The classic question of whether one should walk or run in the rain to remain the least wet has inspired a myriad of solutions ranging from physically performing test runs in raining conditions to mathematically modeling human movement through rain. This manuscript approaches the classical problem by simulating movement through rainfall using MATLAB. Our simulation was generalizable to include snowfall as well. An increase in walking speed resulted in a corresponding decrease in raindrop and snowflake collisions. When raindrops or snowflakes were given a horizontal movement vector due to wind, a local minimum in collisions was achieved when moving in parallel with the same horizontal speed as the raindrop; no local minimum was detected with antiparallel movement. In general, our simulation revealed that the faster one moves, the drier one remains.
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Decentralized Congestion Control (DCC) mechanisms have been a core part of protocol stacks for vehicular networks since their inception and standardization. The ETSI ITS-G5 protocol stack for vehicular communications considers the usage of DCC not only in the network or access layers, but also as a part of the cross-layer architecture that influences how often messages are generated and transmitted. ETSI DCC mechanisms have evolved from a reactive approach based on a finite state machine, to an adaptive approach that relies on a linear control algorithm. This linear control algorithm, called LIMERIC, is the basis of the mechanism used in the ETSI DCC Adaptive Approach. The behavior of this algorithm depends on a set of parameters. Different values for these parameters have been proposed in the literature, including those defined in the ETSI specification. A recent proposal is Dual-$\alpha$, which chooses parameters to improve convergence and fairness when the algorithm has to react to fast changes in the use of the shared medium (transitory situations). This article evaluates, by means of simulations, the performance of the ETSI DCC Adaptive Approach and related algorithms, considering both steady state and transitory situations. Results show that a bad selection of parameters can make a DCC algorithm ineffective, that the ETSI DCC Adaptive algorithm performs well in steady state conditions, and that Dual-$\alpha$ performs as well in steady state conditions and outperforms the ETSI DCC Adaptive Approach in transitory scenarios.
Controlled execution of dynamic motions in quadrupedal robots, especially those with articulated soft bodies, presents a unique set of challenges that traditional methods struggle to address efficiently. In this study, we tackle these issues by relying on a simple yet effective two-stage learning framework to generate dynamic motions for quadrupedal robots. First, a gradient-free evolution strategy is employed to discover simply represented control policies, eliminating the need for a predefined reference motion. Then, we refine these policies using deep reinforcement learning. Our approach enables the acquisition of complex motions like pronking and back-flipping, effectively from scratch. Additionally, our method simplifies the traditionally labour-intensive task of reward shaping, boosting the efficiency of the learning process. Importantly, our framework proves particularly effective for articulated soft quadrupeds, whose inherent compliance and adaptability make them ideal for dynamic tasks but also introduce unique control challenges.
We derive and study time-uniform confidence spheres -- confidence sphere sequences (CSSs) -- which contain the mean of random vectors with high probability simultaneously across all sample sizes. Inspired by the original work of Catoni and Giulini, we unify and extend their analysis to cover both the sequential setting and to handle a variety of distributional assumptions. Our results include an empirical-Bernstein CSS for bounded random vectors (resulting in a novel empirical-Bernstein confidence interval with asymptotic width scaling proportionally to the true unknown variance), CSSs for sub-$\psi$ random vectors (which includes sub-gamma, sub-Poisson, and sub-exponential), and CSSs for heavy-tailed random vectors (two moments only). Finally, we provide two CSSs that are robust to contamination by Huber noise. The first is a robust version of our empirical-Bernstein CSS, and the second extends recent work in the univariate setting to heavy-tailed multivariate distributions.
Unmanned Aerial Vehicle (UAVs) have become very popular in the last decade due to some advantages such as strong terrain adaptation, low cost, zero casualties, and so on. One of the most interesting advances in this field is the automation of mission planning (task allocation) and real-time replanning, which are highly useful to increase the autonomy of the vehicle and reduce the operator workload. These automated mission planning and replanning systems require a Human Computer Interface (HCI) that facilitates the visualization and selection of plans that will be executed by the vehicles. In addition, most missions should be assessed before their real-life execution. This paper extends QGroundControl, an open-source simulation environment for flight control of multiple vehicles, by adding a mission designer that permits the operator to build complex missions with tasks and other scenario items; an interface for automated mission planning and replanning, which works as a test bed for different algorithms, and a Decision Support System (DSS) that helps the operator in the selection of the plan. In this work, a complete guide of these systems and some practical use cases are provided.
