Miracle-dz/UniFAR-FTUs huggingface dataset:
Semi-Elastic LiDAR-Inertial Odometry

Existing LiDAR-inertial state estimation methods treats the state at the beginning of current sweep as equal to the state at the end of previous sweep. However, if the previous state is inaccurate, the current state cannot satisfy the constraints from LiDAR and IMU consistently, and in turn yields local inconsistency in the estimated states (e.g., zigzag trajectory or high-frequency oscillating velocity). To address this issue, this paper proposes a semi-elastic LiDAR-inertial state estimation method. Our method provides the state sufficient flexibility to be optimized to the correct value, thus preferably ensuring improved accuracy, consistency, and robustness of state estimation. We integrate the proposed method into an optimization-based LiDARinertial odometry (LIO) framework. Experimental results on four public datasets demonstrate that our method outperforms existing state-of-the-art LiDAR-inertial odometry systems in terms of accuracy. In addition, our semi-elastic LiDAR-inertial state estimation method can better enhance the accuracy, consistency, and robustness. We have released the source code of this work to contribute to advancements in LiDAR-inertial state estimation and benefit the broader research community.
Observation and control of hybrid spin-wave–Meissner-current transport modes

Superconductors are materials with zero electrical resistivity and the ability to expel magnetic fields, which is known as the Meissner effect. Their dissipationless diamagnetic response is central to magnetic levitation and circuits such as quantum interference devices. In this work, we used superconducting diamagnetism to shape the magnetic environment governing the transport of spin waves—collective spin excitations in magnets that are promising on-chip signal carriers—in a thin-film magnet. Using diamond-based magnetic imaging, we observed hybridized spin-wave–Meissner-current transport modes with strongly altered, temperature-tunable wavelengths and then demonstrated local control of spin-wave refraction using a focused laser. Our results demonstrate the versatility of superconductor-manipulated spin-wave transport and have potential applications in spin-wave gratings, filters, crystals, and cavities. Description Editor’s summary The ability to control spin and charge transport on a chip has revolutionized information technology. For spintronics, the collective spin excitations of magnetic materials, known as spin-waves, have emerged as a promising platform that can offer new functionalities because of their wave nature. However, control of the spin-waves has remained a formidable challenge. Borst et al. show that the diamagnetism of a superconductor can be used to shape the magnetic environment that governs the transport of spin-waves in a magnetic thin film. Magnetic imaging showed how the diamagnetism leads to spin-waves with strongly altered, temperature-tunable wavelengths. Control of spin-wave transport using the diamagnetic response of a superconducting gate will be important for developing device applications. —Ian S. Osborne A superconducting gate was used to control the transport of spin-waves in a magnetic thin film.
Evaluation of Deep Reinforcement Learning Algorithms for Portfolio Optimisation

We evaluate benchmark deep reinforcement learning (DRL) algorithms on the task of portfolio optimisation under a simulator. The simulator is based on correlated geometric Brownian motion (GBM) with the Bertsimas-Lo (BL) market impact model. Using the Kelly criterion (log utility) as the objective, we can analytically derive the optimal policy without market impact and use it as an upper bound to measure performance when including market impact. We found that the off-policy algorithms DDPG, TD3 and SAC were unable to learn the right Q function due to the noisy rewards and therefore perform poorly. The on-policy algorithms PPO and A2C, with the use of generalised advantage estimation (GAE), were able to deal with the noise and derive a close to optimal policy. The clipping variant of PPO was found to be important in preventing the policy from deviating from the optimal once converged. In a more challenging environment where we have regime changes in the GBM parameters, we found that PPO, combined with a hidden Markov model (HMM) to learn and predict the regime context, is able to learn different policies adapted to each regime. Overall, we find that the sample complexity of these algorithms is too high, requiring more than 2m steps to learn a good policy in the simplest setting, which is equivalent to almost 8,000 years of daily prices.
The fundamental solution of the fractional p-laplacian

