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In this paper, we introduce a novel convex formulation that seamlessly integrates the Material Point Method (MPM) with articulated rigid body dynamics in frictional contact scenarios. We extend the linear corotational hyperelastic model into the realm of elastoplasticity and include an efficient return mapping algorithm. This approach is particularly effective for MPM simulations involving significant deformation and topology changes, while preserving the convexity of the optimization problem. Our method ensures global convergence, enabling the use of large simulation time steps without compromising robustness. We have validated our approach through rigorous testing and performance evaluations, highlighting its superior capabilities in managing complex simulations relevant to robotics. Compared to previous MPM based robotic simulators, our method significantly improves the stability of contact resolution -- a critical factor in robot manipulation tasks. We make our method available in the open-source robotics toolkit, Drake.

Large Language Models (LLMs) have recently made significant advances in code generation through the 'Chain-of-Thought' prompting technique. This technique empowers the model to autonomously devise "solution plans" to tackle intricate programming challenges, thereby improving its performance in code generation. Nevertheless, smaller models have been struggling to keep up with LLMs in deducing these plans, adversely affecting their code generation capabilities. Given the considerable size and associated deployment costs, along with concerns about data security, many teams opt for deploying smaller models for code generation. Consequently, there arises a compelling need for transferring LLMs' code generation reasoning abilities to the smaller models. In this paper, we propose the CodePLAN framework, which aims to transfer LLMs' reasoning capabilities to smaller models through distillation. We adopt a multi-task learning approach, jointly undertaking code generation and solution plan generation tasks, to enhance the code generation capabilities of the smaller model. To ensure the superior quality of the solution plans, we advocate for the utilization of backward reasoning and plan sampling strategies. Our experiments show that in comparison to the conventional fine-tuning approach, our approach improves the smaller model's code generation performance (measured in pass@1 metric) by over 130% on the challenging APPS benchmark.

The existing methods for evaluating the inference abilities of Large Language Models (LLMs) have been results-centric, making it difficult to assess the inference process. We introduce a new approach using the Abstract and Reasoning Corpus (ARC) dataset to evaluate the inference and contextual understanding abilities of large language models in a process-centric manner. ARC demands rigorous logical structures for problem-solving, making it a benchmark that facilitates the comparison of model inference abilities with humans. Experimental results confirm that while large language models possess weak inference abilities, they still lag in terms of logical coherence, compositionality, and productivity. Our experiments highlight the reasoning capabilities of LLMs, proposing development paths for achieving human-level reasoning.

We present a new approach leveraging the Sliding Frank--Wolfe algorithm to address the challenge of line recovery in degraded images. Building upon advances in conditional gradient methods for sparse inverse problems with differentiable measurement models, we propose two distinct models tailored for line detection tasks within the realm of blurred line deconvolution and ridge detection of linear chirps in spectrogram images.

Generating competitive strategies and performing continuous motion planning simultaneously in an adversarial setting is a challenging problem. In addition, understanding the intent of other agents is crucial to deploying autonomous systems in adversarial multi-agent environments. Existing approaches either discretize agent action by grouping similar control inputs, sacrificing performance in motion planning, or plan in uninterpretable latent spaces, producing hard-to-understand agent behaviors. This paper proposes an agent strategy representation via Policy Characteristic Space that maps the agent policies to a pre-specified low-dimensional space. Policy Characteristic Space enables the discretization of agent policy switchings while preserving continuity in control. Also, it provides intepretability of agent policies and clear intentions of policy switchings. Then, regret-based game-theoretic approaches can be applied in the Policy Characteristic Space to obtain high performance in adversarial environments. Our proposed method is assessed by conducting experiments in an autonomous racing scenario using scaled vehicles. Statistical evidence shows that our method significantly improves the win rate of ego agent and the method also generalizes well to unseen environments.

We develop a practical way of addressing the Errors-In-Variables (EIV) problem in the Generalized Method of Moments (GMM) framework. We focus on the settings in which the variability of the EIV is a fraction of that of the mismeasured variables, which is typical for empirical applications. For any initial set of moment conditions our approach provides a "corrected" set of moment conditions that are robust to the EIV. We show that the GMM estimator based on these moments is root-n-consistent, with the standard tests and confidence intervals providing valid inference. This is true even when the EIV are so large that naive estimators (that ignore the EIV problem) are heavily biased with their confidence intervals having 0% coverage. Our approach involves no nonparametric estimation, which is especially important for applications with many covariates, and settings with multivariate or non-classical EIV. In particular, the approach makes it easy to use instrumental variables to address EIV in nonlinear models.

