Papers made digestable
Our architecture simplifies the obstacle-perception
problem to that of place-dependent change detection. While we use the method with VT&R, it
can be generalized to suit arbitrary path-following applications.
Visual Teach and Repeat 3 (VT&R3), a generalization of stereo VT&R, achieves
long-term autonomous path-following using topometric mapping and localization
from a single rich sensor stream. In this paper, we improve the capabilities of
a LiDAR implementation of VT&R3 to reliably detect and avoid obstacles in
changing environments. Our architecture simplifies the obstacle-perception
problem to that of place-dependent change detection. We then extend the
behaviour of generic sample-based motion planners to better suit the
teach-and-repeat problem structure by introducing a new edge-cost metric paired
with a curvilinear planning space. The resulting planner generates naturally
smooth paths that avoid local obstacles while minimizing lateral path deviation
to best exploit prior terrain knowledge. While we use the method with VT&R, it
can be generalized to suit arbitrary path-following applications. Experimental
results from online run-time analysis, unit testing, and qualitative
experiments on a differential drive robot show the promise of the technique for
reliable long-term autonomous operation in complex unstructured environments.
Authors: Jordy Sehn, Yuchen Wu, Timothy D. Barfoot.
The statistical and design considerations that pertain to
dose optimization are discussed. The sample size savings range from 16.6% to 27.3%,
depending on the design and scenario, with a mean savings of 22.1%.
The traditional more-is-better dose selection paradigm, developed based on
cytotoxic chemotherapeutics, is often problematic When applied to the
development of novel molecularly targeted agents (e.g., kinase inhibitors,
monoclonal antibodies, and antibody-drug conjugates). The US Food and Drug
Administration (FDA) initiated Project Optimus to reform the dose optimization
and dose selection paradigm in oncology drug development and call for more
attention to benefit-risk consideration.
We systematically investigated the operating characteristics of the seamless
phase 2-3 design as a strategy for dose optimization, where in stage 1
(corresponding to phase 2) patients are randomized to multiple doses, with or
without a control; and in stage 2 (corresponding to phase 3) the efficacy of
the selected optimal dose is evaluated with a randomized concurrent control or
historical control. Depending on whether the concurrent control is included and
the type of endpoints used in stages 1 and 2, we describe four types of
seamless phase 2-3 dose-optimization designs, which are suitable for different
clinical settings. The statistical and design considerations that pertain to
dose optimization are discussed. Simulation shows that dose optimization phase
2-3 designs are able to control the familywise type I error rates and yield
appropriate statistical power with substantially smaller sample size than the
conventional approach. The sample size savings range from 16.6% to 27.3%,
depending on the design and scenario, with a mean savings of 22.1%. Due to the
interim dose selection, the phase 2-3 dose-optimization design is logistically
and operationally more challenging, and should be carefully planned and
implemented to ensure trial integrity.
Authors: Liyun Jiang, Ying Yuan.
We significantly improve performance using properties of the posterior
in our active learning scheme and for the definition of the GP prior. In
particular we account for the expected dynamical range of the posterior in
different dimensionalities. We test our model against a number of synthetic and
cosmological examples.
We present the GPry algorithm for fast Bayesian inference of general
(non-Gaussian) posteriors with a moderate number of parameters. GPry does not
need any pre-training, special hardware such as GPUs, and is intended as a
drop-in replacement for traditional Monte Carlo methods for Bayesian inference.
Our algorithm is based on generating a Gaussian Process surrogate model of the
log-posterior, aided by a Support Vector Machine classifier that excludes
extreme or non-finite values. An active learning scheme allows us to reduce the
number of required posterior evaluations by two orders of magnitude compared to
traditional Monte Carlo inference. Our algorithm allows for parallel
evaluations of the posterior at optimal locations, further reducing wall-clock
times. We significantly improve performance using properties of the posterior
in our active learning scheme and for the definition of the GP prior. In
particular we account for the expected dynamical range of the posterior in
different dimensionalities. We test our model against a number of synthetic and
cosmological examples. GPry outperforms traditional Monte Carlo methods when
the evaluation time of the likelihood (or the calculation of theoretical
observables) is of the order of seconds; for evaluation times of over a minute
it can perform inference in days that would take months using traditional
methods. GPry is distributed as an open source Python package (pip install
gpry) and can also be found at https://github.com/jonaselgammal/GPry.