In this article, we find the fundamental solution of the fractional p-laplacian and use them to prove two different Liouville-type theorems. A non-existence classical Liouville-type theorem for p-superharmonic and a Louville type results for an Emden-Folder type equation with the fractional p-laplacian.
TST: Time-Sparse Transducer for Automatic Speech Recognition

End-to-end model, especially Recurrent Neural Network Transducer (RNN-T), has achieved great success in speech recognition. However, transducer requires a great memory footprint and computing time when processing a long decoding sequence. To solve this problem, we propose a model named time-sparse transducer, which introduces a time-sparse mechanism into transducer. In this mechanism, we obtain the intermediate representations by reducing the time resolution of the hidden states. Then the weighted average algorithm is used to combine these representations into sparse hidden states followed by the decoder. All the experiments are conducted on a Mandarin dataset AISHELL-1. Compared with RNN-T, the character error rate of the time-sparse transducer is close to RNN-T and the real-time factor is 50.00% of the original. By adjusting the time resolution, the time-sparse transducer can also reduce the real-time factor to 16.54% of the original at the expense of a 4.94% loss of precision.
SBMLtoODEjax: efficient simulation and optimization of ODE SBML models in JAX

Developing methods to explore, predict and control the dynamic behavior of biological systems, from protein pathways to complex cellular processes, is an essential frontier of research for bioengineering and biomedicine [1]. Thus, significant effort has gone in computational inference and mathematical modeling of biological systems [2], [3]. This effort has resulted in the development of large collections of publicly-available models, typically stored and exchanged on online platforms (such as the BioModels Database [4], [5]) using the Systems Biology Markup Language (SBML), a standard format for representing mathematical models of biological systems [6], [7].
Glue-mesons : their conception needs all of QCD in the infrared

The regularities implied at large distances by complete gau ge invariance in QCD are shown to bear nontrivial consequences for the selection among inequivalent representations of canonical commutation (anticommutati on) rules for gauge boson and quark fields. The trace anomaly forces a modification of th e gauge boson Lagrangean and by this of the entire associated canonical st ucture . Lecture prepared for the ’ INTERNATIONAL SCHOOL OF SUBNUCLE AR PHYSICS, 50th Course: WHAT WE WOULD LIKE LHC TO GIVE US, Erice, 23. June 2. July 2012 , 50th Anniversary Celebrations 2011-2012-2013’, ETTORE MAJORANA FOUNDATION AND CENTRE FOR SCIENTIFIC CULTU RE .
DIGEST: Fast and Communication Efficient Decentralized Learning with Local Updates

Two widely considered decentralized learning algorithms are Gossip and random walk-based learning. Gossip algorithms (both synchronous and asynchronous versions) suffer from high communication cost, while random-walk based learning experiences increased convergence time. In this paper, we design a fast and communication-efficient asynchronous decentralized learning mechanism DIGEST by taking advantage of both Gossip and random-walk ideas, and focusing on stochastic gradient descent (SGD). DIGEST is an asynchronous decentralized algorithm building on local-SGD algorithms, which are originally designed for communication efficient centralized learning. We design both single-stream and multi-stream DIGEST, where the communication overhead may increase when the number of streams increases, and there is a convergence and communication overhead trade-off which can be leveraged. We analyze the convergence of single- and multi-stream DIGEST, and prove that both algorithms approach to the optimal solution asymptotically for both iid and non-iid data distributions. We evaluate the performance of single- and multi-stream DIGEST for logistic regression and a deep neural network ResNet20. The simulation results confirm that multi-stream DIGEST has nice convergence properties; i.e., its convergence time is better than or comparable to the baselines in iid setting, and outperforms the baselines in non-iid setting.
Accurate 3D Prediction of Missing Teeth in Diverse Patterns for Precise Dental Implant Planning

