Abstract

Dual-arm manipulation is an area of growing interest in the robotics community. Enabling robots to perform tasks that require the coordinated use of two arms, is essential for complex manipulation tasks such as handling large objects, assembling components, and performing human-like interactions. However, achieving effective dual-arm manipulation is challenging due to the need for precise coordination, dynamic adaptability, and the ability to manage interaction forces between the arms and the objects being manipulated. We propose a novel pipeline that combines the advantages of policy learning based on environment feedback and gradient-based optimization to learn controller gains required for the control outputs. This allows the robotic system to dynamically modulate its impedance in response to task demands, ensuring stability and dexterity in dual-arm operations. We evaluate our pipeline on a trajectory-tracking task involving a variety of large, complex objects with different masses and geometries. The performance is then compared to three other established methods for controlling dual-arm robots, demonstrating superior results.

Abstract

We propose a data-driven method for direction-of-arrival (DOA) trajectory estimation. We use a deep complex architecture which leverages complex-valued representations to capture both magnitude and phase information in the received sensor array data. The network is designed to output the DOA trajectory parameters and amplitudes of the strongest source. Deviating from conventional methods, which attempt to estimate parameters for all sources simultaneously -- leading to assignment ambiguity and the problem of uncertain output dimensions, we adopt a sequential approach. The estimated source signal contribution is subtracted from the input to obtain a residual signal. This residual signal is then fed back into the network to identify the next strongest source and so on, making the proposed network reusable. We evaluate our network on simulated data of varying complexity. Results demonstrate the feasibility of such a reusable network and potential improvements can be explored in future.

Abstract

Besides global attention on extreme precipitation, a limited research has been done in the Arctic due to constraints of data availability. In this backdrop, we attempt to analyze extreme precipitation events at three Arctic stations (Bjørnøya, Ny-Ålesund, and Svalbard Lufthavn) in Svalbard using extreme value theory. The analysis revealed that these high-latitudinal Arctic stations were characterized by heavy-tailed distributions for the exceedances, suggesting a higher probability of the occurrence of extreme precipitation events. Ny-Ålesund and Bjørnøya have exhibited a significant increase in return values over the last three decades. Among the three stations, Ny-Ålesund displayed the strongest return values, especially in winter post-1994 when the atmospheric temperature was characterized by an enhanced positive trend. Significant seasonal variability in return values has also been observed; the fall in Ny-Ålesund was characterized by a low-intensity regime as indicated by the shape parameter. Ny-Ålesund precipitation had shifted from heavy-tailed distribution in pre-1994 to bounded tail distribution post-1994 during spring. Bjørnøya’s extremes are driven by cyclonic circulation, while southerly winds drive extremes in Ny-Ålesund and Svalbard Lufthavn. Even though, Svalbard Lufthavn, displayed regime changes, showed low variability, likely due to its position in a rain shadow region. This research highlights the nuanced responses of Arctic hydrology to warming, emphasizing the need for localized studies and active collaboration with policymakers to translate these insights into effective climate adaptation and mitigation strategies.

Abstract

We present the emergence of topological phase transition in the minimal model of two-dimensional rockpaper- scissors cycle in the form of a doublet chain. The evolutionary dynamics of the doublet chain is obtained by solving the anti-symmetric Lotka-Volterra equation. We show that the mass decays exponentially towards edges and robust against small perturbation in the rate of change of mass transfer, a signature of a topological phase. For one of the configuration of our doublet chain, the mass is transferred towards both edges and the bulk is gaped. Further, we confirm this phase transition within the framework of topological band theory. For this, we calculate the winding number, which change from zero to one for trivial and nontrivial topological phases, respectively.

Abstract

We introduce a new information-theoretic measure to characterize non-Markovianity in a tripartite quantum state of genuine quantum origin. This measure reveals a novel tripartite quantum correlation and may be interpreted as entanglement between two systems when conditioned on the third (memory) system. We formulate a convex resource-theoretic framework to characterize genuine quantum non-Markovianity in states as a quantum resource and provide operational meaning to this resource in various information processing tasks.

Abstract

Cloud Operations (CloudOps) is a rapidly growing field focused on the automated management and optimization of cloud infrastructure which is essential for organizations navigating increasingly complex cloud environments. MontyCloud Inc. is one of the major companies in the CloudOps domain that leverages autonomous bots to manage cloud compliance, security, and continuous operations. To make the platform more accessible and effective to the customers, we leveraged the use of GenAI. Developing a GenAI-based solution for autonomous CloudOps for the existing MontyCloud system presented us with various challenges such as i) diverse data sources; ii) orchestration of multiple processes; and iii) handling complex workflows to automate routine tasks. To this end, we developed MOYA, a multi-agent framework that leverages GenAI and balances autonomy with the necessary human control. This framework integrates various internal and external systems and is optimized for factors like task orchestration, security, and error mitigation while producing accurate, reliable, and relevant insights by utilizing Retrieval Augmented Generation (RAG). Evaluations of our multi-agent system with the help of practitioners as well as using automated checks demonstrate enhanced accuracy, responsiveness, and effectiveness over non-agentic approaches across complex workflows.

