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The major challenges of collision avoidance for robot navigation in crowded scenes lie in accurate environment modeling, fast perceptions, and trustworthy motion planning policies. This paper presents a novel adaptive environment model based collision avoidance reinforcement learning (i.e., AEMCARL) framework for an unmanned robot to achieve collision-free motions in challenging navigation scenarios. The novelty of this work is threefold: (1) developing a hierarchical network of gated-recurrent-unit (GRU) for environment modeling; (2) developing an adaptive perception mechanism with an attention module; (3) developing an adaptive reward function for the reinforcement learning (RL) framework to jointly train the environment model, perception function and motion planning policy. The proposed method is tested with the Gym-Gazebo simulator and a group of robots (Husky and Turtlebot) under various crowded scenes. Both simulation and experimental results have demonstrated the superior performance of the proposed method over baseline methods.

The trend of future communication systems is to aim for the steering and control of cyber physical systems. These systems can quickly become congested in environments like those presented in Industry 4.0. In these scenarios, a plethora of sensor data is transmitted wirelessly to multiple in network controllers that compute the control functions of the cyber physical systems. In this paper, we show an implementation of network Functional Compression (FC) as a proof of concept to drastically reduce the data traffic in these scenarios. FC is a form of goal-oriented communication scheme in which the objective of the sender receiver pair is to transmit the minimum amount of information to compute a function at the receiver end. In our scenario, the senders transmit an encoded and compressed version of the sensor data to a destination, an in-network controller interested in computing as its target function, a PID controller. We show that it is possible to achieve compression rates of over 50% in some cases by employing FC. We also show that using FC in a distributed cascade fashion can achieve more significant compression rates while reducing computational costs.

The sensitivity of the optical wireless communication (OWC) can be effectively improved by employing the highly sensitive single-photon avalanche diode (SPAD) arrays. However, the nonlinear distortion introduced by the dead time strongly limits the throughput of the SPAD-based OWC systems. Optical orthogonal frequency division multiplexing (OFDM) can be employed in the systems with SPAD arrays to improve the spectral efficiency. In this work, a theoretical performance analysis of SPAD-based OWC system with asymmetrically-clipped optical OFDM (ACO-OFDM) is presented. The impact of the SPAD nonlinearity on the system performance is investigated. In addition, the comparison of the considered scheme with direct-current-biased optical OFDM (DCO-OFDM) is presented showing the distinct reliable operation regimes of the two schemes. In the low power regimes, ACO-OFDM outperforms DCO-OFDM; whereas, the latter is more preferable in the high power regimes.

Informative cluster size (ICS) arises in situations with clustered data where a latent relationship exists between the number of participants in a cluster and the outcome measures. Although this phenomenon has been sporadically reported in statistical literature for nearly two decades now, further exploration is needed in certain statistical methodologies to avoid potentially misleading inferences. For inference about population quantities without covariates, inverse cluster size reweightings are often employed to adjust for ICS. Further, to study the effect of covariates on disease progression described by a multistate model, the pseudo-value regression technique has gained popularity in time-to-event data analysis. We seek to answer the question: "How to apply pseudo-value regression to clustered time-to-event data when cluster size is informative?" ICS adjustment by the reweighting method can be performed in two steps; estimation of marginal functions of the multistate model and fitting the estimating equations based on pseudo-value responses, leading to four possible strategies. We present theoretical arguments and thorough simulation experiments to ascertain the correct strategy for adjusting for ICS. A further extension of our methodology is implemented to include informativeness induced by the intra-cluster group size. We demonstrate the methods in two real-world applications: (i) to determine predictors of tooth survival in a periodontal study, and (ii) to identify indicators of ambulatory recovery in spinal cord injury patients who participated in locomotor-training rehabilitation.

Domain adaptation arises as an important problem in statistical learning theory when the data-generating processes differ between training and test samples, respectively called source and target domains. Recent theoretical advances show that the success of domain adaptation algorithms heavily relies on their ability to minimize the divergence between the probability distributions of the source and target domains. However, minimizing this divergence cannot be done independently of the minimization of other key ingredients such as the source risk or the combined error of the ideal joint hypothesis. The trade-off between these terms is often ensured by algorithmic solutions that remain implicit and not directly reflected by the theoretical guarantees. To get to the bottom of this issue, we propose in this paper a new theoretical framework for domain adaptation through hierarchical optimal transport. This framework provides more explicit generalization bounds and allows us to consider the natural hierarchical organization of samples in both domains into classes or clusters. Additionally, we provide a new divergence measure between the source and target domains called Hierarchical Wasserstein distance that indicates under mild assumptions, which structures have to be aligned to lead to a successful adaptation.

