In the context of reducing carbon emissions in the automotive supply chain, collaboration between vehicle manufacturers and retailers has proven to be an effective measure for enhancing carbon emission reduction within the enterprise. This study aims to evaluate the effectiveness of such collaboration by constructing a differential game model that incorporates carbon trading and consumer preferences for low-carbon products. The model examines the decision-making process of an automotive supply chain comprising a vehicle manufacturer and multiple retailers. By utilizing the Hamilton-Jacobi-Bellman equation, we analyze the equilibrium strategies of the participants under both a decentralized model and a Stackelberg leader-follower game model. In the decentralized model, the vehicle manufacturer optimizes its carbon emission reduction efforts, while each retailer independently determines its low-carbon promotion efforts and vehicle retail price. In the Stackelberg leader-follower game model, the vehicle manufacturer cooperates with the retailers by offering them a subsidy. Consequently, the manufacturer plays as the leader, making decisions on carbon emission reduction efforts and the subsidy rate, while the retailers, as followers, compute their promotion efforts and retail prices accordingly. Through theoretical analysis and numerical experiments considering the manufacturer's and retailers' efforts, the low-carbon reputation of vehicles, and the overall system profits under both models, we conclude that compared to the decentralized model, where each party pursues individual profits, the collaboration in the Stackelberg game yields greater benefits for both parties. Furthermore, this collaborative approach promotes the long-term development of the automotive supply chain.
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ACM/IEEE第23屆模型驅動工程語言和系統國際會議，是模型驅動軟件和系統工程的首要會議系列，由ACM-SIGSOFT和IEEE-TCSE支持組織。自1998年以來，模型涵蓋了建模的各個方面，從語言和方法到工具和應用程序。模特的參加者來自不同的背景，包括研究人員、學者、工程師和工業專業人士。MODELS 2019是一個論壇，參與者可以圍繞建模和模型驅動的軟件和系統交流前沿研究成果和創新實踐經驗。今年的版本將為建模社區提供進一步推進建模基礎的機會，并在網絡物理系統、嵌入式系統、社會技術系統、云計算、大數據、機器學習、安全、開源等新興領域提出建模的創新應用以及可持續性。
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語音合成
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Performer
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判別器
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去噪
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The diffusion model is capable of generating high-quality data through a probabilistic approach. However, it suffers from the drawback of slow generation speed due to the requirement of a large number of time steps. To address this limitation, recent models such as denoising diffusion implicit models (DDIM) focus on generating samples without directly modeling the probability distribution, while models like denoising diffusion generative adversarial networks (GAN) combine diffusion processes with GANs. In the field of speech synthesis, a recent diffusion speech synthesis model called DiffGAN-TTS, utilizing the structure of GANs, has been introduced and demonstrates superior performance in both speech quality and generation speed. In this paper, to further enhance the performance of DiffGAN-TTS, we propose a speech synthesis model with two discriminators: a diffusion discriminator for learning the distribution of the reverse process and a spectrogram discriminator for learning the distribution of the generated data. Objective metrics such as structural similarity index measure (SSIM), mel-cepstral distortion (MCD), F0 root mean squared error (F0 RMSE), short-time objective intelligibility (STOI), perceptual evaluation of speech quality (PESQ), as well as subjective metrics like mean opinion score (MOS), are used to evaluate the performance of the proposed model. The evaluation results show that the proposed model outperforms recent state-of-the-art models such as FastSpeech2 and DiffGAN-TTS in various metrics. Our implementation and audio samples are located on GitHub.
Aiming at the prediction problem of transport capacity risk caused by the mismatch between the carrying capacity of rail transit network and passenger flow demand, this paper proposes an explainable prediction method of rail transit network transport capacity risk based on linear Gaussian Bayesian network. This method obtains the training data of the prediction model based on the simulation model of the rail transit system with a three-layer structure including rail transit network, train flow and passenger flow. A Bayesian network structure construction method based on the topology of the rail transit network is proposed, and the MLE (Maximum Likelihood Estimation) method is used to realize the parameter learning of the Bayesian network. Finally, the effectiveness of the proposed method is verified by simulation examples.
For Industry 4.0 Revolution, cooperative autonomous mobility systems are widely used based on multi-agent reinforcement learning (MARL). However, the MARL-based algorithms suffer from huge parameter utilization and convergence difficulties with many agents. To tackle these problems, a quantum MARL (QMARL) algorithm based on the concept of actor-critic network is proposed, which is beneficial in terms of scalability, to deal with the limitations in the noisy intermediate-scale quantum (NISQ) era. Additionally, our QMARL is also beneficial in terms of efficient parameter utilization and fast convergence due to quantum supremacy. Note that the reward in our QMARL is defined as task precision over computation time in multiple agents, thus, multi-agent cooperation can be realized. For further improvement, an additional technique for scalability is proposed, which is called projection value measure (PVM). Based on PVM, our proposed QMARL can achieve the highest reward, by reducing the action dimension into a logarithmic-scale. Finally, we can conclude that our proposed QMARL with PVM outperforms the other algorithms in terms of efficient parameter utilization, fast convergence, and scalability.
