DeepICP: An End-to-End Deep Neural Network for 3D Point Cloud Registration

We present DeepICP - a novel end-to-end learning-based 3D point cloud registration framework that achieves comparable registration accuracy to prior state-of-the-art geometric methods. Different from other keypoint based methods where a RANSAC procedure is usually needed, we implement the use of various deep neural network structures to establish an end-to-end trainable network. Our keypoint detector is trained through this end-to-end structure and enables the system to avoid the inference of dynamic objects, leverages the help of sufficiently salient features on stationary objects, and as a result, achieves high robustness. Rather than searching the corresponding points among existing points, the key contribution is that we innovatively generate them based on learned matching probabilities among a group of candidates, which can boost the registration accuracy. Our loss function incorporates both the local similarity and the global geometric constraints to ensure all above network designs can converge towards the right direction. We comprehensively validate the effectiveness of our approach using both the KITTI dataset and the Apollo-SouthBay dataset. Results demonstrate that our method achieves comparable or better performance than the state-of-the-art geometry-based methods. Detailed ablation and visualization analysis are included to further illustrate the behavior and insights of our network. The low registration error and high robustness of our method makes it attractive for substantial applications relying on the point cloud registration task.Comment: 10 pages, 6 figures, 3 tables, typos corrected, experimental results updated, accepted by ICCV 201

Stage-by-stage Wavelet Optimization Refinement Diffusion Model for Sparse-View CT Reconstruction

Diffusion models have emerged as potential tools to tackle the challenge of sparse-view CT reconstruction, displaying superior performance compared to conventional methods. Nevertheless, these prevailing diffusion models predominantly focus on the sinogram or image domains, which can lead to instability during model training, potentially culminating in convergence towards local minimal solutions. The wavelet trans-form serves to disentangle image contents and features into distinct frequency-component bands at varying scales, adeptly capturing diverse directional structures. Employing the Wavelet transform as a guiding sparsity prior significantly enhances the robustness of diffusion models. In this study, we present an innovative approach named the Stage-by-stage Wavelet Optimization Refinement Diffusion (SWORD) model for sparse-view CT reconstruction. Specifically, we establish a unified mathematical model integrating low-frequency and high-frequency generative models, achieving the solution with optimization procedure. Furthermore, we perform the low-frequency and high-frequency generative models on wavelet's decomposed components rather than sinogram or image domains, ensuring the stability of model training. Our method rooted in established optimization theory, comprising three distinct stages, including low-frequency generation, high-frequency refinement and domain transform. Our experimental results demonstrate that the proposed method outperforms existing state-of-the-art methods both quantitatively and qualitatively

High efficiency uniform positron beam loading in a hollow channel plasma wakefield accelerator

We propose a novel positron beam loading regime in a hollow plasma channel that can efficiently accelerate $e^+$ beam with high gradient and narrow energy spread. In this regime, the $e^+$ beam coincides with the drive $e^-$ beam in time and space and their net current distribution determines the plasma wakefields. By precisely shaping the beam current profile and loading phase according to explicit expressions, three-dimensional Particle-in-Cell (PIC) simulations show that the acceleration for $e^+$ beam of $\sim$nC charge with $\sim$GV/m gradient, $\lesssim$0.5% induced energy spread and $\sim$50% energy transfer efficiency can be achieved simultaneously. Besides, only tailoring the current profile of the more tunable $e^-$ beam instead of the $e^+$ beam is enough to obtain such favorable results. A theoretical analysis considering both linear and nonlinear plasma responses in hollow plasma channels is proposed to quantify the beam loading effects. This theory agrees very well with the simulation results and verifies the robustness of this beam loading regime over a wide range of parameters

Graph Out-of-Distribution Generalization with Controllable Data Augmentation

Graph Neural Network (GNN) has demonstrated extraordinary performance in classifying graph properties. However, due to the selection bias of training and testing data (e.g., training on small graphs and testing on large graphs, or training on dense graphs and testing on sparse graphs), distribution deviation is widespread. More importantly, we often observe \emph{hybrid structure distribution shift} of both scale and density, despite of one-sided biased data partition. The spurious correlations over hybrid distribution deviation degrade the performance of previous GNN methods and show large instability among different datasets. To alleviate this problem, we propose \texttt{OOD-GMixup} to jointly manipulate the training distribution with \emph{controllable data augmentation} in metric space. Specifically, we first extract the graph rationales to eliminate the spurious correlations due to irrelevant information. Secondly, we generate virtual samples with perturbation on graph rationale representation domain to obtain potential OOD training samples. Finally, we propose OOD calibration to measure the distribution deviation of virtual samples by leveraging Extreme Value Theory, and further actively control the training distribution by emphasizing the impact of virtual OOD samples. Extensive studies on several real-world datasets on graph classification demonstrate the superiority of our proposed method over state-of-the-art baselines.Comment: Under revie

