Miracle-dz/UniFAR-FTUs huggingface dataset:
A FIREFLY METAHEURISTIC ALGORITHM FOR STRUCTURAL SIZE AND SHAPE OPTIMIZATION WITH DYNAMIC CONSTRAINTS

In this paper, a structural mass optimization on shape and size is performed taking into account dynamic constraints. Mass reduction especially conflicts with frequency constraints when they are lower bounded since vibration modes may easily switch due to shape modifications. Here it is investigated the use of a Firefly Methaheuristic Algorithm (FMA) as an optimization engine. One important feature of the algorithm is based on the fact that it is not gradient based, but just based on simple objective functions evaluations. This is of major importance when dealing of highly non-linear dynamic optimization problems with several constraints avoiding bad numerical behavior due to gradient evaluations. The algorithm is briefly revised, highlighting its most important features. Some new implementations are performed on the algorithm based on literature reports in order to improve the algorithm performance. It is presented several examples regarding the optimization on shape and sizing with frequency constraints of complex trusses that are widely reported in the literature as benchmark examples solved with several non-heuristic algorithms. The results show that the algorithm performed similar to other methaheuristic methods and better in other cases when compared with traditional gradient-based methods.
A Review of Industry Aggregation in Input-Output Models

Aggregation in input-output analysis is the operation of combining of sectors to groups of sectors for the purpose of reducing the size of the input-output tables to a smaller order. Although this definition is not rigorous, it is adequate for all practical purposes. Examples of a more rigorous definition of aggregation can be found in Fisher [15] or Ijiri [23, 24] or Rosenblatt [43,44], Investigators often found that handling and comprehending a large and a detailed table were costly and cumber some. Such a difficulty of managing a detailed table is indeed reduced by aggregation and aggrega tion works as an advantage to the investigator by saving the cost of working with a large table. How ever, valuable information concerning the detailed subsets of the original table is lost by aggregation. Thus the trade-off an investigator is confronted with is the loss of information that in turn results in the infusion of the aggregation bias into the merged input-output models. Because of such trade-offs, economists have long searched for the extraction of an optimal technique of aggregation in input-output analysis with vigor. This paper reviews the theory of aggregation in input-output analysis in relation to consistency, aggregation bias, aggregation coefficient, and in formation theory that has been developed in the past decades. We begin our survey by defining basic notations. Let Xtj represent the flow of goods and services from industry i to industry j. There are m industries. Let Xt and F? be total output of industry i. In matrix notation X = (I-A)-1F (1)
Emergent cooperative behavior in transient compartments

We introduce a minimal model of multilevel selection on structured populations, considering the interplay between game theory and population dynamics. Through a bottleneck process, finite groups are formed with cooperators and defectors sampled from an infinite pool. After the fragmentation, these transient compartments grow until the carrying capacity is attained. Eventually, all compartments are merged, well mixed and the whole process is repeated. We show that cooperators, even if interacting only through mean-field intra-group interactions that favor defectors, may perform well because of the inter-group competition and the size diversity among the compartments. These cycles of isolation and coalescence may therefore be important in maintaining diversity among different species or strategies and may help to understand the underlying mechanisms of the scaffolding processes in the transition to multicellularity.
Exploration of Unranked Items in Safe Online Learning to Re-Rank

Bandit algorithms for online learning to rank (OLTR) problems often aim to maximize long-term revenue by utilizing user feedback. From a practical point of view, however, such algorithms have a high risk of hurting user experience due to their aggressive exploration. Thus, there has been a rising demand for safe exploration in recent years. One approach to safe exploration is to gradually enhance the quality of an original ranking that is already guaranteed acceptable quality. In this paper, we propose a safe OLTR algorithm that efficiently exchanges one of the items in the current ranking with an item outside the ranking (i.e., an unranked item) to perform exploration. We select an unranked item optimistically to explore based on Kullback-Leibler upper confidence bounds (KL-UCB) and safely re-rank the items including the selected one. Through experiments, we demonstrate that the proposed algorithm improves long-term regret from baselines without any safety violation.
Lecture 1: Introduction to Computational Geometry

