亚洲男人的天堂2018av,欧美草比,久久久久久免费视频精选,国色天香在线看免费,久久久久亚洲av成人片仓井空

Place recognition is crucial for robot localization and loop closure in simultaneous localization and mapping (SLAM). Light Detection and Ranging (LiDAR), known for its robust sensing capabilities and measurement consistency even in varying illumination conditions, has become pivotal in various fields, surpassing traditional imaging sensors in certain applications. Among various types of LiDAR, spinning LiDARs are widely used, while non-repetitive scanning patterns have recently been utilized in robotics applications. Some LiDARs provide additional measurements such as reflectivity, Near Infrared (NIR), and velocity from Frequency modulated continuous wave (FMCW) LiDARs. Despite these advances, there is a lack of comprehensive datasets reflecting the broad spectrum of LiDAR configurations for place recognition. To tackle this issue, our paper proposes the HeLiPR dataset, curated especially for place recognition with heterogeneous LiDARs, embodying spatiotemporal variations. To the best of our knowledge, the HeLiPR dataset is the first heterogeneous LiDAR dataset supporting inter-LiDAR place recognition with both non-repetitive and spinning LiDARs, accommodating different field of view (FOV)s and varying numbers of rays. The dataset covers diverse environments, from urban cityscapes to high-dynamic freeways, over a month, enhancing adaptability and robustness across scenarios. Notably, HeLiPR includes trajectories parallel to MulRan sequences, making it valuable for research in heterogeneous LiDAR place recognition and long-term studies. The dataset is accessible at //sites.google.com/view/heliprdataset .

相關內容

Deep neural network-based Synthetic Aperture Radar (SAR) target recognition models are susceptible to adversarial examples. Current adversarial example generation methods for SAR imagery primarily operate in the 2D digital domain, known as image adversarial examples. Recent work, while considering SAR imaging scatter mechanisms, fails to account for the actual imaging process, rendering attacks in the three-dimensional physical domain infeasible, termed pseudo physics adversarial examples. To address these challenges, this paper proposes SAR-AE-SFP-Attack, a method to generate real physics adversarial examples by altering the scattering feature parameters of target objects. Specifically, we iteratively optimize the coherent energy accumulation of the target echo by perturbing the reflection coefficient and scattering coefficient in the scattering feature parameters of the three-dimensional target object, and obtain the adversarial example after echo signal processing and imaging processing in the RaySAR simulator. Experimental results show that compared to digital adversarial attack methods, SAR-AE-SFP Attack significantly improves attack efficiency on CNN-based models (over 30\%) and Transformer-based models (over 13\%), demonstrating significant transferability of attack effects across different models and perspectives.

BasedAI is a distributed network of machines which introduces decentralized infrastructure capable of integrating Fully Homomorphic Encryption (FHE) with any large language model (LLM) connected to its network. The proposed framework embeds a default mechanism, called "Cerberus Squeezing", into the mining process which enables the transformation of a standard LLMs into encrypted zero-knowledge LLMs, or "ZK-LLMs", leveraging insights from generative adversarial networks for data privacy. This novel quantization mechanism empowers BasedAI miners to process and respond to prompts derived from User interaction with LLMs without the need for decrypting ei- ther the queries or their corresponding responses. The introduction of Cerberus Squeezing significantly improves performance degradation caused by quantized functions in current FHE-compliant computing environments by proactively optimizing calls between users, miners, and validators.

Cell-free massive multiple-input multiple-output (MIMO) is a promising technology for next-generation communication systems. This work proposes a novel partially coherent (PC) transmission framework to cope with the challenge of phase misalignment among the access points (APs), which is important for unlocking the full potential of cell-free massive MIMO technology. With the PC operation, the APs are only required to be phase-aligned within clusters. Each cluster transmits the same data stream towards each user equipment (UE), while different clusters send different data streams. We first propose a novel algorithm to group APs into clusters such that the distance between two APs is always smaller than a reference distance ensuring the phase alignment of these APs. Then, we propose new algorithms that optimize the combining at UEs and precoding at APs to maximize the downlink sum data rates. We also propose a novel algorithm for data stream allocation to further improve the sum data rate of the PC operation. Numerical results show that the PC operation using the proposed framework with a sufficiently small reference distance can offer a sum rate close to the sum rate of the ideal fully coherent (FC) operation that requires network-wide phase alignment. This demonstrates the potential of PC operation in practical deployments of cell-free massive MIMO networks.

We introduces Crimson, a system that enhances the strategic reasoning capabilities of Large Language Models (LLMs) within the realm of cybersecurity. By correlating CVEs with MITRE ATT&CK techniques, Crimson advances threat anticipation and strategic defense efforts. Our approach includes defining and evaluating cybersecurity strategic tasks, alongside implementing a comprehensive human-in-the-loop data-synthetic workflow to develop the CVE-to-ATT&CK Mapping (CVEM) dataset. We further enhance LLMs' reasoning abilities through a novel Retrieval-Aware Training (RAT) process and its refined iteration, RAT-R. Our findings demonstrate that an LLM fine-tuned with our techniques, possessing 7 billion parameters, approaches the performance level of GPT-4, showing markedly lower rates of hallucination and errors, and surpassing other models in strategic reasoning tasks. Moreover, domain-specific fine-tuning of embedding models significantly improves performance within cybersecurity contexts, underscoring the efficacy of our methodology. By leveraging Crimson to convert raw vulnerability data into structured and actionable insights, we bolster proactive cybersecurity defenses.

