Miracle-dz/UniFAR-FTUs huggingface dataset:
Curved vortex surfaces in four-dimensional superfluids: II. Equal-frequency double rotations

As is well-known, two-dimensional and three-dimensional superfluids under rotation can support topological excitations such as quantized point vortices and line vortices respectively. Recently, we have studied how, in a hypothetical four-dimensional (4D) superfluid, such excitations can be generalised to vortex planes and surfaces. In this paper, we continue our analysis of skewed and curved vortex surfaces based on the 4D Gross-Pitaevskii equation, and show that certain types of such states can be stabilised by equal-frequency double rotations for suitable parameters. This work extends the rich phenomenology of vortex surfaces in 4D, and raises interesting questions about vortex reconnections and the competition between various vortex structures which have no direct analogue in lower dimensions.
Libriheavy: a 50, 000 hours ASR corpus with punctuation casing and context

In this paper, we introduce Libriheavy, a large-scale ASR corpus consisting of 50,000 hours of read English speech derived from LibriVox. To the best of our knowledge, Libriheavy is the largest freely-available corpus of speech with supervisions. Different from other open-sourced datasets that only provide normalized transcriptions, Libriheavy contains richer information such as punctuation, casing and text context, which brings more flexibility for system building. Specifically, we propose a general and efficient pipeline to locate, align and segment the audios in previously published Librilight to its corresponding texts. The same as Librilight, Libriheavy also has three training subsets small, medium, large of the sizes 500h, 5000h, 50000h respectively. We also extract the dev and test evaluation sets from the aligned audios and guarantee there is no overlapping speakers and books in training sets. Baseline systems are built on the popular CTC-Attention and transducer models. Additionally, we open-source our dataset creatation pipeline which can also be used to other audio alignment tasks.
t-SOT FNT: Streaming Multi-talker ASR with Text-only Domain Adaptation Capability

Token-level serialized output training (t-SOT) was recently proposed to address the challenge of streaming multi-talker automatic speech recognition (ASR). T-SOT effectively handles overlapped speech by representing multi-talker transcriptions as a single token stream with $\langle \text{cc}\rangle$ symbols interspersed. However, the use of a naive neural transducer architecture significantly constrained its applicability for text-only adaptation. To overcome this limitation, we propose a novel t-SOT model structure that incorporates the idea of factorized neural transducers (FNT). The proposed method separates a language model (LM) from the transducer's predictor and handles the unnatural token order resulting from the use of $\langle \text{cc}\rangle$ symbols in t-SOT. We achieve this by maintaining multiple hidden states and introducing special handling of the $\langle \text{cc}\rangle$ tokens within the LM. The proposed t-SOT FNT model achieves comparable performance to the original t-SOT model while retaining the ability to reduce word error rate (WER) on both single and multi-talker datasets through text-only adaptation.
On the Acoustoelasticity of Backward Lamb Wave in Prestressed Plate

Backward Lamb waves, which exhibit a group velocity that propagates in the opposite direction to their phase velocity, have recently garnered considerable attention for their potential applications in nondestructive testing. Herein we present a theoretical study on backward Lamb waves in the elastic plate subject to prestresses. We demonstrate that the group velocity of the first antisymmetric backward Lamb wave, A3b, decreases with tensile stress, whereas that of the first symmetric backward Lamb wave, S2b, increases. Notably, the sensitivity of A3b to prestress is approximately ten times greater than that of S2b, with a ~5% change in group velocity observed under a uniaxial stress of 100 MPa in steel. This heightened sensitivity facilitates an inverse method for determining prestress levels in elastic plates by examining variations in the A3b group velocity. We also investigate the acoustoelastic properties of zero-group-velocity (ZGV) points, which demarcate the dispersion curves of forward and backward Lamb waves. Our findings indicate that the ratio of resonance frequencies corresponding to A3b and S2b monotonically decreases as uniaxial stress increases, providing an alternative method for prestress assessment. Lastly, we propose an experimental setup for measuring backward Lamb waves and visualize the generation of A3b using dynamic photoelastic techniques. Our research elucidates the acoustoelastic characteristics of backward Lamb waves and highlights their promising utility for stress measurement in elastic plates.
Beware of CaBER: filament thinning rheometry doesn't give `the' relaxation time of polymer solutions

The viscoelastic relaxation time {\tau} of a polymer solution is often measured using Capillary Breakup Extensional Rheometry (CaBER) where a droplet is placed between two plates which are pulled apart to form a thinning filament. For a slow plate retraction protocol, required to avoid inertio-capillary oscillations for low-viscosity liquids, we show experimentally that the CaBER relaxation time inferred from the exponential thinning regime is in fact an apparent relaxation time that increases significantly when increasing the plate diameter and the droplet volume. Similar results are obtained with a Dripping-onto-Substrate (DoS) method. This dependence on the flow history before the formation of the viscoelastic filament is in contradiction with polymer models such as Oldroyd-B that predict a filament thinning rate 1/3{\tau} which is a material property independent of geometrical factors. We show that this is not due to artefacts such as solvent evaporation or polymer degradation and that it cannot be universally explained by the finite extensibility of polymer chains.
MLP Based Continuous Gait Recognition of a Powered Ankle Prosthesis with Serial Elastic Actuator