Welcome to CPS 234, Computational Geometry! Computational geometry studies the design, analysis, and implementation of algorithms and data structures for geometric problems. These problems arise in a wide range of areas, including CAD/CAM, robotics, computer graphics, molecular biology, GIS, spatial databases, sensor networks, and machine learning. In addition to the tools developed in computer science, the study of geometric algorithms also requires ideas from various mathematical disciplines, e.g., combinatorics, topology, algebra, and differential geometry. This close interaction between various mathematical and practical areas has had a beneficial impact on both basic and applied research in computational geometry.
FIREBALL: A Dataset of Dungeons and Dragons Actual-Play with Structured Game State Information

Dungeons & Dragons (D&D) is a tabletop roleplaying game with complex natural language interactions between players and hidden state information.Recent work has shown that large language models (LLMs) that have access to state information can generate higher quality game turns than LLMs that use dialog history alone.However, previous work used game state information that was heuristically created and was not a true gold standard game state. We present FIREBALL, a large dataset containing nearly 25,000 unique sessions from real D&D gameplay on Discord with true game state info. We recorded game play sessions of players who used the Avrae bot, which was developed to aid people in playing D&D online, capturing language, game commands and underlying game state information. We demonstrate that FIREBALL can improve natural language generation (NLG) by using Avrae state information, improving both automated metrics and human judgments of quality.Additionally, we show that LLMs can generate executable Avrae commands, particularly after finetuning.
Safe Deployment for Counterfactual Learning to Rank with Exposure-Based Risk Minimization

Counterfactual learning to rank (CLTR) relies on exposure-based inverse propensity scoring (IPS), a LTR-specific adaptation of IPS to correct for position bias. While IPS can provide unbiased and consistent estimates, it often suffers from high variance. Especially when little click data is available, this variance can cause CLTR to learn sub-optimal ranking behavior. Consequently, existing CLTR methods bring significant risks with them, as naively deploying their models can result in very negative user experiences. We introduce a novel risk-aware CLTR method with theoretical guarantees for safe deployment. We apply a novel exposure-based concept of risk regularization to IPS estimation for LTR. Our risk regularization penalizes the mismatch between the ranking behavior of a learned model and a given safe model. Thereby, it ensures that learned ranking models stay close to a trusted model, when there is high uncertainty in IPS estimation, which greatly reduces the risks during deployment. Our experimental results demonstrate the efficacy of our proposed method, which is effective at avoiding initial periods of bad performance when little date is available, while also maintaining high performance at convergence. For the CLTR field, our novel exposure-based risk minimization method enables practitioners to adopt CLTR methods in a safer manner that mitigates many of the risks attached to previous methods.
A Quadtree, a Steiner Spanner, and Approximate Nearest Neighbours in Hyperbolic Space

We propose a data structure in $d$-dimensional hyperbolic space that can be considered a natural counterpart to quadtrees in Euclidean spaces. Based on this data structure we propose a so-called L-order for hyperbolic point sets, which is an extension of the Z-order defined in Euclidean spaces. Using these quadtrees and the L-order we build geometric spanners. Near-linear size $(1+\epsilon)$-spanners do not exist in hyperbolic spaces, but we are able to create a Steiner spanner that achieves a spanning ratio of $1+\epsilon$ with $\mathcal O_{d,\epsilon}(n)$ edges, using a simple construction that can be maintained dynamically. As a corollary we also get a $(2+\epsilon)$-spanner (in the classical sense) of the same size, where the spanning ratio $2+\epsilon$ is almost optimal among spanners of subquadratic size. Finally, we show that our Steiner spanner directly provides a solution to the approximate nearest neighbour problem: given a point set $P$ in $d$-dimensional hyperbolic space we build the data structure in $\mathcal O_{d,\epsilon}(n\log n)$ time, using $\mathcal O_{d,\epsilon}(n)$ space. Then for any query point $q$ we can find a point $p\in P$ that is at most $1+\epsilon$ times farther from $q$ than its nearest neighbour in $P$ in $\mathcal O_{d,\epsilon}(\log n)$ time. Moreover, the data structure is dynamic and can handle point insertions and deletions with update time $\mathcal O_{d,\epsilon}(\log n)$.
A New Wave in Robotics: Survey on Recent mmWave Radar Applications in Robotics

