Miracle-dz/UniFAR-FTUs huggingface dataset:
Machine Learning for Robotic Manipulation

The past decade has witnessed the tremendous successes of machine learning techniques in the supervised learning paradigm, where there is a clear demarcation between training and testing. In the supervised learning paradigm, learning is inherently passive, seeking to distill human-provided supervision in large-scale datasets into high capacity models. Following these successes, machine learning researchers have looked beyond this paradigm and became interested in tasks that are more dynamic. To them, robotics serve as an excellent test-bed, for the challenges of robotics break many of the assumptions that made supervised learning successful. Out of the many different areas within robotics, robotic manipulation has become a favorite area for researchers to demonstrate new algorithms because of the vast numbers of possible applications and its highly dynamical and complex nature. This document surveys recent robotics conferences and identifies the major trends with which machine learning techniques have been applied to the challenges of robotic manipulation.
Mining the online infosphere: A survey

The evolution of Artificial Intelligence (AI)‐based systems and applications have pervaded everyday life to make decisions that have a momentous impact on individuals and society. With the staggering growth of online data, often termed as the online infosphere, it has become paramount to monitor the infosphere to ensure social good as AI‐based decisions are severely dependent. This survey aims to provide a comprehensive review of some of the most important research areas related to the infosphere, focusing on the technical challenges and potential solutions. The survey also outlines some of the important future directions. We begin by focussing on the collaborative systems that have emerged within the infosphere with a special thrust on Wikipedia. In the follow‐up, we demonstrate how the infosphere has been instrumental in the growth of scientific citations and collaborations, thus fuelling interdisciplinary research. Finally, we illustrate the issues related to the governance of the infosphere, such as the tackling of the (a) rising hateful and abusive behavior and (b) bias and discrimination in different online platforms and news reporting.
Local Black-box Adversarial Attacks: A Query Efficient Approach

Adversarial attacks have threatened the application of deep neural networks in security-sensitive scenarios. Most existing black-box attacks fool the target model by interacting with it many times and producing global perturbations. However, global perturbations change the smooth and insignificant background, which not only makes the perturbation more easily be perceived but also increases the query overhead. In this paper, we propose a novel framework to perturb the discriminative areas of clean examples only within limited queries in black-box attacks. Our framework is constructed based on two types of transferability. The first one is the transferability of model interpretations. Based on this property, we identify the discriminative areas of a given clean example easily for local perturbations. The second is the transferability of adversarial examples. It helps us to produce a local pre-perturbation for improving query efficiency. After identifying the discriminative areas and pre-perturbing, we generate the final adversarial examples from the pre-perturbed example by querying the targeted model with two kinds of black-box attack techniques, i.e., gradient estimation and random search. We conduct extensive experiments to show that our framework can significantly improve the query efficiency during black-box perturbing with a high attack success rate. Experimental results show that our attacks outperform state-of-the-art black-box attacks under various system settings.
Stability analysis of a charged black hole with a nonlinear complex scalar field

It has been shown recently that the charged black hole can be scalarized if Maxwell field minimally couples with a complex scalar which has nonnegative nonlinear potential. We firstly prove that such scalarization cannot be a result of continuous phase transition for general scalar potential. Furthermore, we numerically find that it is possible that the RN black hole will be scalarized by a first order phase transition spontaneously and extreme RN black hole is not stable in micro-canonical ensemble. In addition, considering a massless scalar perturbation, we compute the quasi-normal modes of the scalarized charged black hole and the results imply that the spontaneously scalarized charged black hole is not only favored in thermodynamics but also is kinetically stable against scalar perturbation at linear level. Our numerical results also definitely gives negative answer to Penrose-Gibbons conjecture and two new versions of Penrose inequality in charged case are suggested.
On the ADM mass of K\"ahler scalar flat ALE metrics

In this paper we study the behaviour of scalar flat Kähler ALE spaces and their ADM mass under blow ups. In particular we prove that by blowing up sufficiently many points at sufficiently big mutual distance one can produce scalar flat metrics with arbitrarily large ADM mass. A general machinery for producing scalar flat non Ricci flat ALE spaces of zero ADM mass is also presented, using and integrating previous work by Rollin-Singer ([17]) and Hein-LeBrun ([11]).
Dyadic bi-parameter repeated commutator and dyadic product BMO

