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Shashwat Singh

Publications and source records attributed to Shashwat Singh.

13 recordsLinked to original sources

Can LLMs Introspect? A Reality Check

Can large language models detect and report their own internal states? A number of recent studies have argued that they can. Drawing on lessons from human metacognition research, we argue that this conclusion may be premature. We identify two conditions that a paradigm needs to meet in order to establish introspection. First, the test needs to require privileged access: it should not be solvable using cues available in the input. Second, it needs to require second-order computation: second-order, meta-representations of first-order, task-related representations. This condition cannot be satisfied by task performance alone: it requires designs under which second-order and first-order accounts make divergent predictions. We re-examine two paradigms that have been used to argue for model introspection in light of these conditions. In the first, models must predict labels derived from their own hidden states; we find that classifiers that can only access the input match the models' in-context predictions, indicating that the original results do not demonstrate privileged access to internal representations. In the second paradigm, models must detect whether their internal states have been tampered with; we find they cannot reliably distinguish such interventions from manipulations of the input, suggesting that their success reflects generic anomaly detection rather than sensitivity to internal interventions in particular. We conclude that current evidence is insufficient to establish metacognitive monitoring in LLMs.

cs.AI

TerraSkipper: A Centimeter-Scale Robot for Multi-Terrain Skipping and Crawling

Mudskippers are unique amphibious fish capable of locomotion in diverse environments, including terrestrial surfaces, aquatic habitats, and highly viscous substrates such as mud. This versatile locomotion is largely enabled by their powerful tail, which stores and rapidly releases energy to produce impulsive jumps. Inspired by this biological mechanism, we present the design and development of a multi-terrain centimeter-scale skipping and crawling robot. The robot is predominantly 3D printed and features onboard sensing, computation, and power. It is equipped with two side fins for crawling, each integrated with a hall effect sensor for gait control, while a rotary springtail driven by a 10mm planetary gear motor enables continuous impulsive skipping across a range of substrates to achieve multi-terrain locomotion. We modeled and experimentally characterized the tail, identifying an optimal length of 25mm that maximizes the mean propulsive force (4N, peaks up to 6N) for forward motion. In addition, we evaluated skipping on substrates where fin based crawling alone fails, and varied the moisture content of uniform sand and bentonite clay powder to compare skipping with crawling. Skipping consistently produced higher mean velocities than crawling, particularly on viscous and granular media. Finally, outdoor tests on grass, loose sand, and hard ground confirmed that combining skipping on entangling and granular terrain with crawling on firm ground extends the operational range of the robot in real-world environments.

cs.RO

Revealing massive black hole astrophysics: The potential of hierarchical inference with extreme mass-ratio inspiral observations

Gravitational waves from extreme mass-ratio inspirals (EMRIs) will enable sub-percent measurements of massive black hole parameters and provide access to the demographics of compact objects in galactic nuclei. During the LISA mission, multiple EMRIs are expected to be detected, allowing statistical studies of massive black hole populations and their formation pathways. We perform hierarchical Bayesian inference on simulated EMRI catalogues to assess how well LISA could constrain the astrophysical population using parametrised population models. We test our inference framework on a variety of populations, including heterogeneous and homogeneous mixtures of parametrised subpopulations, and scenarios in which the assumed model is deliberately misspecified. Our results show that population parameters governing distributions with sharp features can be tightly constrained. Mixed populations can be disentangled with as few as $\sim20$ detections, and even with model misspecification, the inference retains sensitivity to key population features. These results demonstrate the capabilities and limitations of EMRI population inference, providing guidance for constructing realistic astrophysical population models for LISA analysis.

astro-ph.HE

PuffyBot: An Untethered Shape Morphing Robot for Multi-environment Locomotion

Amphibians adapt their morphologies and motions to accommodate movement in both terrestrial and aquatic environments. Inspired by these biological features, we present PuffyBot, an untethered shape morphing robot capable of changing its body morphology to navigate multiple environments. Our robot design leverages a scissor-lift mechanism driven by a linear actuator as its primary structure to achieve shape morphing. The transformation enables a volume change from 255.00 cm3 to 423.75 cm3, modulating the buoyant force to counteract a downward force of 3.237 N due to 330 g mass of the robot. A bell-crank linkage is integrated with the scissor-lift mechanism, which adjusts the servo-actuated limbs by 90 degrees, allowing a seamless transition between crawling and swimming modes. The robot is fully waterproof, using thermoplastic polyurethane (TPU) fabric to ensure functionality in aquatic environments. The robot can operate untethered for two hours with an onboard battery of 1000 mA h. Our experimental results demonstrate multi-environment locomotion, including crawling on the land, crawling on the underwater floor, swimming on the water surface, and bimodal buoyancy adjustment to submerge underwater or resurface. These findings show the potential of shape morphing to create versatile and energy efficient robotic platforms suitable for diverse environments.

