Extremal asymmetric universal cloning machines

The trade-offs among various output fidelities of asymmetric universal cloning machines are investigated. First we find out all the attainable optimal output fidelities for the 1 to 3 asymmetric universal cloning machine and it turns out that there are two kinds of extremal asymmetric cloning machines which have to cooperate in order to achieve some of the optimal output fidelities. Second we construct a family of extremal cloning machines that includes the universal symmetric cloning machine as well as an asymmetric 1 to $1+N$ cloning machine for qudits with two different output fidelities such that the optimal trade-off between the measurement disturbance and state estimation is attained in the limit of infinite $N$.Comment: 4 pages 2 figure

Moderate deviations for the mildly stationary autoregressive models with dependent errors

In this paper, we consider the normalized least squares estimator of the parameter in a mildly stationary first-order autoregressive model with dependent errors which are modeled as a mildly stationary AR(1) process. By martingale methods, we establish the moderate deviations for the least squares estimators of the regressor and error, which can be applied to understand the near-integrated second order autoregressive processes. As an application, we obtain the moderate deviations for the Durbin-Watson statistic.Comment: Comments welcome. 28 page

Comparative analysis of imaging configurations and objectives for Fourier microscopy

Fourier microscopy is becoming an increasingly important tool for the analysis of optical nanostructures and quantum emitters. However, achieving quantitative Fourier space measurements requires a thorough understanding of the impact of aberrations introduced by optical microscopes, which have been optimized for conventional real-space imaging. Here, we present a detailed framework for analyzing the performance of microscope objectives for several common Fourier imaging configurations. To this end, we model objectives from Nikon, Olympus, and Zeiss using parameters that were inferred from patent literature and confirmed, where possible, by physical disassembly. We then examine the aberrations most relevant to Fourier microscopy, including the alignment tolerances of apodization factors for different objective classes, the effect of magnification on the modulation transfer function, and vignetting-induced reductions of the effective numerical aperture for wide-field measurements. Based on this analysis, we identify an optimal objective class and imaging configuration for Fourier microscopy. In addition, as a resource for future studies, the Zemax files for the objectives and setups used in this analysis have been made publicly available.Comment: For related figshare fileset with complete Zemax models of microscope objectives, tube lenses, and Fourier imaging configurations, see Ref. [41] (available at http://dx.doi.org/10.6084/m9.figshare.1481270

Role Playing Learning for Socially Concomitant Mobile Robot Navigation

In this paper, we present the Role Playing Learning (RPL) scheme for a mobile robot to navigate socially with its human companion in populated environments. Neural networks (NN) are constructed to parameterize a stochastic policy that directly maps sensory data collected by the robot to its velocity outputs, while respecting a set of social norms. An efficient simulative learning environment is built with maps and pedestrians trajectories collected from a number of real-world crowd data sets. In each learning iteration, a robot equipped with the NN policy is created virtually in the learning environment to play itself as a companied pedestrian and navigate towards a goal in a socially concomitant manner. Thus, we call this process Role Playing Learning, which is formulated under a reinforcement learning (RL) framework. The NN policy is optimized end-to-end using Trust Region Policy Optimization (TRPO), with consideration of the imperfectness of robot's sensor measurements. Simulative and experimental results are provided to demonstrate the efficacy and superiority of our method

AvatarCraft: Transforming Text into Neural Human Avatars with Parameterized Shape and Pose Control

Neural implicit fields are powerful for representing 3D scenes and generating high-quality novel views, but it remains challenging to use such implicit representations for creating a 3D human avatar with a specific identity and artistic style that can be easily animated. Our proposed method, AvatarCraft, addresses this challenge by using diffusion models to guide the learning of geometry and texture for a neural avatar based on a single text prompt. We carefully design the optimization framework of neural implicit fields, including a coarse-to-fine multi-bounding box training strategy, shape regularization, and diffusion-based constraints, to produce high-quality geometry and texture. Additionally, we make the human avatar animatable by deforming the neural implicit field with an explicit warping field that maps the target human mesh to a template human mesh, both represented using parametric human models. This simplifies animation and reshaping of the generated avatar by controlling pose and shape parameters. Extensive experiments on various text descriptions show that AvatarCraft is effective and robust in creating human avatars and rendering novel views, poses, and shapes. Our project page is: https://avatar-craft.github.io/.Comment: ICCV 2023 Camera Read