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Hiya Shah

Publications and source records attributed to Hiya Shah.

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On the Acceleration of Pulsar Timing computations using Normalising Flows and Parallelisation

Single-Pulsar Noise Analysis (SPNA) and Gravitational Wave (GW) searches done on Pulsar Timing Array (PTA) datasets have everlastingly suffered from the computational bottleneck arising due to high dimensionality and multi-modality of the PTA likelihood landscape, along with strong correlations amongst various single-pulsar noises and ensemble-level common noise processes. We addressed this outstanding issue by employing a Normalising Flow-based Preconditioned Monte-Carlo sampling technique implemented in the POCOMC package, for the first time on PTA-specific computations, and comparing the achieved acceleration with the widely used PTMCMCSAMPLER and DYNESTY packages. We further investigated the acceleration achieved via parallelisation over an increasing array of communicating nodes on a high-performance computing (HPC) resource, by employing the PARALLEL_BILBY architecture with DYNESTY. We tested the acceleration on realistic long baseline simulated datasets with SPNA and Common Red Noise (CRN) analysis. We found PARALLEL_BILBY to be the most efficient in parallelisation, achieving a runtime of ~10min and ~100min with 16 nodes for spatially uncorrelated and Hellings and Downs-correlated CRN searches, respectively. POCOMC outperforms in single node performance requiring only ~10h for correlated search. PTMCMCSAMPLER was found to be the least efficient. We envisage POCOMC to be of great importance for PTA analyses, without requiring any GPU or HPC support, while also performing ensemble-level GW searches within a manageable time span. These results have everlasting implications with increasing data volumes and need to incorporate more complicated models, which were otherwise beyond reach due to the associated computational costs.

astro-ph.IM

Omni-Scan: Creating Visually-Accurate Digital Twin Object Models Using a Bimanual Robot with Handover and Gaussian Splat Merging

3D Gaussian Splats (3DGSs) are 3D object models derived from multi-view images. Such "digital twins" are useful for simulations, virtual reality, marketing, robot policy fine-tuning, and part inspection. 3D object scanning usually requires multi-camera arrays, precise laser scanners, or robot wrist-mounted cameras, which have restricted workspaces. We propose Omni-Scan, a pipeline for producing high-quality 3D Gaussian Splat models using a bi-manual robot that grasps an object with one gripper and rotates the object with respect to a stationary camera. The object is then re-grasped by a second gripper to expose surfaces that were occluded by the first gripper. We present the Omni-Scan robot pipeline using DepthAny-thing, Segment Anything, as well as RAFT optical flow models to identify and isolate objects held by a robot gripper while removing the gripper and the background. We then modify the 3DGS training pipeline to support concatenated datasets with gripper occlusion, producing an omni-directional (360 degree view) model of the object. We apply Omni-Scan to part defect inspection, finding that it can identify visual or geometric defects in 12 different industrial and household objects with an average accuracy of 83%. Interactive videos of Omni-Scan 3DGS models can be found at https://berkeleyautomation.github.io/omni-scan/

cs.RO