Abstract. Let T is a certain tensor product of simple dyadic shifts defined below. We prove here that for dyadic bi-parameter repeated commutator its norm can be estimated from below by Chang-Fefferman BMO norm pertinent to its symbol. See Theorems 9.1, 9.2 at the end of this article. But this is done below under an extra assumption on the Haar–Fourier side of the symbol. In Section 7 we carefully analyze what goes wrong in the absence of this extra assumption. At the end of this note we also list a counterexample to the existing proof of characterization of bi-parameter repeated commutator with the Hilbert transforms. This is a counterexample to the proof, and it is not a counterexample to the statement of factorization result in bi-disc, or to Nehari’s theorem in bi-disc.
Early Work on Efficient Patching for Coordinating Edge Applications

Multiple applications running on Edge computers can be orchestrated to achieve the desired goal. Orchestration of applications is prominent when working with Internet of Things based applications, Autonomous driving and Autonomous Aerial vehicles. As the applications receive modified classifiers/code, there will be multiple applications that need to be updated. If all the classifiers are synchronously updated there would be increased throughput and bandwidth degradation. On the other hand, delaying updates of applications which need immediate update hinders performance and delays progress towards end goal. The updates of applications should be prioritized and updates should happen according to this priority. This paper explores the setup and benchmarks to understand the impact of updates when multiple applications working to achieve same objective are orchestrated with prioritized updates. We discuss methods to build a distributed, reliable and scalable system called"DSOC"(Docker Swarm Orchestration Component).
Superconductivity from Luttinger surfaces: Emergent $\infty$-body SYK physics

The pairing of two electrons on a Fermi surface due to an infinitesimal attraction between them always results in a superconducting instability at zero temperature (T = 0). The equivalent question of pairing instability on a Luttinger surface (LS) – a contour of zeros of the propagator – instead leads to a quantum critical point (QCP) that separates a non-Fermi liquid (NFL) and superconductor. A surprising and little understood aspect of pair fluctuations at this QCP is that their thermodynamics maps to that of the Sachdev-Ye-Kitaev (SYK) model in the strong coupling limit. Here, we offer a simple justification for this mapping by demonstrating that (i) LS models share the reparametrization symmetry of the q → ∞ SYK model with q-body interactions close to the LS, and (ii) the enforcement of gauge invariance results in a 1 √ τ (τ ∼ T−1) behavior of the fluctuation propagator near the QCP, as is a feature of the fundamental SYK fermion.
Effects of induced tension and electrostatic interactions on the mechanisms of antimicrobial peptide translocation across lipid bilayer

Including electrostatic interactions into dissipative particle dynamics simulations, we can study the process of the translocation of cationic antimicrobial peptides across lipid bilayer membranes when their head groups are either negatively charged or neutral. Two translocation mechanisms are predicted. Bilayer thinning and tension increase caused by the binding of peptide to the zwitterionic lipid membrane surface is one mechanism. By this mechanism, peptide translocation only occurs when the peptide concentration exceeds a critical value and is a stochastic and rare event. The translocation completes via a two-state pathway: a perpendicular insertion state and a final parallel adsorption state. The penetration of the peptide into the bilayer also promotes the flip-flop of lipids. If some lipids of the bilayer are negatively charged, the electrostatic attraction between peptides and acidic phospholipids in the distal leaflet of the bilayer is another mechanism. In this case, the peptide translocation completes via a three-state pathway: initial parallel adsorption state, perpendicular insertion state, and a final parallel adsorption state. The critical peptide concentration is smaller and translocation is faster and more reliable than that of the first mechanism. In both mechanisms, an intermediate metastable peptide insertion state is composed of only one peptide and a few lipids.
Dissecting the Supercritical Filaments Embedded in the 0.5 pc Subsonic Region of Barnard 5

