Quadrotors are widely used for surveillance, mapping, and deliveries. In several scenarios the quadrotor operates in pure inertial navigation mode resulting in a navigation solution drift. To handle such situations and bind the navigation drift, the quadrotor dead reckoning (QDR) approach requires flying the quadrotor in a periodic trajectory. Then, using model or learning based approaches the quadrotor position vector can be estimated. We propose to use multiple inertial measurement units (MIMU) to improve the positioning accuracy of the QDR approach. Several methods to utilize MIMU data in a deep learning framework are derived and evaluated. Field experiments were conducted to validate the proposed approach and show its benefits.
相關內容
Adaptive importance sampling (AIS) methods provide a useful alternative to Markov Chain Monte Carlo (MCMC) algorithms for performing inference of intractable distributions. Population Monte Carlo (PMC) algorithms constitute a family of AIS approaches which adapt the proposal distributions iteratively to improve the approximation of the target distribution. Recent work in this area primarily focuses on ameliorating the proposal adaptation procedure for high-dimensional applications. However, most of the AIS algorithms use simple proposal distributions for sampling, which might be inadequate in exploring target distributions with intricate geometries. In this work, we construct expressive proposal distributions in the AIS framework using normalizing flow, an appealing approach for modeling complex distributions. We use an iterative parameter update rule to enhance the approximation of the target distribution. Numerical experiments show that in high-dimensional settings, the proposed algorithm offers significantly improved performance compared to the existing techniques.
Biases in the dataset often enable the model to achieve high performance on in-distribution data, while poorly performing on out-of-distribution data. To mitigate the detrimental effect of the bias on the networks, previous works have proposed debiasing methods that down-weight the biased examples identified by an auxiliary model, which is trained with explicit bias labels. However, finding a type of bias in datasets is a costly process. Therefore, recent studies have attempted to make the auxiliary model biased without the guidance (or annotation) of bias labels, by constraining the model's training environment or the capability of the model itself. Despite the promising debiasing results of recent works, the multi-class learning objective, which has been naively used to train the auxiliary model, may harm the bias mitigation effect due to its regularization effect and competitive nature across classes. As an alternative, we propose a new debiasing framework that introduces binary classifiers between the auxiliary model and the main model, coined bias experts. Specifically, each bias expert is trained on a binary classification task derived from the multi-class classification task via the One-vs-Rest approach. Experimental results demonstrate that our proposed strategy improves the bias identification ability of the auxiliary model. Consequently, our debiased model consistently outperforms the state-of-the-art on various challenge datasets.
Precise Asymptotic Generalization for Multiclass Classification with Overparameterized Linear Models
We study the asymptotic generalization of an overparameterized linear model for multiclass classification under the Gaussian covariates bi-level model introduced in Subramanian et al.~'22, where the number of data points, features, and classes all grow together. We fully resolve the conjecture posed in Subramanian et al.~'22, matching the predicted regimes for generalization. Furthermore, our new lower bounds are akin to an information-theoretic strong converse: they establish that the misclassification rate goes to 0 or 1 asymptotically. One surprising consequence of our tight results is that the min-norm interpolating classifier can be asymptotically suboptimal relative to noninterpolating classifiers in the regime where the min-norm interpolating regressor is known to be optimal. The key to our tight analysis is a new variant of the Hanson-Wright inequality which is broadly useful for multiclass problems with sparse labels. As an application, we show that the same type of analysis can be used to analyze the related multilabel classification problem under the same bi-level ensemble.
Horizontal gene transfer inference approaches are usually based on gene sequences: parametric methods search for patterns that deviate from a particular genomic signature, while phylogenetic methods use sequences to reconstruct the gene and species trees. However, it is well-known that sequences have difficulty identifying ancient transfers since mutations have enough time to erase all evidence of such events. In this work, we ask whether character-based methods can predict gene transfers. Their advantage over sequences is that homologous genes can have low DNA similarity, but still have retained enough important common motifs that allow them to have common character traits, for instance the same functional or expression profile. A phylogeny that has two separate clades that acquired the same character independently might indicate the presence of a transfer even in the absence of sequence similarity. We introduce perfect transfer networks, which are phylogenetic networks that can explain the character diversity of a set of taxa under the assumption that characters have unique births, and that once a character is gained it is rarely lost. Examples of such traits include transposable elements, biochemical markers and emergence of organelles, just to name a few. We study the differences between our model and two similar models: perfect phylogenetic networks and ancestral recombination networks. Our goals are to initiate a study on the structural and algorithmic properties of perfect transfer networks. We then show that in polynomial time, one can decide whether a given network is a valid explanation for a set of taxa, and show how, for a given tree, one can add transfer edges to it so that it explains a set of taxa. We finally provide lower and upper bounds on the number of transfers required to explain a set of taxa, in the worst case.
We propose a novel Neural Radiance Field (NeRF) representation for non-opaque scenes that allows fast inference by utilizing textured polygons. Despite the high-quality novel view rendering that NeRF provides, a critical limitation is that it relies on volume rendering that can be computationally expensive and does not utilize the advancements in modern graphics hardware. Existing methods for this problem fall short when it comes to modelling volumetric effects as they rely purely on surface rendering. We thus propose to model the scene with polygons, which can then be used to obtain the quadrature points required to model volumetric effects, and also their opacity and colour from the texture. To obtain such polygonal mesh, we train a specialized field whose zero-crossings would correspond to the quadrature points when volume rendering, and perform marching cubes on this field. We then rasterize the polygons and utilize the fragment shaders to obtain the final colour image. Our method allows rendering on various devices and easy integration with existing graphics frameworks while keeping the benefits of volume rendering alive.