Authors: Jonas El Gammal, Nils Schöneberg, Jesús Torrado, Christian Fidler.
We consider the fundamental scheduling problem of minimizing the sum of
weighted completion times on a single machine in the non-clairvoyant setting. However, to the best of our knowledge, this concept has never been considered
for the total completion time objective in the non-clairvoyant model. This implies
a performance guarantee of $(1+3\sqrt{3})\approx 6.197$ for the deterministic
algorithm and of $\approx 3.032$ for the randomized version.
We consider the fundamental scheduling problem of minimizing the sum of
weighted completion times on a single machine in the non-clairvoyant setting.
While no non-preemptive algorithm is constant competitive, Motwani, Phillips,
and Torng (SODA '93) proved that the simple preemptive round robin procedure is
$2$-competitive and that no better competitive ratio is possible, initiating a
long line of research focused on preemptive algorithms for generalized variants
of the problem. As an alternative model, Shmoys, Wein, and Williamson (FOCS
'91) introduced kill-and-restart schedules, where running jobs may be killed
and restarted from scratch later, and analyzed then for the makespan objective.
However, to the best of our knowledge, this concept has never been considered
for the total completion time objective in the non-clairvoyant model.
We contribute to both models: First we give for any $b > 1$ a tight analysis
for the natural $b$-scaling kill-and-restart strategy for scheduling jobs
without release dates, as well as for a randomized variant of it. This implies
a performance guarantee of $(1+3\sqrt{3})\approx 6.197$ for the deterministic
algorithm and of $\approx 3.032$ for the randomized version. Second, we show
that the preemptive Weighted Shortest Elapsed Time First (WSETF) rule is
$2$-competitive for jobs released in an online fashion over time, matching the
lower bound by Motwani et al. Using this result as well as the competitiveness
of round robin for multiple machines, we prove performance guarantees of
adaptions of the $b$-scaling algorithm to online release dates and unweighted
jobs on identical parallel machines.
Authors: Sven Jäger, Guillaume Sagnol, Daniel Schmidt genannt Waldschmidt, Philipp Warode.
Frozen pretrained models have become a viable alternative to the
pretraining-then-finetuning paradigm for transfer learning. With this work, we hope to
bring greater attention to this promising path of freezing pretrained image
models.
Frozen pretrained models have become a viable alternative to the
pretraining-then-finetuning paradigm for transfer learning. However, with
frozen models there are relatively few parameters available for adapting to
downstream tasks, which is problematic in computer vision where tasks vary
significantly in input/output format and the type of information that is of
value. In this paper, we present a study of frozen pretrained models when
applied to diverse and representative computer vision tasks, including object
detection, semantic segmentation and video action recognition. From this
empirical analysis, our work answers the questions of what pretraining task
fits best with this frozen setting, how to make the frozen setting more
flexible to various downstream tasks, and the effect of larger model sizes. We
additionally examine the upper bound of performance using a giant frozen
pretrained model with 3 billion parameters (SwinV2-G) and find that it reaches
competitive performance on a varied set of major benchmarks with only one
shared frozen base network: 60.0 box mAP and 52.2 mask mAP on COCO object
detection test-dev, 57.6 val mIoU on ADE20K semantic segmentation, and 81.7
top-1 accuracy on Kinetics-400 action recognition. With this work, we hope to
bring greater attention to this promising path of freezing pretrained image
models.
Authors: Yutong Lin, Ze Liu, Zheng Zhang, Han Hu, Nanning Zheng, Stephen Lin, Yue Cao.
We also consider a paraconsistent expansion of
$\KbiG$ with a De Morgan negation $\neg$ which we dub $\KGsquare$. For these two logics, we establish that their decidability and validity are
$\mathsf{PSPACE}$-complete. We also study the semantical properties of $\KbiG$ and $\KGsquare$. In
particular, we show that Glivenko theorem holds only in finitely branching
frames.