Statistical iterative reconstruction to improve image quality for digital breast tomosynthesis: IR to improve IQ for DBT

Digital breast tomosynthesis (DBT) is a novel modality with the potential to improve early detection of breast cancer by providing three-dimensional (3D) imaging with a low radiation dose. 3D image reconstruction presents some challenges: cone-beam and flat-panel geometry, and highly incomplete sampling. A promising means to overcome these challenges is statistical iterative reconstruction (IR), since it provides the flexibility of accurate physics modeling and a general description of system geometry. The authors’ goal was to develop techniques for applying statistical IR to tomosynthesis imaging data

Element Replacement Approach by Reaction with Lewis Acidic Molten Salts to Synthesize Nanolaminated MAX Phases and MXenes

Nanolaminated materials are important because of their exceptional properties and wide range of applications. Here, we demonstrate a general approach to synthesize a series of Zn-based MAX phases and Cl-terminated MXenes originating from the replacement reaction between the MAX phase and the late transition metal halides. The approach is a top-down route that enables the late transitional element atom (Zn in the present case) to occupy the A site in the pre-existing MAX phase structure. Using this replacement reaction between Zn element from molten ZnCl2 and Al element in MAX phase precursors (Ti3AlC2, Ti2AlC, Ti2AlN, and V2AlC), novel MAX phases Ti3ZnC2, Ti2ZnC, Ti2ZnN, and V2ZnC were synthesized. When employing excess ZnCl2, Cl terminated MXenes (such as Ti3C2Cl2 and Ti2CCl2) were derived by a subsequent exfoliation of Ti3ZnC2 and Ti2ZnC due to the strong Lewis acidity of molten ZnCl2. These results indicate that A-site element replacement in traditional MAX phases by late transition metal halides opens the door to explore MAX phases that are not thermodynamically stable at high temperature and would be difficult to synthesize through the commonly employed powder metallurgy approach. In addition, this is the first time that exclusively Cl-terminated MXenes were obtained, and the etching effect of Lewis acid in molten salts provides a green and viable route to prepare MXenes through an HF-free chemical approach.Comment: Title changed; experimental section and discussion revise

Nearly quantized conductance plateau of vortex zero mode in an iron-based superconductor

Majorana zero-modes (MZMs) are spatially-localized zero-energy fractional quasiparticles with non-Abelian braiding statistics that hold a great promise for topological quantum computing. Due to its particle-antiparticle equivalence, an MZM exhibits robust resonant Andreev reflection and 2e2/h quantized conductance at low temperature. By utilizing variable-tunnel-coupled scanning tunneling spectroscopy, we study tunneling conductance of vortex bound states on FeTe0.55Se0.45 superconductors. We report observations of conductance plateaus as a function of tunnel coupling for zero-energy vortex bound states with values close to or even reaching the 2e2/h quantum conductance. In contrast, no such plateau behaviors were observed on either finite energy Caroli-de Genne-Matricon bound states or in the continuum of electronic states outside the superconducting gap. This unique behavior of the zero-mode conductance reaching a plateau strongly supports the existence of MZMs in this iron-based superconductor, which serves as a promising single-material platform for Majorana braiding at a relatively high temperature

Demonstration of Adiabatic Variational Quantum Computing with a Superconducting Quantum Coprocessor

Adiabatic quantum computing enables the preparation of many-body ground states. This is key for applications in chemistry, materials science, and beyond. Realisation poses major experimental challenges: Direct analog implementation requires complex Hamiltonian engineering, while the digitised version needs deep quantum gate circuits. To bypass these obstacles, we suggest an adiabatic variational hybrid algorithm, which employs short quantum circuits and provides a systematic quantum adiabatic optimisation of the circuit parameters. The quantum adiabatic theorem promises not only the ground state but also that the excited eigenstates can be found. We report the first experimental demonstration that many-body eigenstates can be efficiently prepared by an adiabatic variational algorithm assisted with a multi-qubit superconducting coprocessor. We track the real-time evolution of the ground and exited states of transverse-field Ising spins with a fidelity up that can reach about 99%.Comment: 12 pages, 4 figure