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In recent years there has been a growing interest in reconfigurable intelligent surfaces (RISs) as enablers for the realization of smart radio propagation environments which can provide performance improvements with low energy consumption in future wireless networks. However, to reap the potential gains of RIS it is crucial to jointly design both the transmit precoder and the phases of the RIS elements. Within this context, in this paper we study the use of multiple RIS panels in a parallel or multi-hop configuration with the aim of assisting a multi-stream multiple-input multiple-output (MIMO) communication. To solve the nonconvex joint optimization problem of the precoder and RIS elements targeted at maximizing the achievable rate, we propose an iterative algorithm based on the monotone accelerated proximal gradient (mAPG) method which includes an extrapolation step for improving the convergence speed and monitoring variables for ensuring sufficient descent of the algorithm. Based on the sufficient descent property we then present a detailed convergence analysis of the algorithm which includes expressions for the step size. Simulation results in different scenarios show that, besides being effective, the proposed approach can often achieve higher rates than other benchmarked schemes.

In the field of 3D perception using 3D LiDAR sensors, ground segmentation is an essential task for various purposes, such as traversable area detection and object recognition. Under these circumstances, several ground segmentation methods have been proposed. However, some limitations are still encountered. First, some ground segmentation methods require fine-tuning of parameters depending on the surroundings, which is excessively laborious and time-consuming. Moreover, even if the parameters are well adjusted, a partial under-segmentation problem can still emerge, which implies ground segmentation failures in some regions. Finally, ground segmentation methods typically fail to estimate an appropriate ground plane when the ground is above another structure, such as a retaining wall. To address these problems, we propose a robust ground segmentation method called Patchwork++, an extension of Patchwork. Patchwork++ exploits adaptive ground likelihood estimation (A-GLE) to calculate appropriate parameters adaptively based on the previous ground segmentation results. Moreover, temporal ground revert (TGR) alleviates a partial under-segmentation problem by using the temporary ground property. Also, region-wise vertical plane fitting (R-VPF) is introduced to segment the ground plane properly even if the ground is elevated with different layers. Finally, we present reflected noise removal (RNR) to eliminate virtual noise points efficiently based on the 3D LiDAR reflection model. We demonstrate the qualitative and quantitative evaluations using a SemanticKITTI dataset. Our code is available at //github.com/url-kaist/patchwork-plusplus

We study the change point detection problem for high-dimensional linear regression models. The existing literature mainly focuses on the change point estimation with stringent sub-Gaussian assumptions on the errors. In practice, however, there is no prior knowledge about the existence of a change point or the tail structures of errors. To address these issues, in this paper, we propose a novel tail-adaptive approach for simultaneous change point testing and estimation. The method is built on a new loss function which is a weighted combination between the composite quantile and least squared losses, allowing us to borrow information of the possible change points from both the conditional mean and quantiles. For the change point testing, based on the adjusted $L_2$-norm aggregation of a weighted score CUSUM process, we propose a family of individual testing statistics with different weights to account for the unknown tail structures. Through a combination of the individual tests, a tail-adaptive test is further constructed that is powerful for sparse alternatives of regression coefficients' changes under various tail structures. For the change point estimation, a family of argmax-based individual estimators is proposed once a change point is detected. In theory, for both individual and tail-adaptive tests, bootstrap procedures are proposed to approximate their limiting null distributions. Under some mild conditions, we justify the validity of the new tests in terms of size and power under the high-dimensional setup. The corresponding change point estimators are shown to be rate optimal up to a logarithm factor. Moreover, combined with the wild binary segmentation technique, a new algorithm is proposed to detect multiple change points in a tail-adaptive manner. Extensive numerical results are conducted to illustrate the competitive performance of the proposed method.

We study the following repeated non-atomic routing game. In every round, nature chooses a state in an i.i.d. manner according to a publicly known distribution, which influences link latency functions. The system planner makes private route recommendations to participating agents, which constitute a fixed fraction, according to a publicly known signaling strategy. The participating agents choose between obeying or not obeying the recommendation according to cumulative regret of the participating agent population in the previous round. The non-participating agents choose route according to myopic best response to a calibrated forecast of the routing decisions of the participating agents. We show that, for parallel networks, if the planner's signal strategy satisfies the obedience condition, then, almost surely, the link flows are asymptotically consistent with the Bayes correlated equilibrium induced by the signaling strategy.

We develop a new approach to drifting games, a class of two-person games with many applications to boosting and online learning settings, including Prediction with Expert Advice and the Hedge game. Our approach involves (a) guessing an asymptotically optimal potential by solving an associated partial differential equation (PDE); then (b) justifying the guess, by proving upper and lower bounds on the final-time loss whose difference scales like a negative power of the number of time steps. The proofs of our potential-based upper bounds are elementary, using little more than Taylor expansion. The proofs of our potential-based lower bounds are also rather elementary, combining Taylor expansion with probabilistic or combinatorial arguments. Most previous work on asymptotically optimal strategies has used potentials obtained by solving a discrete dynamic programming principle; the arguments are complicated by their discrete nature. Our approach is facilitated by the fact that the potentials we use are explicit solutions of PDEs; the arguments are based on basic calculus. Not only is our approach more elementary, but we give new potentials and derive corresponding upper and lower bounds that match each other in the asymptotic regime.