We survey the current state of millimeterwave (mmWave) radar applications in robotics with a focus on unique capabilities, and discuss future opportunities based on the state of the art. Frequency Modulated Continuous Wave (FMCW) mmWave radars operating in the 76--81GHz range are an appealing alternative to lidars, cameras and other sensors operating in the near visual spectrum. Radar has been made more widely available in new packaging classes, more convenient for robotics and its longer wavelengths have the ability to bypass visual clutter such as fog, dust, and smoke. We begin by covering radar principles as they relate to robotics. We then review the relevant new research across a broad spectrum of robotics applications beginning with motion estimation, localization, and mapping. We then cover object detection and classification, and then close with an analysis of current datasets and calibration techniques that provide entry points into radar research.
Mixed-Integer Optimal Control via Reinforcement Learning: A Case Study on Hybrid Vehicle Energy Management

Many optimal control problems require the simultaneous output of continuous and discrete control variables. Such problems are usually formulated as mixed-integer optimal control (MIOC) problems, which are challenging to solve due to the complexity of the solution space. Numerical methods such as branch-and-bound are computationally expensive and unsuitable for real-time control. This brief proposes a novel continuous-discrete reinforcement learning (CDRL) algorithm, twin delayed deep deterministic actor-Q (TD3AQ), for MIOC problems. TD3AQ combines the advantages of both actor-critic and Q-learning methods, and can handle the continuous and discrete action spaces simultaneously. The proposed algorithm is evaluated on a plug-in hybrid electric vehicle (PHEV) energy management problem, where real-time control of the continuous variable, engine torque, and discrete variables, gear shift and clutch engagement/disengagement is essential to maximize fuel economy while satisfying driving constraints. Simulation results on different drive cycles show that TD3AQ achieves near-optimal control compared to dynamic programming (DP) and outperforms baseline reinforcement learning algorithms.
Extrinsic Infrastructure Calibration Using the Hand-Eye Robot-World Formulation

We propose a certifiably globally optimal approach for solving the hand-eye robot-world problem supporting multiple sensors and targets at once. Further, we leverage this formulation for estimating a geo-referenced calibration of infrastructure sensors. Since vehicle motion recorded by infrastructure sensors is mostly planar, obtaining a unique solution for the respective hand-eye robot-world problem is unfeasible without incorporating additional knowledge. Hence, we extend our proposed method to include a-priori knowledge, i.e., the translation norm of calibration targets, to yield a unique solution. Our approach achieves state-of-the-art results on simulated and real-world data. Especially on real-world intersection data, our approach utilizing the translation norm is the only method providing accurate results.
An Efficient Multi-solution Solver for the Inverse Kinematics of 3-Section Constant-Curvature Robots

Piecewise constant curvature is a popular kinematics framework for continuum robots. Computing the model parameters from the desired end pose, known as the inverse kinematics problem, is fundamental in manipulation, tracking and planning tasks. In this paper, we propose an efficient multi-solution solver to address the inverse kinematics problem of 3-section constant-curvature robots by bridging both the theoretical reduction and numerical correction. We derive analytical conditions to simplify the original problem into a one-dimensional problem. Further, the equivalence of the two problems is formalised. In addition, we introduce an approximation with bounded error so that the one dimension becomes traversable while the remaining parameters analytically solvable. With the theoretical results, the global search and numerical correction are employed to implement the solver. The experiments validate the better efficiency and higher success rate of our solver than the numerical methods when one solution is required, and demonstrate the ability of obtaining multiple solutions with optimal path planning in a space with obstacles.
Complexity Framework for Forbidden Subgraphs IV: The Steiner Forest Problem

