Miracle-dz/UniFAR-FTUs huggingface dataset:
S-NeRF++: Autonomous Driving Simulation via Neural Reconstruction and Generation

Autonomous driving simulation system plays a crucial role in enhancing self-driving data and simulating complex and rare traffic scenarios, ensuring navigation safety. However, traditional simulation systems, which often heavily rely on manual modeling and 2D image editing, struggled with scaling to extensive scenes and generating realistic simulation data. In this study, we present S-NeRF++, an innovative autonomous driving simulation system based on neural reconstruction. Trained on widely-used self-driving datasets such as nuScenes and Waymo, S-NeRF++ can generate a large number of realistic street scenes and foreground objects with high rendering quality as well as offering considerable flexibility in manipulation and simulation. Specifically, S-NeRF++ is an enhanced neural radiance field for synthesizing large-scale scenes and moving vehicles, with improved scene parameterization and camera pose learning. The system effectively utilizes noisy and sparse LiDAR data to refine training and address depth outliers, ensuring high quality reconstruction and novel-view rendering. It also provides a diverse foreground asset bank through reconstructing and generating different foreground vehicles to support comprehensive scenario creation. Moreover, we have developed an advanced foreground-background fusion pipeline that skillfully integrates illumination and shadow effects, further enhancing the realism of our simulations. With the high-quality simulated data provided by our S-NeRF++, we found the perception methods enjoy performance boost on several autonomous driving downstream tasks, which further demonstrate the effectiveness of our proposed simulator.
Accurate and Well-Calibrated ICD Code Assignment Through Attention Over Diverse Label Embeddings

Although the International Classification of Diseases (ICD) has been adopted worldwide, manually assigning ICD codes to clinical text is time-consuming, error-prone, and expensive, motivating the development of automated approaches. This paper describes a novel approach for automated ICD coding, combining several ideas from previous related work. We specifically employ a strong Transformer-based model as a text encoder and, to handle lengthy clinical narratives, we explored either (a) adapting the base encoder model into a Longformer, or (b) dividing the text into chunks and processing each chunk independently. The representations produced by the encoder are combined with a label embedding mechanism that explores diverse ICD code synonyms. Experiments with different splits of the MIMIC-III dataset show that the proposed approach outperforms the current state-of-the-art models in ICD coding, with the label embeddings significantly contributing to the good performance. Our approach also leads to properly calibrated classification results, which can effectively inform downstream tasks such as quantification.
Competitive Equilibrium in Microgrids With Dynamic Loads

In this paper, we consider microgrids that interconnect prosumers with distributed energy resources and dynamic loads. Prosumers are connected through the microgrid to trade energy and gain profit while respecting the network constraints. We establish a local energy market by defining a competitive equilibrium which balances energy and satisfies voltage constraints within the microgrid for all time. Using duality theory, we prove that under some convexity assumptions, a competitive equilibrium is equivalent to a social welfare maximization solution. Additionally, we show that a competitive equilibrium is equivalent to a Nash equilibrium of a standard game. In general, the energy price for each prosumer is different, leading to the concept of locational prices. We investigate a case under which all prosumers have the same locational prices. Additionally, we show that under some assumptions on the resource supply and network topology, locational prices decay to zero after a period of time, implying the available supply will be more than the demand required to stabilize the system. Finally, two numerical examples are provided to validate the results, one of which is a direct application of our results on electric vehicle charging control.
Stability Analysis of Various Symbolic Rule Extraction Methods from Recurrent Neural Network

This paper analyzes two competing rule extraction methodologies: quantization and equivalence query. We trained $3600$ RNN models, extracting $18000$ DFA with a quantization approach (k-means and SOM) and $3600$ DFA by equivalence query($L^{*}$) methods across $10$ initialization seeds. We sampled the datasets from $7$ Tomita and $4$ Dyck grammars and trained them on $4$ RNN cells: LSTM, GRU, O2RNN, and MIRNN. The observations from our experiments establish the superior performance of O2RNN and quantization-based rule extraction over others. $L^{*}$, primarily proposed for regular grammars, performs similarly to quantization methods for Tomita languages when neural networks are perfectly trained. However, for partially trained RNNs, $L^{*}$ shows instability in the number of states in DFA, e.g., for Tomita 5 and Tomita 6 languages, $L^{*}$ produced more than $100$ states. In contrast, quantization methods result in rules with number of states very close to ground truth DFA. Among RNN cells, O2RNN produces stable DFA consistently compared to other cells. For Dyck Languages, we observe that although GRU outperforms other RNNs in network performance, the DFA extracted by O2RNN has higher performance and better stability. The stability is computed as the standard deviation of accuracy on test sets on networks trained across $10$ seeds. On Dyck Languages, quantization methods outperformed $L^{*}$ with better stability in accuracy and the number of states. $L^{*}$ often showed instability in accuracy in the order of $16\% - 22\%$ for GRU and MIRNN while deviation for quantization methods varied in $5\% - 15\%$. In many instances with LSTM and GRU, DFA's extracted by $L^{*}$ even failed to beat chance accuracy ($50\%$), while those extracted by quantization method had standard deviation in the $7\%-17\%$ range. For O2RNN, both rule extraction methods had deviation in the $0.5\% - 3\%$ range.
Panoramic Image Inpainting With Gated Convolution And Contextual Reconstruction Loss