Multi-modal AI systems will likely become a ubiquitous presence in our everyday lives. A promising approach to making these systems more interactive is to embody them as agents within physical and virtual environments. At present, systems leverage existing foundation models as the basic building blocks for the creation of embodied agents. Embedding agents within such environments facilitates the ability of models to process and interpret visual and contextual data, which is critical for the creation of more sophisticated and context-aware AI systems. For example, a system that can perceive user actions, human behavior, environmental objects, audio expressions, and the collective sentiment of a scene can be used to inform and direct agent responses within the given environment. To accelerate research on agent-based multimodal intelligence, we define "Agent AI" as a class of interactive systems that can perceive visual stimuli, language inputs, and other environmentally-grounded data, and can produce meaningful embodied action with infinite agent. In particular, we explore systems that aim to improve agents based on next-embodied action prediction by incorporating external knowledge, multi-sensory inputs, and human feedback. We argue that by developing agentic AI systems in grounded environments, one can also mitigate the hallucinations of large foundation models and their tendency to generate environmentally incorrect outputs. The emerging field of Agent AI subsumes the broader embodied and agentic aspects of multimodal interactions. Beyond agents acting and interacting in the physical world, we envision a future where people can easily create any virtual reality or simulated scene and interact with agents embodied within the virtual environment.
The dominating NLP paradigm of training a strong neural predictor to perform one task on a specific dataset has led to state-of-the-art performance in a variety of applications (eg. sentiment classification, span-prediction based question answering or machine translation). However, it builds upon the assumption that the data distribution is stationary, ie. that the data is sampled from a fixed distribution both at training and test time. This way of training is inconsistent with how we as humans are able to learn from and operate within a constantly changing stream of information. Moreover, it is ill-adapted to real-world use cases where the data distribution is expected to shift over the course of a model's lifetime. The first goal of this thesis is to characterize the different forms this shift can take in the context of natural language processing, and propose benchmarks and evaluation metrics to measure its effect on current deep learning architectures. We then proceed to take steps to mitigate the effect of distributional shift on NLP models. To this end, we develop methods based on parametric reformulations of the distributionally robust optimization framework. Empirically, we demonstrate that these approaches yield more robust models as demonstrated on a selection of realistic problems. In the third and final part of this thesis, we explore ways of efficiently adapting existing models to new domains or tasks. Our contribution to this topic takes inspiration from information geometry to derive a new gradient update rule which alleviate catastrophic forgetting issues during adaptation.
Recent years have seen important advances in the quality of state-of-the-art models, but this has come at the expense of models becoming less interpretable. This survey presents an overview of the current state of Explainable AI (XAI), considered within the domain of Natural Language Processing (NLP). We discuss the main categorization of explanations, as well as the various ways explanations can be arrived at and visualized. We detail the operations and explainability techniques currently available for generating explanations for NLP model predictions, to serve as a resource for model developers in the community. Finally, we point out the current gaps and encourage directions for future work in this important research area.
Over the last several years, the field of natural language processing has been propelled forward by an explosion in the use of deep learning models. This survey provides a brief introduction to the field and a quick overview of deep learning architectures and methods. It then sifts through the plethora of recent studies and summarizes a large assortment of relevant contributions. Analyzed research areas include several core linguistic processing issues in addition to a number of applications of computational linguistics. A discussion of the current state of the art is then provided along with recommendations for future research in the field.
Deep Convolutional Neural Networks (CNNs) are a special type of Neural Networks, which have shown state-of-the-art results on various competitive benchmarks. The powerful learning ability of deep CNN is largely achieved with the use of multiple non-linear feature extraction stages that can automatically learn hierarchical representation from the data. Availability of a large amount of data and improvements in the hardware processing units have accelerated the research in CNNs and recently very interesting deep CNN architectures are reported. The recent race in deep CNN architectures for achieving high performance on the challenging benchmarks has shown that the innovative architectural ideas, as well as parameter optimization, can improve the CNN performance on various vision-related tasks. In this regard, different ideas in the CNN design have been explored such as use of different activation and loss functions, parameter optimization, regularization, and restructuring of processing units. However, the major improvement in representational capacity is achieved by the restructuring of the processing units. Especially, the idea of using a block as a structural unit instead of a layer is gaining substantial appreciation. This survey thus focuses on the intrinsic taxonomy present in the recently reported CNN architectures and consequently, classifies the recent innovations in CNN architectures into seven different categories. These seven categories are based on spatial exploitation, depth, multi-path, width, feature map exploitation, channel boosting and attention. Additionally, it covers the elementary understanding of the CNN components and sheds light on the current challenges and applications of CNNs.
Deep Convolutional Neural Networks have pushed the state-of-the art for semantic segmentation provided that a large amount of images together with pixel-wise annotations is available. Data collection is expensive and a solution to alleviate it is to use transfer learning. This reduces the amount of annotated data required for the network training but it does not get rid of this heavy processing step. We propose a method of transfer learning without annotations on the target task for datasets with redundant content and distinct pixel distributions. Our method takes advantage of the approximate content alignment of the images between two datasets when the approximation error prevents the reuse of annotation from one dataset to another. Given the annotations for only one dataset, we train a first network in a supervised manner. This network autonomously learns to generate deep data representations relevant to the semantic segmentation. Then the images in the new dataset, we train a new network to generate a deep data representation that matches the one from the first network on the previous dataset. The training consists in a regression between feature maps and does not require any annotations on the new dataset. We show that this method reaches performances similar to a classic transfer learning on the PASCAL VOC dataset with synthetic transformations.
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