In next generation Internet-of-Things, the overhead introduced by grant-based multiple access protocols may engulf the access network as a consequence of the unprecedented number of connected devices. Grant-free access protocols are therefore gaining an increasing interest to support massive access from machine-type devices with intermittent activity. In this paper, coded random access (CRA) with massive multiple input multiple output (MIMO) is investigated as a solution to design highly-scalable massive multiple access protocols, taking into account stringent requirements on latency and reliability. With a focus on signal processing aspects at the physical layer and their impact on the overall system performance, critical issues of successive interference cancellation (SIC) over fading channels are first analyzed. Then, SIC algorithms and a scheduler are proposed that can overcome some of the limitations of the current access protocols. The effectiveness of the proposed processing algorithms is validated by Monte Carlo simulation, for different CRA protocols and by comparisons with developed benchmarks.
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In recent years, thanks to the advances in meta-materials, the concept of continuous-aperture MIMO (CAP-MIMO) is reinvestigated to achieve improved communication performance with limited antenna apertures. Unlike the classical MIMO composed of discrete antennas, CAP-MIMO has a quasi-continuous antenna surface, which is expected to generate any current distribution (i.e., pattern) and induce controllable spatial electromagnetic (EM) waves. In this way, the information is directly modulated on the EM waves, which makes it promising to approach the ultimate capacity of finite apertures. The pattern design is the key factor to determine the communication performance of CAP-MIMO, but it has not been well studied in the literature. In this paper, we develop pattern-division multiplexing (PDM) to design the patterns for CAP-MIMO. Specifically, we first study and model a typical multi-user CAP-MIMO system, which allows us to formulate the sum-rate maximization problem. Then, we develop a general PDM technique to transform the design of the continuous pattern functions to the design of their projection lengths on finite orthogonal bases, which can overcome the challenge of functional programming. Utilizing PDM, we further propose a block coordinate descent (BCD) based pattern design scheme to solve the formulated sum-rate maximization problem. Simulation results show that, the sum-rate achieved by the proposed scheme is higher than that achieved by benchmark schemes, which demonstrates the effectiveness of the developed PDM for CAP-MIMO.
Hardware acceleration can revolutionize robotics, enabling new applications by speeding up robot response times while remaining power-efficient. However, the diversity of acceleration options makes it difficult for roboticists to easily deploy accelerated systems without expertise in each specific hardware platform. In this work, we address this challenge with RobotCore, an architecture to integrate hardware acceleration in the widely-used ROS 2 robotics software framework. This architecture is target-agnostic (supports edge, workstation, data center, or cloud targets) and accelerator-agnostic (supports both FPGAs and GPUs). It builds on top of the common ROS 2 build system and tools and is easily portable across different research and commercial solutions through a new firmware layer. We also leverage the Linux Tracing Toolkit next generation (LTTng) for low-overhead real-time tracing and benchmarking. To demonstrate the acceleration enabled by this architecture, we use it to deploy a ROS 2 perception computational graph on a CPU and FPGA. We employ our integrated tracing and benchmarking to analyze bottlenecks, uncovering insights that guide us to improve FPGA communication efficiency. In particular, we design an intra-FPGA ROS 2 node communication queue to enable faster data flows, and use it in conjunction with FPGA-accelerated nodes to achieve a 24.42% speedup over a CPU.
Randomized controlled trials (RCTs) are the gold standard for causal inference, but they are often powered only for average effects, making estimation of heterogeneous treatment effects (HTEs) challenging. Conversely, large-scale observational studies (OS) offer a wealth of data but suffer from confounding bias. Our paper presents a novel framework to leverage OS data for enhancing the efficiency in estimating conditional average treatment effects (CATEs) from RCTs while mitigating common biases. We propose an innovative approach to combine RCTs and OS data, expanding the traditionally used control arms from external sources. The framework relaxes the typical assumption of CATE invariance across populations, acknowledging the often unaccounted systematic differences between RCT and OS participants. We demonstrate this through the special case of a linear outcome model, where the CATE is sparsely different between the two populations. The core of our framework relies on learning potential outcome means from OS data and using them as a nuisance parameter in CATE estimation from RCT data. We further illustrate through experiments that using OS findings reduces the variance of the estimated CATE from RCTs and can decrease the required sample size for detecting HTEs.
Massive multiple-input multiple-output (mMIMO) technology is considered a key enabler for the 5G and future wireless networks. In most wireless communication systems, mMIMO is employed together with orthogonal frequency-division multiplexing (OFDM) which exhibits a high peak-to-average-power ratio (PAPR). While passing the OFDM signal through one of the common RF front-ends of limited linearity, significant distortion of the transmitted signal can be expected. In mMIMO systems, this problem is still relevant as in some channels the distortion component is beamformed in the same directions as the desired signal. In this work, we propose a multi-antenna clipping noise cancellation (MCNC) algorithm for the downlink of the mMIMO OFDM system. Computer simulations show it can remove nonlinear distortion even under severe nonlinearity. Next, a simplified version of the algorithm is proposed. It was observed that for the direct visibility channels, its performance is only slightly degraded with respect to the MCNC algorithm.