In this paper, we provide a Hilbert-style axiomatisation for the crisp
bi-G\"{o}del modal logic $\KbiG$. We prove its completeness w.r.t.\ crisp
Kripke models where formulas at each state are evaluated over the standard
bi-G\"{o}del algebra on $[0,1]$. We also consider a paraconsistent expansion of
$\KbiG$ with a De Morgan negation $\neg$ which we dub $\KGsquare$. We devise a
Hilbert-style calculus for this logic and, as a~con\-se\-quence of
a~conservative translation from $\KbiG$ to $\KGsquare$, prove its completeness
w.r.t.\ crisp Kripke models with two valuations over $[0,1]$ connected via
$\neg$.
For these two logics, we establish that their decidability and validity are
$\mathsf{PSPACE}$-complete.
We also study the semantical properties of $\KbiG$ and $\KGsquare$. In
particular, we show that Glivenko theorem holds only in finitely branching
frames. We also explore the classes of formulas that define the same classes of
frames both in $\mathbf{K}$ (the classical modal logic) and the crisp G\"{o}del
modal logic $\KG^c$. We show that, among others, all Sahlqvist formulas and all
formulas $\phi\rightarrow\chi$ where $\phi$ and $\chi$ are monotone, define the
same classes of frames in $\mathbf{K}$ and $\KG^c$.
Authors: Marta Bilkova, Sabine Frittella, Daniil Kozhemiachenko.
Bouchet conjectured in 1983 that every flow-admissible signed graph admits a nowhere-zero 6-flow which is equivalent to the restriction to cubic signed graphs.
Bouchet conjectured in 1983 that every flow-admissible signed graph admits a
nowhere-zero 6-flow which is equivalent to the restriction to cubic signed
graphs. In this paper, we proved that every flow-admissible $3$-edge-colorable
cubic signed graph admits a nowhere-zero $10$-flow. This together with the
4-color theorem implies that every flow-admissible bridgeless planar signed
graph admits a nowhere-zero $10$-flow. As a byproduct, we also show that every
flow-admissible hamiltonian signed graph admits a nowhere-zero $8$-flow.
Authors: Liangchen Li, Chong Li, Rong Luo, C. -Q Zhang, Hailing Zhang.
The
extended phase-space algorithm is an effective solution for the problem of this
system. are calculated
inaccurately.
Since the first detection of gravitational waves by the LIGO/VIRGO team, the
related research field has attracted more attention. The spinning compact
binaries system, as one of the gravitational-wave sources for broadband laser
interferometers, has been widely studied by related researchers. In order to
analyze the gravitational wave signals using matched filtering techniques,
reliable numerical algorithms are needed. Spinning compact binaries systems in
Post-Newtonian (PN) celestial mechanics have an inseparable Hamiltonian. The
extended phase-space algorithm is an effective solution for the problem of this
system. We have developed correction maps for the extended phase-space method
in our previous work, which significantly improves the accuracy and stability
of the method with only a momentum scale factor. In this paper, we will add
more scale factors to modify the numerical solution in order to minimize the
errors in the constants of motion. However, we find that these correction maps
will result in a large energy bias in the subterms of the Hamiltonian in
chaotic orbits, whose potential and kinetic energy, etc. are calculated
inaccurately. We develop new correction maps to reduce the energy bias of the
subterms of the Hamiltonian, which can instead improve the accuracy of the
numerical solution and also provides a new idea for the application of the
manifold correction in other algorithms.
Authors: Junjie Luo, Jie Feng, Hong-Hao Zhang, Weipeng Lin.
Fission at low excitation energy is an ideal playground to probe the impact of nuclear structure on nuclear dynamics. Fission of $^{178}$Hg was induced by fusion of $^{124}$Xe and $^{54}$Fe. The two fragments were detected in coincidence using VAMOS++ supplemented with a new SEcond Detection arm.
