The decoupling limit of Multi-Gravity: Multi-Galileons, Dualities and More

In this paper we investigate the decoupling limit of a particular class of multi-gravity theories, i.e. of theories of interacting spin-2 fields. We explicitly compute the interactions of helicity-0 modes in this limit, showing that they take on the form of multi-Galileons and dual forms. In the process we extend the recently discovered Galileon dualities, deriving a set of new multi-Galileon dualities. These are also intrinsically connected to healthy, but higher-derivative, multi-scalar field theories akin to `beyond Horndeski' models.Comment: 41 pages, 2 figure

Strong-coupling scales and the graph structure of multi-gravity theories

In this paper we consider how the strong-coupling scale, or perturbative cutoff, in a multi-gravity theory depends upon the presence and structure of interactions between the different fields. This can elegantly be rephrased in terms of the size and structure of the `theory graph' which depicts the interactions in a given theory. We show that the question can be answered in terms of the properties of various graph-theoretical matrices, affording an efficient way to estimate and place bounds on the strong-coupling scale of a given theory. In light of this we also consider the problem of relating a given theory graph to a discretised higher dimensional theory, a la dimensional deconstruction.Comment: 23 pages, 7 figures; v2: additional references included, and minor typos corrected; version published in JHE

de Sitter Branes in a Flat Bulk of Massive Gravity

We construct de Sitter branes in a flat bulk of massive gravity in $5D$. We find two branches of solutions, reminiscent of the normal and self-accelerating branches in DGP, but with rather different properties. Neither branch has a self-accelerating limit: the background geometry requires having a nonvanishing tension. On the other hand, on both branches there are sub-branches where the leading order contributions of the tension to the curvature cancel. In these cases it turns out that larger tensions curve the background less. Further, both branches support a localized $4D$ massless graviton for a special choice of bulk mass terms. This choice may be protected by enhanced gauge symmetry at least at the linearized level. Finally, we generalize the solutions to the case of bigravity in a flat $5D$ bulk.Comment: 19 pages LaTeX, one .pdf figure; v2 expanded discussion on possible ghost-freedom of the construction, and other minor changes to agree with published versio

SiTAR: Situated Trajectory Analysis for In-the-Wild Pose Error Estimation

Virtual content instability caused by device pose tracking error remains a prevalent issue in markerless augmented reality (AR), especially on smartphones and tablets. However, when examining environments which will host AR experiences, it is challenging to determine where those instability artifacts will occur; we rarely have access to ground truth pose to measure pose error, and even if pose error is available, traditional visualizations do not connect that data with the real environment, limiting their usefulness. To address these issues we present SiTAR (Situated Trajectory Analysis for Augmented Reality), the first situated trajectory analysis system for AR that incorporates estimates of pose tracking error. We start by developing the first uncertainty-based pose error estimation method for visual-inertial simultaneous localization and mapping (VI-SLAM), which allows us to obtain pose error estimates without ground truth; we achieve an average accuracy of up to 96.1% and an average F1 score of up to 0.77 in our evaluations on four VI-SLAM datasets. Next we present our SiTAR system, implemented for ARCore devices, combining a backend that supplies uncertainty-based pose error estimates with a frontend that generates situated trajectory visualizations. Finally, we evaluate the efficacy of SiTAR in realistic conditions by testing three visualization techniques in an in-the-wild study with 15 users and 13 diverse environments; this study reveals the impact both environment scale and the properties of surfaces present can have on user experience and task performance.Comment: To appear in Proceedings of IEEE ISMAR 202