Recommender systems are fundamental information filtering techniques to recommend content or items that meet users' personalities and potential needs. As a crucial solution to address the difficulty of user identification and unavailability of historical information, session-based recommender systems provide recommendation services that only rely on users' behaviors in the current session. However, most existing studies are not well-designed for modeling heterogeneous user behaviors and capturing the relationships between them in practical scenarios. To fill this gap, in this paper, we propose a novel graph-based method, namely Heterogeneous Information Crossing on Graphs (HICG). HICG utilizes multiple types of user behaviors in the sessions to construct heterogeneous graphs, and captures users' current interests with their long-term preferences by effectively crossing the heterogeneous information on the graphs. In addition, we also propose an enhanced version, named HICG-CL, which incorporates contrastive learning (CL) technique to enhance item representation ability. By utilizing the item co-occurrence relationships across different sessions, HICG-CL improves the recommendation performance of HICG. We conduct extensive experiments on three real-world recommendation datasets, and the results verify that (i) HICG achieves the state-of-the-art performance by utilizing multiple types of behaviors on the heterogeneous graph. (ii) HICG-CL further significantly improves the recommendation performance of HICG by the proposed contrastive learning module.

Event detection (ED), a sub-task of event extraction, involves identifying triggers and categorizing event mentions. Existing methods primarily rely upon supervised learning and require large-scale labeled event datasets which are unfortunately not readily available in many real-life applications. In this paper, we consider and reformulate the ED task with limited labeled data as a Few-Shot Learning problem. We propose a Dynamic-Memory-Based Prototypical Network (DMB-PN), which exploits Dynamic Memory Network (DMN) to not only learn better prototypes for event types, but also produce more robust sentence encodings for event mentions. Differing from vanilla prototypical networks simply computing event prototypes by averaging, which only consume event mentions once, our model is more robust and is capable of distilling contextual information from event mentions for multiple times due to the multi-hop mechanism of DMNs. The experiments show that DMB-PN not only deals with sample scarcity better than a series of baseline models but also performs more robustly when the variety of event types is relatively large and the instance quantity is extremely small.

Cold-start problems are long-standing challenges for practical recommendations. Most existing recommendation algorithms rely on extensive observed data and are brittle to recommendation scenarios with few interactions. This paper addresses such problems using few-shot learning and meta learning. Our approach is based on the insight that having a good generalization from a few examples relies on both a generic model initialization and an effective strategy for adapting this model to newly arising tasks. To accomplish this, we combine the scenario-specific learning with a model-agnostic sequential meta-learning and unify them into an integrated end-to-end framework, namely Scenario-specific Sequential Meta learner (or s^2 meta). By doing so, our meta-learner produces a generic initial model through aggregating contextual information from a variety of prediction tasks while effectively adapting to specific tasks by leveraging learning-to-learn knowledge. Extensive experiments on various real-world datasets demonstrate that our proposed model can achieve significant gains over the state-of-the-arts for cold-start problems in online recommendation. Deployment is at the Guess You Like session, the front page of the Mobile Taobao.

Graph neural networks (GNNs) are a popular class of machine learning models whose major advantage is their ability to incorporate a sparse and discrete dependency structure between data points. Unfortunately, GNNs can only be used when such a graph-structure is available. In practice, however, real-world graphs are often noisy and incomplete or might not be available at all. With this work, we propose to jointly learn the graph structure and the parameters of graph convolutional networks (GCNs) by approximately solving a bilevel program that learns a discrete probability distribution on the edges of the graph. This allows one to apply GCNs not only in scenarios where the given graph is incomplete or corrupted but also in those where a graph is not available. We conduct a series of experiments that analyze the behavior of the proposed method and demonstrate that it outperforms related methods by a significant margin.

Recommender systems play a crucial role in mitigating the problem of information overload by suggesting users' personalized items or services. The vast majority of traditional recommender systems consider the recommendation procedure as a static process and make recommendations following a fixed strategy. In this paper, we propose a novel recommender system with the capability of continuously improving its strategies during the interactions with users. We model the sequential interactions between users and a recommender system as a Markov Decision Process (MDP) and leverage Reinforcement Learning (RL) to automatically learn the optimal strategies via recommending trial-and-error items and receiving reinforcements of these items from users' feedbacks. In particular, we introduce an online user-agent interacting environment simulator, which can pre-train and evaluate model parameters offline before applying the model online. Moreover, we validate the importance of list-wise recommendations during the interactions between users and agent, and develop a novel approach to incorporate them into the proposed framework LIRD for list-wide recommendations. The experimental results based on a real-world e-commerce dataset demonstrate the effectiveness of the proposed framework.