Fission at low excitation energy is an ideal playground to probe the impact
of nuclear structure on nuclear dynamics. While the importance of structural
effects in the nascent fragments is well-established in the (trans-)actinide
region, the observation of asymmetric fission in several neutron-deficient
pre-actinides can be explained by various mechanisms. To deepen our insight
into that puzzle, an innovative approach based on inverse kinematics and an
enhanced version of the VAMOS++ heavy-ion spectrometer was implemented at the
GANIL facility, Caen. Fission of $^{178}$Hg was induced by fusion of $^{124}$Xe
and $^{54}$Fe. The two fragments were detected in coincidence using VAMOS++
supplemented with a new SEcond Detection arm. For the first time in the
pre-actinide region, access to the pre-neutron mass and total kinetic energy
distributions, and the simultaneous isotopic identification of one the fission
fragment, was achieved. The present work describes the experimental approach,
and discusses the pre-neutron observables in the context of an extended
asymmetric-fission island located south-west of $^{208}Pb. A comparison with
different models is performed, demonstrating the importance of this "new"
asymmetric-fission island for elaborating on driving effects in fission.
Authors: A. Jhingan, C. Schmitt, A. Lemasson, S. Biswas, Y. H. Kim, D. Ramos, A. N. Andreyev, D. Curien, M. Ciemala, E. Clément, O. Dorvaux, B. De Canditiis, F. Didierjean, G. Duchêne, J. Dudouet, J. Frankland, G. Frémont, J. Goupil, B. Jacquot, C. Raison, D. Ralet, B. -M. Retailleau, L. Stuttgé, I. Tsekhanovich, A. V. Andreev, S. Goriely, S. Hilaire, J-F. Lemaître, P. Möller, K. -H. Schmidt.
Our results
demonstrate that the developed approach enables to us to describe a gross
structure of the ISGMR spreading width.
The properties of the isoscalar giant monopole resonance (ISGMR) for the
double magic $^{48}$Ca are analyzed in the framework of a microscopic model
based on Skyrme-type interactions. A method for simultaneously taking into
account the coupling between one-, two-, and three-phonon terms in the wave
functions of $0^{+}$ states has been developed. The inclusion of three-phonon
configurations leads to a substantial redistribution of the ISGMR strength to
lower energy $0^{+}$ states and also higher energy tail. Our results
demonstrate that the developed approach enables to us to describe a gross
structure of the ISGMR spreading width.
Authors: N. N. Arsenyev, A. P. Severyukhin.
Convex clustering is a modern method with both hierarchical and $k$-means clustering characteristics. Moreover, it is known that convex clustering sometimes fails to produce hierarchical clustering structures. This undesirable phenomenon is called cluster split and makes it difficult to interpret clustering results. In the CCMM algorithm, the diagonal majorization technique makes a highly efficient update for each iteration.
Convex clustering is a modern method with both hierarchical and $k$-means
clustering characteristics. Although convex clustering can capture the complex
clustering structure hidden in data, the existing convex clustering algorithms
are not scalable to large data sets with sample sizes greater than ten
thousand. Moreover, it is known that convex clustering sometimes fails to
produce hierarchical clustering structures. This undesirable phenomenon is
called cluster split and makes it difficult to interpret clustering results. In
this paper, we propose convex clustering through majorization-minimization
(CCMM) -- an iterative algorithm that uses cluster fusions and sparsity to
enforce a complete cluster hierarchy with reduced memory usage. In the CCMM
algorithm, the diagonal majorization technique makes a highly efficient update
for each iteration. With a current desktop computer, the CCMM algorithm can
solve a single clustering problem featuring over one million objects in
seven-dimensional space within 70 seconds.
Authors: Daniel J. W. Touw, Patrick J. F. Groenen, Yoshikazu Terada.
As a proof of
concept, micromagnetic simulations of these curves were performed starting from
representative microstates of different phases of the system. We show that the
curves are characterized by phase-specific features in such a way that a
pattern recognition algorithm predicts the phase of the initial microstate with
good reliability. This achievement represents a new strategy to identify phases
in ASIs, easier and more accessible than magnetic imaging techniques normally
used for this task.
Artificial spin ices (ASIs) are designable arrays of interacting nanomagnets
that span a wide range of magnetic phases associated with a number of spin
lattice models. Here, we demonstrate that the phase of an artificial kagome
spin ice can be determined from its initial magnetization curve. As a proof of
concept, micromagnetic simulations of these curves were performed starting from
representative microstates of different phases of the system. We show that the
curves are characterized by phase-specific features in such a way that a
pattern recognition algorithm predicts the phase of the initial microstate with
good reliability. This achievement represents a new strategy to identify phases
in ASIs, easier and more accessible than magnetic imaging techniques normally
used for this task.
