This study focuses on the critical aspect of robust state estimation for the safe navigation of an Autonomous Vehicle (AV). Existing literature primarily employs two prevalent techniques for state estimation, namely filtering-based and graph-based approaches. Factor Graph (FG) is a graph-based approach, constructed using Values and Factors for Maximum Aposteriori (MAP) estimation, that offers a modular architecture that facilitates the integration of inputs from diverse sensors. However, most FG-based architectures in current use require explicit knowledge of sensor parameters and are designed for single setups. To address these limitations, this research introduces a novel plug-and-play FG-based state estimator capable of operating without predefined sensor parameters. This estimator is suitable for deployment in multiple sensor setups, offering convenience and providing comprehensive state estimation at a high frequency, including mean and covariances. The proposed algorithm undergoes rigorous validation using various sensor setups on two different vehicles: a quadricycle and a shuttle bus. The algorithm provides accurate and robust state estimation across diverse scenarios, even when faced with degraded Global Navigation Satellite System (GNSS) measurements or complete outages. These findings highlight the efficacy and reliability of the algorithm in real-world AV applications.
相關內容
Choral singing, a widely practiced form of ensemble singing, lacks comprehensive datasets in the realm of Music Information Retrieval (MIR) research, due to challenges arising from the requirement to curate multitrack recordings. To address this, we devised a novel methodology, leveraging state-of-the-art synthesizers to create and curate quality renditions. The scores were sourced from Choral Public Domain Library(CPDL). This work is done in collaboration with a diverse team of musicians, software engineers and researchers. The resulting dataset, complete with its associated metadata, and methodology is released as part of this work, opening up new avenues for exploration and advancement in the field of singing voice research.
Randomized experiments are a powerful methodology for data-driven evaluation of decisions or interventions. Yet, their validity may be undermined by network interference. This occurs when the treatment of one unit impacts not only its outcome but also that of connected units, biasing traditional treatment effect estimations. Our study introduces a new framework to accommodate complex and unknown network interference, moving beyond specialized models in the existing literature. Our framework, which we term causal message-passing, is grounded in a high-dimensional approximate message passing methodology and is specifically tailored to experimental design settings with prevalent network interference. Utilizing causal message-passing, we present a practical algorithm for estimating the total treatment effect and demonstrate its efficacy in four numerical scenarios, each with its unique interference structure.
In this era of artificial intelligence, deep neural networks like Convolutional Neural Networks (CNNs) have emerged as front-runners, often surpassing human capabilities. These deep networks are often perceived as the panacea for all challenges. Unfortunately, a common downside of these networks is their ''black-box'' character, which does not necessarily mirror the operation of biological neural systems. Some even have millions/billions of learnable (tunable) parameters, and their training demands extensive data and time. Here, we integrate the principles of biological neurons in certain layer(s) of CNNs. Specifically, we explore the use of neuro-science-inspired computational models of the Lateral Geniculate Nucleus (LGN) and simple cells of the primary visual cortex. By leveraging such models, we aim to extract image features to use as input to CNNs, hoping to enhance training efficiency and achieve better accuracy. We aspire to enable shallow networks with a Push-Pull Combination of Receptive Fields (PP-CORF) model of simple cells as the foundation layer of CNNs to enhance their learning process and performance. To achieve this, we propose a two-tower CNN, one shallow tower and the other as ResNet 18. Rather than extracting the features blindly, it seeks to mimic how the brain perceives and extracts features. The proposed system exhibits a noticeable improvement in the performance (on an average of $5\%-10\%$) on CIFAR-10, CIFAR-100, and ImageNet-100 datasets compared to ResNet-18. We also check the efficiency of only the Push-Pull tower of the network.
When it comes to security in the modern world, things have improved a lot since the early 2000s. Hypertext Transfer Protocol Secure (HTTPS) and Transport Layer Security (TLS) have made the transfer of our data across the internet much safer than years prior, and the advent of VPNs and private browsing have only compounded that. However, the gaming industry has been notoriously behind the curve when it comes to security, most notably with Massively Multiplayer Online (MMO) games, which due to the intrinsic nature of their architecture, have an astounding amount of ground to cover. In this paper, the authors discuss the challenges that MMO developers face when trying to design a secure game, as well as some more modern approaches to security that will help improve the industry moving forward. The authors also highlight a few real-life examples of exploits and breaches that have happened and look at how they were mitigated.
We study a synthetic corpus based approach for language models (LMs) to acquire logical deductive reasoning ability. The previous studies generated deduction examples using specific sets of deduction rules. However, these rules were limited or otherwise arbitrary, limiting the generalizability of acquired reasoning ability. We rethink this and adopt a well-grounded set of deduction rules based on formal logic theory, which can derive any other deduction rules when combined in a multistep way. Then, using the proposed corpora, which we name FLD (Formal Logic Deduction), we first evaluate and analyze the logical reasoning ability of the latest LLMs. Even GPT-4 can solve only half of the problems, suggesting that pure logical reasoning isolated from knowledge is still challenging for the LLMs, and additional training specialized in logical reasoning is indeed essential. We next empirically verify that LMs trained on FLD corpora acquire more generalizable reasoning ability. Furthermore, we identify the aspects of reasoning ability on which deduction corpora can enhance LMs and those on which they cannot, and discuss future directions on each aspect. The released corpora serve both as learning resources and as challenging benchmarks.
