In this paper we propose a novel approach aimed at recovering the 3D position of an UUV from UAV imagery in shallow-water environments. Through combination of UAV and UUV measurements, we show that our method can be utilized as an accurate and cost-effective alternative when compared to acoustic sensing methods, typically required to obtain ground truth information in underwater localization problems. Furthermore, our approach allows for a seamless conversion to geo-referenced coordinates which can be utilized for navigation purposes. To validate our method, we present the results with data collected through a simulation environment and field experiments, demonstrating the ability to successfully recover the UUV position with sub-meter accuracy.
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In this paper, we present a new method to efficiently generate jets in High Energy Physics called PC-JeDi. This method utilises score-based diffusion models in conjunction with transformers which are well suited to the task of generating jets as particle clouds due to their permutation equivariance. PC-JeDi achieves competitive performance with current state-of-the-art methods across several metrics that evaluate the quality of the generated jets. Although slower than other models, due to the large number of forward passes required by diffusion models, it is still substantially faster than traditional detailed simulation. Furthermore, PC-JeDi uses conditional generation to produce jets with a desired mass and transverse momentum for two different particles, top quarks and gluons.
In this paper, we outline potential ways for the further development of computational notebooks in Integrated Development Environments (IDEs). We discuss notebooks integration with IDEs, focusing on three main areas: facilitating experimentation, adding collaborative features, and improving code comprehension. We propose that better support of notebooks will not only benefit the notebooks, but also enhance IDEs by supporting new development processes native to notebooks. In conclusion, we suggest that adapting IDEs for more experimentation-oriented notebook processes will prepare them for the future of AI-powered programming.
This paper investigates the ultra reliable and low latency communication (URLLC) performance of the IRS-aided MIMO system. The upper and lower bounds of the optimal average error probability (OAEP) for the coding rate 1/sqrt(Mn) of the capacity are derived, where n and M represent the blocklength and the number of transmit antennas, respectively. To achieve this goal, a new central limit theorem (CLT) for the mutual information density over the IRS-aided MIMO system is derived in the asymptotic regime where the block-length, the IRS size, and number of the antennas go to infinity with the same pace. The CLT is then utilized to derive the closed form upper and lower bounds for the OAEP. Based on the analysis result, a gradient-based algorithm is proposed to minimize the lower bound of the OAEP by optimizing the phase shift of the IRS. Simulation results validate the fitness of the CLT and the effectiveness of the proposed algorithm in optimizing the theoretical bound, as well as the performance of practical LDPC code.
In this paper, we propose an algorithm that allows joint refinement of camera pose and scene geometry represented by decomposed low-rank tensor, using only 2D images as supervision. First, we conduct a pilot study based on a 1D signal and relate our findings to 3D scenarios, where the naive joint pose optimization on voxel-based NeRFs can easily lead to sub-optimal solutions. Moreover, based on the analysis of the frequency spectrum, we propose to apply convolutional Gaussian filters on 2D and 3D radiance fields for a coarse-to-fine training schedule that enables joint camera pose optimization. Leveraging the decomposition property in decomposed low-rank tensor, our method achieves an equivalent effect to brute-force 3D convolution with only incurring little computational overhead. To further improve the robustness and stability of joint optimization, we also propose techniques of smoothed 2D supervision, randomly scaled kernel parameters, and edge-guided loss mask. Extensive quantitative and qualitative evaluations demonstrate that our proposed framework achieves superior performance in novel view synthesis as well as rapid convergence for optimization.
In this paper, a novel transmissive reconfigurable intelligent surface (TRIS) transceiver empowered integrated sensing and communications (ISAC) system is proposed for future multi-demand terminals. To address interference management, we implement rate-splitting multiple access (RSMA), where the common stream is independently designed for the sensing service. We introduce the sensing quality of service (QoS) criteria based on this structure and construct an optimization problem with the sensing QoS criteria as the objective function to optimize the sensing stream precoding matrix and the communication stream precoding matrix. Due to the coupling of optimization variables, the formulated problem is a non-convex optimization problem that cannot be solved directly. To tackle the above-mentioned challenging problem, alternating optimization (AO) is utilized to decouple the optimization variables. Specifically, the problem is decoupled into three subproblems about the sensing stream precoding matrix, the communication stream precoding matrix, and the auxiliary variables, which is solved alternatively through AO until the convergence is reached. For solving the problem, successive convex approximation (SCA) is applied to deal with the sum-rate threshold constraints on communications, and difference-of-convex (DC) programming is utilized to solve rank-one non-convex constraints. Numerical simulation results verify the superiority of the proposed scheme in terms of improving the communication and sensing QoS.