We study Steiner Forest on $H$-subgraph-free graphs, that is, graphs that do not contain some fixed graph $H$ as a (not necessarily induced) subgraph. We are motivated by a recent framework that completely characterizes the complexity of many problems on $H$-subgraph-free graphs. However, in contrast to e.g. the related Steiner Tree problem, Steiner Forest falls outside this framework. Hence, the complexity of Steiner Forest on $H$-subgraph-free graphs remained tantalizingly open. In this paper, we make significant progress towards determining the complexity of Steiner Forest on $H$-subgraph-free graphs. Our main results are four novel polynomial-time algorithms for different excluded graphs $H$ that are central to further understand its complexity. Along the way, we study the complexity of Steiner Forest for graphs with a small $c$-deletion set, that is, a small set $S$ of vertices such that each component of $G-S$ has size at most $c$. Using this parameter, we give two noteworthy algorithms that we later employ as subroutines. First, we prove Steiner Forest is FPT parameterized by $|S|$ when $c=1$ (i.e. the vertex cover number). Second, we prove Steiner Forest is polynomial-time solvable for graphs with a 2-deletion set of size at most 2. The latter result is tight, as the problem is NP-complete for graphs with a 3-deletion set of size 2.
An Update-intensive LSM-based R-tree Index

Many applications require update-intensive workloads on spatial objects, e.g., social-network services and shared-riding services that track moving objects. By buffering insert and delete operations in memory, the Log Structured Merge Tree (LSM) has been used widely in various systems because of its ability to handle write-heavy workloads. While the focus on LSM has been on key-value stores and their optimizations, there is a need to study how to efficiently support LSM-based {\em secondary} indexes (e.g., location-based indexes) as modern, heterogeneous data necessitates the use of secondary indexes. In this paper, we investigate the augmentation of a main-memory-based memo structure into an LSM secondary index structure to handle update-intensive workloads efficiently. We conduct this study in the context of an R-tree-based secondary index. In particular, we introduce the LSM RUM-tree that demonstrates the use of an Update Memo in an LSM-based R-tree to enhance the performance of the R-tree's insert, delete, update, and search operations. The LSM RUM-tree introduces new strategies to control the size of the Update Memo to make sure it always fits in memory for high performance. The Update Memo is a light-weight in-memory structure that is suitable for handling update-intensive workloads without introducing significant overhead. Experimental results using real spatial data demonstrate that the LSM RUM-tree achieves up to 9.6x speedup on update operations and up to 2400x speedup on query processing over existing LSM R-tree implementations.
tmfast fits topic models fast

tmfast is an R package for fitting topic models using a fast algorithm based on partial PCA and the varimax rotation. After providing mathematical background to the method, we present two examples, using a simulated corpus and aggregated works of a selection of authors from the long nineteenth century, and compare the quality of the fitted models to a standard topic modeling package.
Lessons Learned in ATCO2: 5000 hours of Air Traffic Control Communications for Robust Automatic Speech Recognition and Understanding

Voice communication between air traffic controllers (ATCos) and pilots is critical for ensuring safe and efficient air traffic control (ATC). This task requires high levels of awareness from ATCos and can be tedious and error-prone. Recent attempts have been made to integrate artificial intelligence (AI) into ATC in order to reduce the workload of ATCos. However, the development of data-driven AI systems for ATC demands large-scale annotated datasets, which are currently lacking in the field. This paper explores the lessons learned from the ATCO2 project, a project that aimed to develop a unique platform to collect and preprocess large amounts of ATC data from airspace in real time. Audio and surveillance data were collected from publicly accessible radio frequency channels with VHF receivers owned by a community of volunteers and later uploaded to Opensky Network servers, which can be considered an"unlimited source"of data. In addition, this paper reviews previous work from ATCO2 partners, including (i) robust automatic speech recognition, (ii) natural language processing, (iii) English language identification of ATC communications, and (iv) the integration of surveillance data such as ADS-B. We believe that the pipeline developed during the ATCO2 project, along with the open-sourcing of its data, will encourage research in the ATC field. A sample of the ATCO2 corpus is available on the following website: https://www.atco2. org/data, while the full corpus can be purchased through ELDA at http://catalog.elra. info/en-us/repository/browse/ELRA-S0484. We demonstrated that ATCO2 is an appropriate dataset to develop ASR engines when little or near to no ATC in-domain data is available. For instance, with the CNN-TDNNf kaldi model, we reached the performance of as low as 17.9% and 24.9% WER on public ATC datasets which is 6.6/7.6% better than"out-of-domain"but supervised CNN-TDNNf model.
On reversing arcs to improve arc-connectivity

