Indoor positioning using UWB technology has gained interest due to its centimeter-level accuracy potential. However, multipath effects and non-line-of-sight conditions cause ranging errors between anchors and tags. Existing approaches for mitigating these ranging errors rely on collecting large labeled datasets, making them impractical for real-world deployments. This paper proposes a novel self-supervised deep reinforcement learning approach that does not require labeled ground truth data. A reinforcement learning agent uses the channel impulse response as a state and predicts corrections to minimize the error between corrected and estimated ranges. The agent learns, self-supervised, by iteratively improving corrections that are generated by combining the predictability of trajectories with filtering and smoothening. Experiments on real-world UWB measurements demonstrate comparable performance to state-of-the-art supervised methods, overcoming data dependency and lack of generalizability limitations. This makes self-supervised deep reinforcement learning a promising solution for practical and scalable UWB-ranging error correction.
相關內容
Recently, large language models (LLMs) have achieved significant progress in automated code generation. Despite their strong instruction-following capabilities, these models frequently struggled to align with user intent in coding scenarios. In particular, they were hampered by datasets that lacked diversity and failed to address specialized tasks or edge cases. Furthermore, challenges in supervised fine-tuning (SFT) and reinforcement learning from human feedback (RLHF) led to failures in generating precise, human-intent-aligned code. To tackle these challenges and improve the code generation performance for automated programming systems, we propose Feedback-driven Adaptive Long/short-term memory reinforced Coding Optimization (i.e., FALCON). FALCON is structured into two hierarchical levels. From the global level, long-term memory improves code quality by retaining and applying learned knowledge. At the local level, short-term memory allows for the incorporation of immediate feedback from compilers and AI systems. Additionally, we introduce meta-reinforcement learning with feedback rewards to solve the global-local bi-level optimization problem and enhance the model's adaptability across diverse code generation tasks. Extensive experiments demonstrate that our technique achieves state-of-the-art performance, leading other reinforcement learning methods by more than 4.5 percentage points on the MBPP benchmark and 6.1 percentage points on the Humaneval benchmark. The open-sourced code is publicly available at //github.com/titurte/FALCON.
As interest in Virtual Reality (VR) and Augmented Reality (AR) increases, the demand for kinesthetic haptic feedback devices is rapidly rising. Motor based haptic interfaces are heavy and bulky, leading to discomfort for the user. To address this issue, haptic gloves based on electrostatic clutches that offer fast response times and a thin form factor are being researched. However, high operating voltages and variable force control remain challenges to overcome. Electrostatic clutches utilizing functional polymers with charge accumulation properties and dielectric liquid can generate the frictional shear stress over a wide range from 0.35 N/cm$^2$ to 18.9 N/cm$^2$ at low voltages below 100 V. Based on this, the haptic glove generates a high blocking force and is comfortable to wear.
Sequential neural posterior estimation (SNPE) techniques have been recently proposed for dealing with simulation-based models with intractable likelihoods. Unlike approximate Bayesian computation, SNPE techniques learn the posterior from sequential simulation using neural network-based conditional density estimators by minimizing a specific loss function. The SNPE method proposed by Lueckmann et al. (2017) used a calibration kernel to boost the sample weights around the observed data, resulting in a concentrated loss function. However, the use of calibration kernels may increase the variances of both the empirical loss and its gradient, making the training inefficient. To improve the stability of SNPE, this paper proposes to use an adaptive calibration kernel and several variance reduction techniques. The proposed method greatly speeds up the process of training and provides a better approximation of the posterior than the original SNPE method and some existing competitors as confirmed by numerical experiments. We also manage to demonstrate the superiority of the proposed method for a high-dimensional model with real-world dataset.
We consider the problem of sampling a high dimensional multimodal target probability measure. We assume that a good proposal kernel to move only a subset of the degrees of freedoms (also known as collective variables) is known a priori. This proposal kernel can for example be built using normalizing flows. We show how to extend the move from the collective variable space to the full space and how to implement an accept-reject step in order to get a reversible chain with respect to a target probability measure. The accept-reject step does not require to know the marginal of the original measure in the collective variable (namely to know the free energy). The obtained algorithm admits several variants, some of them being very close to methods which have been proposed previously in the literature. We show how the obtained acceptance ratio can be expressed in terms of the work which appears in the Jarzynski-Crooks equality, at least for some variants. Numerical illustrations demonstrate the efficiency of the approach on various simple test cases, and allow us to compare the variants of the algorithm.
Enhancing performance while reducing costs is the fundamental design philosophy of integrated circuits (ICs). With advancements in packaging technology, interposer-based chiplet architecture has emerged as a promising solution. Chiplet integration, often referred to as 2.5D IC, offers significant benefits, including cost-effectiveness, reusability, and improved performance. However, realizing these advantages heavily relies on effective electronic design automation (EDA) processes. EDA plays a crucial role in optimizing architecture design, partitioning, combination, physical design, reliability analysis, etc. Currently, optimizing the automation methodologies for chiplet architecture is a popular focus; therefore, we propose a survey to summarize current methods and discuss future directions. This paper will review the research literature on design automation methods for chiplet-based architectures, highlighting current challenges and exploring opportunities in 2.5D IC from an EDA perspective. We expect this survey will provide valuable insights for the future development of EDA tools for chiplet-based integrated architectures.
