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We present a scalable combined localization infrastructure deployment and task planning algorithm for underwater assembly. Infrastructure is autonomously modified to suit the needs of manipulation tasks based on an uncertainty model on the infrastructure's positional accuracy. Our uncertainty model can be combined with the noise characteristics from multiple devices. For the task planning problem, we propose a layer-based clustering approach that completes the manipulation tasks one cluster at a time. We employ movable visual fiducial markers as infrastructure and an autonomous underwater vehicle (AUV) for manipulation tasks. The proposed task planning algorithm is computationally simple, and we implement it on AUV without any offline computation requirements. Combined hardware experiments and simulations over large datasets show that the proposed technique is scalable to large areas.

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Triggerless Data Acquisition Systems (DAQs) require transmitting the data stream from multiple links to the processing node. The short input data words must be concentrated and packed into the longer bit vectors the output interface (e.g., PCI Express) uses. In that process, the unneeded data must be eliminated, and a dense stream of useful DAQ data must be created. Additionally, the time order of the data should be preserved. This paper presents a new solution using the Baseline Network with Reversed Outputs (BNRO) for high-speed data routing. A thorough analysis of the network's operation enabled increased scalability compared to the previously published concentrator based on an 8x8 network. The solution may be scaled by adding additional layers to the BNRO network while minimizing resource consumption. Simulations were done for 4 and 5 layers (16 and 32 inputs). The FPGA implementation and tests in the actual hardware have been successfully performed for 16 inputs. The pipeline registers may be added in each layer independently, shortening the critical path and increasing the maximum acceptable clock frequency.

This work considers the optimization of electrode positions in head imaging by electrical impedance tomography. The study is motivated by maximizing the sensitivity of electrode measurements to conductivity changes when monitoring the condition of a stroke patient, which justifies adopting a linearized version of the complete electrode model as the forward model. The algorithm is based on finding a (locally) A-optimal measurement configuration via gradient descent with respect to the electrode positions. The efficient computation of the needed derivatives of the complete electrode model is one of the focal points. Two algorithms are introduced and numerically tested on a three-layer head model. The first one assumes a region of interest and a Gaussian prior for the conductivity in the brain, and it can be run offline, i.e., prior to taking any measurements. The second algorithm first computes a reconstruction of the conductivity anomaly caused by the stroke with an initial electrode configuration by combining lagged diffusivity iteration with sequential linearizations, which can be interpreted to produce an approximate Gaussian probability density for the conductivity perturbation. It then resorts to the first algorithm to find new, more informative positions for the available electrodes with the constructed density as the prior.

Due to their cost, experiments for inertial confinement fusion (ICF) heavily rely on numerical simulations to guide design. As simulation technology progresses, so too can the fidelity of models used to plan for new experiments. However, these high-fidelity models are by themselves insufficient for optimal experimental design, because their computational cost remains too high to efficiently and effectively explore the numerous parameters required to describe a typical experiment. Traditionally, ICF design has relied on low-fidelity modeling to initially identify potentially interesting design regions, which are then subsequently explored via selected high-fidelity modeling. In this paper, we demonstrate that this two-step approach can be insufficient: even for simple design problems, a two-step optimization strategy can lead high-fidelity searching towards incorrect regions and consequently waste computational resources on parameter regimes far away from the true optimal solution. We reveal that a primary cause of this behavior in ICF design problems is the presence of low-fidelity optima in distinct regions of the parameter space from high-fidelity optima. To address this issue, we propose an iterative multifidelity Bayesian optimization method based on Gaussian Process Regression that leverages both low- and high-fidelity modelings. We demonstrate, using both two- and eight-dimensional ICF test problems, that our algorithm can effectively utilize low-fidelity modeling for exploration, while automatically refining promising designs with high-fidelity models. This approach proves to be more efficient than relying solely on high-fidelity modeling for optimization.

In a constant evolving world, change detection is of prime importance to keep updated maps. To better sense areas with complex geometry (urban areas in particular), considering 3D data appears to be an interesting alternative to classical 2D images. In this context, 3D point clouds (PCs), whether obtained through LiDAR or photogrammetric techniques, provide valuable information. While recent studies showed the considerable benefit of using deep learning-based methods to detect and characterize changes into raw 3D PCs, these studies rely on large annotated training data to obtain accurate results. The collection of these annotations are tricky and time-consuming. The availability of unsupervised or weakly supervised approaches is then of prime interest. In this paper, we propose an unsupervised method, called DeepCluster 3D Change Detection (DC3DCD), to detect and categorize multiclass changes at point level. We classify our approach in the unsupervised family given the fact that we extract in a completely unsupervised way a number of clusters associated with potential changes. Let us precise that in the end of the process, the user has only to assign a label to each of these clusters to derive the final change map. Our method builds upon the DeepCluster approach, originally designed for image classification, to handle complex raw 3D PCs and perform change segmentation task. An assessment of the method on both simulated and real public dataset is provided. The proposed method allows to outperform fully-supervised traditional machine learning algorithm and to be competitive with fully-supervised deep learning networks applied on rasterization of 3D PCs with a mean of IoU over classes of change of 57.06\% and 66.69\% for the simulated and the real datasets, respectively.

