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This paper presents a scalable multi-robot motion planning algorithm called Conflict-Based Model Predictive Control (CB-MPC). Inspired by Conflict-Based Search (CBS), the planner leverages a similar high-level conflict tree to efficiently resolve robot-robot conflicts in the continuous space, while reasoning about each agent's kinematic and dynamic constraints and actuation limits using MPC as the low-level planner. We show that tracking high-level multi-robot plans with a vanilla MPC controller is insufficient, and results in unexpected collisions in tight navigation scenarios. Compared to other variations of multi-robot MPC like joint, prioritized, and distributed, we demonstrate that CB-MPC improves the executability and success rate, allows for closer robot-robot interactions, and reduces the computational cost significantly without compromising the solution quality across a variety of environments. Furthermore, we show that CB-MPC combined with a high-level path planner can effectively substitute computationally expensive full-horizon multi-robot kinodynamic planners.

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We present a novel self-supervised approach for representation learning, particularly for the task of Visual Relationship Detection (VRD). Motivated by the effectiveness of Masked Image Modeling (MIM), we propose Masked Bounding Box Reconstruction (MBBR), a variation of MIM where a percentage of the entities/objects within a scene are masked and subsequently reconstructed based on the unmasked objects. The core idea is that, through object-level masked modeling, the network learns context-aware representations that capture the interaction of objects within a scene and thus are highly predictive of visual object relationships. We extensively evaluate learned representations, both qualitatively and quantitatively, in a few-shot setting and demonstrate the efficacy of MBBR for learning robust visual representations, particularly tailored for VRD. The proposed method is able to surpass state-of-the-art VRD methods on the Predicate Detection (PredDet) evaluation setting, using only a few annotated samples. We make our code available at //github.com/deeplab-ai/SelfSupervisedVRD.

Cross-Domain Sequential Recommendation (CDSR) methods aim to tackle the data sparsity and cold-start problems present in Single-Domain Sequential Recommendation (SDSR). Existing CDSR works design their elaborate structures relying on overlapping users to propagate the cross-domain information. However, current CDSR methods make closed-world assumptions, assuming fully overlapping users across multiple domains and that the data distribution remains unchanged from the training environment to the test environment. As a result, these methods typically result in lower performance on online real-world platforms due to the data distribution shifts. To address these challenges under open-world assumptions, we design an \textbf{A}daptive \textbf{M}ulti-\textbf{I}nterest \textbf{D}ebiasing framework for cross-domain sequential recommendation (\textbf{AMID}), which consists of a multi-interest information module (\textbf{MIM}) and a doubly robust estimator (\textbf{DRE}). Our framework is adaptive for open-world environments and can improve the model of most off-the-shelf single-domain sequential backbone models for CDSR. Our MIM establishes interest groups that consider both overlapping and non-overlapping users, allowing us to effectively explore user intent and explicit interest. To alleviate biases across multiple domains, we developed the DRE for the CDSR methods. We also provide a theoretical analysis that demonstrates the superiority of our proposed estimator in terms of bias and tail bound, compared to the IPS estimator used in previous work.

This paper seeks to solve Multi-Source Domain Adaptation (MSDA), which aims to mitigate data distribution shifts when transferring knowledge from multiple labeled source domains to an unlabeled target domain. We propose a novel MSDA framework based on dictionary learning and optimal transport. We interpret each domain in MSDA as an empirical distribution. As such, we express each domain as a Wasserstein barycenter of dictionary atoms, which are empirical distributions. We propose a novel algorithm, DaDiL, for learning via mini-batches: (i) atom distributions; (ii) a matrix of barycentric coordinates. Based on our dictionary, we propose two novel methods for MSDA: DaDil-R, based on the reconstruction of labeled samples in the target domain, and DaDiL-E, based on the ensembling of classifiers learned on atom distributions. We evaluate our methods in 3 benchmarks: Caltech-Office, Office 31, and CRWU, where we improved previous state-of-the-art by 3.15%, 2.29%, and 7.71% in classification performance. Finally, we show that interpolations in the Wasserstein hull of learned atoms provide data that can generalize to the target domain.

We study the Ultrametric Violation Distance problem introduced by Cohen-Addad, Fan, Lee, and Mesmay [FOCS, 2022]. Given pairwise distances $x\in \mathbb{R}_{>0}^{\binom{[n]}{2}}$ as input, the goal is to modify the minimum number of distances so as to make it a valid ultrametric. In other words, this is the problem of fitting an ultrametric to given data, where the quality of the fit is measured by the $\ell_0$ norm of the error; variants of the problem for the $\ell_\infty$ and $\ell_1$ norms are well-studied in the literature. Our main result is a 5-approximation algorithm for Ultrametric Violation Distance, improving the previous best large constant factor ($\geq 1000$) approximation algorithm. We give an $O(\min\{L,\log n\})$-approximation for weighted Ultrametric Violation Distance where the weights satisfy triangle inequality and $L$ is the number of distinct values in the input. We also give a $16$-approximation for the problem on $k$-partite graphs, where the input is specified on pairs of vertices that form a complete $k$-partite graph. All our results use a unified algorithmic framework with small modifications for the three cases.

