In this paper, we present a derivative-based, functional recognizer and parser generator for visibly pushdown grammars. The generated parser accepts ambiguous grammars and produces a parse forest containing all valid parse trees for an input string i
n linear time. Each parse tree in the forest can then be extracted also in linear time. Besides the parser generator, to allow more flexible forms of the visibly pushdown grammars, we also present a translator that converts a tagged CFG to a visibly pushdown grammar in a sound way, and the parse trees of the tagged CFG are further produced by running the semantic actions embedded in the parse trees of the translated visibly pushdown grammar. The performance of the parser is compared with a popular parsing tool ANTLR and other popular hand-crafted parsers. The correctness of the core parsing algorithm is formally verified in the proof assistant Coq.
We study the image formation near point singularities (swallowtail and umbilics) in the simulated strongly lensed images of Hubble Ultra Deep Field (HUDF) by the Hubble Frontier Fields (HFF) clusters. In this work, we only consider nearly half of the
brightest (a total of 5271) sources in the HUDF region. For every HFF cluster, we constructed 11 realizations of strongly lensed HUDF with an arbitrary translation of the cluster centre within the central region of HUDF and an arbitrary rotation. In each of these realizations, we visually identify the characteristic/exotic image formation corresponding to the different point singularities. We find that our current results are consistent with our earlier results based on different approaches. We also study time delay in these exotic image formations and compare it with typical five-image geometries. We find that the typical time delay in exotic image formations is an order of magnitude smaller than the typical time delay in a generic five-image geometry.
Successful real-world deployment of legged robots would require them to adapt in real-time to unseen scenarios like changing terrains, changing payloads, wear and tear. This paper presents Rapid Motor Adaptation (RMA) algorithm to solve this problem
of real-time online adaptation in quadruped robots. RMA consists of two components: a base policy and an adaptation module. The combination of these components enables the robot to adapt to novel situations in fractions of a second. RMA is trained completely in simulation without using any domain knowledge like reference trajectories or predefined foot trajectory generators and is deployed on the A1 robot without any fine-tuning. We train RMA on a varied terrain generator using bioenergetics-inspired rewards and deploy it on a variety of difficult terrains including rocky, slippery, deformable surfaces in environments with grass, long vegetation, concrete, pebbles, stairs, sand, etc. RMA shows state-of-the-art performance across diverse real-world as well as simulation experiments. Video results at https://ashish-kmr.github.io/rma-legged-robots/
Tropical cyclones are one of the most powerful and destructive natural phenomena on earth. Tropical storms and heavy rains can cause floods, which lead to human lives and economic loss. Devastating winds accompanying cyclones heavily affect not only
the coastal regions, even distant areas. Our study focuses on the intensity estimation, particularly cyclone grade and maximum sustained surface wind speed (MSWS) of a tropical cyclone over the North Indian Ocean. We use various machine learning algorithms to estimate cyclone grade and MSWS. We have used the basin of origin, date, time, latitude, longitude, estimated central pressure, and pressure drop as attributes of our models. We use multi-class classification models for the categorical outcome variable, cyclone grade, and regression models for MSWS as it is a continuous variable. Using the best track data of 28 years over the North Indian Ocean, we estimate grade with an accuracy of 88% and MSWS with a root mean square error (RMSE) of 2.3. For higher grade categories (5-7), accuracy improves to an average of 98.84%. We tested our model with two recent tropical cyclones in the North Indian Ocean, Vayu and Fani. For grade, we obtained an accuracy of 93.22% and 95.23% respectively, while for MSWS, we obtained RMSE of 2.2 and 3.4 and $R^2$ of 0.99 and 0.99, respectively.
Tropical cyclones can be of varied intensity and cause a huge loss of lives and property if the intensity is high enough. Therefore, the prediction of the intensity of tropical cyclones advance in time is of utmost importance. We propose a novel stac
ked bidirectional long short-term memory network (BiLSTM) based model architecture to predict the intensity of a tropical cyclone in terms of Maximum surface sustained wind speed (MSWS). The proposed model can predict MSWS well advance in time (up to 72 h) with very high accuracy. We have applied the model on tropical cyclones in the North Indian Ocean from 1982 to 2018 and checked its performance on two recent tropical cyclones, namely, Fani and Vayu. The model predicts MSWS (in knots) for the next 3, 12, 24, 36, 48, 60, and 72 hours with a mean absolute error of 1.52, 3.66, 5.88, 7.42, 8.96, 10.15, and 11.92, respectively.
