (I) an extension of CFSMs with non-functional contracts to specify quantitative constraints of local computations, (II) a dynamic temporal logic capable of expressing QoS, properties of systems relative to the g-choreography that specifies the communication protocol, (III) the semi-decidability of our logic which enables a bounded model-checking approach to verify QoS property of communicating systems.
Lagrangian Relaxation for Continuous-Time Optimal Control of Coupled Hydrothermal Power Systems Including Storage Capacity and a Cascade of Hydropower Systems with Time Delays

Due to the global large-scale development of renewable energy resources and the high uncertainty and variability of these sources, control optimization of energy supply systems has become crucial to use production facilities efficiently to balance the power demand. This work considers a setting characterized by a coupled power supply system controlled by a single provider and comprising a cascade of hydropower systems (dams), fossil fuel power stations, and a large battery for storage. We first propose a novel mathematical modeling framework for problems arising from short-term continuous control of large power systems, which are modeled through continuous differential equations. The proposed framework is original because previous works formulated the problem using a large discrete optimization system, which doesn't take advantage of the system structure and must solve NP-hard mixed-integer programming problems. Moreover, cascaded dams introduce time-delay effects to the controls, making it impossible to use dynamic programming algorithms. We design a primal-dual strategy by introducing a Lagrangian relaxation technique over continuous-time constraints to overcome this feature and construct a nearly optimal policy efficiently. This approach yields a convex nonsmooth optimization problem to define the optimal Lagrangian multipliers, which is numerically solved using a limited memory bundle method. Given the values of the Lagrangian multipliers, we solve an associated sequence of Hamilton-Jacobi-Bellman partial differential equations instead of the more computationally challenging task of solving a large nonconvex problem. We use a penalization technique for the admissible primal solution to smooth the controls while achieving a sufficiently small duality gap. The analysis and numerical results based on the Uruguayan power system demonstrate the efficiency of the proposed framework.
Collaboration and Transition: Distilling Item Transitions into Multi-Query Self-Attention for Sequential Recommendation

Modern recommender systems employ various sequential modules such as self-attention to learn dynamic user interests. However, these methods are less effective in capturing collaborative and transitional signals within user interaction sequences. First, the self-attention architecture uses the embedding of a single item as the attention query, making it challenging to capture collaborative signals. Second, these methods typically follow an auto-regressive framework, which is unable to learn global item transition patterns. To overcome these limitations, we propose a new method called Multi-Query Self-Attention with Transition-Aware Embedding Distillation (MQSA-TED). First, we propose an $L$-query self-attention module that employs flexible window sizes for attention queries to capture collaborative signals. In addition, we introduce a multi-query self-attention method that balances the bias-variance trade-off in modeling user preferences by combining long and short-query self-attentions. Second, we develop a transition-aware embedding distillation module that distills global item-to-item transition patterns into item embeddings, which enables the model to memorize and leverage transitional signals and serves as a calibrator for collaborative signals. Experimental results on four real-world datasets demonstrate the effectiveness of the proposed modules.
Improving the accuracy and scalability of discriminative learning methods for Markov logic networks

Abstract : Many real-world problems involve data that both have complex structures and uncertainty. Statistical relational learning (SRL) is an emerging area of research that addresses the problem of learning from these noisy structured/ relational data. Markov logic networks (MLNs), sets of weighted rstorder logic formulae, are a simple but powerful SRL formalism that generalizes both rst-order logic and Markov networks. MLNs have been successfully applied to a variety of real-world problems ranging from extraction knowledge from text to visual event recognition. Most of the existing learning algorithms for MLNs are in the generative setting: they try to learn a model that is equally capable of predicting the values of all variables given an arbitrary set of evidence; and they do not scale to problems with thousands of examples. However, many real-world problems in structured/relational data are discriminative|where the variables are divided into two disjoint sets input and output, and the goal is to correctly predict the values of the output variables given evidence data about the input variables. In addition, these problems usually involve data that have thousands of examples. Thus, it is important to develop new discriminative learning methods for MLNs that are more accurate and more scalable, which are the topics addressed in this thesis. First, we present a new method that discriminatively learns both the structure and parameters for a special class of MLNs where all the clauses are non-recursive ones. Non-recursive clauses arise in many learning problems in Inductive Logic Programming. To further improve the predictive accuracy we propose a max-margin approach to learning weights for MLNs. Then to address the issue of scalability, we present CDA, an online max-margin weight learning algorithm for MLNs.
SAT Solving Using XOR-OR-AND Normal Forms

