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

We investigate a combinatorial optimization problem that involves patrolling the edges of an acute triangle using a unit-speed agent. The goal is to minimize the maximum (1-gap) idle time of any edge, which is defined as the time gap between consecutive visits to that edge. This problem has roots in a centuries-old optimization problem posed by Fagnano in 1775, who sought to determine the inscribed triangle of an acute triangle with the minimum perimeter. It is well-known that the orthic triangle, giving rise to a periodic and cyclic trajectory obeying the laws of geometric optics, is the optimal solution to Fagnano's problem. Such trajectories are known as Fagnano orbits, or more generally as billiard trajectories. We demonstrate that the orthic triangle is also an optimal solution to the patrolling problem. Our main contributions pertain to new connections between billiard trajectories and optimal patrolling schedules in combinatorial optimization. In particular, as an artifact of our arguments, we introduce a novel 2-gap patrolling problem that seeks to minimize the visitation time of objects every three visits. We prove that there exist infinitely many well-structured billiard-type optimal trajectories for this problem, including the orthic trajectory, which has the special property of minimizing the visitation time gap between any two consecutively visited edges. Complementary to that, we also examine the cost of dynamic, sub-optimal trajectories to the 1-gap patrolling optimization problem. These trajectories result from a greedy algorithm and can be implemented by a computationally primitive mobile agent.

Spiking Neural Networks (SNNs) and neuromorphic models are more efficient and have more biological realism than the activation functions typically used in deep neural networks, transformer models and generative AI. SNNs have local learning rules, are able to learn on small data sets, and can adapt through neuromodulation. Although research has shown their advantages, there are still few compelling practical applications, especially at the edge where sensors and actuators need to be processed in a timely fashion. One reason for this might be that SNNs are much more challenging to understand, build, and operate due to their intrinsic properties. For instance, the mathematical foundation involves differential equations rather than basic activation functions. To address these challenges, we have developed CARLsim++. It is an integrated toolbox that enables fast and easy creation of neuromorphic applications. It encapsulates the mathematical intrinsics and low-level C++ programming by providing a graphical user interface for users who do not have a background in software engineering but still want to create neuromorphic models. Developers can easily configure inputs and outputs to devices and robots. These can be accurately simulated before deploying on physical devices. CARLsim++ can lead to rapid development of neuromorphic applications for simulation or edge processing.

We consider distributed convex-concave saddle point problems over arbitrary connected undirected networks and propose a decentralized distributed algorithm for their solution. The local functions distributed across the nodes are assumed to have global and local groups of variables. For the proposed algorithm we prove non-asymptotic convergence rate estimates with explicit dependence on the network characteristics. To supplement the convergence rate analysis, we propose lower bounds for strongly-convex-strongly-concave and convex-concave saddle-point problems over arbitrary connected undirected networks. We illustrate the considered problem setting by a particular application to distributed calculation of non-regularized Wasserstein barycenters.

Neural networks for point clouds, which respect their natural invariance to permutation and rigid motion, have enjoyed recent success in modeling geometric phenomena, from molecular dynamics to recommender systems. Yet, to date, no model with polynomial complexity is known to be complete, that is, able to distinguish between any pair of non-isomorphic point clouds. We fill this theoretical gap by showing that point clouds can be completely determined, up to permutation and rigid motion, by applying the 3-WL graph isomorphism test to the point cloud's centralized Gram matrix. Moreover, we formulate an Euclidean variant of the 2-WL test and show that it is also sufficient to achieve completeness. We then show how our complete Euclidean WL tests can be simulated by an Euclidean graph neural network of moderate size and demonstrate their separation capability on highly symmetrical point clouds.

This work addresses maximally robust control synthesis under unknown disturbances. We consider a general nonlinear system, subject to a Signal Temporal Logic (STL) specification, and wish to jointly synthesize the maximal possible disturbance bounds and the corresponding controllers that ensure the STL specification is satisfied under these bounds. Many works have considered STL satisfaction under given bounded disturbances. Yet, to the authors' best knowledge, this is the first work that aims to maximize the permissible disturbance set and find the corresponding controllers that ensure satisfying the STL specification with maximum disturbance robustness. We extend the notion of disturbance-robust semantics for STL, which is a property of a specification, dynamical system, and controller, and provide an algorithm to get the maximal disturbance robust controllers satisfying an STL specification using Hamilton-Jacobi reachability. We show its soundness and provide a simulation example with an Autonomous Underwater Vehicle (AUV).

