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Ultra-wideband (UWB) positioning has emerged as a low-cost and dependable localization solution for multiple use cases, from mobile robots to asset tracking within the Industrial IoT. The technology is mature and the scientific literature contains multiple datasets and methods for localization based on fixed UWB nodes. At the same time, research in UWB-based relative localization and infrastructure-free localization is gaining traction, further domains. tools and datasets in this domain are scarce. Therefore, we introduce in this paper a novel dataset for benchmarking infrastructure-free relative localization targeting the domain of multi-robot systems. Compared to previous datasets, we analyze the performance of different relative localization approaches for a much wider variety of scenarios with varying numbers of fixed and mobile nodes. A motion capture system provides ground truth data, are multi-modal and include inertial or odometry measurements for benchmarking sensor fusion methods. Additionally, the dataset contains measurements of ranging accuracy based on the relative orientation of antennas and a comprehensive set of measurements for ranging between a single pair of nodes. Our experimental analysis shows that high accuracy can be localization, but the variability of the ranging error is significant across different settings and setups.

Intelligent reflecting surface (IRS) is a promising and disruptive technique to extend the network coverage and improve spectral efficiency. This paper investigates an IRS-assisted Terahertz (THz) multiple-input multiple-output (MIMO)-nonorthogonal multiple access (NOMA) system based on hybrid precoding in the presence of eavesdropper. Two types of sparse RF chain antenna structures are adopted, i.e., sub-connected structure and fully connected structure. Cluster heads are firstly selected for transmissions, and discrete phase-based analog precoding is designed for the transmit beamforming. Subsequently, based on the channel conditions, the users are grouped into multiple clusters, and each cluster is transmitted by using the NOMA technique. In addition, a low complexity zero-forcing method is employed to design digital precoding so as to eliminate interference between clusters. On this basis, we propose a secure transmission scheme to maximize the sum secrecy rate by jointly optimizing the power allocation and phase shifts of IRS under the constraints of system transmission power, achievable rate requirement of each user, and IRS phase shifts. Due to multiple coupled variables, the formulated problem leads to a non-convex issue. We apply the Taylor series expansion and semidefinite programming to convert the original non-convex problem into a convex one. Then, an alternating optimization algorithm is developed to obtain a feasible solution of the original problem. Simulation results are demonstrated to validate the convergence of the proposed algorithm, and confirm that the deployment of IRS can significantly improve the secrecy performance.

In this paper, we consider a multiple-input multiple-output (MIMO) radar system for localizing a target based on its reflected echo signals. Specifically, we aim to estimate the random and unknown angle information of the target, by exploiting its prior distribution information. First, we characterize the estimation performance by deriving the posterior Cram\'er-Rao bound (PCRB), which quantifies a lower bound of the estimation mean-squared error (MSE). Since the PCRB is in a complicated form, we derive a tight upper bound of it to approximate the estimation performance. Based on this, we analytically show that by exploiting the prior distribution information, the PCRB is always no larger than the Cram\'er-Rao bound (CRB) averaged over random angle realizations without prior information exploitation. Next, we formulate the transmit signal optimization problem to minimize the PCRB upper bound. We show that the optimal sample covariance matrix has a rank-one structure, and derive the optimal signal solution in closed form. Numerical results show that our proposed design achieves significantly improved PCRB performance compared to various benchmark schemes.

Popular social media platforms employ neural network based image moderation engines to classify images uploaded on them as having potentially objectionable content. Such moderation engines must answer a large number of queries with heavy computational cost, even though the actual number of images with objectionable content is usually a tiny fraction. Inspired by recent work on Neural Group Testing, we propose an approach which exploits this fact to reduce the overall computational cost of such engines using the technique of Compressed Sensing (CS). We present the quantitative matrix-pooled neural network (QMPNN), which takes as input $n$ images, and a $m \times n$ binary pooling matrix with $m < n$, whose rows indicate $m$ pools of images i.e. selections of $r$ images out of $n$. The QMPNN efficiently outputs the product of this matrix with the unknown sparse binary vector indicating whether each image is objectionable or not, i.e. it outputs the number of objectionable images in each pool. For suitable matrices, this is decoded using CS decoding algorithms to predict which images were objectionable. The computational cost of running the QMPNN and the CS algorithms is significantly lower than the cost of using a neural network with the same number of parameters separately on each image to classify the images, which we demonstrate via extensive experiments. Our technique is inherently resilient to moderate levels of errors in the prediction from the QMPNN. Furthermore, we present pooled deep outlier detection, which brings CS and group testing techniques to deep outlier detection, to provide for the case when the objectionable images do not belong to a set of pre-defined classes. This technique enables efficient automated moderation of off-topic images shared on topical forums dedicated to sharing images of a certain single class, many of which are currently human-moderated.

Backscatter communication (BackCom), one of the core technologies to realize zero-power communication, is expected to be a pivotal paradigm for the next generation of the Internet of Things (IoT). However, the "strong" direct link (DL) interference (DLI) is traditionally assumed to be harmful, and generally drowns out the "weak" backscattered signals accordingly, thus deteriorating the performance of BackCom. In contrast to the previous efforts to eliminate the DLI, in this paper, we exploit the constructive interference (CI), in which the DLI contributes to the backscattered signal. To be specific, our objective is to maximize the received signal power by jointly optimizing the receive beamforming vectors and tag selection factors, which is, however, non-convex and difficult to solve due to constraints on the Kullback-Leibler (KL) divergence. In order to solve this problem, we first decompose the original problem, and then propose two algorithms to solve the sub-problem with beamforming design via a change of variables and semi-definite programming (SDP) and a greedy algorithm to solve the sub-problem with tag selection. In order to gain insight into the CI, we consider a special case with the single-antenna reader to reveal the channel angle between the backscattering link (BL) and the DL, in which the DLI will become constructive. Simulation results show that significant performance gain can always be achieved in the proposed algorithms compared with the traditional algorithms without the DL in terms of the strength of the received signal. The derived constructive channel angle for the BackCom system with the single-antenna reader is also confirmed by simulation results.

