This article presents an easy distance field-based collision detection scheme to detect collisions of an object with its environment. Through the clever use of back-face culling and z-buffering, the solution is precise and very easy to implement. Since the complete scheme relies on the graphics pipeline, the collision detection is performed by the GPU. It is easy to use and only requires the meshes of the object and the scene; it does not rely on special representations. It can natively handle collision with primitives emitted directly on the pipeline. Our scheme is efficient and we expose many possible variants (especially an adaptation to certain particle systems). The main limitation of our scheme is that it imposes some restrictions on the shape of the considered objects - but not on their environment. We evaluate our scheme by first, comparing with the FCL, second, testing a more complete scene (involving geometry shader, tessellation and compute shader) and last, illustrating with a particle system.
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This paper studies a linear and additively separable model for multidimensional panel data of three or more dimensions with unobserved interactive fixed effects. Two approaches are considered to account for these unobserved interactive fixed-effects when estimating coefficients on the observed covariates. First, the model is embedded within the standard two dimensional panel framework and restrictions are formed under which the factor structure methods in Bai (2009) lead to consistent estimation of model parameters, but at slow rates of convergence. The second approach develops a kernel weighted fixed-effects method that is more robust to the multidimensional nature of the problem and can achieve the parametric rate of consistency under certain conditions. Theoretical results and simulations show some benefits to standard two-dimensional panel methods when the structure of the interactive fixed-effect term is known, but also highlight how the kernel weighted method performs well without knowledge of this structure. The methods are implemented to estimate the demand elasticity for beer.
The tensor-train (TT) format is a data-sparse tensor representation commonly used in high dimensional function approximations arising from computational and data sciences. Various sequential and parallel TT decomposition algorithms have been proposed for different tensor inputs and assumptions. In this paper, we propose subtensor parallel adaptive TT cross, which partitions a tensor onto distributed memory machines with multidimensional process grids, and constructs an TT approximation iteratively with tensor elements. We derive two iterative formulations for pivot selection and TT core construction under the distributed memory setting, conduct communication and scaling analysis of the algorithm, and illustrate its performance with multiple test experiments. These include up to 6D Hilbert tensors and tensors constructed from Maxwellian distribution functions that arise in kinetic theory. Our results demonstrate significant accuracy with greatly reduced storage requirements via the TT cross approximation. Furthermore, we demonstrate good to optimal strong and weak scaling performance for the proposed parallel algorithm.
This study proposes a unified theory and statistical learning approach for traffic conflict detection, addressing the long-existing call for a consistent and comprehensive methodology to evaluate the collision risk emerged in road user interactions. The proposed theory assumes a context-dependent probabilistic collision risk and frames conflict detection as estimating the risk by statistical learning from observed proximities and contextual variables. Three primary tasks are integrated: representing interaction context from selected observables, inferring proximity distributions in different contexts, and applying extreme value theory to relate conflict intensity with conflict probability. As a result, this methodology is adaptable to various road users and interaction scenarios, enhancing its applicability without the need for pre-labelled conflict data. Demonstration experiments are executed using real-world trajectory data, with the unified metric trained on lane-changing interactions on German highways and applied to near-crash events from the 100-Car Naturalistic Driving Study in the U.S. The experiments demonstrate the methodology's ability to provide effective collision warnings, generalise across different datasets and traffic environments, cover a broad range of conflicts, and deliver a long-tailed distribution of conflict intensity. This study contributes to traffic safety by offering a consistent and explainable methodology for conflict detection applicable across various scenarios. Its societal implications include enhanced safety evaluations of traffic infrastructures, more effective collision warning systems for autonomous and driving assistance systems, and a deeper understanding of road user behaviour in different traffic conditions, contributing to a potential reduction in accident rates and improving overall traffic safety.
We develop a nonparametric test for deciding whether volatility of an asset follows a standard semimartingale process, with paths of finite quadratic variation, or a rough process with paths of infinite quadratic variation. The test utilizes the fact that volatility is rough if and only if volatility increments are negatively autocorrelated at high frequencies. It is based on the sample autocovariance of increments of spot volatility estimates computed from high-frequency asset return data. By showing a feasible CLT for this statistic under the null hypothesis of semimartingale volatility paths, we construct a test with fixed asymptotic size and an asymptotic power equal to one. The test is derived under very general conditions for the data-generating process. In particular, it is robust to jumps with arbitrary activity and to the presence of market microstructure noise. In an application of the test to SPY high-frequency data, we find evidence for rough volatility.