Generative Language Models (GLMs) have shown impressive performance in tasks such as text generation, understanding, and reasoning. However, the large model size poses challenges for practical deployment. To solve this problem, Quantization-Aware Training (QAT) has become increasingly popular. However, current QAT methods for generative models have resulted in a noticeable loss of accuracy. To counteract this issue, we propose a novel knowledge distillation method specifically designed for GLMs. Our method, called token-scaled logit distillation, prevents overfitting and provides superior learning from the teacher model and ground truth. This research marks the first evaluation of ternary weight quantization-aware training of large-scale GLMs with less than 1.0 degradation in perplexity and achieves enhanced accuracy in tasks like common-sense QA and arithmetic reasoning as well as natural language understanding. Our code is available at //github.com/aiha-lab/TSLD.

Unified Sequence Labeling that articulates different sequence labeling problems such as Named Entity Recognition, Relation Extraction, Semantic Role Labeling, etc. in a generalized sequence-to-sequence format opens up the opportunity to make the maximum utilization of large language model knowledge toward structured prediction. Unfortunately, this requires formatting them into specialized augmented format unknown to the base pretrained language model (PLMs) necessitating finetuning to the target format. This significantly bounds its usefulness in data-limited settings where finetuning large models cannot properly generalize to the target format. To address this challenge and leverage PLM knowledge effectively, we propose FISH-DIP, a sample-aware dynamic sparse finetuning strategy that selectively focuses on a fraction of parameters, informed by feedback from highly regressing examples, during the fine-tuning process. By leveraging the dynamism of sparsity, our approach mitigates the impact of well-learned samples and prioritizes underperforming instances for improvement in generalization. Across five tasks of sequence labeling, we demonstrate that FISH-DIP can smoothly optimize the model in low resource settings offering upto 40% performance improvements over full fine-tuning depending on target evaluation settings. Also, compared to in-context learning and other parameter-efficient fine-tuning approaches, FISH-DIP performs comparably or better, notably in extreme low-resource settings.

Text Classification is the most essential and fundamental problem in Natural Language Processing. While numerous recent text classification models applied the sequential deep learning technique, graph neural network-based models can directly deal with complex structured text data and exploit global information. Many real text classification applications can be naturally cast into a graph, which captures words, documents, and corpus global features. In this survey, we bring the coverage of methods up to 2023, including corpus-level and document-level graph neural networks. We discuss each of these methods in detail, dealing with the graph construction mechanisms and the graph-based learning process. As well as the technological survey, we look at issues behind and future directions addressed in text classification using graph neural networks. We also cover datasets, evaluation metrics, and experiment design and present a summary of published performance on the publicly available benchmarks. Note that we present a comprehensive comparison between different techniques and identify the pros and cons of various evaluation metrics in this survey.

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.

Graph Neural Networks (GNNs) have been shown to be effective models for different predictive tasks on graph-structured data. Recent work on their expressive power has focused on isomorphism tasks and countable feature spaces. We extend this theoretical framework to include continuous features - which occur regularly in real-world input domains and within the hidden layers of GNNs - and we demonstrate the requirement for multiple aggregation functions in this context. Accordingly, we propose Principal Neighbourhood Aggregation (PNA), a novel architecture combining multiple aggregators with degree-scalers (which generalize the sum aggregator). Finally, we compare the capacity of different models to capture and exploit the graph structure via a novel benchmark containing multiple tasks taken from classical graph theory, alongside existing benchmarks from real-world domains, all of which demonstrate the strength of our model. With this work, we hope to steer some of the GNN research towards new aggregation methods which we believe are essential in the search for powerful and robust models.

We propose a novel single shot object detection network named Detection with Enriched Semantics (DES). Our motivation is to enrich the semantics of object detection features within a typical deep detector, by a semantic segmentation branch and a global activation module. The segmentation branch is supervised by weak segmentation ground-truth, i.e., no extra annotation is required. In conjunction with that, we employ a global activation module which learns relationship between channels and object classes in a self-supervised manner. Comprehensive experimental results on both PASCAL VOC and MS COCO detection datasets demonstrate the effectiveness of the proposed method. In particular, with a VGG16 based DES, we achieve an mAP of 81.7 on VOC2007 test and an mAP of 32.8 on COCO test-dev with an inference speed of 31.5 milliseconds per image on a Titan Xp GPU. With a lower resolution version, we achieve an mAP of 79.7 on VOC2007 with an inference speed of 13.0 milliseconds per image.

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