In the rapidly evolving field of autonomous driving systems, the refinement of path planning algorithms is paramount for navigating vehicles through dynamic environments, particularly in complex urban scenarios. Traditional path planning algorithms, which are heavily reliant on static rules and manually defined parameters, often fall short in such contexts, highlighting the need for more adaptive, learning-based approaches. Among these, behavior cloning emerges as a noteworthy strategy for its simplicity and efficiency, especially within the realm of end-to-end path planning. However, behavior cloning faces challenges, such as covariate shift when employing traditional Manhattan distance as the metric. Addressing this, our study introduces the novel concept of Residual Chain Loss. Residual Chain Loss dynamically adjusts the loss calculation process to enhance the temporal dependency and accuracy of predicted path points, significantly improving the model's performance without additional computational overhead. Through testing on the nuScenes dataset, we underscore the method's substantial advancements in addressing covariate shift, facilitating dynamic loss adjustments, and ensuring seamless integration with end-to-end path planning frameworks. Our findings highlight the potential of Residual Chain Loss to revolutionize planning component of autonomous driving systems, marking a significant step forward in the quest for level 5 autonomous driving system.

Prior point cloud provides 3D environmental context, which enhances the capabilities of monocular camera in downstream vision tasks, such as 3D object detection, via data fusion. However, the absence of accurate and automated registration methods for estimating camera extrinsic parameters in roadside scene point clouds notably constrains the potential applications of roadside cameras. This paper proposes a novel approach for the automatic registration between prior point clouds and images from roadside scenes. The main idea involves rendering photorealistic grayscale views taken at specific perspectives from the prior point cloud with the help of their features like RGB or intensity values. These generated views can reduce the modality differences between images and prior point clouds, thereby improve the robustness and accuracy of the registration results. Particularly, we specify an efficient algorithm, named neighbor rendering, for the rendering process. Then we introduce a method for automatically estimating the initial guess using only rough guesses of camera's position. At last, we propose a procedure for iteratively refining the extrinsic parameters by minimizing the reprojection error for line features extracted from both generated and camera images using Segment Anything Model (SAM). We assess our method using a self-collected dataset, comprising eight cameras strategically positioned throughout the university campus. Experiments demonstrate our method's capability to automatically align prior point cloud with roadside camera image, achieving a rotation accuracy of 0.202 degrees and a translation precision of 0.079m. Furthermore, we validate our approach's effectiveness in visual applications by substantially improving monocular 3D object detection performance.

Visual SLAM with thermal imagery, and other low contrast visually degraded environments such as underwater, or in areas dominated by snow and ice, remain a difficult problem for many state of the art (SOTA) algorithms. In addition to challenging front-end data association, thermal imagery presents an additional difficulty for long term relocalization and map reuse. The relative temperatures of objects in thermal imagery change dramatically from day to night. Feature descriptors typically used for relocalization in SLAM are unable to maintain consistency over these diurnal changes. We show that learned feature descriptors can be used within existing Bag of Word based localization schemes to dramatically improve place recognition across large temporal gaps in thermal imagery. In order to demonstrate the effectiveness of our trained vocabulary, we have developed a baseline SLAM system, integrating learned features and matching into a classical SLAM algorithm. Our system demonstrates good local tracking on challenging thermal imagery, and relocalization that overcomes dramatic day to night thermal appearance changes. Our code and datasets are available here: //github.com/neufieldrobotics/IRSLAM_Baseline

The Bayesian paradigm has the potential to solve core issues of deep neural networks such as poor calibration and data inefficiency. Alas, scaling Bayesian inference to large weight spaces often requires restrictive approximations. In this work, we show that it suffices to perform inference over a small subset of model weights in order to obtain accurate predictive posteriors. The other weights are kept as point estimates. This subnetwork inference framework enables us to use expressive, otherwise intractable, posterior approximations over such subsets. In particular, we implement subnetwork linearized Laplace: We first obtain a MAP estimate of all weights and then infer a full-covariance Gaussian posterior over a subnetwork. We propose a subnetwork selection strategy that aims to maximally preserve the model's predictive uncertainty. Empirically, our approach is effective compared to ensembles and less expressive posterior approximations over full networks.

Minimizing cross-entropy over the softmax scores of a linear map composed with a high-capacity encoder is arguably the most popular choice for training neural networks on supervised learning tasks. However, recent works show that one can directly optimize the encoder instead, to obtain equally (or even more) discriminative representations via a supervised variant of a contrastive objective. In this work, we address the question whether there are fundamental differences in the sought-for representation geometry in the output space of the encoder at minimal loss. Specifically, we prove, under mild assumptions, that both losses attain their minimum once the representations of each class collapse to the vertices of a regular simplex, inscribed in a hypersphere. We provide empirical evidence that this configuration is attained in practice and that reaching a close-to-optimal state typically indicates good generalization performance. Yet, the two losses show remarkably different optimization behavior. The number of iterations required to perfectly fit to data scales superlinearly with the amount of randomly flipped labels for the supervised contrastive loss. This is in contrast to the approximately linear scaling previously reported for networks trained with cross-entropy.