Amortized Bayesian inference trains neural networks to solve stochastic inference problems using model simulations, thereby making it possible to rapidly perform Bayesian inference for any newly observed data. However, current simulation-based amortized inference methods are simulation-hungry and inflexible: They require the specification of a fixed parametric prior, simulator, and inference tasks ahead of time. Here, we present a new amortized inference method -- the Simformer -- which overcomes these limitations. By training a probabilistic diffusion model with transformer architectures, the Simformer outperforms current state-of-the-art amortized inference approaches on benchmark tasks and is substantially more flexible: It can be applied to models with function-valued parameters, it can handle inference scenarios with missing or unstructured data, and it can sample arbitrary conditionals of the joint distribution of parameters and data, including both posterior and likelihood. We showcase the performance and flexibility of the Simformer on simulators from ecology, epidemiology, and neuroscience, and demonstrate that it opens up new possibilities and application domains for amortized Bayesian inference on simulation-based models.
This article presents a concise proof of the famous Benford's law when the distribution has a Riemann integrable probability density function and provides a criterion to judge whether a distribution obeys the law. The proof is intuitive and elegant, accessible to anyone with basic knowledge of calculus, revealing that the law originates from the basic property of the human number system. The criterion can bring great convenience to the field of fraud detection.
Recent quantum technologies and quantum error-correcting codes emphasize the requirement for arranging interacting qubits in a nearest-neighbor (NN) configuration while mapping a quantum circuit onto a given hardware device, in order to avoid undesirable noise. It is equally important to minimize the wastage of qubits in a quantum hardware device with m qubits while running circuits of n qubits in total, with n < m. In order to prevent cross-talk between two circuits, a buffer distance between their layouts is needed. Furthermore, not all the qubits and all the two-qubit interactions are at the same noise-level. Scheduling multiple circuits on the same hardware may create a possibility that some circuits are executed on a noisier layout than the others. In this paper, we consider an optimization problem which schedules as many circuits as possible for execution in parallel on the hardware, while maintaining a pre-defined layout quality for each. An integer linear programming formulation to ensure maximum fidelity while preserving the nearest neighbor arrangement among interacting qubits is presented. Our assertion is supported by comprehensive investigations involving various well-known quantum circuit benchmarks. As this scheduling problem is shown to be NP Hard, we also propose a greedy heuristic method which provides 2x and 3x better utilization for 27-qubit and 127-qubit hardware devices respectively in terms of qubits and time.
Graph-centric artificial intelligence (graph AI) has achieved remarkable success in modeling interacting systems prevalent in nature, from dynamical systems in biology to particle physics. The increasing heterogeneity of data calls for graph neural architectures that can combine multiple inductive biases. However, combining data from various sources is challenging because appropriate inductive bias may vary by data modality. Multimodal learning methods fuse multiple data modalities while leveraging cross-modal dependencies to address this challenge. Here, we survey 140 studies in graph-centric AI and realize that diverse data types are increasingly brought together using graphs and fed into sophisticated multimodal models. These models stratify into image-, language-, and knowledge-grounded multimodal learning. We put forward an algorithmic blueprint for multimodal graph learning based on this categorization. The blueprint serves as a way to group state-of-the-art architectures that treat multimodal data by choosing appropriately four different components. This effort can pave the way for standardizing the design of sophisticated multimodal architectures for highly complex real-world problems.
We present self-supervised geometric perception (SGP), the first general framework to learn a feature descriptor for correspondence matching without any ground-truth geometric model labels (e.g., camera poses, rigid transformations). Our first contribution is to formulate geometric perception as an optimization problem that jointly optimizes the feature descriptor and the geometric models given a large corpus of visual measurements (e.g., images, point clouds). Under this optimization formulation, we show that two important streams of research in vision, namely robust model fitting and deep feature learning, correspond to optimizing one block of the unknown variables while fixing the other block. This analysis naturally leads to our second contribution -- the SGP algorithm that performs alternating minimization to solve the joint optimization. SGP iteratively executes two meta-algorithms: a teacher that performs robust model fitting given learned features to generate geometric pseudo-labels, and a student that performs deep feature learning under noisy supervision of the pseudo-labels. As a third contribution, we apply SGP to two perception problems on large-scale real datasets, namely relative camera pose estimation on MegaDepth and point cloud registration on 3DMatch. We demonstrate that SGP achieves state-of-the-art performance that is on-par or superior to the supervised oracles trained using ground-truth labels.
Hashing has been widely used in approximate nearest search for large-scale database retrieval for its computation and storage efficiency. Deep hashing, which devises convolutional neural network architecture to exploit and extract the semantic information or feature of images, has received increasing attention recently. In this survey, several deep supervised hashing methods for image retrieval are evaluated and I conclude three main different directions for deep supervised hashing methods. Several comments are made at the end. Moreover, to break through the bottleneck of the existing hashing methods, I propose a Shadow Recurrent Hashing(SRH) method as a try. Specifically, I devise a CNN architecture to extract the semantic features of images and design a loss function to encourage similar images projected close. To this end, I propose a concept: shadow of the CNN output. During optimization process, the CNN output and its shadow are guiding each other so as to achieve the optimal solution as much as possible. Several experiments on dataset CIFAR-10 show the satisfying performance of SRH.
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