Deep learning-based methods have demonstrated encouraging results in tackling the task of panoramic image inpainting. However, it is challenging for existing methods to distinguish valid pixels from invalid pixels and find suitable references for corrupted areas, thus leading to artifacts in the inpainted results. In response to these challenges, we propose a panoramic image inpainting framework that consists of a Face Generator, a Cube Generator, a side branch, and two discriminators. We use the Cubemap Projection (CMP) format as network input. The generator employs gated convolutions to distinguish valid pixels from invalid ones, while a side branch is designed utilizing contextual reconstruction (CR) loss to guide the generators to find the most suitable reference patch for inpainting the missing region. The proposed method is compared with state-of-the-art (SOTA) methods on SUN360 Street View dataset in terms of PSNR and SSIM. Experimental results and ablation study demonstrate that the proposed method outperforms SOTA both quantitatively and qualitatively.
Dual Lagrangian Learning for Conic Optimization

This paper presents Dual Lagrangian Learning (DLL), a principled learning methodology that combines conic duality theory with the representation power of ML models. DLL leverages conic duality to provide dual-feasible solutions, and therefore valid Lagrangian dual bounds, for parametric linear and nonlinear conic optimization problems. The paper introduces differentiable conic projection layers, a systematic dual completion procedure, and a self-supervised learning framework. The effectiveness of DLL is demonstrated on linear and nonlinear parametric optimization problems for which DLL provides valid dual bounds within 0.5% of optimality.
Markov Persuasion Processes: Learning to Persuade from Scratch

In Bayesian persuasion, an informed sender strategically discloses information to a receiver so as to persuade them to undertake desirable actions. Recently, a growing attention has been devoted to settings in which sender and receivers interact sequentially. Recently, Markov persuasion processes (MPPs) have been introduced to capture sequential scenarios where a sender faces a stream of myopic receivers in a Markovian environment. The MPPs studied so far in the literature suffer from issues that prevent them from being fully operational in practice, e.g., they assume that the sender knows receivers' rewards. We fix such issues by addressing MPPs where the sender has no knowledge about the environment. We design a learning algorithm for the sender, working with partial feedback. We prove that its regret with respect to an optimal information-disclosure policy grows sublinearly in the number of episodes, as it is the case for the loss in persuasiveness cumulated while learning. Moreover, we provide a lower bound for our setting matching the guarantees of our algorithm.
Perturbative QCD contribution to transverse single spin asymmetries in Drell-Yan and SIDIS

In a previous publication [Beni\' c et al., Phys. Rev. D104 (2021) 094027], we have computed the perturbative QCD contribution to transverse single spin asymmetries (SSAs) in semi-inclusive Deep Inelastic Scattering (SIDIS) involving the $g_T(x)$ distribution. In this paper, we first present a more efficient derivation of the asymmetries which is applicable to both transverse and longitudinal SSAs, and correct some inconsistencies in our previous calculation. We then adapt the method to compute transverse SSAs in Drell-Yan proportional to $g_T(x)$ and its gluonic counterpart, and discuss the crossing symmetry between the results for SIDIS and Drell-Yan. Finally, we present numerical results for various asymmetries measurable at the EIC, RHIC, COMPASS and Fermilab (SpinQuest), including also part of the genuine twist-three corrections to $g_T(x)$ from a recent global analysis. We find that the asymmetries can reach percent-level magnitude, if the kinematics predominantly probes the large-$x$ (valence) region of the polarized proton, but remain at sub-percent levels otherwise.
Statistics without Interpretation: A Sober Look at Explainable Machine Learning

In the rapidly growing literature on explanation algorithms, it often remains unclear what precisely these algorithms are for and how they should be used. We argue that this is because explanation algorithms are often mathematically complex but don't admit a clear interpretation. Unfortunately, complex statistical methods that don't have a clear interpretation are bound to lead to errors in interpretation, a fact that has become increasingly apparent in the literature. In order to move forward, papers on explanation algorithms should make clear how precisely the output of the algorithms should be interpreted. They should also clarify what questions about the function can and cannot be answered given the explanations. Our argument is based on the distinction between statistics and their interpretation. It also relies on parallels between explainable machine learning and applied statistics.
Extreme statistics and extreme events in dynamical models of turbulence