This letter proposes a new user cooperative offloading protocol called user reciprocity in backscatter communication (BackCom)-aided mobile edge computing systems with efficient computation, whose quintessence is that each user can switch alternately between the active or the BackCom mode in different slots, and one user works in the active mode and the other user works in the BackCom mode in each time slot. In particular, the user in the BackCom mode can always use the signal transmitted by the user in the active mode for more data transmission in a spectrum-sharing manner. To evaluate the proposed protocol, a computation efficiency (CE) maximization-based optimization problem is formulated by jointly power control, time scheduling, reflection coefficient adjustment, and computing frequency allocation, while satisfying various physical constraints on the maximum energy budget, the computing frequency threshold, the minimum computed bits, and harvested energy threshold. To solve this non-convex problem, Dinkelbach's method and quadratic transform are first employed to transform the complex fractional forms into linear ones. Then, an iterative algorithm is designed by decomposing the resulting problem to obtain the suboptimal solution. The closed-form solutions for the transmit power, the RC, and the local computing frequency are provided for more insights. Besides, the analytical performance gain with the reciprocal mode is also derived. Simulation results demonstrate that the proposed scheme outperforms benchmark schemes regarding the CE.

Utilizing infrastructure and vehicle-side information to track and forecast the behaviors of surrounding traffic participants can significantly improve decision-making and safety in autonomous driving. However, the lack of real-world sequential datasets limits research in this area. To address this issue, we introduce V2X-Seq, the first large-scale sequential V2X dataset, which includes data frames, trajectories, vector maps, and traffic lights captured from natural scenery. V2X-Seq comprises two parts: the sequential perception dataset, which includes more than 15,000 frames captured from 95 scenarios, and the trajectory forecasting dataset, which contains about 80,000 infrastructure-view scenarios, 80,000 vehicle-view scenarios, and 50,000 cooperative-view scenarios captured from 28 intersections' areas, covering 672 hours of data. Based on V2X-Seq, we introduce three new tasks for vehicle-infrastructure cooperative (VIC) autonomous driving: VIC3D Tracking, Online-VIC Forecasting, and Offline-VIC Forecasting. We also provide benchmarks for the introduced tasks. Find data, code, and more up-to-date information at \href{//github.com/AIR-THU/DAIR-V2X-Seq}{//github.com/AIR-THU/DAIR-V2X-Seq}.

In this paper, we study the identifiability and the estimation of the parameters of a copula-based multivariate model when the margins are unknown and are arbitrary, meaning that they can be continuous, discrete, or mixtures of continuous and discrete. When at least one margin is not continuous, the range of values determining the copula is not the entire unit square and this situation could lead to identifiability issues that are discussed here. Next, we propose estimation methods when the margins are unknown and arbitrary, using pseudo log-likelihood adapted to the case of discontinuities. In view of applications to large data sets, we also propose a pairwise composite pseudo log-likelihood. These methodologies can also be easily modified to cover the case of parametric margins. One of the main theoretical result is an extension to arbitrary distributions of known convergence results of rank-based statistics when the margins are continuous. As a by-product, under smoothness assumptions, we obtain that the asymptotic distribution of the estimation errors of our estimators are Gaussian. Finally, numerical experiments are presented to assess the finite sample performance of the estimators, and the usefulness of the proposed methodologies is illustrated with a copula-based regression model for hydrological data. The proposed estimation is implemented in the R package CopulaInference, together with a function for checking identifiability.

Network representation learning in low dimensional vector space has attracted considerable attention in both academic and industrial domains. Most real-world networks are dynamic with addition/deletion of nodes and edges. The existing graph embedding methods are designed for static networks and they cannot capture evolving patterns in a large dynamic network. In this paper, we propose a dynamic embedding method, dynnode2vec, based on the well-known graph embedding method node2vec. Node2vec is a random walk based embedding method for static networks. Applying static network embedding in dynamic settings has two crucial problems: 1) Generating random walks for every time step is time consuming 2) Embedding vector spaces in each timestamp are different. In order to tackle these challenges, dynnode2vec uses evolving random walks and initializes the current graph embedding with previous embedding vectors. We demonstrate the advantages of the proposed dynamic network embedding by conducting empirical evaluations on several large dynamic network datasets.

Person re-identification (\textit{re-id}) refers to matching pedestrians across disjoint yet non-overlapping camera views. The most effective way to match these pedestrians undertaking significant visual variations is to seek reliably invariant features that can describe the person of interest faithfully. Most of existing methods are presented in a supervised manner to produce discriminative features by relying on labeled paired images in correspondence. However, annotating pair-wise images is prohibitively expensive in labors, and thus not practical in large-scale networked cameras. Moreover, seeking comparable representations across camera views demands a flexible model to address the complex distributions of images. In this work, we study the co-occurrence statistic patterns between pairs of images, and propose to crossing Generative Adversarial Network (Cross-GAN) for learning a joint distribution for cross-image representations in a unsupervised manner. Given a pair of person images, the proposed model consists of the variational auto-encoder to encode the pair into respective latent variables, a proposed cross-view alignment to reduce the view disparity, and an adversarial layer to seek the joint distribution of latent representations. The learned latent representations are well-aligned to reflect the co-occurrence patterns of paired images. We empirically evaluate the proposed model against challenging datasets, and our results show the importance of joint invariant features in improving matching rates of person re-id with comparison to semi/unsupervised state-of-the-arts.