In simulation of nuclear reactor physics using the Monte Carlo neutron transport method on GPUs, the sorting of particles plays a significant role in performance of calculation. Traditionally, CPUs and GPUs are separated devices connected at low data transfer rate and high data transfer latency. Emerging computing chips tend to integrate CPUs and GPUs. One example is the Apple silicon chips with unified memory. Such unified memory chips have opened doors for new strategies of collaboration between CPUs and GPUs for Monte Carlo neutron transport. Sorting particle on CPU and transport on GPU is an example of such new strategy, which has been suffering the high CPU-GPU data transfer latency on the traditional devices with separated CPU and GPU. The finding is that for the Apple M2 max chip, sorting on CPU leads to better performance per power than sorting on GPU for the ExaSMR whole core benchmark problems and the HTR-10 high temperature gas reactor fuel pebble problem. The partially sorted particle order has been identified to contribute to the higher performance with CPU sort than GPU. The in-house code using both CPU and GPU achieves 7.5 times power efficiency that of OpenMC on CPU for ExaSMR whole core benchmark with depleted fuel, and 150 times for HTR-10 fuel pebble benchmark with depleted fuel.

Website reliability labels underpin almost all research in misinformation detection. However, misinformation sources often exhibit transient behavior, which makes many such labeled lists obsolete over time. We demonstrate that Search Engine Optimization (SEO) attributes provide strong signals for predicting news site reliability. We introduce a novel attributed webgraph dataset with labeled news domains and their connections to outlinking and backlinking domains. We demonstrate the success of graph neural networks in detecting news site reliability using these attributed webgraphs, and show that our baseline news site reliability classifier outperforms current SoTA methods on the PoliticalNews dataset, achieving an F1 score of 0.96. Finally, we introduce and evaluate a novel graph-based algorithm for discovering previously unknown misinformation news sources.

We study dual number symmetric matrices, dual complex Hermitian matrices and dual quaternion Hermitian matrices in a unified frame of dual Hermitian matrices. Suppose we have a ring, which can be the real field, the complex field, or the quaternion ring. Then an $n \times n$ dual Hermitian matrix has $n$ dual number eigenvalues. We define supplement matrices for a dual Hermitian matrix. Supplement matrices are Hermitian matrices in the original ring. The standard parts of the eigenvalues of that dual Hermitian matrix are the eigenvalues of the standard part Hermitian matrix in the original ring, while the dual parts of the eigenvalues of that dual Hermitian matrix are the eigenvalues of those {supplement} matrices. Hence, by apply any practical method for computing eigenvalues of Hermitian matrices in the original ring, we have a practical method for computing eigenvalues of a dual Hermitian matrix. We call this method the supplement matrix method. Applications to low rank approximation and generalized inverses of dual matrices, dual least squares problem and formation control are discussed. Numerical experiments are reported.

The Internet of Medical Things (IoMT) transcends traditional medical boundaries, enabling a transition from reactive treatment to proactive prevention. This innovative method revolutionizes healthcare by facilitating early disease detection and tailored care, particularly in chronic disease management, where IoMT automates treatments based on real-time health data collection. Nonetheless, its benefits are countered by significant security challenges that endanger the lives of its users due to the sensitivity and value of the processed data, thereby attracting malicious interests. Moreover, the utilization of wireless communication for data transmission exposes medical data to interception and tampering by cybercriminals. Additionally, anomalies may arise due to human errors, network interference, or hardware malfunctions. In this context, anomaly detection based on Machine Learning (ML) is an interesting solution, but it comes up against obstacles in terms of explicability and protection of privacy. To address these challenges, a new framework for Intrusion Detection Systems (IDS) is introduced, leveraging Artificial Neural Networks (ANN) for intrusion detection while utilizing Federated Learning (FL) for privacy preservation. Additionally, eXplainable Artificial Intelligence (XAI) methods are incorporated to enhance model explanation and interpretation. The efficacy of the proposed framework is evaluated and compared with centralized approaches using multiple datasets containing network and medical data, simulating various attack types impacting the confidentiality, integrity, and availability of medical and physiological data. The results obtained offer compelling evidence that the FL method performs comparably to the centralized method, demonstrating high performance. Additionally, it affords the dual advantage of safeguarding privacy and providing model explanation.