cs.RO

From Fold to Function: Simulation-Driven Design of Origami Mechanisms

Origami-inspired mechanisms can transform flat sheets into functional three-dimensional dynamic structures that are lightweight, compact, and capable of complex motion. These properties make origami increasingly valuable in robotic and deployable systems. However, accurately simulating their folding behavior and interactions with the environment remains challenging. To address this, we present a design framework for origami mechanism simulation that utilizes MuJoCo's deformable-body capabilities. In our approach, origami sheets are represented as graphs of interconnected deformable elements with user-specified constraints such as creases and actuation, defined through an intuitive graphical user interface (GUI). This framework allows users to generate physically consistent simulations that capture both the geometric structure of origami mechanisms and their interactions with external objects and surfaces. We demonstrate our method's utility through a case study on an origami catapult, where design parameters are optimized in simulation using the Covariance Matrix Adaptation Evolution Strategy (CMA-ES) and validated experimentally on physical prototypes. The optimized structure achieves improved throwing performance, illustrating how our system enables rapid, simulation-driven origami design, optimization, and analysis.

cs.RO

Constraints on the extreme mass-ratio inspiral population from LISA data

Gravitational waves from extreme mass-ratio inspirals (EMRIs), the inspirals of stellar-mass compact objects into massive black holes, are predicted to be observed by the Laser Interferometer Space Antenna (LISA). A sufficiently large number of EMRI observations will provide unique insights into the massive black hole population. We have developed a hierarchical Bayesian inference framework capable of constraining the parameters of the EMRI population, accounting for selection biases. We leverage the capacity of a feed-forward neural network as an emulator, enabling detectability calculations of $\sim10^5$ EMRIs in a fraction of a second, speeding up the likelihood evaluation by $\gtrsim6$ orders of magnitude. We validate our framework on a phenomenological EMRI population model. This framework enables studies of how well we can constrain EMRI population parameters, such as the slope of both the massive and stellar-mass black hole mass spectra and the branching fractions of different formation channels, allowing further investigation into the evolution of massive black holes.

gr-qc

Gravitational wave lensing: probing Fuzzy Dark Matter with LISA

Gravitational lensing is a universal phenomenon: it affects both gravitational waves (GWs) and electromagnetic signals travelling through the gravitational field of a massive object. In this work, we explore the prospects of observing lensed GW signals from the mergers of massive black holes, lensed by dark matter halos composed of Fuzzy Dark Matter (FDM), which form dense cores known as solitons. We focus on wave optics phenomena, where frequency-dependent signatures can be observed in the weak lensing regime (i.e. single-image). Our results show that lensing diffraction signatures differ for low-mass halos in FDM, and can reveal the presence of a solitonic core. Furthermore, we demonstrate that FDM and cold dark matter profiles can be distinguished in GW signals from binary massive black hole mergers, which will be observed by the Laser Interferometer Space Antenna (LISA) mission. However, the dense solitonic core does not substantially enhance the detectability of FDM halos at large source-lens offsets, relative to standard cold dark matter. Our analysis confirms FDM halos as a promising signature of dark matter on GW observations.

astro-ph.CO

Representation Surgery: Theory and Practice of Affine Steering

Language models often exhibit undesirable behavior, e.g., generating toxic or gender-biased text. In the case of neural language models, an encoding of the undesirable behavior is often present in the model's representations. Thus, one natural (and common) approach to prevent the model from exhibiting undesirable behavior is to steer the model's representations in a manner that reduces the probability of it generating undesirable text. This paper investigates the formal and empirical properties of steering functions, i.e., transformation of the neural language model's representations that alter its behavior. First, we derive two optimal, in the least-squares sense, affine steering functions under different constraints. Our theory provides justification for existing approaches and offers a novel, improved steering approach. Second, we offer a series of experiments that demonstrate the empirical effectiveness of the methods in mitigating bias and reducing toxic generation.

cs.LG

First principles investigation of anionic redox in bisulfate lithium battery cathodes