Reassembly tasks play a fundamental role in many fields and multiple approaches exist to solve specific reassembly problems. In this context, we posit that a general unified model can effectively address them all, irrespective of the input data type (images, 3D, etc.). We introduce DiffAssemble, a Graph Neural Network (GNN)-based architecture that learns to solve reassembly tasks using a diffusion model formulation. Our method treats the elements of a set, whether pieces of 2D patch or 3D object fragments, as nodes of a spatial graph. Training is performed by introducing noise into the position and rotation of the elements and iteratively denoising them to reconstruct the coherent initial pose. DiffAssemble achieves state-of-the-art (SOTA) results in most 2D and 3D reassembly tasks and is the first learning-based approach that solves 2D puzzles for both rotation and translation. Furthermore, we highlight its remarkable reduction in run-time, performing 11 times faster than the quickest optimization-based method for puzzle solving. Code available at //github.com/IIT-PAVIS/DiffAssemble

We revisit the well-known Gilbert-Varshamov (GV) bound for constrained systems. In 1991, Kolesnik and Krachkovsky showed that GV bound can be determined via the solution of some optimization problem. Later, Marcus and Roth (1992) modified the optimization problem and improved the GV bound in many instances. In this work, we provide explicit numerical procedures to solve these two optimization problems and hence, compute the bounds. We then show the procedures can be further simplified when we plot the respective curves. In the case where the graph presentation comprise a single state, we provide explicit formulas for both bounds.

Quantum Annealing (QA)-accelerated MIMO detection is an emerging research approach in the context of NextG wireless networks. The opportunity is to enable large MIMO systems and thus improve wireless performance. The approach aims to leverage QA to expedite the computation required for theoretically optimal but computationally-demanding Maximum Likelihood detection to overcome the limitations of the currently deployed linear detectors. This paper presents \textbf{X-ResQ}, a QA-based MIMO detector system featuring fine-grained quantum task parallelism that is uniquely enabled by the Reverse Annealing (RA) protocol. Unlike prior designs, X-ResQ has many desirable system properties for a parallel QA detector and has effectively improved detection performance as more qubits are assigned. In our evaluations on a state-of-the-art quantum annealer, fully parallel X-ResQ achieves near-optimal throughput (over 10 bits/s/Hz) for $4\times6$ MIMO with 16-QAM using six levels of parallelism with 240 qubits and $220~\mu$s QA compute time, achieving 2.5--5$\times$ gains compared against other tested detectors. For more comprehensive evaluations, we implement and evaluate X-ResQ in the non-quantum digital setting. This non-quantum X-ResQ demonstration showcases the potential to realize ultra-large $1024\times1024$ MIMO, significantly outperforming other MIMO detectors, including the state-of-the-art RA detector classically implemented in the same way.

Generalization to out-of-distribution (OOD) data is a capability natural to humans yet challenging for machines to reproduce. This is because most learning algorithms strongly rely on the i.i.d.~assumption on source/target data, which is often violated in practice due to domain shift. Domain generalization (DG) aims to achieve OOD generalization by using only source data for model learning. Since first introduced in 2011, research in DG has made great progresses. In particular, intensive research in this topic has led to a broad spectrum of methodologies, e.g., those based on domain alignment, meta-learning, data augmentation, or ensemble learning, just to name a few; and has covered various vision applications such as object recognition, segmentation, action recognition, and person re-identification. In this paper, for the first time a comprehensive literature review is provided to summarize the developments in DG for computer vision over the past decade. Specifically, we first cover the background by formally defining DG and relating it to other research fields like domain adaptation and transfer learning. Second, we conduct a thorough review into existing methods and present a categorization based on their methodologies and motivations. Finally, we conclude this survey with insights and discussions on future research directions.

Multiple instance learning (MIL) is a powerful tool to solve the weakly supervised classification in whole slide image (WSI) based pathology diagnosis. However, the current MIL methods are usually based on independent and identical distribution hypothesis, thus neglect the correlation among different instances. To address this problem, we proposed a new framework, called correlated MIL, and provided a proof for convergence. Based on this framework, we devised a Transformer based MIL (TransMIL), which explored both morphological and spatial information. The proposed TransMIL can effectively deal with unbalanced/balanced and binary/multiple classification with great visualization and interpretability. We conducted various experiments for three different computational pathology problems and achieved better performance and faster convergence compared with state-of-the-art methods. The test AUC for the binary tumor classification can be up to 93.09% over CAMELYON16 dataset. And the AUC over the cancer subtypes classification can be up to 96.03% and 98.82% over TCGA-NSCLC dataset and TCGA-RCC dataset, respectively.

We introduce a new language representation model called BERT, which stands for Bidirectional Encoder Representations from Transformers. Unlike recent language representation models, BERT is designed to pre-train deep bidirectional representations by jointly conditioning on both left and right context in all layers. As a result, the pre-trained BERT representations can be fine-tuned with just one additional output layer to create state-of-the-art models for a wide range of tasks, such as question answering and language inference, without substantial task-specific architecture modifications. BERT is conceptually simple and empirically powerful. It obtains new state-of-the-art results on eleven natural language processing tasks, including pushing the GLUE benchmark to 80.4% (7.6% absolute improvement), MultiNLI accuracy to 86.7 (5.6% absolute improvement) and the SQuAD v1.1 question answering Test F1 to 93.2 (1.5% absolute improvement), outperforming human performance by 2.0%.

北京阿比特科技有限公司