We discuss the prospects of gravitational lensing of gravitational waves (GWs) coming from core-collapse supernovae (CCSN). As the CCSN GW signal can only be detected from within our own Galaxy and the local group by current and upcoming ground-based
GW detectors, we focus on microlensing. We introduce a new technique based on analysis of the power spectrum and association of peaks of the power spectrum with the peaks of the amplification factor to identify lensed signals. We validate our method by applying it on the CCSN-like mock signals lensed by a point mass lens. We find that the lensed and unlensed signal can be differentiated using the association of peaks by more than one sigma for lens masses larger than 150 solar masses. We also study the correlation integral between the power spectra and corresponding amplification factor. This statistical approach is able to differentiate between unlensed and lensed signals for lenses as small as 15 solar masses. Further, we demonstrate that this method can be used to estimate the mass of a lens in case the signal is lensed. The power spectrum based analysis is general and can be applied to any broad band signal and is especially useful for incoherent signals.
We have proposed orthogonal-Pade activation functions, which are trainable activation functions and show that they have faster learning capability and improves the accuracy in standard deep learning datasets and models. Based on our experiments, we h
ave found two best candidates out of six orthogonal-Pade activations, which we call safe Hermite-Pade (HP) activation functions, namely HP-1 and HP-2. When compared to ReLU, HP-1 and HP-2 has an increment in top-1 accuracy by 5.06% and 4.63% respectively in PreActResNet-34, by 3.02% and 2.75% respectively in MobileNet V2 model on CIFAR100 dataset while on CIFAR10 dataset top-1 accuracy increases by 2.02% and 1.78% respectively in PreActResNet-34, by 2.24% and 2.06% respectively in LeNet, by 2.15% and 2.03% respectively in Efficientnet B0.
The prediction of the intensity, location and time of the landfall of a tropical cyclone well advance in time and with high accuracy can reduce human and material loss immensely. In this article, we develop a Long Short-Term memory based Recurrent Ne
ural network model to predict intensity (in terms of maximum sustained surface wind speed), location (latitude and longitude), and time (in hours after the observation period) of the landfall of a tropical cyclone which originates in the North Indian ocean. The model takes as input the best track data of cyclone consisting of its location, pressure, sea surface temperature, and intensity for certain hours (from 12 to 36 hours) anytime during the course of the cyclone as a time series and then provide predictions with high accuracy. For example, using 24 hours data of a cyclone anytime during its course, the model provides state-of-the-art results by predicting landfall intensity, time, latitude, and longitude with a mean absolute error of 4.24 knots, 4.5 hours, 0.24 degree, and 0.37 degree respectively, which resulted in a distance error of 51.7 kilometers from the landfall location. We further check the efficacy of the model on three recent devastating cyclones Bulbul, Fani, and Gaja, and achieved better results than the test dataset.
Landfall of a tropical cyclone is the event when it moves over the land after crossing the coast of the ocean. It is important to know the characteristics of the landfall in terms of location and time, well advance in time to take preventive measures
timely. In this article, we develop a deep learning model based on the combination of a Convolutional Neural network and a Long Short-Term memory network to predict the landfalls location and time of a tropical cyclone in six ocean basins of the world with high accuracy. We have used high-resolution spacial reanalysis data, ERA5, maintained by European Center for Medium-Range Weather Forecasting (ECMWF). The model takes any 9 hours, 15 hours, or 21 hours of data, during the progress of a tropical cyclone and predicts its landfalls location in terms of latitude and longitude and time in hours. For 21 hours of data, we achieve mean absolute error for landfalls location prediction in the range of 66.18 - 158.92 kilometers and for landfalls time prediction in the range of 4.71 - 8.20 hours across all six ocean basins. The model can be trained in just 30 to 45 minutes (based on ocean basin) and can predict the landfalls location and time in a few seconds, which makes it suitable for real time prediction.
Due to the finite amount of observational data, the best-fit parameters corresponding to the reconstructed cluster mass have uncertainties. In turn, these uncertainties affect the inferences made from these mass models. Following our earlier work, we
have studied the effect of such uncertainties on the singularity maps in simulated and actual galaxy clusters. The mass models for both simulated and real clusters have been constructed using grale. The final best-fit mass models created using grale give the simplest singularity maps and a lower limit on the number of point singularities that a lens has to offer. The simple nature of these singularity maps also puts a lower limit on the number of three image (tangential and radial) arcs that a cluster lens has. Hence, we estimate the number of galaxy sources giving rise to the three image arcs, which can be observed with the James Webb Space Telescope (JWST). We find that we expect to observe at least 20-30 tangential and 5-10 radial three-image arcs in the Hubble Frontier Fields cluster lenses with the JWST.