Abstract

In this work, we introduce and characterize a broad class of quantum operations with a unique fixed point, termed quantum ergodic channels. We derive Lindblad-type master equations for these channels in arbitrary finite dimensions and analyze their non-Markovian dynamics using established measures. When the fixed point is a passive state, the channels exhibit ergotropy dynamics with notable thermodynamic implications. Specifically, under Markovian processes, ergotropy (a measure of the extractable work from a system under unitary evolution) monotonically decreases. However, in non-Markovian dynamics, ergotropy fluctuates, leading to a backflow effect that highlights memory-induced resource recovery. Our findings suggest that this ergotropy backflow could serve as an operationally meaningful indicator of non-Markovianity, offering new perspectives on the interplay between memory effects and thermodynamic behavior in open quantum systems. This study enhances the theoretical framework for understanding energy dynamics under ergodic channels and highlights new avenues for exploring the implications of memory effects in quantum batteries.

Abstract

Over a decade, efforts have been made to extend data science-based approaches to improve the process of drug-target interactions (DTIs) by modeling drugs and targets as graphs. From a drug discovery point of view, a pharmacophore, a subgraph of a drug candidate, is an essential structural and chemical feature necessary for interacting with a specific biological target. Effective identification of potential pharmacophores from a given candidate drug is a research issue. In the literature, efforts are being made to investigate machine learning and Graph Neural Network (GNN) based frameworks to identify the potential drug candidates for a given target. However, the problem of extracting the knowledge of the potential pharmacophore of the given candidate drug has not been explored. There is an opportunity to extract pharmacophores from drug candidates by exploiting the knowledge of potential subgraphs extracted through a trained GNN model. In this paper, we propose a two-phase GNN-based framework for identifying drug candidates and extracting potential pharmacophores from these candidates. The framework consists of two parts. First, we employ a GNN-based model to compute the affinity score for the given drug compound. Second, by employing the Monte Carlo Tree Search (MCTS) algorithm, the trained GNN is leveraged to extract potential subgraphs representing pharmacophores. The experimental results on the Davis, Kiba and Allergy datasets demonstrate the feasibility of the proposed approach to extract pharmacophores of candidate drugs with high performance. The predicted binding affinities of molecular subgraphs extracted from drug candidates are very similar to those of the corresponding drug candidates. The proposed approach helps explore the potential pharmacophore of the given candidate drug, which enhances the explainability of DTI to obtain deeper insights into crucial molecular interactions.

Abstract

Navigation amongst densely packed crowds remains a challenge for mobile robots. The complexity increases further if the environment layout changes, making the prior computed global plan infeasible. In this paper, we show that it is possible to dramatically enhance crowd navigation by just improving the local planner. Our approach combines generative modelling with inference time optimization to generate sophisticated long-horizon local plans at interactive rates. More specifically, we train a Vector Quantized Variational AutoEncoder to learn a prior over the expert trajectory distribution conditioned on the perception input. At run-time, this is used as an initialization for a sampling-based optimizer for further refinement. Our approach does not require any sophisticated prediction of dynamic obstacles and yet provides state-of-the-art performance. In particular, we compare against the recent DRL-VO approach and show a 40% improvement in success rate and a 6% improvement in travel time.

Abstract

Reliable assessment of oral reading fluency (ORF) is of great importance in foundational literacy missions globally. For the design of level appropriate testing passages, text difficulty has traditionally been based on coarse-grained measures of readability like the Flesch–Kincaid score. We present a novel study where we deploy psycholinguistic measures of reading difficulty from Natural Language Processing to predict the duration of words in Hindi read-aloud speech. We test the hypotheses that expectation based measures of linguistic complexity are significant predictors of word duration in Hindi read-aloud speech. We validate the stated hypotheses by estimating surprisal measures inspired from Surprisal Theory of sentence comprehension and introduce a novel measure of orthographic complexity to model the intricacies of the Hindi script. Cognitive modelling experiments were conducted on a dataset of six Hindi short stories read aloud by 5 expert readers, containing 2 measures of word duration. Our results show that both surprisal as well as the orthographic complexity measures are significant predictors of word duration. In contrast with long words, we find duration reducing with increased orthographic complexity in the case of short words. The variation between individual speakers in terms of word duration is very low and the variance in the data is caused by the properties of the words used in the text. Finally, we reflect on the implications of our work for cognitive models of language production and for ORF assessment.