We characterize in detail the two ∼0.3 pc long filamentary structures found within the subsonic region of Barnard 5. We use combined Robert C. Byrd Green Bank Telescope and Very Large Array observations of the molecular lines NH3(1,1) and (2,2) at a resolution of 1800 au, as well as James Clerk Maxwell Telescope continuum observations at 850 and 450 μm at a resolution of 4400 and 3000 au, respectively. We find that both filaments are highly supercritical with a mean mass per unit length, M/L, of ∼80 M ⊙ pc−1 after background subtraction, with local increases reaching values of ∼150 M ⊙ pc−1. This would require a magnetic field strength of ∼500 μG to be stable against radial collapse. We extract equidistant cuts perpendicular to the spine of the filament and fit a modified Plummer profile as well as a Gaussian to each of the cuts. The filament widths (deconvolved FWHM) range between 6500 and 7000 au (∼0.03 pc) along the filaments. This equals ∼twice the radius of the flat inner region. We find an anticorrelation between the central density and this flattening radius, suggestive of contraction. Further, we also find a strong correlation between the power-law exponent at large radii and the flattening radius. We note that the measurements of these three parameters fall in a plane and derive their empirical relation. Our high-resolution observations provide direct constraints on the distribution of the dense gas within supercritical filaments showing pre- and protostellar activity.
Volterra model-based control for nonlinear systems via Carleman linearization

This paper presents detailed insights of embedding Carleman linearization into nonlinear systems for designing Volterra model-based control technique. Volterra series method is a competent mathematical tool, which extends the convolution integral for linear systems to nonlinear systems. First, we utilize the Carleman linearization technique to arrive at the bilinear approximation of the nonlinear system. Secondly, the third-order Volterra model representation is computed from the Carleman bilinearized model. Then, Volterra model-based control strategy is developed. The proposed method is effectuated on the benchmark van de Vusse reactor – exhibiting non-minimum phase response. The open and closed-loop simulation results are presented, demonstrating the superiority and practical utility of the proposed method.
Bidimensional linear recursive sequences and universality of unambiguous register automata

We study the universality and inclusion problems for register automata over equality data. We show that the universality and the inclusion problems can be solved with 2-EXPTIME complexity when the input automata are without guessing and unambiguous, improving on the currently best-known 2-EXPSPACE upper bound by Mottet and Quaas. When the number of registers of both automata is fixed, we obtain a lower EXPTIME complexity, also improving the EXPSPACE upper bound from Mottet and Quaas for fixed number of registers. We reduce inclusion to universality, and then we reduce universality to the problem of counting the number of orbits of runs of the automaton. We show that the orbit-counting function satisfies a system of bidimensional linear recursive equations with polynomial coefficients (linrec), which generalises analogous recurrences for the Stirling numbers of the second kind, and then we show that universality reduces to the zeroness problem for linrec sequences. While such a counting approach is classical and has successfully been applied to unambiguous finite automata and grammars over finite alphabets, its application to register automata over infinite alphabets is novel. We provide two algorithms to decide the zeroness problem for bidimensional linear recursive sequences arising from orbit-counting functions. Both algorithms rely on techniques from linear non-commutative algebra. The first algorithm performs variable elimination and has elementary complexity. The second algorithm is a refined version of the first one and it relies on the computation of the Hermite normal form of matrices over a skew polynomial field. The second algorithm yields an EXPTIME decision procedure for the zeroness problem of linrec sequences, which in turn yields the claimed bounds for the universality and inclusion problems of register automata.
Bioactives from culinary spices and herbs: a review

Culinary spices and herbs have been used in food and beverages to enhance aroma, flavor, and color. They are rich in phytochemicals that provide significant antioxidant and anti-inflammatory effects. There is growing interest in identifying compounds from spices and herbs responsible for modulating oxidative and inflammatory stress to prevent diet-related diseases. This contribution will provide an overview of culinary spices and herbs, their classification, their sources or origins and more importantly, their chemical composition, antioxidant activity and their impacts on human health based on important and recent studies.
Nanocomposites of Poly(Vinyl Alcohol)/Functionalized-Multiwall Carbon Nanotubes Conjugated With Glucose Oxidase for Potential Application as Scaffolds in Skin Wound Healing

A novel nanocomposite scaffold based on poly(vinyl alcohol) (PVA) and multiwalled carbon nanotubes (MWNT) were synthesized and characterized regarding to morphological, physical, and mechanical properties and also the preliminary biocompatibility was assessed by MTT assay. Additionally, the concept of developing hybrid systems was tested by bioconjugating functionalized MWNT to glucose oxidase and dispersed in the PVA matrix. The nanocomposites have presented mechanical properties, degree of swelling, and cytocompatibility comparable to the skin tissues. Moreover, the bionanocomposite with enzyme showed bioactivity toward injecting glucose with simultaneous antimicrobial behavior against bacterial pathogens due to the generation hydrogen peroxide.
Determination of trace organics in municipal sewage effluents and natural waters by high-resolution ion-exchange chromatography