Modeling of real-world biological multi-agents is a fundamental problem in various scientific and engineering fields. Reinforcement learning (RL) is a powerful framework to generate flexible and diverse behaviors in cyberspace; however, when modeling real-world biological multi-agents, there is a domain gap between behaviors in the source (i.e., real-world data) and the target (i.e., cyberspace for RL), and the source environment parameters are usually unknown. In this paper, we propose a method for adaptive action supervision in RL from real-world demonstrations in multi-agent scenarios. We adopt an approach that combines RL and supervised learning by selecting actions of demonstrations in RL based on the minimum distance of dynamic time warping for utilizing the information of the unknown source dynamics. This approach can be easily applied to many existing neural network architectures and provide us with an RL model balanced between reproducibility as imitation and generalization ability to obtain rewards in cyberspace. In the experiments, using chase-and-escape and football tasks with the different dynamics between the unknown source and target environments, we show that our approach achieved a balance between the reproducibility and the generalization ability compared with the baselines. In particular, we used the tracking data of professional football players as expert demonstrations in football and show successful performances despite the larger gap between behaviors in the source and target environments than the chase-and-escape task.

Text prompts are crucial for generalizing pre-trained open-set object detection models to new categories. However, current methods for text prompts are limited as they require manual feedback when generalizing to new categories, which restricts their ability to model complex scenes, often leading to incorrect detection results. To address this limitation, we propose a novel visual prompt method that learns new category knowledge from a few labeled images, which generalizes the pre-trained detection model to the new category. To allow visual prompts to represent new categories adequately, we propose a statistical-based prompt construction module that is not limited by predefined vocabulary lengths, thus allowing more vectors to be used when representing categories. We further utilize the category dictionaries in the pre-training dataset to design task-specific similarity dictionaries, which make visual prompts more discriminative. We evaluate the method on the ODinW dataset and show that it outperforms existing prompt learning methods and performs more consistently in combinatorial inference.

This article mainly introduces how to use various basic emulators to form a combined emulator in the Jiutian Intelligence Network Simulation Platform to realize simulation service functions in different business scenarios. Among them, the combined emulator is included. The business scenarios include different practical applications such as multi-objective antenna optimization, high traffic of business, CSI (channel state information) compression feedback, etc.

Modeling excess remains to be an important topic in insurance data modeling. Among the alternatives of modeling excess, the Peaks Over Threshold (POT) framework with Generalized Pareto distribution (GPD) is regarded as an efficient approach due to its flexibility. However, the selection of an appropriate threshold for such framework is a major difficulty. To address such difficulty, we applied several accumulation tests along with Anderson-Darling test to determine an optimal threshold. Based on the selected thresholds, the fitted GPD with the estimated quantiles can be found. We applied the procedure to the well-known Norwegian Fire Insurance data and constructed the confidence intervals for the Value-at-Risks (VaR). The accumulation test approach provides satisfactory performance in modeling the high quantiles of Norwegian Fire Insurance data compared to the previous graphical methods.

In the face of dataset shift, model calibration plays a pivotal role in ensuring the reliability of machine learning systems. Calibration error (CE) is an indicator of the alignment between the predicted probabilities and the classifier accuracy. While prior works have delved into the implications of dataset shift on calibration, existing CE estimators assume access to labels from the target domain, which are often unavailable in practice, i.e., when the model is deployed and used. This work addresses such challenging scenario, and proposes a novel CE estimator under label shift, which is characterized by changes in the marginal label distribution $p(Y)$, while keeping the conditional $p(X|Y)$ constant between the source and target distributions. Our contribution is an approach, which, by leveraging importance re-weighting of the labeled source distribution, provides consistent and asymptotically unbiased CE estimation with respect to the shifted target distribution. Empirical results across diverse real-world datasets, under various conditions and label-shift intensities, demonstrate the effectiveness and reliability of the proposed estimator.

We present ResMLP, an architecture built entirely upon multi-layer perceptrons for image classification. It is a simple residual network that alternates (i) a linear layer in which image patches interact, independently and identically across channels, and (ii) a two-layer feed-forward network in which channels interact independently per patch. When trained with a modern training strategy using heavy data-augmentation and optionally distillation, it attains surprisingly good accuracy/complexity trade-offs on ImageNet. We will share our code based on the Timm library and pre-trained models.

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