There is growing interest in engineering unconventional computing devices that leverage the intrinsic dynamics of physical substrates to perform fast and energy-efficient computations. Granular metamaterials are one such substrate that has emerged as a promising platform for building wave-based information processing devices with the potential to integrate sensing, actuation, and computation. Their high-dimensional and nonlinear dynamics result in nontrivial and sometimes counter-intuitive wave responses that can be shaped by the material properties, geometry, and configuration of individual grains. Such highly tunable rich dynamics can be utilized for mechanical computing in special-purpose applications. However, there are currently no general frameworks for the inverse design of large-scale granular materials. Here, we build upon the similarity between the spatiotemporal dynamics of wave propagation in material and the computational dynamics of Recurrent Neural Networks to develop a gradient-based optimization framework for harmonically driven granular crystals. We showcase how our framework can be utilized to design basic logic gates where mechanical vibrations carry the information at predetermined frequencies. We compare our design methodology with classic gradient-free methods and find that our approach discovers higher-performing configurations with less computational effort. Our findings show that a gradient-based optimization method can greatly expand the design space of metamaterials and provide the opportunity to systematically traverse the parameter space to find materials with the desired functionalities.

This paper investigates a link between Graph Neural Networks (GNNs) and Binary Programming (BP) problems, laying the groundwork for GNNs to approximate solutions for these computationally challenging problems. By analyzing the sensitivity of BP problems, we are able to frame the solution of BP problems as a heterophilic node classification task. We then propose Binary-Programming GNN (BPGNN), an architecture that integrates graph representation learning techniques with BP-aware features to approximate BP solutions efficiently. Additionally, we introduce a self-supervised data generation mechanism, to enable efficient and tractable training data acquisition even for large-scale BP problems. Experimental evaluations of BPGNN across diverse BP problem sizes showcase its superior performance compared to exhaustive search and heuristic approaches. Finally, we discuss open challenges in the under-explored field of BP problems with GNNs.

The study of non-line-of-sight (NLOS) imaging is growing due to its many potential applications, including rescue operations and pedestrian detection by self-driving cars. However, implementing NLOS imaging on a moving camera remains an open area of research. Existing NLOS imaging methods rely on time-resolved detectors and laser configurations that require precise optical alignment, making it difficult to deploy them in dynamic environments. This work proposes a data-driven approach to NLOS imaging, PathFinder, that can be used with a standard RGB camera mounted on a small, power-constrained mobile robot, such as an aerial drone. Our experimental pipeline is designed to accurately estimate the 2D trajectory of a person who moves in a Manhattan-world environment while remaining hidden from the camera's field-of-view. We introduce a novel approach to process a sequence of dynamic successive frames in a line-of-sight (LOS) video using an attention-based neural network that performs inference in real-time. The method also includes a preprocessing selection metric that analyzes images from a moving camera which contain multiple vertical planar surfaces, such as walls and building facades, and extracts planes that return maximum NLOS information. We validate the approach on in-the-wild scenes using a drone for video capture, thus demonstrating low-cost NLOS imaging in dynamic capture environments.

Machine learning models have made significant progress in load forecasting, but their forecast accuracy is limited in cases where historical load data is scarce. Inspired by the outstanding performance of large language models (LLMs) in computer vision and natural language processing, this paper aims to discuss the potential of large time series models in load forecasting with scarce historical data. Specifically, the large time series model is constructed as a time series generative pre-trained transformer (TimeGPT), which is trained on massive and diverse time series datasets consisting of 100 billion data points (e.g., finance, transportation, banking, web traffic, weather, energy, healthcare, etc.). Then, the scarce historical load data is used to fine-tune the TimeGPT, which helps it to adapt to the data distribution and characteristics associated with load forecasting. Simulation results show that TimeGPT outperforms the benchmarks (e.g., popular machine learning models and statistical models) for load forecasting on several real datasets with scarce training samples, particularly for short look-ahead times. However, it cannot be guaranteed that TimeGPT is always superior to benchmarks for load forecasting with scarce data, since the performance of TimeGPT may be affected by the distribution differences between the load data and the training data. In practical applications, we can divide the historical data into a training set and a validation set, and then use the validation set loss to decide whether TimeGPT is the best choice for a specific dataset.

The domain of online learning has experienced multifaceted expansion owing to its prevalence in real-life applications. Nonetheless, this progression operates under the assumption that the input feature space of the streaming data remains constant. In this survey paper, we address the topic of online learning in the context of haphazard inputs, explicitly foregoing such an assumption. We discuss, classify, evaluate, and compare the methodologies that are adept at modeling haphazard inputs, additionally providing the corresponding code implementations and their carbon footprint. Moreover, we classify the datasets related to the field of haphazard inputs and introduce evaluation metrics specifically designed for datasets exhibiting imbalance. The code of each methodology can be found at https://github.com/Rohit102497/HaphazardInputsReview