We present a study of the intermittent properties of a shell model of turbulence with unprecedented statistics, about $\sim 10^7$ eddy turn over time, achieved thanks to an implementation on a large-scale parallel GPU factory. This allows us to quantify the inertial range anomalous scaling properties of the velocity fluctuations up to the $24$-th order moment. Through a careful assessment of the statistical and systematic uncertainties, we show that none of the phenomenological and theoretical models previously proposed in the literature to predict the anomalous power-law exponents in the inertial range is in agreement with our high-precision numerical measurements. We find that at asymptotically large moments, the anomalous exponents tend towards a linear scaling, suggesting that extreme turbulent events are dominated by one leading singularity. We found that systematic corrections to scaling induced by the infrared and ultraviolet (viscous) cut-offs are the main limitations to precision for low-order moments, while large orders are mainly affected by the finite statistical samples. The unprecedentedly high fidelity numerical results reported in this work offer an ideal benchmark for the development of future theoretical models of intermittency for either extreme events (high-order moments) or typical fluctuations (low-order moments). For the latter, we show that we achieve a precision in the determination of the inertial range scaling properties of the order of one part over ten thousand (5th significant digit), which must be considered a record for out-of-equilibrium fluid-mechanics systems and models.
New treatment of red/blue shifts of emitted photons in terms of Kerr-Newman black hole parameters

This study presents a method for determining the mass, angular momentum, and charge of Kerr-Newman black holes by analyzing the red/blue shifts of photons emitted by geodesic neutral massive objects. We derive the equations of motion for photons in the Kerr-Newman spacetime. We obtain explicit expressions for redshift/blueshift photons emitted by an object orbiting a Kerr-Newman black hole. Finally, using the Boyer-Lindquist coordinates, we express the red/blue shifts in terms of the metric parameters.
Spectral and Timing evolution of GX 340+0 along its Z-track

We present the results from spectral and timing study of the Z source GX 340+0 using AstroSat’s SXT and LAXPC data. During the observation the source traced out the complete Z-track, allowing for the spectral evolution study of the Horizontal, Normal and Flaring branches (HB, NB and FB) as well as the hard and soft apexes (HA and SA). The spectra are better and more physically described by a blackbody component and a hot Comptonizing corona with a varying covering fraction, rather than one having a disc component. Along the track, the Comptonized flux (as well as the covering fraction) monotonically decreases. It is the blackbody component (both the temperature and radius) which varies non-monotonically and hence gives rise to the Z-track behaviour. Rapid timing study reveals a prominent Quasi-periodic Oscillation (QPO) at ∼50 Hz at the HB, HA and upper NB, while a QPO at ∼6 Hz is seen for the other branches. The fractional r.m. s of the QPOs increase with energy and exhibit soft lags in all branches except SA and FB.
Wavelet-Decoupling Contrastive Enhancement Network for Fine-Grained Skeleton-Based Action Recognition

Skeleton-based action recognition has attracted much attention, benefiting from its succinctness and robustness. However, the minimal inter-class variation in similar action sequences often leads to confusion. The inherent spatiotemporal coupling characteristics make it challenging to mine the subtle differences in joint motion trajectories, which is critical for distinguishing confusing fine-grained actions. To alleviate this problem, we propose a Wavelet-Attention Decoupling (WAD) module that utilizes discrete wavelet transform to effectively disentangle salient and subtle motion features in the time-frequency domain. Then, the decoupling attention adaptively recalibrates their temporal responses. To further amplify the discrepancies in these subtle motion features, we propose a Fine-grained Contrastive Enhancement (FCE) module to enhance attention towards trajectory features by contrastive learning. Extensive experiments are conducted on the coarse-grained dataset NTU RGB+D and the fine-grained dataset FineGYM. Our methods perform competitively compared to state-of-the-art methods and can discriminate confusing fine-grained actions well.
Embedding Ontologies via Incorporating Extensional and Intensional Knowledge

Ontologies contain rich knowledge within domain, which can be divided into two categories, namely extensional knowledge and intensional knowledge. Extensional knowledge provides information about the concrete instances that belong to specific concepts in the ontology, while intensional knowledge details inherent properties, characteristics, and semantic associations among concepts. However, existing ontology embedding approaches fail to take both extensional knowledge and intensional knowledge into fine consideration simultaneously. In this paper, we propose a novel ontology embedding approach named EIKE (Extensional and Intensional Knowledge Embedding) by representing ontologies in two spaces, called extensional space and intensional space. EIKE presents a unified framework for embedding instances, concepts and their relations in an ontology, applying a geometry-based method to model extensional knowledge and a pretrained language model to model intensional knowledge, which can capture both structure information and textual information. Experimental results show that EIKE significantly outperforms state-of-the-art methods in three datasets for both triple classification and link prediction, indicating that EIKE provides a more comprehensive and representative perspective of the domain.
Evaluating the Robustness of Off-Road Autonomous Driving Segmentation against Adversarial Attacks: A Dataset-Centric analysis