Powered ankle prostheses effectively assist people with lower limb amputation to perform daily activities. High performance prostheses with adjustable compliance and capability to predict and implement amputee's intent are crucial for them to be comparable to or better than a real limb. However, current designs fail to provide simple yet effective compliance of the joint with full potential of modification, and lack accurate gait prediction method in real time. This paper proposes an innovative design of powered ankle prosthesis with serial elastic actuator (SEA), and puts forward a MLP based gait recognition method that can accurately and continuously predict more gait parameters for motion sensing and control. The prosthesis mimics biological joint with similar weight, torque, and power which can assist walking of up to 4 m/s. A new design of planar torsional spring is proposed for the SEA, which has better stiffness, endurance, and potential of modification than current designs. The gait recognition system simultaneously generates locomotive speed, gait phase, ankle angle and angular velocity only utilizing signals of single IMU, holding advantage in continuity, adaptability for speed range, accuracy, and capability of multi-functions.
M3Net: Multilevel, Mixed and Multistage Attention Network for Salient Object Detection

Most existing salient object detection methods mostly use U-Net or feature pyramid structure, which simply aggregates feature maps of different scales, ignoring the uniqueness and interdependence of them and their respective contributions to the final prediction. To overcome these, we propose the M$^3$Net, i.e., the Multilevel, Mixed and Multistage attention network for Salient Object Detection (SOD). Firstly, we propose Multiscale Interaction Block which innovatively introduces the cross-attention approach to achieve the interaction between multilevel features, allowing high-level features to guide low-level feature learning and thus enhancing salient regions. Secondly, considering the fact that previous Transformer based SOD methods locate salient regions only using global self-attention while inevitably overlooking the details of complex objects, we propose the Mixed Attention Block. This block combines global self-attention and window self-attention, aiming at modeling context at both global and local levels to further improve the accuracy of the prediction map. Finally, we proposed a multilevel supervision strategy to optimize the aggregated feature stage-by-stage. Experiments on six challenging datasets demonstrate that the proposed M$^3$Net surpasses recent CNN and Transformer-based SOD arts in terms of four metrics. Codes are available at https://github.com/I2-Multimedia-Lab/M3Net.
Attitude Control and Low Cost Design of UAV Bicopter

This paper present a control system for the attitude and low cost design of a Bicopter. The control system uses a PID controller that receives feedback from an IMU to calculate control inputs that adjust the Bicopters attitude (roll, pitch and yaw angles) which is resistant to disturbances (wind noise) on a test bed. The control system is implemented on a hardware platform consisting of a Bicopter, an IMU sensor, and a microcontroller with low cost design. In mechanical design, the Bicopter is designed to more closely resemble the letter"V"so that the distribution of the centre of mass (CoM) of the Bicopter can be such that the servomotor torque reaction is parallel to the axis of rotation of the Bicopter during the movement of the pitch angle attitude. In electronic design, the Bicopter was developed using the ATmega328P microcontroller.
DiariST: Streaming Speech Translation with Speaker Diarization

End-to-end speech translation (ST) for conversation recordings involves several under-explored challenges such as speaker diarization (SD) without accurate word time stamps and handling of overlapping speech in a streaming fashion. In this work, we propose DiariST, the first streaming ST and SD solution. It is built upon a neural transducer-based streaming ST system and integrates token-level serialized output training and t-vector, which were originally developed for multi-talker speech recognition. Due to the absence of evaluation benchmarks in this area, we develop a new evaluation dataset, DiariST-AliMeeting, by translating the reference Chinese transcriptions of the AliMeeting corpus into English. We also propose new metrics, called speaker-agnostic BLEU and speaker-attributed BLEU, to measure the ST quality while taking SD accuracy into account. Our system achieves a strong ST and SD capability compared to offline systems based on Whisper, while performing streaming inference for overlapping speech. To facilitate the research in this new direction, we release the evaluation data, the offline baseline systems, and the evaluation code.
of central pulse wave velocity from radial pulse wave analysis