In recent years, the demand for dental implants has surged, driven by their high success rates and esthetic advantages. However, accurate prediction of missing teeth for precise digital implant planning remains a challenge due to the intricate nature of dental structures and the variability in tooth loss patterns. This study presents a novel framework for accurate prediction of missing teeth in different patterns, facilitating digital implant planning. The proposed framework begins by estimating point-to-point correspondence among a dataset of dental mesh models reconstructed from CBCT images of healthy subjects. Subsequently, tooth dictionaries are constructed for each tooth type, encoding their position and shape information based on the established point-to-point correspondence. To predict missing teeth in a given dental mesh model, sparse coefficients are learned by sparsely representing adjacent teeth of the missing teeth using the corresponding tooth dictionaries. These coefficients are then applied to the dictionaries of the missing teeth to generate accurate predictions of their positions and shapes. The evaluation results on real subjects shows that our proposed framework achieves an average prediction error of 1.04mm for predictions of single missing tooth and an average prediction error of 1.33mm for the prediction of 14 missing teeth, which demonstrates its capability of accurately predicting missing teeth in various patterns. By accurately predicting missing teeth, dental professionals can improve the planning and placement of dental implants, leading to better esthetic and functional outcomes for patients undergoing dental implant procedures.
Changing-look Active Galactic Nuclei from the Dark Energy Spectroscopic Instrument. I. Sample from the Early Data

Changing-look active galactic nuclei (CL AGNs) can be generally confirmed by the emergence (turn-on) or disappearance (turn-off) of broad emission lines (BELs), associated with a transient timescale (about 100 ∼ 5000 days) that is much shorter than predicted by traditional accretion disk models. We carry out a systematic CL AGN search by crossmatching the spectra coming from the Dark Energy Spectroscopic Instrument and the Sloan Digital Sky Survey. Following previous studies, we identify CL AGNs based on Hα, Hβ, and Mg ii at z ≤ 0.75 and Mg ii, C iii], and C iv at z > 0.75. We present 56 CL AGNs based on visual inspection and three selection criteria, including 2 Hα, 34 Hβ, 9 Mg ii, 18 C iii], and 1 C iv CL AGN. Eight cases show simultaneous appearances/disappearances of two BELs. We also present 44 CL AGN candidates with significant flux variation of BELs, but remaining strong broad components. In the confirmed CL AGNs, 10 cases show additional CL candidate features for different lines. In this paper, we find: (1) a 24:32 ratio of turn-on to turn-off CL AGNs; (2) an upper-limit transition timescale ranging from 330 to 5762 days in the rest frame; and (3) the majority of CL AGNs follow the bluer-when-brighter trend. Our results greatly increase the current CL census (∼30%) and would be conducive to exploring the underlying physical mechanism.
Tight Bounds for Budgeted Maximum Weight Independent Set in Bipartite and Perfect Graphs

We consider the classic budgeted maximum weight independent set (BMWIS) problem. The input is a graph $G = (V,E)$, a weight function $w:V \rightarrow \mathbb{R}_{\geq 0}$, a cost function $c:V \rightarrow \mathbb{R}_{\geq 0}$, and a budget $B \in \mathbb{R}_{\geq 0}$. The goal is to find an independent set $S \subseteq V$ in $G$ such that $\sum_{v \in S} c(v) \leq B$, which maximizes the total weight $\sum_{v \in S} w(v)$. Since the problem on general graphs cannot be approximated within ratio $|V|^{1-\varepsilon}$ for any $\varepsilon>0$, BMWIS has attracted significant attention on graph families for which a maximum weight independent set can be computed in polynomial time. Two notable such graph families are bipartite and perfect graphs. BMWIS is known to be NP-hard on both of these graph families; however, the best possible approximation guarantees for these graphs are wide open. In this paper, we give a tight $2$-approximation for BMWIS on perfect graphs and bipartite graphs. In particular, we give We a $(2-\varepsilon)$ lower bound for BMWIS on bipartite graphs, already for the special case where the budget is replaced by a cardinality constraint, based on the Small Set Expansion Hypothesis (SSEH). For the upper bound, we design a $2$-approximation for BMWIS on perfect graphs using a Lagrangian relaxation based technique. Finally, we obtain a tight lower bound for the capacitated maximum weight independent set (CMWIS) problem, the special case of BMWIS where $w(v) = c(v)~\forall v \in V$. We show that CMWIS on bipartite and perfect graphs is unlikely to admit an efficient polynomial-time approximation scheme (EPTAS). Thus, the existing PTAS for CMWIS is essentially the best we can expect.
A structural duality for path-decompositions into parts of small radius

