Abstract

This work introduces Talk2BEV, a large vision-language model (LVLM) interface for bird’s-eye view (BEV) maps in autonomous driving contexts. While existing perception systems for autonomous driving scenarios have largely focused on a pre-defined (closed) set of object categories and driving scenarios, Talk2BEV blends recent advances in general-purpose language and vision models with BEV-structured map representations, eliminating the need for task-specific models. This enables a single system to cater to a variety of autonomous driving tasks encompassing visual and spatial reasoning, predicting the intents of traffic actors, and decision-making based on visual cues. We extensively evaluate Talk2BEV on a large number of scene understanding tasks that rely on both the ability to interpret free-form natural language queries and in grounding these queries to the visual context embedded into the language-enhanced BEV map. To enable further research in LVLMs for autonomous driving scenarios, we develop and release Talk2BEV-Bench, a benchmark encompassing 1000 human-annotated BEV scenarios, with more than 20,000 questions and ground-truth responses from the NuScenes dataset.

Abstract

Quantum states least affected by interactions with environment play a pivotal role in both foundations and applications of quantum mechanics. Known as pointer states, they surprisingly lacked a systematic description. Working within the Born-Markov approximation, we combine methods of group theory and open quantum systems and derive general conditions describing pointer states. Contrary to common expectations, they are in general different from coherent states. Thus the two notions of being “closest to the classical”—one defined by the uncertainty relations and the other by the interaction with the environment—are in general different. As an example, we study spin-spin and spin-boson models with an arbitrary central spin J.

Abstract

Computing binding affinities is of great importance in drug discovery pipeline and its prediction using advanced machine learning methods still remains a major challenge as the existing datasets and models do not consider the dynamic features of protein-ligand interactions. To this end, we have developed PLAS-20k dataset, an extension of previously developed PLAS-5k, with 97,500 independent simulations on a total of 19,500 different protein-ligand complexes. Our results show good correlation with the available experimental values, performing better than docking scores. This holds true even for a subset of ligands that follows Lipinski’s rule, and for diverse clusters of complex structures, thereby highlighting the importance of PLAS-20k dataset in developing new ML models. Along with this, our dataset is also beneficial in classifying strong and weak binders compared to docking. Further, OnionNet model has been retrained on PLAS-20k dataset and is provided as a baseline for the prediction of binding affinities. We believe that large-scale MD-based datasets along with trajectories will form new synergy, paving the way for accelerating drug discovery.

Abstract

This research paper presents a novel low computational approach for navigating a micro UAV (Unmanned Aerial Vehicle) through narrow passages using only its onboard camera feed and a PID control system. The proposed method uses edge detection and homography techniques to extract the key features of the passage from the camera feed, and then employs a tuned PID controller to guide the UAV through and out of the passage while avoiding collisions with the walls. To evaluate the effectiveness of the proposed approach, a series of experiments were conducted using a micro-UAV navigating in and out of a custom-built test environment (constrained rectangular box). The results demonstrate that the system is able to successfully guide the UAV through the passages while avoiding collisions with the walls

Abstract

Advances in neural fields are enabling high-fidelity capture of the shape and appearance of dynamic 3D scenes. However, their capabilities lag behind those offered by conventional representations such as 2D videos because of algorithmic challenges and the lack of large-scale multi-view real-world datasets. We address the dataset limitation with DiVa-360, a real-world 360◦ dynamic visual dataset that contains synchronized high-resolution and long-duration multi-view video sequences of table-scale scenes captured using a customized low-cost system with 53 cameras. It contains 21 object-centric sequences categorized by different motion types, 25 intricate hand-object interaction sequences, and 8 long-duration sequences for a total of 17.4 M image frames. In addition, we provide foreground-background segmentation masks, synchronized audio, and text descriptions. We benchmark the state-of-the-art dynamic neural field methods on DiVa-360 and provide insights about existing methods and future challenges on long-duration neural field capture

Abstract

Understanding how we grasp objects with our hands has important applications in areas like robotics and mixed re ality. However, this challenging problem requires accurate modeling of the contact between hands and objects. To capture grasps, existing methods use skeletons, meshes, or parametric models that does not represent hand shape accu rately resulting in inaccurate contacts. We present MANUS, amethodforMarkerlessHand-ObjectGraspCaptureusing Articulated 3D Gaussians. We build a novel articulated 3D Gaussians representation that extends 3D Gaussian splatting [33] for high-fidelity representation of articulat ing hands. Since our representation uses Gaussian primi tives optimized from the multi-view pixel-aligned losses, it enables us to efficiently and accurately estimate contacts between the hand and the object.

Abstract

The scalar-leptoquark (sLQ) parameter space is well explored experimentally. The direct pair production searches at the LHC have excluded light sLQs almost model agnostically, and the high-pT dilepton tail data have put strong bounds on the leptoquark-quark-lepton Yukawa couplings for a wide range of sLQ masses. However, these do not show the complete picture. Previously, Mandal et al. [Single productions of colored particles at the LHC: An example with scalar leptoquarks, J. High Energy Phys. 07 (2015) 028] showed how the dilepton-dijet data from the pair production searches could give strong limits on these couplings. This was possible by including the single-production contribution to the dilepton-dijet signal. In this paper, we take a fresh look at the LHC limits on all sLQs by following the same principle and combine all significant contributions—from pair and single productions, t-channel sLQ exchange and its interference with the Standard Model background—to the μμjj final state and recast the limits. We notice that the sLQ exchange and its interference with the background processes play significant roles in the limits. The μμjj- recast limits are comparable to or, in some cases, significantly better than the currently known limits (from high-pT dilepton data and direct searches), i.e., the LHC data rules out more parameter space than what is considered in the current literature. For the first time, we also show how including the QED processes can noticeably improve the sLQ mass exclusion limits from the QCD-only limits.

Abstract

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Abstract

The advent of the Internet of Things (IoT) has ushered in transformative possibilities for smart cities, with the potential to revolutionize urban living through enhanced connectivity and data-driven decision-making. However, the effective realization of IoT in smart cities hinges upon the seamless interoperability of diverse devices and systems. To address this critical need, the oneM2M standards initiative has emerged as a foundational framework for IoT interoperability. In this research paper, we perform an exploratory analysis of three prominent open-source oneM2M based interoperability systems—Mobius, OM2M, and ACME. We leverage an existing large-scale system provided by our Smart City Living Lab deployed at IIIT Hyderabad, sprawling a 66-acre campus featuring over 370 nodes across eight verticals. We investigate the architectural characteristics of each solution, considering their strengths and limitations in facilitating IoT interoperability. Through this analysis, our paper aims to provide valuable insights for stakeholders seeking to implement IoT interoperability solutions in the context of smart cities. By evaluating the strengths and limitations of Mobius, OM2M, and ACME, we seek to offer guidance for selecting the most suitable solution. Our analysis reveals that the optimal framework choice depends on specific quality constraints: Mobius excels in performance, while ACME offers advantages in ease of setup for smaller-scale implementations.

Abstract

In an ecosystem comprising coexisting species, mutations frequently occur. These mutations can be induced by various factors such as errors in DNA replication and exposure to chemicals. They constitute an intrinsic element of species evolution. This study investigates the impact of mutations on ecosystems, employing Gillespie simulations and the formulation of the First-passage extinction problem to assess their effects and examine extinction events. Our findings suggest first-extinction time and state distribution in a system with mutation follows intriguing behavior which promotes co-existence. There also exists a depression in the state space post which mutation extends the first-extinction time. Moreover, a system devoid of mutation exhibits a discernible inclination towards probabilities that lean in the direction of an endangered state space.