— Goal: Arterial stiffness, commonly assessed by carotid-femoral pulse wave velocity (cfPWV), is an independent biomarker for cardiovascular disease. The measurement of cfPWV, however, has been considered impractical for routine clinical application. Pulse wave analysis using a single pulse wave measurement in the radial artery is a convenient alternative. This study aims to identify pulse wave features for a more accurate estimation of cfPWV from a single radial pulse wave measurement. Methods: From a dataset of 111 subjects, cfPWV was measured and the radial pulse waveform was recorded for 30 seconds twice in succession. Features were extracted from the waveforms in the time and frequency domains, as well as by wave separation analysis. All-possible regressions with bootstrapping, McHenry’s select algorithm, and support vector regression were applied to select subsets of the features and to estimate cfPWV. Results: The correlation coefficient between the measured and estimated cfPWV was r=0.8, r=0.84, and r=0.8 for all-possible regressions, McHenry’s select algorithm , and support vector regression, respectively. The features selected by all-possible regressions are physiologically interpretable. In particular, the amplitude ratio of the diastolic peak to the notch of the radial pulse waveform ( 𝑹 𝒏,𝒅𝒓,𝑷 ) is shown to be correlated with cfPWV. This correlation was further evaluated and found to be independent of wave reflections using a dataset (n=3,325) of simulated pulse waves. Conclusion: The proposed method may serve as a convenient alternative for the measurement of cfPWV. 𝑹 𝒏,𝒅𝒓,𝑷 is associated with aortic PWV and this association may not be dependent on wave reflection.
Road Boundary Estimation Using Sparse Automotive Radar Inputs

This paper presents a new approach to detecting road boundaries based on sparse radar signals. We model the roadway using a homogeneous model and derive its conditional predictive model under known radar motion. Using the conditional predictive model and model radar points using a Dirichlet Process Mixture Model (DPMM), we employ Mean Field Variational Inference (MFVI) to derive an unconditional road boundary model distribution. In order to generate initial candidate solutions for the MFVI, we develop a custom Random Sample and Consensus (RANSAC) variant to propose unseen model instances as candidate road boundaries. For each radar point cloud we alternate the MFVI and RANSAC proposal steps until convergence to generate the best estimate of all candidate models. We select the candidate model with the minimum lateral distance to the radar on each side as the estimates of the left and right boundaries. We have implemented the proposed algorithm in C++. We have tested the algorithm and it has shown satisfactory results. More specifically, the mean lane boundary estimation error is not more than 11.0 cm.
Sim-to-Real Brush Manipulation using Behavior Cloning and Reinforcement Learning

Developing proficient brush manipulation capabilities in real-world scenarios is a complex and challenging endeavor, with wide-ranging applications in fields such as art, robotics, and digital design. In this study, we introduce an approach designed to bridge the gap between simulated environments and real-world brush manipulation. Our framework leverages behavior cloning and reinforcement learning to train a painting agent, seamlessly integrating it into both virtual and real-world environments. Additionally, we employ a real painting environment featuring a robotic arm and brush, mirroring the MyPaint virtual environment. Our results underscore the agent's effectiveness in acquiring policies for high-dimensional continuous action spaces, facilitating the smooth transfer of brush manipulation techniques from simulation to practical, real-world applications.
General parallel cosmology

General (tele)parallel Relativity, G∥R, is the relativistic completion of Einstein's theories of gravity. The focus of this article is the derivation of the homogeneous and isotropic solution in G∥R. The first-principles derivation, based on a non-trivial realisation of the symmetry, supersedes and unifies previous constructions of Riemannian and teleparallel cosmologies, and establishes the uniqueness of the physical solution. The constitutive law and the form of the material and inertial source currents is presented in the tensor (Palatini) formalism and adapted to the cosmological background, which exhibits novel features absent in the previously studied, static solutions to the theory. The results are contrasted with those in incomplete theories, such as sitting at the three corners of the geometrical trinity which correspond to particular reference frames in G∥R.
Depth Estimation from a Single Optical Encoded Image using a Learned Colored-Coded Aperture

Depth estimation from a single image of a conventional camera is a challenging task since depth cues are lost during the acquisition process. State-of-the-art approaches improve the discrimination between different depths by introducing a binary-coded aperture (CA) in the lens aperture that generates different coded blur patterns at different depths. Color-coded apertures (CCA) can also produce color misalignment in the captured image which can be utilized to estimate disparity. Leveraging advances in deep learning, more recent works have explored the data-driven design of a diffractive optical element (DOE) for encoding depth information through chromatic aberrations. However, compared with binary CA or CCA, DOEs are more expensive to fabricate and require high-precision devices. Different from previous CCA-based approaches that employ few basic colors, in this work we propose a CCA with a greater number of color filters and richer spectral information to optically encode relevant depth information in a single snapshot. Furthermore, we propose to jointly learn the color-coded aperture (CCA) pattern and a convolutional neural network (CNN) to retrieve depth information by using an end-to-end optimization approach. We demonstrate through different experiments on three different data sets that the designed color-encoding has the potential to remove depth ambiguities and provides better depth estimates compared to state-of-the-art approaches. Additionally, we build a low-cost prototype of our CCA using a photographic film and validate the proposed approach in real scenarios.
RELAX: Reinforcement Learning Enabled 2D-LiDAR Autonomous System for Parsimonious UAVs