Misinformation such as fake news and rumors is a serious threat on information ecosystems and public trust. The emergence of Large Language Models (LLMs) has great potential to reshape the landscape of combating misinformation. Generally, LLMs can be a double-edged sword in the fight. On the one hand, LLMs bring promising opportunities for combating misinformation due to their profound world knowledge and strong reasoning abilities. Thus, one emergent question is: how to utilize LLMs to combat misinformation? On the other hand, the critical challenge is that LLMs can be easily leveraged to generate deceptive misinformation at scale. Then, another important question is: how to combat LLM-generated misinformation? In this paper, we first systematically review the history of combating misinformation before the advent of LLMs. Then we illustrate the current efforts and present an outlook for these two fundamental questions respectively. The goal of this survey paper is to facilitate the progress of utilizing LLMs for fighting misinformation and call for interdisciplinary efforts from different stakeholders for combating LLM-generated misinformation.
Natural Language Processing (NLP) has been revolutionized by the use of Pre-trained Language Models (PLMs) such as BERT. Despite setting new records in nearly every NLP task, PLMs still face a number of challenges including poor interpretability, weak reasoning capability, and the need for a lot of expensive annotated data when applied to downstream tasks. By integrating external knowledge into PLMs, \textit{\underline{K}nowledge-\underline{E}nhanced \underline{P}re-trained \underline{L}anguage \underline{M}odels} (KEPLMs) have the potential to overcome the above-mentioned limitations. In this paper, we examine KEPLMs systematically through a series of studies. Specifically, we outline the common types and different formats of knowledge to be integrated into KEPLMs, detail the existing methods for building and evaluating KEPLMS, present the applications of KEPLMs in downstream tasks, and discuss the future research directions. Researchers will benefit from this survey by gaining a quick and comprehensive overview of the latest developments in this field.
This work aims to provide an engagement decision support tool for Beyond Visual Range (BVR) air combat in the context of Defensive Counter Air (DCA) missions. In BVR air combat, engagement decision refers to the choice of the moment the pilot engages a target by assuming an offensive stance and executing corresponding maneuvers. To model this decision, we use the Brazilian Air Force's Aerospace Simulation Environment (\textit{Ambiente de Simula\c{c}\~ao Aeroespacial - ASA} in Portuguese), which generated 3,729 constructive simulations lasting 12 minutes each and a total of 10,316 engagements. We analyzed all samples by an operational metric called the DCA index, which represents, based on the experience of subject matter experts, the degree of success in this type of mission. This metric considers the distances of the aircraft of the same team and the opposite team, the point of Combat Air Patrol, and the number of missiles used. By defining the engagement status right before it starts and the average of the DCA index throughout the engagement, we create a supervised learning model to determine the quality of a new engagement. An algorithm based on decision trees, working with the XGBoost library, provides a regression model to predict the DCA index with a coefficient of determination close to 0.8 and a Root Mean Square Error of 0.05 that can furnish parameters to the BVR pilot to decide whether or not to engage. Thus, using data obtained through simulations, this work contributes by building a decision support system based on machine learning for BVR air combat.
Deep neural networks (DNNs) are successful in many computer vision tasks. However, the most accurate DNNs require millions of parameters and operations, making them energy, computation and memory intensive. This impedes the deployment of large DNNs in low-power devices with limited compute resources. Recent research improves DNN models by reducing the memory requirement, energy consumption, and number of operations without significantly decreasing the accuracy. This paper surveys the progress of low-power deep learning and computer vision, specifically in regards to inference, and discusses the methods for compacting and accelerating DNN models. The techniques can be divided into four major categories: (1) parameter quantization and pruning, (2) compressed convolutional filters and matrix factorization, (3) network architecture search, and (4) knowledge distillation. We analyze the accuracy, advantages, disadvantages, and potential solutions to the problems with the techniques in each category. We also discuss new evaluation metrics as a guideline for future research.
Within the rapidly developing Internet of Things (IoT), numerous and diverse physical devices, Edge devices, Cloud infrastructure, and their quality of service requirements (QoS), need to be represented within a unified specification in order to enable rapid IoT application development, monitoring, and dynamic reconfiguration. But heterogeneities among different configuration knowledge representation models pose limitations for acquisition, discovery and curation of configuration knowledge for coordinated IoT applications. This paper proposes a unified data model to represent IoT resource configuration knowledge artifacts. It also proposes IoT-CANE (Context-Aware recommendatioN systEm) to facilitate incremental knowledge acquisition and declarative context driven knowledge recommendation.
注冊地址： 北京市海淀區羊坊店路18號2幢3層301-191