We introduce StaccaToe, a human-scale, electric motor-powered single-leg robot designed to rival the agility of human locomotion through two distinctive attributes: an actuated toe and a co-actuation configuration inspired by the human leg. Leveraging the foundational design of HyperLeg's lower leg mechanism, we develop a stand-alone robot by incorporating new link designs, custom-designed power electronics, and a refined control system. Unlike previous jumping robots that rely on either special mechanisms (e.g., springs and clutches) or hydraulic/pneumatic actuators, StaccaToe employs electric motors without energy storage mechanisms. This choice underscores our ultimate goal of developing a practical, high-performance humanoid robot capable of human-like, stable walking as well as explosive dynamic movements. In this paper, we aim to empirically evaluate the balance capability and the exertion of explosive ground reaction forces of our toe and co-actuation mechanisms. Throughout extensive hardware and controller development, StaccaToe showcases its control fidelity by demonstrating a balanced tip-toe stance and dynamic jump. This study is significant for three key reasons: 1) StaccaToe represents the first human-scale, electric motor-driven single-leg robot to execute dynamic maneuvers without relying on specialized mechanisms; 2) our research provides empirical evidence of the benefits of replicating critical human leg attributes in robotic design; and 3) we explain the design process for creating agile legged robots, the details that have been scantily covered in academic literature.

We present DetToolChain, a novel prompting paradigm, to unleash the zero-shot object detection ability of multimodal large language models (MLLMs), such as GPT-4V and Gemini. Our approach consists of a detection prompting toolkit inspired by high-precision detection priors and a new Chain-of-Thought to implement these prompts. Specifically, the prompts in the toolkit are designed to guide the MLLM to focus on regional information (e.g., zooming in), read coordinates according to measure standards (e.g., overlaying rulers and compasses), and infer from the contextual information (e.g., overlaying scene graphs). Building upon these tools, the new detection chain-of-thought can automatically decompose the task into simple subtasks, diagnose the predictions, and plan for progressive box refinements. The effectiveness of our framework is demonstrated across a spectrum of detection tasks, especially hard cases. Compared to existing state-of-the-art methods, GPT-4V with our DetToolChain improves state-of-the-art object detectors by +21.5% AP50 on MS COCO Novel class set for open-vocabulary detection, +24.23% Acc on RefCOCO val set for zero-shot referring expression comprehension, +14.5% AP on D-cube describe object detection FULL setting.

We revisit the likelihood ratio between a pretrained large language model (LLM) and its finetuned variant as a criterion for out-of-distribution (OOD) detection. The intuition behind such a criterion is that, the pretrained LLM has the prior knowledge about OOD data due to its large amount of training data, and once finetuned with the in-distribution data, the LLM has sufficient knowledge to distinguish their difference. Leveraging the power of LLMs, we show that, for the first time, the likelihood ratio can serve as an effective OOD detector. Moreover, we apply the proposed LLM-based likelihood ratio to detect OOD questions in question-answering (QA) systems, which can be used to improve the performance of specialized LLMs for general questions. Given that likelihood can be easily obtained by the loss functions within contemporary neural network frameworks, it is straightforward to implement this approach in practice. Since both the pretrained LLMs and its various finetuned models are available, our proposed criterion can be effortlessly incorporated for OOD detection without the need for further training. We conduct comprehensive evaluation across on multiple settings, including far OOD, near OOD, spam detection, and QA scenarios, to demonstrate the effectiveness of the method.

In recent years, large-scale adoption of cloud storage solutions has revolutionized the way we think about digital data storage. However, the exponential increase in data volume, especially images, has raised environmental concerns regarding power and resource consumption, as well as the rising digital carbon footprint emissions. The aim of this research is to propose a methodology for cloud-based image storage by integrating image compression technology with SuperResolution Generative Adversarial Networks (SRGAN). Rather than storing images in their original format directly on the cloud, our approach involves initially reducing the image size through compression and downsizing techniques before storage. Upon request, these compressed images will be retrieved and processed by SRGAN to generate images. The efficacy of the proposed method is evaluated in terms of PSNR and SSIM metrics. Additionally, a mathematical analysis is given to calculate power consumption and carbon footprint assesment. The proposed data compression technique provides a significant solution to achieve a reasonable trade off between environmental sustainability and industrial efficiency.

Synthetic Aperture Radar (SAR) Automatic Target Recognition (ATR) is a key technique used in military applications like remote-sensing image recognition. Vision Transformers (ViTs) are the current state-of-the-art in various computer vision applications, outperforming their CNN counterparts. However, using ViTs for SAR ATR applications is challenging due to (1) standard ViTs require extensive training data to generalize well due to their low locality; the standard SAR datasets, however, have a limited number of labeled training data which reduces the learning capability of ViTs; (2) ViTs have a high parameter count and are computation intensive which makes their deployment on resource-constrained SAR platforms difficult. In this work, we develop a lightweight ViT model that can be trained directly on small datasets without any pre-training by utilizing the Shifted Patch Tokenization (SPT) and Locality Self-Attention (LSA) modules. We directly train this model on SAR datasets which have limited training samples to evaluate its effectiveness for SAR ATR applications. We evaluate our proposed model, that we call VTR (ViT for SAR ATR), on three widely used SAR datasets: MSTAR, SynthWakeSAR, and GBSAR. Further, we propose a novel FPGA accelerator for VTR, in order to enable deployment for real-time SAR ATR applications.