Authors: Breno Cecchi, Nathan Cruz, Marcelo Knobel, Kleber Roberto Pirota.
Recent studies show that deep neural networks (DNNs) are vulnerable to backdoor attacks. Besides, it is robust to pre-processing operations and can resist state-of-the-art defenses.
Recent studies show that deep neural networks (DNNs) are vulnerable to
backdoor attacks. A backdoor DNN model behaves normally with clean inputs,
whereas outputs attacker's expected behaviors when the inputs contain a
pre-defined pattern called a trigger. However, in some tasks, the attacker
cannot know the exact target that shows his/her expected behavior, because the
task may contain a large number of classes and the attacker does not have full
access to know the semantic details of these classes. Thus, the attacker is
willing to attack multiple suspected targets to achieve his/her purpose. In
light of this, in this paper, we propose the M-to-N backdoor attack, a new
attack paradigm that allows an attacker to launch a fuzzy attack by
simultaneously attacking N suspected targets, and each of the N targets can be
activated by any one of its M triggers. To achieve a better stealthiness, we
randomly select M clean images from the training dataset as our triggers for
each target. Since the triggers used in our attack have the same distribution
as the clean images, the inputs poisoned by the triggers are difficult to be
detected by the input-based defenses, and the backdoor models trained on the
poisoned training dataset are also difficult to be detected by the model-based
defenses. Thus, our attack is stealthier and has a higher probability of
achieving the attack purpose by attacking multiple suspected targets
simultaneously in contrast to prior backdoor attacks. Extensive experiments
show that our attack is effective against different datasets with various
models and achieves high attack success rates (e.g., 99.43% for attacking 2
targets and 98.23% for attacking 4 targets on the CIFAR-10 dataset) when
poisoning only an extremely small portion of the training dataset (e.g., less
than 2%). Besides, it is robust to pre-processing operations and can resist
state-of-the-art defenses.
Authors: Linshan Hou, Zhongyun Hua, Yuhong Li, Leo Yu Zhang.
This architecture allows for
integrating contextual information from heterogeneous sources. for seen targets, and (2) out-of-domain, i.e. for targets
unseen during training. Our analysis shows that it is able to regularize for
spurious label correlations with target-specific cue words.
Stance detection deals with the identification of an author's stance towards
a target and is applied on various text domains like social media and news. In
many cases, inferring the stance is challenging due to insufficient access to
contextual information. Complementary context can be found in knowledge bases
but integrating the context into pretrained language models is non-trivial due
to their graph structure. In contrast, we explore an approach to integrate
contextual information as text which aligns better with transformer
architectures. Specifically, we train a model consisting of dual encoders which
exchange information via cross-attention. This architecture allows for
integrating contextual information from heterogeneous sources. We evaluate
context extracted from structured knowledge sources and from prompting large
language models. Our approach is able to outperform competitive baselines
(1.9pp on average) on a large and diverse stance detection benchmark, both (1)
in-domain, i.e. for seen targets, and (2) out-of-domain, i.e. for targets
unseen during training. Our analysis shows that it is able to regularize for
spurious label correlations with target-specific cue words.
Authors: Tilman Beck, Andreas Waldis, Iryna Gurevych.
Predictions can be done, however, at the scale of the complete system. Examples are shown on the performance of the proposed technique.
We develop inductive biases for the machine learning of complex physical
systems based on the port-Hamiltonian formalism. To satisfy by construction the
principles of thermodynamics in the learned physics (conservation of energy,
non-negative entropy production), we modify accordingly the port-Hamiltonian
formalism so as to achieve a port-metriplectic one. We show that the
constructed networks are able to learn the physics of complex systems by parts,
thus alleviating the burden associated to the experimental characterization and
posterior learning process of this kind of systems. Predictions can be done,
however, at the scale of the complete system. Examples are shown on the
performance of the proposed technique.
Authors: Quercus Hernández, Alberto Badías, Francisco Chinesta, Elías Cueto.