Unmanned Aerial Vehicles (UAVs) have become increasingly prominence in recent years, finding applications in surveillance, package delivery, among many others. Despite considerable efforts in developing algorithms that enable UAVs to navigate through complex unknown environments autonomously, they often require expensive hardware and sensors, such as RGB-D cameras and 3D-LiDAR, leading to a persistent trade-off between performance and cost. To this end, we propose RELAX, a novel end-to-end autonomous framework that is exceptionally cost-efficient, requiring only a single 2D-LiDAR to enable UAVs operating in unknown environments. Specifically, RELAX comprises three components: a pre-processing map constructor; an offline mission planner; and a reinforcement learning (RL)-based online re-planner. Experiments demonstrate that RELAX offers more robust dynamic navigation compared to existing algorithms, while only costing a fraction of the others. The code will be made public upon acceptance.
USM-SCD: Multilingual Speaker Change Detection Based on Large Pretrained Foundation Models

We introduce a multilingual speaker change detection model (USM-SCD) that can simultaneously detect speaker turns and perform ASR for 96 languages. This model is adapted from a speech foundation model trained on a large quantity of supervised and unsupervised data, demonstrating the utility of fine-tuning from a large generic foundation model for a downstream task. We analyze the performance of this multilingual speaker change detection model through a series of ablation studies. We show that the USM-SCD model can achieve more than 75% average speaker change detection F1 score across a test set that consists of data from 96 languages. On American English, the USM-SCD model can achieve an 85.8% speaker change detection F1 score across various public and internal test sets, beating the previous monolingual baseline model by 21% relative. We also show that we only need to fine-tune one-quarter of the trainable model parameters to achieve the best model performance. The USM-SCD model exhibits state-of-the-art ASR quality compared with a strong public ASR baseline, making it suitable to handle both tasks with negligible additional computational cost.
Sampling-Free Probabilistic Deep State-Space Models

Many real-world dynamical systems can be described as State-Space Models (SSMs). In this formulation, each observation is emitted by a latent state, which follows first-order Markovian dynamics. A Probabilistic Deep SSM (ProDSSM) generalizes this framework to dynamical systems of unknown parametric form, where the transition and emission models are described by neural networks with uncertain weights. In this work, we propose the first deterministic inference algorithm for models of this type. Our framework allows efficient approximations for training and testing. We demonstrate in our experiments that our new method can be employed for a variety of tasks and enjoys a superior balance between predictive performance and computational budget.
Deep Learning for Heart Sound Analysis: A Literature Review

Heart sound auscultation is a physical examination routinely used in clinical practice to identify potential cardiac abnormalities. However, accurate interpretation of heart sounds requires specialized training and experience, thereby limiting its generalizability. Deep learning, a subset of machine learning, involves training artificial neural networks to learn from large datasets and perform complex tasks related to intricate patterns, such as disease diagnosis, event prediction, and clinical decision-making. Over the past decade, deep learning has been successfully applied to heart sound analysis with remarkable achievements. Meanwhile, as heart sound analysis is gaining attention, many public and private heart sound datasets have been established for model training. The massive accumulation of heart sound data improves the performance of deep learning-based heart sound models and extends their clinical application scenarios. In this review, we will compile the commonly used datasets in heart sound analysis, introduce the fundamentals and state-of-the-art techniques in heart sound analysis and deep learning, and summarize the current applications of deep learning for heart sound analysis and their limitations for future improvement.
Generalized decomposition of multivariate information

Since its introduction, the partial information decomposition (PID) has emerged as a powerful, information-theoretic technique useful for studying the structure of (potentially higher-order) interactions in complex systems. Despite its utility, the applicability of the PID is restricted by the need to assign elements as either “sources” or “targets”, as well as the specific structure of the mutual information itself. Here, I introduce a generalized information decomposition that relaxes the source/target distinction while still satisfying the basic intuitions about information. This approach is based on the decomposition of the Kullback-Leibler divergence, and consequently allows for the analysis of any information gained when updating from an arbitrary prior to an arbitrary posterior. As a result, any information-theoretic measure that can be written as a linear combination of Kullback-Leibler divergences admits a decomposition in the style of Williams and Beer, including the total correlation, the negentropy, and the mutual information as special cases. This paper explores how the generalized information decomposition can reveal novel insights into existing measures, as well as the nature of higher-order synergies. We show that synergistic information is intimately related to the well-known Tononi-Sporns-Edelman (TSE) complexity, and that synergistic information requires a similar integration/segregation balance as a high TSE complexity. Finally, I end with a discussion of how this approach fits into other attempts to generalize the PID and the possibilities for empirical applications.