A self-driving vehicle (SDV) must be able to perceive its surroundings and predict the future behavior of other traffic participants. Existing works either perform object detection followed by trajectory forecasting of the detected objects, or predict dense occupancy and flow grids for the whole scene. The former poses a safety concern as the number of detections needs to be kept low for efficiency reasons, sacrificing object recall. The latter is computationally expensive due to the high-dimensionality of the output grid, and suffers from the limited receptive field inherent to fully convolutional networks. Furthermore, both approaches employ many computational resources predicting areas or objects that might never be queried by the motion planner. This motivates our unified approach to perception and future prediction that implicitly represents occupancy and flow over time with a single neural network. Our method avoids unnecessary computation, as it can be directly queried by the motion planner at continuous spatio-temporal locations. Moreover, we design an architecture that overcomes the limited receptive field of previous explicit occupancy prediction methods by adding an efficient yet effective global attention mechanism. Through extensive experiments in both urban and highway settings, we demonstrate that our implicit model outperforms the current state-of-the-art. For more information, visit the project website: //waabi.ai/research/implicito.
Headland maneuvering is a crucial aspect of unmanned field operations for autonomous agricultural vehicles (AAVs). While motion planning for headland turning in open fields has been extensively studied and integrated into commercial auto-guidance systems, the existing methods primarily address scenarios with ample headland space and thus may not work in more constrained headland geometries. Commercial orchards often contain narrow and irregularly shaped headlands, which may include static obstacles,rendering the task of planning a smooth and collision-free turning trajectory difficult. To address this challenge, we propose an optimization-based motion planning algorithm for headland turning under geometrical constraints imposed by field geometry and obstacles.
The development of autonomous vehicles has brought a great impact and changes to the transportation industry, offering numerous benefits in terms of safety and efficiency. However, one of the key challenges that autonomous driving faces is how to make ethical decisions in complex situations. To address this issue, in this article, a novel trajectory prediction method is proposed to achieve ethical decision-making for autonomous driving. Ethical considerations are integrated into the decision-making process of autonomous vehicles by quantifying the utility principle and incorporating them into mathematical formulas. Furthermore, trajectory prediction is optimized using LSTM network with an attention module, resulting in improved accuracy and reliability in trajectory planning and selection. Through extensive simulation experiments, we demonstrate the effectiveness of the proposed method in making ethical decisions and selecting optimal trajectories.
Current motion planning approaches for autonomous mobile robots often assume that the low level controller of the system is able to track the planned motion with very high accuracy. In practice, however, tracking error can be affected by many factors, and could lead to potential collisions when the robot must traverse a cluttered environment. To address this problem, this paper proposes a novel receding-horizon motion planning approach based on Model Predictive Path Integral (MPPI) control theory -- a flexible sampling-based control technique that requires minimal assumptions on vehicle dynamics and cost functions. This flexibility is leveraged to propose a motion planning framework that also considers a data-informed risk function. Using the MPPI algorithm as a motion planner also reduces the number of samples required by the algorithm, relaxing the hardware requirements for implementation. The proposed approach is validated through trajectory generation for a quadrotor unmanned aerial vehicle (UAV), where fast motion increases trajectory tracking error and can lead to collisions with nearby obstacles. Simulations and hardware experiments demonstrate that the MPPI motion planner proactively adapts to the obstacles that the UAV must negotiate, slowing down when near obstacles and moving quickly when away from obstacles, resulting in a complete reduction of collisions while still producing lively motion.
The accuracy of dynamic modelling of unmanned aerial vehicles, specifically quadrotors, is gaining importance since strict conditionalities are imposed on rotorcraft control. The system identification plays a crucial role as an effective approach for the problem of the fine-tuning dynamic models for applications such control system design and as handling quality evaluation. This paper focuses on black-box identification, describing the quadrotor dynamics based on experimental setup through sensor preparation for data collection, modelling, control design, and verification stages.
As soon as abstract mathematical computations were adapted to computation on digital computers, the problem of efficient representation, manipulation, and communication of the numerical values in those computations arose. Strongly related to the problem of numerical representation is the problem of quantization: in what manner should a set of continuous real-valued numbers be distributed over a fixed discrete set of numbers to minimize the number of bits required and also to maximize the accuracy of the attendant computations? This perennial problem of quantization is particularly relevant whenever memory and/or computational resources are severely restricted, and it has come to the forefront in recent years due to the remarkable performance of Neural Network models in computer vision, natural language processing, and related areas. Moving from floating-point representations to low-precision fixed integer values represented in four bits or less holds the potential to reduce the memory footprint and latency by a factor of 16x; and, in fact, reductions of 4x to 8x are often realized in practice in these applications. Thus, it is not surprising that quantization has emerged recently as an important and very active sub-area of research in the efficient implementation of computations associated with Neural Networks. In this article, we survey approaches to the problem of quantizing the numerical values in deep Neural Network computations, covering the advantages/disadvantages of current methods. With this survey and its organization, we hope to have presented a useful snapshot of the current research in quantization for Neural Networks and to have given an intelligent organization to ease the evaluation of future research in this area.
We address the task of automatically scoring the competency of candidates based on textual features, from the automatic speech recognition (ASR) transcriptions in the asynchronous video job interview (AVI). The key challenge is how to construct the dependency relation between questions and answers, and conduct the semantic level interaction for each question-answer (QA) pair. However, most of the recent studies in AVI focus on how to represent questions and answers better, but ignore the dependency information and interaction between them, which is critical for QA evaluation. In this work, we propose a Hierarchical Reasoning Graph Neural Network (HRGNN) for the automatic assessment of question-answer pairs. Specifically, we construct a sentence-level relational graph neural network to capture the dependency information of sentences in or between the question and the answer. Based on these graphs, we employ a semantic-level reasoning graph attention network to model the interaction states of the current QA session. Finally, we propose a gated recurrent unit encoder to represent the temporal question-answer pairs for the final prediction. Empirical results conducted on CHNAT (a real-world dataset) validate that our proposed model significantly outperforms text-matching based benchmark models. Ablation studies and experimental results with 10 random seeds also show the effectiveness and stability of our models.
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