We show that if the arc-connectivity of a directed graph $D$ is at most $\lfloor\frac{k+1}{2}\rfloor$ and the reorientation of an arc set $F$ in $D$ results in a $k$-arc-connected directed graph then we can reorient one arc of $F$ without decreasing the arc-connectivity of $D. $ This improves a result of Fukuda, Prodon, Sakuma and one of Ito et al. for $k\in\{2,3\}$.
LogSpecT: Feasible Graph Learning Model from Stationary Signals with Recovery Guarantees

Graph learning from signals is a core task in Graph Signal Processing (GSP). One of the most commonly used models to learn graphs from stationary signals is SpecT. However, its practical formulation rSpecT is known to be sensitive to hyperparameter selection and, even worse, to suffer from infeasibility. In this paper, we give the first condition that guarantees the infeasibility of rSpecT and design a novel model (LogSpecT) and its practical formulation (rLogSpecT) to overcome this issue. Contrary to rSpecT, the novel practical model rLogSpecT is always feasible. Furthermore, we provide recovery guarantees of rLogSpecT, which are derived from modern optimization tools related to epi-convergence. These tools could be of independent interest and significant for various learning problems. To demonstrate the advantages of rLogSpecT in practice, a highly efficient algorithm based on the linearized alternating direction method of multipliers (L-ADMM) is proposed. The subproblems of L-ADMM admit closed-form solutions and the convergence is guaranteed. Extensive numerical results on both synthetic and real networks corroborate the stability and superiority of our proposed methods, underscoring their potential for various graph learning applications.
Measurement-Based Close-In Path Loss Modeling With Diffraction for Rural Long-Distance Communications

In this letter, we investigate rural large-scale path loss models based on the measurements in a central area of South Korea (rural area) in spring. In particular, we develop new close-in (CI) path loss models incorporating a diffraction component. The transmitter used in the measurement system is located on a hill and utilizes omnidirectional antennas operating at 1400 and 2250 MHz frequencies. The receiver is also equipped with omnidirectional antennas and measures at positions totaling 3,858 (1,262 positions for LOS and 2,596 positions for NLOS) and 4,957 (1,427 positions for LOS and 3,530 positions for NLOS) for 1400 and 2250 MHz, respectively. This letter demonstrates that the newly developed CI path loss models incorporating a diffraction component significantly reduce standard deviations (STD) and are independent of frequency, especially for LOS beyond the first meter of propagation, making them suitable for use with frequencies up to a millimeter-wave.
C O RRPUS: Codex-Leveraged Structured Representations for Neurosymbolic Story Understanding

Story generation and understanding—as with all NLG/NLU tasks—has seen a surge in neu-rosymbolic work. Researchers have recognized that, while large language models (LLMs) have tremendous utility, they can be augmented with symbolic means to be even better and to make up for many flaws that neural networks have. However, symbolic methods are extremely costly in terms of the amount of time and expertise needed to create them. In this work, we capitalize on state-of-the-art Code-LLMs, such as Codex, to bootstrap the use of symbolic methods for tracking the state of stories and aiding in story understanding. We show that our CoRRPUS system and abstracted prompting procedures can beat current state-of-the-art structured LLM techniques on pre-existing story understanding tasks (bAbI Task 2 and Re 3 ) with minimal hand engineering. This work highlights the usefulness of code-based symbolic representations for enabling LLMs to better perform story reasoning tasks.