Spatial perception is a key task in several machine intelligence applications such as robotics and computer vision. In general, it involves the nonlinear estimation of hidden variables that represent the system's state. However, in the presence of measurement outliers, the standard nonlinear least squared formulation results in poor estimates. Several methods have been considered in the literature to improve the reliability of the estimation process. Most methods are based on heuristics since guaranteed global robust estimation is not generally practical due to high computational costs. Recently general purpose robust estimation heuristics have been proposed that leverage existing non-minimal solvers available for the outlier-free formulations without the need for an initial guess. In this work, we propose three Bayesian heuristics that have similar structures. We evaluate these heuristics in practical scenarios to demonstrate their merits in different applications including 3D point cloud registration, mesh registration and pose graph optimization. The general computational advantages our proposals offer make them attractive candidates for spatial perception tasks.
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In the rapidly evolving realm of machine learning, algorithm effectiveness often faces limitations due to data quality and availability. Traditional approaches grapple with data sharing due to legal and privacy concerns. The federated learning framework addresses this challenge. Federated learning is a decentralized approach where model training occurs on client sides, preserving privacy by keeping data localized. Instead of sending raw data to a central server, only model updates are exchanged, enhancing data security. We apply this framework to Sparse Principal Component Analysis (SPCA) in this work. SPCA aims to attain sparse component loadings while maximizing data variance for improved interpretability. Beside the L1 norm regularization term in conventional SPCA, we add a smoothing function to facilitate gradient-based optimization methods. Moreover, in order to improve computational efficiency, we introduce a least squares approximation to original SPCA. This enables analytic solutions on the optimization processes, leading to substantial computational improvements. Within the federated framework, we formulate SPCA as a consensus optimization problem, which can be solved using the Alternating Direction Method of Multipliers (ADMM). Our extensive experiments involve both IID and non-IID random features across various data owners. Results on synthetic and public datasets affirm the efficacy of our federated SPCA approach.
Data depth is a powerful nonparametric tool originally proposed to rank multivariate data from center outward. In this context, one of the most archetypical depth notions is Tukey's halfspace depth. In the last few decades notions of depth have also been proposed for functional data. However, Tukey's depth cannot be extended to handle functional data because of its degeneracy. Here, we propose a new halfspace depth for functional data which avoids degeneracy by regularization. The halfspace projection directions are constrained to have a small reproducing kernel Hilbert space norm. Desirable theoretical properties of the proposed depth, such as isometry invariance, maximality at center, monotonicity relative to a deepest point, upper semi-continuity, and consistency are established. Moreover, the regularized halfspace depth can rank functional data with varying emphasis in shape or magnitude, depending on the regularization. A new outlier detection approach is also proposed, which is capable of detecting both shape and magnitude outliers. It is applicable to trajectories in L2, a very general space of functions that include non-smooth trajectories. Based on extensive numerical studies, our methods are shown to perform well in terms of detecting outliers of different types. Three real data examples showcase the proposed depth notion.
In this paper, we present a nonlinear analysis software toolkit, which can help in biomechanical gait data analysis by implementing various nonlinear statistical analysis algorithms. The toolkit is proposed to tackle the need for an easy-to-use and friendly analyzer for gait data where algorithms seem complex to implement in software and execute. With the availability of our toolkit, people without programming knowledge can run the analysis to receive human gait data analysis results. Our toolkit includes the implementation of several nonlinear analysis algorithms, while it is also possible for users with programming experience to expand its scope by implementing and adding more algorithms to the toolkit. Currently, the toolkit supports MatLab bindings while being developed in Python. The toolkit can seamlessly run as a background process to analyze hundreds of different gait data and produce analysis outcomes and figures that illustrate these results.
In order to improve the simulation effect of electronic communication data link encryption, the author proposes a solution based on wireless communication. The main content of this technology is based on the research of wireless communication, improve the elliptic curve cryptographic algorithm to build a system encryption model, obtain legal and valid node private keys, evaluate and analyze the relevant security attributes of the system, verify the security of the keys, and realize the encryption optimization of wireless network communication. Experimental results show that: Using the improved elliptic curve to simulate the system data chain encryption under the certificateless public key cryptosystem in network communication, the time is only 2.31 milliseconds, which is lower than other algorithms. Conclusion: It is proved that the technology research based on wireless communication can effectively improve the encryption simulation effect of electronic communication data link.
Sparse matrix representations are ubiquitous in computational science and machine learning, leading to significant reductions in compute time, in comparison to dense representation, for problems that have local connectivity. The adoption of sparse representation in leading ML frameworks such as PyTorch is incomplete, however, with support for both automatic differentiation and GPU acceleration missing. In this work, we present an implementation of a CSR-based sparse matrix wrapper for PyTorch with CUDA acceleration for basic matrix operations, as well as automatic differentiability. We also present several applications of the resulting sparse kernels to optimization problems, demonstrating ease of implementation and performance measurements versus their dense counterparts.