This study investigates the vulnerability of semantic segmentation models to adversarial input perturbations, in the domain of off-road autonomous driving. Despite good performance in generic conditions, the state-of-the-art classifiers are often susceptible to (even) small perturbations, ultimately resulting in inaccurate predictions with high confidence. Prior research has directed their focus on making models more robust by modifying the architecture and training with noisy input images, but has not explored the influence of datasets in adversarial attacks. Our study aims to address this gap by examining the impact of non-robust features in off-road datasets and comparing the effects of adversarial attacks on different segmentation network architectures. To enable this, a robust dataset is created consisting of only robust features and training the networks on this robustified dataset. We present both qualitative and quantitative analysis of our findings, which have important implications on improving the robustness of machine learning models in off-road autonomous driving applications. Additionally, this work contributes to the safe navigation of autonomous robot Unimog U5023 in rough off-road unstructured environments by evaluating the robustness of segmentation outputs. The code is publicly available at https://github.com/rohtkumar/adversarial_attacks_ on_segmentation
DARTS: Diffusion Approximated Residual Time Sampling for Low Variance Time-of-flight Rendering in Homogeneous Scattering Medium

Time-of-flight (ToF) devices have greatly propelled the advancement of various multi-modal perception applications. However, due to complexity in both sampling path construction and vertex connection in time domain, it is extremely challenging to accurately render time-resolved information in ToF device simulation, particularly in scenes involving complex geometric structures, diverse materials and volumetric scattering media. Existing works either exhibit significant bias or variance in ToF rendering tasks or prove ineffective in scenes involving participating media and camera-warped settings. To address this challenge, in this paper, we integrate the transient diffusion theory into path construction to generate the unbiased full transport of time-resolved radiance. Additionally, we devise an elliptical sampling method to provide controllable vertex connection satisfying any required photon traversal time. To our knowledge, our work is the first to explore importance sampling according to transient radiance, enabling temporal path construction of higher quality in multiple scattering settings. Extensive experiments show that our sampling method can significantly improve both quality and efficiency of ToF rendering within both path tracing and photon-based frameworks, with at least a 5x MSE reduction versus SOTA methods in equal rendering time. Our method introduces no memory overhead and negligible extra computation compared to the boost in speed, providing a straightforward plug-in for various existing rendering frameworks.
X-ray Properties of Two Complementary Samples of Intermediate Seyfert Galaxies

We present the X-ray spectral analysis of two complementary sets of intermediate Seyfert galaxies (ISs). Analyzing X-ray data, we estimate the hydrogen abundance NH and test its connection with the [O III] luminosity acquired from optical observations. The results confirm the conclusions drawn in a previous study concerning the lack of a direct correlation between the obscuration measure (NH) and the intrinsic characteristics of the active nuclei ([O III] luminosity). Instead, we validate the existence of a correlation between the Seyfert type and the NH parameter, employing a separation threshold of approximately 1022 atoms cm−2. Simultaneously, our findings align with prior research, corroborating the relationship between X-ray luminosity and the [O III] luminosity.
Obstacle Avoidance Deep Reinforcement Learning-Based Trajectory Planner with Robust Low-Level Control for Robotic Manipulators

In robotics, contemporary strategies are learning-based, characterized by a complex black-box nature and a lack of interpretability, which may pose challenges in ensuring stability and safety. To address these issues, we propose integrating an obstacle-free deep reinforcement learning (DRL) trajectory planner with a novel auto-tuning low- and joint-level control strategy, all while actively engaging in the learning phase through interactions with the environment. This approach circumvents the complexities associated with computations while also addressing nonrepetitive and random obstacle avoidance tasks. First, a model-free DRL agent to plan velocity-bounded and obstacle-free motion is employed for a manipulator with 'n' degrees of freedom (DoF) in task space through joint-level reasoning. This plan is then input into a robust subsystem-based adaptive controller, which produces the necessary torques, while the Cuckoo Search Optimization (CSO) algorithm enhances control gains to minimize the time required to reach, time taken to stabilize, the maximum deviation from the desired value, and persistent tracking error in the steady state. This approach guarantees that position and velocity errors exponentially converge to zero in an unfamiliar environment, despite unknown robotic manipulator modeling. Theoretical assertions are validated through the presentation of simulation outcomes.