Graph Neural Networks (GNNs) have shown promising results on a broad spectrum of applications. Most empirical studies of GNNs directly take the observed graph as input, assuming the observed structure perfectly depicts the accurate and complete relations between nodes. However, graphs in the real world are inevitably noisy or incomplete, which could even exacerbate the quality of graph representations. In this work, we propose a novel Variational Information Bottleneck guided Graph Structure Learning framework, namely VIB-GSL, in the perspective of information theory. VIB-GSL advances the Information Bottleneck (IB) principle for graph structure learning, providing a more elegant and universal framework for mining underlying task-relevant relations. VIB-GSL learns an informative and compressive graph structure to distill the actionable information for specific downstream tasks. VIB-GSL deduces a variational approximation for irregular graph data to form a tractable IB objective function, which facilitates training stability. Extensive experimental results demonstrate that the superior effectiveness and robustness of VIB-GSL.
Recently, contrastive learning (CL) has emerged as a successful method for unsupervised graph representation learning. Most graph CL methods first perform stochastic augmentation on the input graph to obtain two graph views and maximize the agreement of representations in the two views. Despite the prosperous development of graph CL methods, the design of graph augmentation schemes -- a crucial component in CL -- remains rarely explored. We argue that the data augmentation schemes should preserve intrinsic structures and attributes of graphs, which will force the model to learn representations that are insensitive to perturbation on unimportant nodes and edges. However, most existing methods adopt uniform data augmentation schemes, like uniformly dropping edges and uniformly shuffling features, leading to suboptimal performance. In this paper, we propose a novel graph contrastive representation learning method with adaptive augmentation that incorporates various priors for topological and semantic aspects of the graph. Specifically, on the topology level, we design augmentation schemes based on node centrality measures to highlight important connective structures. On the node attribute level, we corrupt node features by adding more noise to unimportant node features, to enforce the model to recognize underlying semantic information. We perform extensive experiments of node classification on a variety of real-world datasets. Experimental results demonstrate that our proposed method consistently outperforms existing state-of-the-art baselines and even surpasses some supervised counterparts, which validates the effectiveness of the proposed contrastive framework with adaptive augmentation.
Graph Neural Networks (GNNs) have proven to be useful for many different practical applications. However, many existing GNN models have implicitly assumed homophily among the nodes connected in the graph, and therefore have largely overlooked the important setting of heterophily, where most connected nodes are from different classes. In this work, we propose a novel framework called CPGNN that generalizes GNNs for graphs with either homophily or heterophily. The proposed framework incorporates an interpretable compatibility matrix for modeling the heterophily or homophily level in the graph, which can be learned in an end-to-end fashion, enabling it to go beyond the assumption of strong homophily. Theoretically, we show that replacing the compatibility matrix in our framework with the identity (which represents pure homophily) reduces to GCN. Our extensive experiments demonstrate the effectiveness of our approach in more realistic and challenging experimental settings with significantly less training data compared to previous works: CPGNN variants achieve state-of-the-art results in heterophily settings with or without contextual node features, while maintaining comparable performance in homophily settings.
It is important to detect anomalous inputs when deploying machine learning systems. The use of larger and more complex inputs in deep learning magnifies the difficulty of distinguishing between anomalous and in-distribution examples. At the same time, diverse image and text data are available in enormous quantities. We propose leveraging these data to improve deep anomaly detection by training anomaly detectors against an auxiliary dataset of outliers, an approach we call Outlier Exposure (OE). This enables anomaly detectors to generalize and detect unseen anomalies. In extensive experiments on natural language processing and small- and large-scale vision tasks, we find that Outlier Exposure significantly improves detection performance. We also observe that cutting-edge generative models trained on CIFAR-10 may assign higher likelihoods to SVHN images than to CIFAR-10 images; we use OE to mitigate this issue. We also analyze the flexibility and robustness of Outlier Exposure, and identify characteristics of the auxiliary dataset that improve performance.
Deep neural networks (DNNs) have been found to be vulnerable to adversarial examples resulting from adding small-magnitude perturbations to inputs. Such adversarial examples can mislead DNNs to produce adversary-selected results. Different attack strategies have been proposed to generate adversarial examples, but how to produce them with high perceptual quality and more efficiently requires more research efforts. In this paper, we propose AdvGAN to generate adversarial examples with generative adversarial networks (GANs), which can learn and approximate the distribution of original instances. For AdvGAN, once the generator is trained, it can generate adversarial perturbations efficiently for any instance, so as to potentially accelerate adversarial training as defenses. We apply AdvGAN in both semi-whitebox and black-box attack settings. In semi-whitebox attacks, there is no need to access the original target model after the generator is trained, in contrast to traditional white-box attacks. In black-box attacks, we dynamically train a distilled model for the black-box model and optimize the generator accordingly. Adversarial examples generated by AdvGAN on different target models have high attack success rate under state-of-the-art defenses compared to other attacks. Our attack has placed the first with 92.76% accuracy on a public MNIST black-box attack challenge.
小貼士
登錄享
相關主題
注冊地址： 北京市海淀區羊坊店路18號2幢3層301-191