In this letter, we investigate the performance of Max Minimum Fairness (MMF) for uplink Rate-Splitting Multiple Access (RSMA) in short-packet communications. Specifically, considering a Single-Input Single-Output (SISO) Multiple Access Channel (MAC), we optimize the transmit power allocation between the splitting user messages to maximize the minimum rate among users with Finite Blocklength (FBL) constraints. To tackle this problem, we propose a Successive Convex Approximation (SCA)-based approach. Additionally, we introduce a low-complexity scheme to design the decoding order at the receiver. Numerical results show that RSMA outperforms conventional transmission schemes such as Non-orthogonal Multiple Access (NOMA) in terms of MMF.
Modern-day Integrated Development Environments (IDEs) have come a long way from the early text editing utilities to the complex programs encompassing thousands of functions to help developers. However, with the increasing number of efficiency-enhancing tools incorporated, IDEs gradually became sophisticated software with a steep learning curve. The rise of the Large Language Models (LLMs) capable of both natural language dialogue and code generation leads to a discourse on the obsolescence of the concept of IDE. In this work, we offer a view on the place of the LLMs in the IDEs as the universal interface wrapping the IDE facilities. We envision a model that is able to perform complex actions involving multiple IDE features upon user command, stripping the user experience of the tedious work involved in searching through options and actions. For the practical part of the work, we engage with the works exploring the ability of LLMs to call for external tools to expedite a given task execution. We showcase a proof-of-concept of such a tool.
In this paper, we seek to provide a simpler proof that the relocation problem in Ricochet Robots (Lunar Lockout with fixed geometry) is PSPACE-complete via a reduction from Finite Function Generation (FFG). Although this result was originally proven in 2003, we give a simpler reduction by utilizing the FFG problem, and put the result in context with recent publications showing that relocation is also PSPACE-complete in related models.
In this paper, we propose an over-the-air (OTA)-based approach for distributed matrix-vector multiplications in the context of distributed machine learning (DML). Thanks to OTA computation, the column-wise partitioning of a large matrix enables efficient workload distribution among workers (i.e., local computing nodes) based on their computing capabilities. In addition, without requiring additional bandwidth, it allows the system to remain scalable even as the number of workers increases to mitigate the impact of slow workers, known as stragglers. However, despite the improvements, there are still instances where some workers experience deep fading and become stragglers, preventing them from transmitting their results. By analyzing the mean squared error (MSE), we demonstrate that incorporating more workers in the OTA-based approach leads to MSE reduction without the need for additional radio resources. Furthermore, we introduce an analog coding scheme to further enhance the performance and compare it with conventional coded multiplication (CM) schemes. Through simulations, it is shown that the OTA-based approach achieves comparable performance to CM schemes while potentially requiring fewer radio resources.
In this paper, we propose a novel Feature Decomposition and Reconstruction Learning (FDRL) method for effective facial expression recognition. We view the expression information as the combination of the shared information (expression similarities) across different expressions and the unique information (expression-specific variations) for each expression. More specifically, FDRL mainly consists of two crucial networks: a Feature Decomposition Network (FDN) and a Feature Reconstruction Network (FRN). In particular, FDN first decomposes the basic features extracted from a backbone network into a set of facial action-aware latent features to model expression similarities. Then, FRN captures the intra-feature and inter-feature relationships for latent features to characterize expression-specific variations, and reconstructs the expression feature. To this end, two modules including an intra-feature relation modeling module and an inter-feature relation modeling module are developed in FRN. Experimental results on both the in-the-lab databases (including CK+, MMI, and Oulu-CASIA) and the in-the-wild databases (including RAF-DB and SFEW) show that the proposed FDRL method consistently achieves higher recognition accuracy than several state-of-the-art methods. This clearly highlights the benefit of feature decomposition and reconstruction for classifying expressions.
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