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We present a novel learning-based trajectory generation algorithm for outdoor robot navigation. Our goal is to compute collision-free paths that also satisfy the environment-specific traversability constraints. Our approach is designed for global planning using limited onboard robot perception in mapless environments while ensuring comprehensive coverage of all traversable directions. Our formulation uses a Conditional Variational Autoencoder (CVAE) generative model that is enhanced with traversability constraints and an optimization formulation used for the coverage. We highlight the benefits of our approach over state-of-the-art trajectory generation approaches and demonstrate its performance in challenging and large outdoor environments, including around buildings, across intersections, along trails, and off-road terrain, using a Clearpath Husky and a Boston Dynamics Spot robot. In practice, our approach results in a 6% improvement in coverage of traversable areas and an 89% reduction in trajectory portions residing in non-traversable regions. Our video is here: https://youtu.be/3eJ2soAzXnU 

Recently, zero-shot (or training-free) Neural Architecture Search (NAS) approaches have been proposed to liberate NAS from the expensive training process. The key idea behind zero-shot NAS approaches is to design proxies that can predict the accuracy of some given networks without training the network parameters. The proxies proposed so far are usually inspired by recent progress in theoretical understanding of deep learning and have shown great potential on several datasets and NAS benchmarks. This paper aims to comprehensively review and compare the state-of-the-art (SOTA) zero-shot NAS approaches, with an emphasis on their hardware awareness. To this end, we first review the mainstream zero-shot proxies and discuss their theoretical underpinnings. We then compare these zero-shot proxies through large-scale experiments and demonstrate their effectiveness in both hardware-aware and hardware-oblivious NAS scenarios. Finally, we point out several promising ideas to design better proxies. 

Photoinduced biological and chemical reactions are often based on key structural transformations of a molecule driven across multiple electronic states. Acetylacetone (AcAc) is a prototypical system for complex chemical pathways involving several conical intersections (CI) and singlet−triplet intersystem crossings (ISC) characterized by distinct geometries. In the gas phase, AcAc is predominantly in a planar ring-like enolic form stabilized by a strong intramolecular O−H···O hydrogen bond. Following excitation into the S2 (ππ*) state at 266 nm, acetylacetone undergoes rapid internal conversion followed by intersystem crossing. Such relaxation pathways are associated with structural changes including ring opening, deplanarization, and bond elongation. In this work, ultrafast electron diffraction (UED) at the SLAC MeV-UED setup is employed as a direct structural probe with a time resolution of 160 fs. Together with trajectory surface hopping simulations, analysis of the UED data provides a new perspective on the early time nuclear dynamics in acetylacetone. Specifically, AcAc is observed to undergo ring opening, deplanarization, and bond elongation all within the first 700 fs after photoexcitation. The monitored dynamics is associated mainly with the nuclear motion on the S1 potential energy surface, formed after very rapid transfer from S2 to S1, allowing AcAc to reach the conical intersection to intersystem crossing. Such time scales of nuclear motion are contrasted with the time scales of electronic transitions in AcAc that were previously characterized with spectroscopic methods, specifically internal conversion (<100 fs) and intersystem crossing (∼1.5 ps). 

Symmetry control is essential for realizing unconventional properties, such as ferroelectricity, nonlinear optical responses, and complex topological order, thus it holds promise for the design of emerging quantum and photonic systems. Nevertheless, fast and reversible control of symmetry in materials remains a challenge, especially for nanoscale systems. Here, reversible symmetry changes are unveiled in colloidal lead chalcogenide quantum dots on picosecond timescales. Using a combination of ultrafast electron diffraction and total X‐ray scattering, in conjunction with atomic‐scale structural modeling and first‐principles calculations, it is revealed that symmetry‐broken lead sulfide quantum dots restore to a centrosymmetric phase upon photoexcitation. The symmetry restoration is driven by photoexcited electronic carriers, which suppress lead off‐centering for about 100 ps. Furthermore, the change in symmetry is closely correlated with the electronic properties, and the bandgap transiently red‐shifts in the symmetry‐restored quantum dots. Overall, this study elucidates reversible symmetry changes in colloidal quantum dots, and more broadly defines a new methodology to optically control symmetry in nanoscale systems on ultrafast timescales.