The search for an alternative high-voltage polyanionic cathode material for Li-ion batteries is vital to improve the energy densities beyond the state-of-the-art, where sulfate frameworks form an important class of high-voltage cathode materials due to the strong inductive effect of the S$^{6+}$ ion. Here, we have investigated the mechanism of cationic and/or anionic redox in Li$_x$M(SO$_4$)$_2$ frameworks (M = Mn, Fe, Co, and Ni and 0 $\leq$ x $\leq$ 2) using density functional calculations. Specifically, we have used a combination of Hubbard $U$ corrected strongly constrained and appropriately normed (SCAN+$U$) and generalized gradient approximation (GGA+$U$) functionals to explore the thermodynamic (polymorph stability), electrochemical (intercalation voltage), geometric (bond lengths), and electronic (band gaps, magnetic moments, charge populations, etc.) properties of the bisulfate frameworks considered. Importantly, we find that the anionic (cationic) redox process is dominant throughout delithiation in the Ni (Mn) bisulfate, as verified using our calculated projected density of states, bond lengths, and on-site magnetic moments. On the other hand, in Fe and Co bisulfates, cationic redox dominates the initial delithiation (1 $\leq$ x $\leq$ 2), while anionic redox dominates subsequent delithiation (0 $\leq$ x $\leq$ 2). In addition, evaluation of the crystal overlap Hamilton population reveals insignificant bonding between oxidizing O atoms throughout the delithiation process in the Ni bisulfate, indicating robust battery performance that is resistant to irreversible oxygen evolution. Finally, we observe both GGA+$U$ and SCAN+$U$ predictions are in qualitative agreement for the various properties predicted. Our work should open new avenues for exploring lattice oxygen redox in novel high voltage polyanionic cathodes, especially using the SCAN+$U$ functional.

cond-mat.mtrl-sci

Estimating dynamical parameters of two interacting galaxies using Deep Learning

The science behind galaxy interaction and mergers has a fundamental role and gives us an insight into galaxy formation and its evolution. Fluctuating angular momentum is responsible for extraordinary events like polar rings, tidal tails, and ripples. To study different phenomena related to galaxy interactions, various parameters like the mass ratio of the interacting galaxy, orbital parameters, mass distribution, morphologies are required. Convolutional Neural Networks (CNN) are widely used to classify image data. Thus, we used CNN as our approach to the problem. In this work, we will be using data from state-of-the-art magneto-hydrodynamic simulations of galaxy mergers from the GalMer database at different dynamical parameters using image snapshots of merging pairs of galaxies and feeding them to our Deep Learning model (ResNet). The dynamical parameters we are aiming for; would be spin, relative inclination ($i$), viewing angle ($θ$), and azimuthal angle ($ϕ$). We aim to download bulk data using the web scraping method. The first approach is to create different combinations of these parameters to form 60 classes. Feeding the data into the model, we achieved 93.63% accuracy. As we received good results in minute classification, we moved to our second approach, regression. Here the model can predict the continuous and exact values of the dynamical parameters. We have achieved a 99.86% R-squared value and the mean squared error of 0.0833 on testing data. In the end, we used data from Sloan Digital Sky Survey to test our trained model on some real images.

astro-ph.GA

Deep Learning for estimating parameters of Gravitational Waves

In recent years, improvements in Deep Learning (DL) techniques towards Gravitational Wave (GW) astronomy have led to a significant rise in the development of various classification algorithms that have been successfully employed to extract GWs of binary blackhole merger events from noisy time-series data. However, the success of these models is constrained by the length of time-sample and the class of GW source: binary blackhole and neutron star binaries to some extent. In this work, we intended to advance the boundaries of DL techniques using Convolutional Neural Networks, to go beyond binary classification and predict the physical parameters of the events. We aim to propose an alternative method that can be employed for realtime detection and parameter prediction. The DL model we present has been trained on 12s of data to predict the GW source parameters if detected. During training, the maximum accuracy attained was 90.93%, with a validation accuracy of 89.97%.

astro-ph.HE

Predicting future astronomical events using deep learning

In a quest towards an intelligent decision-making machine, the ability to make plausible predictions is the central pillar of its intelligence. A predicting algorithm's central idea is to understand the governing physical rules and make plausible and apt predictions based on the same governing laws. Extending the study towards the astrophysical phenomenon puts the model's ability to test since the model has to understand various parameters that govern the dynamics of the event and understand the spatial and temporal evolution by applying the plausible laws. This work presents a deep learning model to predict plausible future events that maintain spatial and temporal coherence. We have trained over two broad classes, the evolution of Sa, Sb, S0, and Sd galaxy mergers and evolution of gravitational lenses with a higher redshift of the foreground galaxy having $15M_{\odot}$. We extended our work towards developing a direct measure of the performance metric for any prediction algorithm. We thereby introduce a novel metric, Correctness Factor (CF), which directly outputs how accurate a prediction is.

astro-ph.IM