Gradient methods have become mainstream techniques for Bi-Level Optimization (BLO) in learning fields. The validity of existing works heavily rely on either a restrictive Lower-Level Strong Convexity (LLSC) condition or on solving a series of approximation subproblems with high accuracy or both. In this work, by averaging the upper and lower level objectives, we propose a single loop Bi-level Averaged Method of Multipliers (sl-BAMM) for BLO that is simple yet efficient for large-scale BLO and gets rid of the limited LLSC restriction. We further provide non-asymptotic convergence analysis of sl-BAMM towards KKT stationary points, and the comparative advantage of our analysis lies in the absence of strong gradient boundedness assumption, which is always required by others. Thus our theory safely captures a wider variety of applications in deep learning, especially where the upper-level objective is quadratic w.r.t. the lower-level variable. Experimental results demonstrate the superiority of our method.
The line coverage problem is to find efficient routes for coverage of linear features by one or more resource-constrained robots. Linear features model environments such as road networks, power lines, and oil and gas pipelines. We define two modes of travel for robots: servicing and deadheading. A robot services a feature if it performs task-specific actions, e.g., taking images, as it traverses the feature; otherwise, it is deadheading. Traversing the environment incurs costs (e.g., travel time) and demands on resources (e.g., battery life). Servicing and deadheading can have different cost and demand functions, and we further permit them to be direction dependent. We model the environment as a graph and provide an integer linear program. As the problem is NP-hard, we develop a fast and efficient heuristic algorithm, Merge-Embed-Merge (MEM). By exploiting the constructive property of the MEM algorithm, we develop algorithms for line coverage of large graphs with multiple depots. Furthermore, we efficiently incorporate turning costs and nonholonomic constraints into the algorithm. We benchmark the algorithms on road networks and demonstrate them in experiments using aerial robots.
Recently, Multi-Scenario Learning (MSL) is widely used in recommendation and retrieval systems in the industry because it facilitates transfer learning from different scenarios, mitigating data sparsity and reducing maintenance cost. These efforts produce different MSL paradigms by searching more optimal network structure, such as Auxiliary Network, Expert Network, and Multi-Tower Network. It is intuitive that different scenarios could hold their specific characteristics, activating the user's intents quite differently. In other words, different kinds of auxiliary features would bear varying importance under different scenarios. With more discriminative feature representations refined in a scenario-aware manner, better ranking performance could be easily obtained without expensive search for the optimal network structure. Unfortunately, this simple idea is mainly overlooked but much desired in real-world systems.Further analysis also validates the rationality of adaptive feature learning under a multi-scenario scheme. Moreover, our A/B test results on the Alibaba search advertising platform also demonstrate that Maria is superior in production environments.
We present DiffXPBD, a novel and efficient analytical formulation for the differentiable position-based simulation of compliant constrained dynamics (XPBD). Our proposed method allows computation of gradients of numerous parameters with respect to a goal function simultaneously leveraging a performant simulation model. The method is efficient, thus enabling differentiable simulations of high resolution geometries and degrees of freedom (DoFs). Collisions are naturally included in the framework. Our differentiable model allows a user to easily add additional optimization variables. Every control variable gradient requires the computation of only a few partial derivatives which can be computed using automatic differentiation code. We demonstrate the efficacy of the method with examples such as elastic material parameter estimation, initial value optimization, optimizing for underlying body shape and pose by only observing the clothing, and optimizing a time-varying external force sequence to match sparse keyframe shapes at specific times. Our approach demonstrates excellent efficiency and we demonstrate this on high resolution meshes with optimizations involving over 26 million degrees of freedom. Making an existing solver differentiable requires only a few modifications and the model is compatible with both modern CPU and GPU multi-core hardware.
Multiple-input multiple-output (MIMO) is a key ingredient of next-generation wireless communications. Recently, various MIMO signal detectors based on deep learning techniques and quantum(-inspired) algorithms have been proposed to improve the detection performance compared with conventional detectors. This paper focuses on the simulated bifurcation (SB) algorithm, a quantum-inspired algorithm. This paper proposes two techniques to improve its detection performance. The first is modifying the algorithm inspired by the Levenberg-Marquardt algorithm to eliminate local minima of maximum likelihood detection. The second is the use of deep unfolding, a deep learning technique to train the internal parameters of an iterative algorithm. We propose a deep-unfolded SB by making the update rule of SB differentiable. The numerical results show that these proposed detectors significantly improve the signal detection performance in massive MIMO systems.
Phase noise (PN) is a major disturbance in MIMO systems, where the contribution of different oscillators at the transmitter and the receiver side may degrade the overall performance and offset the gains offered by MIMO techniques. This is even more crucial in the case of massive MIMO, since the number of PN sources may increase considerably. In this work, we propose an iterative receiver based on the application of the expectation-maximization algorithm. We consider a massive MIMO framework with a general association of oscillators to antennas, and include other channel disturbances like imperfect channel state information and Rician block fading. At each receiver iteration, given the information on the transmitted symbols, steepest descent is used to estimate the PN samples, with an optimized adaptive step size and a threshold-based stopping rule. The results obtained for several test cases show how the bit error rate and mean square error can benefit from the proposed phase-detection algorithm, even to the point of reaching the same performance as in the case where no PN is present{\color{black}, offering better results than a state-of-the-art alternative}. Further analysis of the results allow to draw some useful trade-offs respecting final performance and consumption of resources.
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