Given a partial differential equation (PDE), goal-oriented error estimation allows us to understand how errors in a diagnostic quantity of interest (QoI), or goal, occur and accumulate in a numerical approximation, for example using the finite element method. By decomposing the error estimates into contributions from individual elements, it is possible to formulate adaptation methods, which modify the mesh with the objective of minimising the resulting QoI error. However, the standard error estimate formulation involves the true adjoint solution, which is unknown in practice. As such, it is common practice to approximate it with an 'enriched' approximation (e.g. in a higher order space or on a refined mesh). Doing so generally results in a significant increase in computational cost, which can be a bottleneck compromising the competitiveness of (goal-oriented) adaptive simulations. The central idea of this paper is to develop a "data-driven" goal-oriented mesh adaptation approach through the selective replacement of the expensive error estimation step with an appropriately configured and trained neural network. In doing so, the error estimator may be obtained without even constructing the enriched spaces. An element-by-element construction is employed here, whereby local values of various parameters related to the mesh geometry and underlying problem physics are taken as inputs, and the corresponding contribution to the error estimator is taken as output. We demonstrate that this approach is able to obtain the same accuracy with a reduced computational cost, for adaptive mesh test cases related to flow around tidal turbines, which interact via their downstream wakes, and where the overall power output of the farm is taken as the QoI. Moreover, we demonstrate that the element-by-element approach implies reasonably low training costs.

New operating conditions can result in a significant performance drop of fault diagnostics models due to the domain shift between the training and the testing data distributions. While several domain adaptation approaches have been proposed to overcome such domain shifts, their application is limited if the fault classes represented in the two domains are not the same. To enable a better transferability of the trained models between two different domains, particularly in setups where only the healthy data class is shared between the two domains, we propose a new framework for Partial and Open-Partial domain adaptation based on generating distinct fault signatures with a Wasserstein GAN. The main contribution of the proposed framework is the controlled synthetic fault data generation with two main distinct characteristics. Firstly, the proposed methodology enables to generate unobserved fault types in the target domain by having only access to the healthy samples in the target domain and faulty samples in the source domain. Secondly, the fault generation can be controlled to precisely generate distinct fault types and fault severity levels. The proposed method is especially suited in extreme domain adaption settings that are particularly relevant in the context of complex and safety-critical systems, where only one class is shared between the two domains. We evaluate the proposed framework on Partial as well as Open-Partial domain adaptation tasks on two bearing fault diagnostics case studies. Our experiments conducted in different label space settings showcase the versatility of the proposed framework. The proposed methodology provided superior results compared to other methods given large domain gaps.

We study the problem of providing channel state information (CSI) at the transmitter in multi-user massive MIMO systems operating in frequency division duplexing (FDD). The wideband MIMO channel is a vector-valued random process correlated in time, space (antennas), and frequency (subcarriers). The base station (BS) broadcasts periodically beta_tr pilot symbols from its M antenna ports to K single-antenna users (UEs). Correspondingly, the K UEs send feedback messages about their channel state using beta_fb symbols in the uplink (UL). Using results from remote rate-distortion theory, we show that, as snr reaches infty, the optimal feedback strategy achieves a channel state estimation mean squared error (MSE) that behaves as Theta(1) if beta_tr < r and as Theta(snr^(-alpha)) when beta_tr >=r, where alpha = min(beta_fb/r, 1), where r is the rank of the channel covariance matrix. The MSE-optimal rate-distortion strategy implies encoding of long sequences of channel states, which would yield completely stale CSI and therefore poor multiuser precoding performance. Hence, we consider three practical one-shot CSI strategies with minimum one-slot delay and analyze their large-SNR channel estimation MSE behavior. These are: (1) digital feedback via entropy-coded scalar quantization (ECSQ), (2) analog feedback (AF), and (3) local channel estimation at the UEs and digital feedback. These schemes have different requirements in terms of knowledge of the channel statistics at the UE and at the BS. In particular, the latter strategy requires no statistical knowledge and is closely inspired by a CSI feedback scheme currently proposed in 3GPP standardization.

The value of uncertainty quantification on predictions for trained neural networks (NNs) on quantum chemical reference data is quantitatively explored. For this, the architecture of the PhysNet NN was suitably modified and the resulting model was evaluated with different metrics to quantify calibration, quality of predictions, and whether prediction error and the predicted uncertainty can be correlated. The results from training on the QM9 database and evaluating data from the test set within and outside the distribution indicate that error and uncertainty are not linearly related. The results clarify that noise and redundancy complicate property prediction for molecules even in cases for which changes - e.g. double bond migration in two otherwise identical molecules - are small. The model was then applied to a real database of tautomerization reactions. Analysis of the distance between members in feature space combined with other parameters shows that redundant information in the training dataset can lead to large variances and small errors whereas the presence of similar but unspecific information returns large errors but small variances. This was, e.g., observed for nitro-containing aliphatic chains for which predictions were difficult although the training set contained several examples for nitro groups bound to aromatic molecules. This underlines the importance of the composition of the training data and provides chemical insight into how this affects the prediction capabilities of a ML model. Finally, the approach put forward can be used for information-based improvement of chemical databases for target applications through active learning optimization.

Communication connectivity is desirable for safe and efficient operation of multi-robot systems. While decentralized algorithms for connectivity maintenance have been explored in recent literature, the majority of these works do not account for robot motion and sensing uncertainties. These uncertainties are inherent in practical robots and result in robots deviating from their desired positions which could potentially result in a loss of connectivity. In this paper we present a Decentralized Connectivity Maintenance algorithm accounting for robot motion and sensing Uncertainties (DCMU). We first propose a novel weighted graph definition for the multi-robot system that accounts for the aforementioned uncertainties along with realistic connectivity constraints such as line-of-sight connectivity and collision avoidance. Next we design a decentralized gradient-based controller for connectivity maintenance where we derive the gradients of our weighted graph edge weights required for computing the control. Finally, we perform multiple simulations to validate the connectivity maintenance performance of our DCMU algorithm under robot motion and sensing uncertainties and show an improvement compared to previous work.