The sequential probability ratio test (SPRT) by Wald (1945) is a cornerstone of sequential analysis. Based on desired type-I, II error levels $\alpha, \beta \in (0,1)$, it stops when the likelihood ratio statistic crosses certain upper and lower thresholds, guaranteeing optimality of the expected sample size. However, these thresholds are not closed form and the test is often applied with approximate thresholds $(1-\beta)/\alpha$ and $\beta/(1-\alpha)$ (approximate SPRT). When $\beta > 0$, this neither guarantees type I,II error control at $\alpha,\beta$ nor optimality. When $\beta=0$ (power-one SPRT), it guarantees type I error control at $\alpha$ that is in general conservative, and thus not optimal. The looseness in both cases is caused by overshoot: the test statistic overshoots the thresholds at the stopping time. One standard way to address this is to calculate the right thresholds numerically, but many papers and software packages do not do this. In this paper, we describe a different way to improve the approximate SPRT: we change the test statistic to avoid overshoot. Our technique uniformly improves power-one SPRTs $(\beta=0)$ for simple nulls and alternatives, or for one-sided nulls and alternatives in exponential families. When $\beta > 0$, our techniques provide valid type I and type II error guarantees, while needing less samples than Wald's approximated thresholds in all considered simulations. These improved sequential tests can also be used for deriving tighter parametric confidence sequences, and can be extended to nontrivial settings like sampling without replacement and conformal martingales.
The success of over-parameterized neural networks trained to near-zero training error has caused great interest in the phenomenon of benign overfitting, where estimators are statistically consistent even though they interpolate noisy training data. While benign overfitting in fixed dimension has been established for some learning methods, current literature suggests that for regression with typical kernel methods and wide neural networks, benign overfitting requires a high-dimensional setting where the dimension grows with the sample size. In this paper, we show that the smoothness of the estimators, and not the dimension, is the key: benign overfitting is possible if and only if the estimator's derivatives are large enough. We generalize existing inconsistency results to non-interpolating models and more kernels to show that benign overfitting with moderate derivatives is impossible in fixed dimension. Conversely, we show that rate-optimal benign overfitting is possible for regression with a sequence of spiky-smooth kernels with large derivatives. Using neural tangent kernels, we translate our results to wide neural networks. We prove that while infinite-width networks do not overfit benignly with the ReLU activation, this can be fixed by adding small high-frequency fluctuations to the activation function. Our experiments verify that such neural networks, while overfitting, can indeed generalize well even on low-dimensional data sets.
In industry, online randomized controlled experiment (a.k.a A/B experiment) is a standard approach to measure the impact of a causal change. These experiments have small treatment effect to reduce the potential blast radius. As a result, these experiments often lack statistical significance due to low signal-to-noise ratio. To improve the precision (or reduce standard error), we introduce the idea of trigger observations where the output of the treatment and the control model are different. We show that the evaluation with full information about trigger observations (full knowledge) improves the precision in comparison to a baseline method. However, detecting all such trigger observations is a costly affair, hence we propose a sampling based evaluation method (partial knowledge) to reduce the cost. The randomness of sampling introduces bias in the estimated outcome. We theoretically analyze this bias and show that the bias is inversely proportional to the number of observations used for sampling. We also compare the proposed evaluation methods using simulation and empirical data. In simulation, evaluation with full knowledge reduces the standard error as much as 85%. In empirical setup, evaluation with partial knowledge reduces the standard error by 36.48%.
In large-scale systems there are fundamental challenges when centralised techniques are used for task allocation. The number of interactions is limited by resource constraints such as on computation, storage, and network communication. We can increase scalability by implementing the system as a distributed task-allocation system, sharing tasks across many agents. However, this also increases the resource cost of communications and synchronisation, and is difficult to scale. In this paper we present four algorithms to solve these problems. The combination of these algorithms enable each agent to improve their task allocation strategy through reinforcement learning, while changing how much they explore the system in response to how optimal they believe their current strategy is, given their past experience. We focus on distributed agent systems where the agents' behaviours are constrained by resource usage limits, limiting agents to local rather than system-wide knowledge. We evaluate these algorithms in a simulated environment where agents are given a task composed of multiple subtasks that must be allocated to other agents with differing capabilities, to then carry out those tasks. We also simulate real-life system effects such as networking instability. Our solution is shown to solve the task allocation problem to 6.7% of the theoretical optimal within the system configurations considered. It provides 5x better performance recovery over no-knowledge retention approaches when system connectivity is impacted, and is tested against systems up to 100 agents with less than a 9% impact on the algorithms' performance.
Deep Learning (DL) is the most widely used tool in the contemporary field of computer vision. Its ability to accurately solve complex problems is employed in vision research to learn deep neural models for a variety of tasks, including security critical applications. However, it is now known that DL is vulnerable to adversarial attacks that can manipulate its predictions by introducing visually imperceptible perturbations in images and videos. Since the discovery of this phenomenon in 2013~[1], it has attracted significant attention of researchers from multiple sub-fields of machine intelligence. In [2], we reviewed the contributions made by the computer vision community in adversarial attacks on deep learning (and their defenses) until the advent of year 2018. Many of those contributions have inspired new directions in this area, which has matured significantly since witnessing the first generation methods. Hence, as a legacy sequel of [2], this literature review focuses on the advances in this area since 2018. To ensure authenticity, we mainly consider peer-reviewed contributions published in the prestigious sources of computer vision and machine learning research. Besides a comprehensive literature review, the article also provides concise definitions of technical terminologies for non-experts in this domain. Finally, this article discusses challenges and future outlook of this direction based on the literature reviewed herein and [2].
小貼士
登錄享
相關主題
注冊地址： 北京市海淀區羊坊店路18號2幢3層301-191