Given an arbitrary class $\mathcal{H}$ of graphs, we investigate which graphs admit a decomposition modelled on a graph in $\mathcal{H}$ into parts of small radius. The $\mathcal{H}$-decompositions that we consider here generalise the notion of tree-decompositions. We identify obstructions to such $\mathcal{H}$-decompositions of small radial width, and we prove that these obstructions occur in every graph of sufficiently large radial $\mathcal{H}$-width for the classes $\mathcal{H}$ of paths, of cycles and of subdivided stars.
MindOpt Tuner: Boost the Performance of Numerical Software by Automatic Parameter Tuning

Numerical software is usually shipped with built-in hyperparameters. By carefully tuning those hyperparameters, significant performance enhancements can be achieved for specific applications. We developed MindOpt Tuner, a new automatic tuning tool that supports a wide range of numerical software, including optimization and other solvers. MindOpt Tuner uses elastic cloud resources, features a web-based task management panel and integration with ipython notebook with both command-line tools and Python APIs. Our experiments with COIN-OR Cbc, an open-source mixed-integer optimization solver, demonstrate remarkable improvements with the tuned parameters compared to the default ones on the MIPLIB2017 test set, resulting in over 100x acceleration on several problem instances. Additionally, the results demonstrate that Tuner has a higher tuning efficiency compared to the state-of-the-art automatic tuning tool SMAC3.
Audio-Visual Speech Enhancement Using Self-supervised Learning to Improve Speech Intelligibility in Cochlear Implant Simulations

Individuals with hearing impairments face challenges in their ability to comprehend speech, particularly in noisy environments. The aim of this study is to explore the effectiveness of audio-visual speech enhancement (AVSE) in enhancing the intelligibility of vocoded speech in cochlear implant (CI) simulations. Notably, the study focuses on a challenged scenario where there is limited availability of training data for the AVSE task. To address this problem, we propose a novel deep neural network framework termed Self-Supervised Learning-based AVSE (SSL-AVSE). The proposed SSL-AVSE combines visual cues, such as lip and mouth movements, from the target speakers with corresponding audio signals. The contextually combined audio and visual data are then fed into a Transformer-based SSL AV-HuBERT model to extract features, which are further processed using a BLSTM-based SE model. The results demonstrate several key findings. Firstly, SSL-AVSE successfully overcomes the issue of limited data by leveraging the AV-HuBERT model. Secondly, by fine-tuning the AV-HuBERT model parameters for the target SE task, significant performance improvements are achieved. Specifically, there is a notable enhancement in PESQ (Perceptual Evaluation of Speech Quality) from 1.43 to 1.67 and in STOI (Short-Time Objective Intelligibility) from 0.70 to 0.74. Furthermore, the performance of the SSL-AVSE was evaluated using CI vocoded speech to assess the intelligibility for CI users. Comparative experimental outcomes reveal that in the presence of dynamic noises encountered during human conversations, SSL-AVSE exhibits a substantial improvement. The NCM (Normal Correlation Matrix) values indicate an increase of 26.5% to 87.2% compared to the noisy baseline.
Gastrointestinal Disease Classification through Explainable and Cost-Sensitive Deep Neural Networks with Supervised Contrastive Learning