This paper introduces the XOR-OR-AND normal form (XNF) for logical formulas. It is a generalization of the well-known Conjunctive Normal Form (CNF) where literals are replaced by XORs of literals. As a first theoretic result, we show that every formula is equisatisfiable to a formula in 2-XNF, i.e., a formula in XNF where each disjunction involves at most two XORs of literals. Subsequently, we present an algorithm which converts Boolean polynomials efficiently from their Algebraic Normal Form (ANF) to formulas in 2-XNF. Experiments with the cipher ASCON-128 show that cryptographic problems, which by design are based strongly on XOR-operations, can be represented using far fewer variables and clauses in 2-XNF than in CNF. In order to take advantage of this compact representation, new SAT solvers based on input formulas in 2-XNF need to be designed. By taking inspiration from graph-based 2-CNF SAT solving, we devise a new DPLL-based SAT solver for formulas in 2-XNF. Among others, we present advanced pre- and in-processing techniques. Finally, we give timings for random 2-XNF instances and instances related to key recovery attacks on round reduced ASCON-128, where our solver outperforms state-of-the-art alternative solving approaches.
Robustness for Free: Quality-Diversity Driven Discovery of Agile Soft Robotic Gaits

Soft robotics aims to develop robots able to adapt their behavior across a wide range of unstructured and unknown environments. A critical challenge of soft robotic control is that nonlinear dynamics often result in complex behaviors hard to model and predict. Typically behaviors for mobile soft robots are discovered through empirical trial and error and hand-tuning. More recently, optimization algorithms such as Genetic Algorithms (GA) have been used to discover gaits, but these behaviors are often optimized for a single environment or terrain, and can be brittle to unplanned changes to terrain. In this paper we demonstrate how Quality Diversity Algorithms, which search of a range of high-performing behaviors, can produce repertoires of gaits that are robust to changing terrains. This robustness significantly out-performs that of gaits produced by a single objective optimization algorithm.
Method of mechanical exfoliation of bismuth with micro-trench structures

The discovery of graphene led to a burst in search for 2D materials originating from layered atomic crystals coupled by van der Waals force. While bulk bismuth crystals share this layered crystal structure, unlike other group V members of the periodic table, its interlayer bonds are stronger such that traditional mechanical cleavage and exfoliation techniques have shown to be inefficient. In this work, we present a novel mechanical cleavage method for exfoliating bismuth by utilizing the stress concentration effect induced by micro-trench SiO2 structures. As a result, the exfoliated bismuth flakes can achieve thicknesses down to the sub-10 nm range, which are analyzed by atomic force microscopy and Raman spectroscopy.
The Quantum Cartpole: A benchmark environment for non-linear reinforcement learning

Feedback-based control is the de-facto standard when it comes to controlling classical stochastic systems and processes. However, standard feedback-based control methods are challenged by quantum systems due to measurement induced backaction and partial observability. Here we remedy this by using weak quantum measurements and model-free reinforcement learning agents to perform quantum control. By comparing control algorithms with and without state estimators to stabilize a quantum particle in an unstable state near a local potential energy maximum, we show how a trade-off between state estimation and controllability arises. For the scenario where the classical analogue is highly nonlinear, the reinforcement learned controller has an advantage over the standard controller. Additionally, we demonstrate the feasibility of using transfer learning to develop a quantum control agent trained via reinforcement learning on a classical surrogate of the quantum control problem. Finally, we present results showing how the reinforcement learning control strategy differs from the classical controller in the non-linear scenarios.