Deep neural networks (DNNs) have succeeded in many different perception tasks, e.g., computer vision, natural language processing, reinforcement learning, etc. The high-performed DNNs heavily rely on intensive resource consumption. For example, training a DNN requires high dynamic memory, a large-scale dataset, and a large number of computations (a long training time); even inference with a DNN also demands a large amount of static storage, computations (a long inference time), and energy. Therefore, state-of-the-art DNNs are often deployed on a cloud server with a large number of super-computers, a high-bandwidth communication bus, a shared storage infrastructure, and a high power supplement. Recently, some new emerging intelligent applications, e.g., AR/VR, mobile assistants, Internet of Things, require us to deploy DNNs on resource-constrained edge devices. Compare to a cloud server, edge devices often have a rather small amount of resources. To deploy DNNs on edge devices, we need to reduce the size of DNNs, i.e., we target a better trade-off between resource consumption and model accuracy. In this dissertation, we studied four edge intelligence scenarios, i.e., Inference on Edge Devices, Adaptation on Edge Devices, Learning on Edge Devices, and Edge-Server Systems, and developed different methodologies to enable deep learning in each scenario. Since current DNNs are often over-parameterized, our goal is to find and reduce the redundancy of the DNNs in each scenario.
The adaptive processing of structured data is a long-standing research topic in machine learning that investigates how to automatically learn a mapping from a structured input to outputs of various nature. Recently, there has been an increasing interest in the adaptive processing of graphs, which led to the development of different neural network-based methodologies. In this thesis, we take a different route and develop a Bayesian Deep Learning framework for graph learning. The dissertation begins with a review of the principles over which most of the methods in the field are built, followed by a study on graph classification reproducibility issues. We then proceed to bridge the basic ideas of deep learning for graphs with the Bayesian world, by building our deep architectures in an incremental fashion. This framework allows us to consider graphs with discrete and continuous edge features, producing unsupervised embeddings rich enough to reach the state of the art on several classification tasks. Our approach is also amenable to a Bayesian nonparametric extension that automatizes the choice of almost all model's hyper-parameters. Two real-world applications demonstrate the efficacy of deep learning for graphs. The first concerns the prediction of information-theoretic quantities for molecular simulations with supervised neural models. After that, we exploit our Bayesian models to solve a malware-classification task while being robust to intra-procedural code obfuscation techniques. We conclude the dissertation with an attempt to blend the best of the neural and Bayesian worlds together. The resulting hybrid model is able to predict multimodal distributions conditioned on input graphs, with the consequent ability to model stochasticity and uncertainty better than most works. Overall, we aim to provide a Bayesian perspective into the articulated research field of deep learning for graphs.
Data augmentation has been widely used to improve generalizability of machine learning models. However, comparatively little work studies data augmentation for graphs. This is largely due to the complex, non-Euclidean structure of graphs, which limits possible manipulation operations. Augmentation operations commonly used in vision and language have no analogs for graphs. Our work studies graph data augmentation for graph neural networks (GNNs) in the context of improving semi-supervised node-classification. We discuss practical and theoretical motivations, considerations and strategies for graph data augmentation. Our work shows that neural edge predictors can effectively encode class-homophilic structure to promote intra-class edges and demote inter-class edges in given graph structure, and our main contribution introduces the GAug graph data augmentation framework, which leverages these insights to improve performance in GNN-based node classification via edge prediction. Extensive experiments on multiple benchmarks show that augmentation via GAug improves performance across GNN architectures and datasets.
Edge intelligence refers to a set of connected systems and devices for data collection, caching, processing, and analysis in locations close to where data is captured based on artificial intelligence. The aim of edge intelligence is to enhance the quality and speed of data processing and protect the privacy and security of the data. Although recently emerged, spanning the period from 2011 to now, this field of research has shown explosive growth over the past five years. In this paper, we present a thorough and comprehensive survey on the literature surrounding edge intelligence. We first identify four fundamental components of edge intelligence, namely edge caching, edge training, edge inference, and edge offloading, based on theoretical and practical results pertaining to proposed and deployed systems. We then aim for a systematic classification of the state of the solutions by examining research results and observations for each of the four components and present a taxonomy that includes practical problems, adopted techniques, and application goals. For each category, we elaborate, compare and analyse the literature from the perspectives of adopted techniques, objectives, performance, advantages and drawbacks, etc. This survey article provides a comprehensive introduction to edge intelligence and its application areas. In addition, we summarise the development of the emerging research field and the current state-of-the-art and discuss the important open issues and possible theoretical and technical solutions.
Attention networks in multimodal learning provide an efficient way to utilize given visual information selectively. However, the computational cost to learn attention distributions for every pair of multimodal input channels is prohibitively expensive. To solve this problem, co-attention builds two separate attention distributions for each modality neglecting the interaction between multimodal inputs. In this paper, we propose bilinear attention networks (BAN) that find bilinear attention distributions to utilize given vision-language information seamlessly. BAN considers bilinear interactions among two groups of input channels, while low-rank bilinear pooling extracts the joint representations for each pair of channels. Furthermore, we propose a variant of multimodal residual networks to exploit eight-attention maps of the BAN efficiently. We quantitatively and qualitatively evaluate our model on visual question answering (VQA 2.0) and Flickr30k Entities datasets, showing that BAN significantly outperforms previous methods and achieves new state-of-the-arts on both datasets.
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