Gastrointestinal diseases pose significant healthcare chall-enges as they manifest in diverse ways and can lead to potential complications. Ensuring precise and timely classification of these diseases is pivotal in guiding treatment choices and enhancing patient outcomes. This paper introduces a novel approach on classifying gastrointestinal diseases by leveraging cost-sensitive pre-trained deep convolutional neural network (CNN) architectures with supervised contrastive learning. Our approach enables the network to learn representations that capture vital disease-related features, while also considering the relationships of similarity between samples. To tackle the challenges posed by imbalanced datasets and the cost-sensitive nature of misclassification errors in healthcare, we incorporate cost-sensitive learning. By assigning distinct costs to misclassifications based on the disease class, we prioritize accurate classification of critical conditions. Furthermore, we enhance the interpretability of our model by integrating gradient-based techniques from explainable artificial intelligence (AI). This inclusion provides valuable insights into the decision-making process of the network, aiding in understanding the features that contribute to disease classification. To assess the effectiveness of our proposed approach, we perform extensive experiments on a comprehensive gastrointestinal disease dataset, such as the Hyper-Kvasir dataset. Through thorough comparisons with existing works, we demonstrate the strong classification accuracy, robustness and interpretability of our model. We have made the implementation of our proposed approach publicly available at https://github.com/dibya404/Gastrointestinal-Disease-Classification-through-Explainable-and-Cost-Sensitive-DNN-with-SCL
DialoGen: Generalized Long-Range Context Representation for Dialogue Systems

Long-range context modeling is crucial to both dialogue understanding and generation. The most popular method for dialogue context representation is to concatenate the last-$k$ utterances in chronological order. However, this method may not be ideal for conversations containing long-range dependencies, i.e., when there is a need to look beyond last-$k$ utterances to generate a meaningful response. In this work, we propose DialoGen, a novel encoder-decoder based framework for dialogue generation with a generalized context representation that can look beyond the last-$k$ utterances. The main idea of our approach is to identify and utilize the most relevant historical utterances instead of last-$k$, which also enables the compact representation of dialogue history with fewer tokens. We study the effectiveness of our proposed method on both dialogue generation (open-domain) and understanding (DST). Even with a compact context representation, DialoGen performs comparably to the state-of-the-art models on the open-domain DailyDialog dataset. We observe a similar behavior on the DST task of the MultiWOZ dataset when the proposed context representation is applied to existing DST models. We also discuss the generalizability and interpretability of DialoGen and show that the relevance score of previous utterances agrees well with human cognition.
A Neural-Symbolic Approach Towards Identifying Grammatically Correct Sentences

Textual content around us is growing on a daily basis. Numerous articles are being written as we speak on online newspapers, blogs, or social media. Similarly, recent advances in the AI field, like language models or traditional classic AI approaches, are utilizing all the above to improve their learned representation to tackle NLP challenges with human-like accuracy. It is commonly accepted that it is crucial to have access to well-written text from valid sources to tackle challenges like text summarization, question-answering, machine translation, or even pronoun resolution. For instance, to summarize well, one needs to select the most important sentences in order to concatenate them to form the summary. However, what happens if we do not have access to well-formed English sentences or even non-valid sentences? Despite the importance of having access to well-written sentences, figuring out ways to validate them is still an open area of research. To address this problem, we present a simplified way to validate English sentences through a novel neural-symbolic approach. Lately, neural-symbolic approaches have triggered an increasing interest towards tackling various NLP challenges, as they are demonstrating their effectiveness as a central component in various AI systems. Through combining Classic with Modern AI, which involves the blending of grammatical and syntactical rules with language models, we effectively tackle the Corpus of Linguistic Acceptability (COLA), a task that shows whether or not a sequence of words is an English grammatical sentence. Among others, undertaken experiments effectively show that blending symbolic and non-symbolic systems helps the former provide insights about the latter's accuracy results.
A stability result for $C_{2k+1}$-free graphs

A graph $G$ is called $C_{2k+1}$-free if it does not contain any cycle of length $2k+1$. In 1981, Haggkvist, Faudree and Schelp showed that every $n$-vertex triangle-free graph with more than $\frac{(n-1)^2}{4}+1$ edges is bipartite. In this paper, we extend their result and show that for $1\leq t\leq 2k-2$ and $n\geq 318t^2k$, every $n$-vertex $C_{2k+1}$-free graph with more than $\frac{(n-t-1)^2}{4}+\binom{t+2}{2}$ edges can be made bipartite by either deleting at most $t-1$ vertices or deleting at most $\binom{\lfloor\frac{t+2}{2}\rfloor}{2}+\binom{\lceil\frac{t+2}{2}\rceil}{2}-1$ edges. The construction shows that this is best possible.