Exploring the Limitations of Behavior Cloning for Autonomous Driving

Driving requires reacting to a wide variety of complex environment conditions and agent behaviors. Explicitly modeling each possible scenario is unrealistic. In contrast, imitation learning can, in theory, leverage data from large fleets of human-driven cars. Behavior cloning in particular has been successfully used to learn simple visuomotor policies end-to-end, but scaling to the full spectrum of driving behaviors remains an unsolved problem. In this paper, we propose a new benchmark to experimentally investigate the scalability and limitations of behavior cloning. We show that behavior cloning leads to state-of-the-art results, including in unseen environments, executing complex lateral and longitudinal maneuvers without these reactions being explicitly programmed. However, we confirm well-known limitations (due to dataset bias and overfitting), new generalization issues (due to dynamic objects and the lack of a causal model), and training instability requiring further research before behavior cloning can graduate to real-world driving. The code of the studied behavior cloning approaches can be found at https://github.com/felipecode/coiltraine

Domain walls in a chiral d-wave superconductor on the honeycomb lattice

We perform a fully self-consistent study of domain walls between different chiral domains in chiral $d_{x^2-y^2} \pm id_{xy}-wave superconductors with an underlying honeycomb lattice structure. We investigate domain walls along all possible armchair and zigzag directions and with a finite global phase shift across the domain wall, in addition to the change of chirality. For armchair domain walls we find the lowest domain wall energy at zero global phase shift, while the most favorable zigzag domain wall has a finite global phase shift dependent on the doping level. Below the van Hove singularity the armchair domain wall is most favorable, while at even higher doping the zigzag domain wall has the lowest energy. The domain wall causes a local suppression of the superconducting order parameter, with the superconducting recovery length following a universal curve for all domain walls. Moreover, we always find four subgap states crossing zero energy and well localized to the domain wall. However, the details of their energy spectrum vary notably, especially with the global phase shift across the domain wall.Comment: 8 pages, 8 figure

Wilson loop approach to fragile topology of split elementary band representations and topological crystalline insulators with time reversal symmetry

We present a general methodology towards the systematic characterization of crystalline topological insulating phases with time reversal symmetry (TRS).~In particular, taking the two-dimensional spinful hexagonal lattice as a proof of principle we study windings of Wilson loop spectra over cuts in the Brillouin zone that are dictated by the underlying lattice symmetries.~Our approach finds a prominent use in elucidating and quantifying the recently proposed ``topological quantum chemistry" (TQC) concept.~Namely, we prove that the split of an elementary band representation (EBR) by a band gap must lead to a topological phase.~For this we first show that in addition to the Fu-Kane-Mele $\mathbb{Z}_2$ classification, there is $C_2\mathcal{T}$-symmetry protected $\mathbb{Z}$ classification of two-band subspaces that is obstructed by the other crystalline symmetries, i.e.~forbidding the trivial phase. This accounts for all nontrivial Wilson loop windings of split EBRs \textit{that are independent of the parameterization of the flow of Wilson loops}.~Then, we show that while Wilson loop winding of split EBRs can unwind when embedded in higher-dimensional band space, two-band subspaces that remain separated by a band gap from the other bands conserve their Wilson loop winding, hence revealing that split EBRs are at least "stably trivial", i.e. necessarily non-trivial in the non-stable (few-band) limit but possibly trivial in the stable (many-band) limit.~This clarifies the nature of \textit{fragile} topology that has appeared very recently.~We then argue that in the many-band limit the stable Wilson loop winding is only determined by the Fu-Kane-Mele $\mathbb{Z}_2$ invariant implying that further stable topological phases must belong to the class of higher-order topological insulators.Comment: 27 pages, 13 figures, v2: minor corrections, new references included, v3: metastable topology of split EBRs emphasized, v4: prepared for publicatio

Spin-orbit resonances and rotation of coorbital bodies in quasi-circular orbits

The rotation of asymmetric bodies in eccentric Keplerian orbits can be chaotic when there is some overlap of spin-orbit resonances. Here we show that the rotation of two coorbital bodies (two planets orbiting a star or two satellites of a planet) can also be chaotic even for quasi-circular orbits around the central body. When dissipation is present, the rotation period of a body on a nearly circular orbit is believed to always end synchronous with the orbital period. Here we demonstrate that for coorbital bodies in quasi-circular orbits, stable non-synchronous rotation is possible for a wide range of mass ratios and body shapes. We further show that the rotation becomes chaotic when the natural rotational libration frequency, due to the axial asymmetry, is of the same order of magnitude as the orbital libration frequency

Microbial carbon use efficiency predicted from genome-scale metabolic models

Respiration by soil bacteria and fungi is one of the largest fluxes of carbon (C) from the land surface. Although this flux is a direct product of microbial metabolism, controls over metabolism and their responses to global change are a major uncertainty in the global C cycle. Here, we explore an in silico approach to predict bacterial C-use efficiency (CUE) for over 200 species using genome-specific constraint-based metabolic modeling. We find that potential CUE averages 0.62 ± 0.17 with a range of 0.22 to 0.98 across taxa and phylogenetic structuring at the subphylum levels. Potential CUE is negatively correlated with genome size, while taxa with larger genomes are able to access a wider variety of C substrates. Incorporating the range of CUE values reported here into a next-generation model of soil biogeochemistry suggests that these differences in physiology across microbial taxa can feed back on soil-C cycling.Published versio

Seasonality in coastal macrobenthic biomass and its implications for estimating secondary production using empirical models

Macrobenthic secondary production is widely used to assess the trophic capacity, health, and functioning of marine and freshwater ecosystems. Annual production estimates are often calculated using empirical models and based on data collected during a single period of the year. Yet, many ecosystems show seasonal variations. Although ignoring seasonality may lead to biased and inaccurate estimates of annual secondary production, it has never been tested at the community level. Using time series of macrobenthic data collected seasonally at three temperate marine coastal soft-bottom sites, we assessed seasonal variations in biomass of macrobenthic invertebrates at both population and community levels. We then investigated how these seasonal variations affect the accuracy of annual benthic production when assessed using an empirical model and data from a single sampling event. Significant and consistent seasonal variations in biomass at the three study sites were highlighted. Macrobenthic biomass was significantly lower in late winter and higher in summer/early fall for 18 of the 30 populations analyzed and for all three communities studied. Seasonality led to inaccurate and often biased estimates of annual secondary production at the community level when based on data from a single sampling event. Bias varied by site and sampling period, but reached similar to 50% if biomass was sampled at its annual minimum or maximum. Since monthly sampling is rarely possible, we suggest that ecologists account for uncertainty in annual production estimates caused by seasonality.Agência financiadora EDF French Ministry of Higher Education, Research and Innovation French Ministry for the Ecological and Inclusive Transition through the Marine Strategy Framework Directive Agreement French Biodiversity Agency (Agence francaise pour la biodiversite) as part of the CAPANOUR projectinfo:eu-repo/semantics/publishedVersio