Automated, high-resolution ion-exchange chromatographs, previously developed for the analysis of the molecular biochemical constituents in human body fluids, have been applied to the analysis of various polluted waters. Samples of polluted waters have been collected from selected sources, concentrated up to 10,000-fold, and chromatographed on high-pressure ion-exchange columns. Monitoring of the column eluates for ultraviolet absorbance and cerate oxidizability has revealed the presence of numerous organic contaminants, many of which have been subsequently identified by auxiliary techniques such as mass spectrometry. In the primary and secondary effluents from a domestic sewage treatment plant, 56 and 13 organics, respectively, have been identified and quantified. A total of 16 different organics have been identified in samples from five different natural waters. (auth)
Relativistic Rocket Control (Relativistic Space-Travel Flight Control): Feedback Control of Relativistic Dynamics Propelled by Ejecting Mass

In this short note, we investigate the feedback control of relativistic dynamics propelled by mass ejection, modeling, e.g., the relativistic rocket control or the relativistic (space-travel) flight control. As an extreme case, we also examine the control of relativistic photon rockets which are propelled by ejecting photons.
Is asymptotically safe inflation eternal?

Recently, based on swampland considerations in string theory, the (no) eternal inflation principle has been put forward. The natural question arises whether similar conditions hold in other approaches to quantum gravity. In this article, the asymptotic safety hypothesis is considered in the context of eternal inflation. As exemplary inflationary models the SU(N) Yang-Mills in the Veneziano limit and various RG-improvements of the gravitational action are studied. The existence of UV fixed point generically flattens the potential and our findings suggest no tension between eternal inflation and asymptotic safety, both in the matter and gravitational sector in contradistinction to string theory. Moreover, the eternal inflation cannot take place in the range of applicability of effective field quantum gravity theory. We employ the analytical relations for eternal inflation to some of the models with single minima, such as Starobinsky inflation, alpha-attractors, or the RG-improved models and verify them with the massive numerical simulations. The validity of these constraints is also discussed for a multi-minima model.
AttnMove: History Enhanced Trajectory Recovery via Attentional Network

A considerable amount of mobility data has been accumulated due to the proliferation of location-based service. Nevertheless, compared with mobility data from transportation systems like the GPS module in taxis, this kind of data is commonly sparse in terms of individual trajectories in the sense that users do not access mobile services and contribute their data all the time. Consequently, the sparsity inevitably weakens the practical value of the data even it has a high user penetration rate. To solve this problem, we propose a novel attentional neural network-based model, named AttnMove, to densify individual trajectories by recovering unobserved locations at a fine-grained spatial-temporal resolution. To tackle the challenges posed by sparsity, we design various intra- and inter- trajectory attention mechanisms to better model the mobility regularity of users and fully exploit the periodical pattern from long-term history. We evaluate our model on two real-world datasets, and extensive results demonstrate the performance gain compared with the state-of-the-art methods. This also shows that, by providing high-quality mobility data, our model can benefit a variety of mobility-oriented down-stream applications.
Social policy in the United States : future possibilities in historical perspective

Reforming health care, revamping the welfare system, preserving or cutting Social Security, creating employment programmes for displaced employees, and revising US social programmes to help working parents with children - all of these endeavours and more are part of ongoing national debates about the future of social policy in the United States. In this wide-ranging collection of essays, social scientist Theda Skocpol shows how historical understanding, centred on US governmental institutions and shifting political alliances, can illuminate the limits and possibilities of American social policy-making, both past and present. The author dispels the myth that Americans are inherently hostile to governmental social spending. When universal social programmes jointly benefit the middle class and the poor, she shows, Americans since the 19th century have been willing to pay taxes for them and happy to partake of the security they provide. Insights from the past also illuminate why ideological attacks against "bureaucratic meddling" by the federal government repeatedly prove so potent in US politics. Skocpol suggests why President Clinton's proposals for comprehensive health care reforms were so quickly attacked, even though Americans agree that the health financing system is in crisis and support universal insurance coverage.
Untersuchungen über Siambenzoë

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