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Knowledge about the own pose is key for all mobile robot applications. Thus pose estimation is part of the core functionalities of mobile robots. Over the last two decades, LiDAR scanners have become the standard sensor for robot localization and mapping. This article aims to provide an overview of recent progress and advancements in LiDAR-based global localization. We begin by formulating the problem and exploring the application scope. We then present a review of the methodology, including recent advancements in several topics, such as maps, descriptor extraction, and cross-robot localization. The contents of the article are organized under three themes. The first theme concerns the combination of global place retrieval and local pose estimation. The second theme is upgrading single-shot measurements to sequential ones for sequential global localization. Finally, the third theme focuses on extending single-robot global localization to cross-robot localization in multi-robot systems. We conclude the survey with a discussion of open challenges and promising directions in global LiDAR localization. To our best knowledge, this is the first comprehensive survey on global LiDAR localization for mobile robots.

Poor sleep health is an increasingly concerning public healthcare crisis, especially when coupled with a dwindling number of health professionals qualified to combat it. However, there is a growing body of scientific literature on the use of digital technologies in supporting and sustaining individuals' healthy sleep habits. Social robots are a relatively recent technology that has been used to facilitate health care interventions and may have potential in improving sleep health outcomes, as well. Social robots' unique characteristics -- such as anthropomorphic physical embodiment or effective communication methods -- help to engage users and motivate them to comply with specific interventions, thus improving the interventions' outcomes. This scoping review aims to evaluate current scientific evidence for employing social robots in sleep health interventions, identify critical research gaps, and suggest future directions for developing and using social robots to improve people's sleep health. Our analysis of the reviewed studies found them limited due to a singular focus on the older adult population, use of small sample sizes, limited intervention durations, and other compounding factors. Nevertheless, the reviewed studies reported several positive outcomes, highlighting the potential social robots hold in this field. Although our review found limited clinical evidence for the efficacy of social robots as purveyors of sleep health interventions, it did elucidate the potential for a successful future in this domain if current limitations are addressed and more research is conducted.

Mediation analysis is an important statistical tool in many research fields. Its aim is to investigate the mechanism along the causal pathway between an exposure and an outcome. The joint significance test is widely utilized as a prominent statistical approach for examining mediation effects in practical applications. Nevertheless, the limitation of this mediation testing method stems from its conservative Type I error, which reduces its statistical power and imposes certain constraints on its popularity and utility. The proposed solution to address this gap is the adaptive joint significance test for one mediator, a novel data-adaptive test for mediation effect that exhibits significant advancements compared to traditional joint significance test. The proposed method is designed to be user-friendly, eliminating the need for complicated procedures. We have derived explicit expressions for size and power, ensuring the theoretical validity of our approach. Furthermore, we extend the proposed adaptive joint significance tests for small-scale mediation hypotheses with family-wise error rate (FWER) control. Additionally, a novel adaptive Sobel-type approach is proposed for the estimation of confidence intervals for the mediation effects, demonstrating significant advancements over conventional Sobel's confidence intervals in terms of achieving desirable coverage probabilities. Our mediation testing and confidence intervals procedure is evaluated through comprehensive simulations, and compared with numerous existing approaches. Finally, we illustrate the usefulness of our method by analysing three real-world datasets with continuous, binary and time-to-event outcomes, respectively.

Recommendation systems have become popular and effective tools to help users discover their interesting items by modeling the user preference and item property based on implicit interactions (e.g., purchasing and clicking). Humans perceive the world by processing the modality signals (e.g., audio, text and image), which inspired researchers to build a recommender system that can understand and interpret data from different modalities. Those models could capture the hidden relations between different modalities and possibly recover the complementary information which can not be captured by a uni-modal approach and implicit interactions. The goal of this survey is to provide a comprehensive review of the recent research efforts on the multimodal recommendation. Specifically, it shows a clear pipeline with commonly used techniques in each step and classifies the models by the methods used. Additionally, a code framework has been designed that helps researchers new in this area to understand the principles and techniques, and easily runs the SOTA models. Our framework is located at: //github.com/enoche/MMRec

Face recognition technology has advanced significantly in recent years due largely to the availability of large and increasingly complex training datasets for use in deep learning models. These datasets, however, typically comprise images scraped from news sites or social media platforms and, therefore, have limited utility in more advanced security, forensics, and military applications. These applications require lower resolution, longer ranges, and elevated viewpoints. To meet these critical needs, we collected and curated the first and second subsets of a large multi-modal biometric dataset designed for use in the research and development (R&D) of biometric recognition technologies under extremely challenging conditions. Thus far, the dataset includes more than 350,000 still images and over 1,300 hours of video footage of approximately 1,000 subjects. To collect this data, we used Nikon DSLR cameras, a variety of commercial surveillance cameras, specialized long-rage R&D cameras, and Group 1 and Group 2 UAV platforms. The goal is to support the development of algorithms capable of accurately recognizing people at ranges up to 1,000 m and from high angles of elevation. These advances will include improvements to the state of the art in face recognition and will support new research in the area of whole-body recognition using methods based on gait and anthropometry. This paper describes methods used to collect and curate the dataset, and the dataset's characteristics at the current stage.

In pace with developments in the research field of artificial intelligence, knowledge graphs (KGs) have attracted a surge of interest from both academia and industry. As a representation of semantic relations between entities, KGs have proven to be particularly relevant for natural language processing (NLP), experiencing a rapid spread and wide adoption within recent years. Given the increasing amount of research work in this area, several KG-related approaches have been surveyed in the NLP research community. However, a comprehensive study that categorizes established topics and reviews the maturity of individual research streams remains absent to this day. Contributing to closing this gap, we systematically analyzed 507 papers from the literature on KGs in NLP. Our survey encompasses a multifaceted review of tasks, research types, and contributions. As a result, we present a structured overview of the research landscape, provide a taxonomy of tasks, summarize our findings, and highlight directions for future work.

Autonomic computing investigates how systems can achieve (user) specified control outcomes on their own, without the intervention of a human operator. Autonomic computing fundamentals have been substantially influenced by those of control theory for closed and open-loop systems. In practice, complex systems may exhibit a number of concurrent and inter-dependent control loops. Despite research into autonomic models for managing computer resources, ranging from individual resources (e.g., web servers) to a resource ensemble (e.g., multiple resources within a data center), research into integrating Artificial Intelligence (AI) and Machine Learning (ML) to improve resource autonomy and performance at scale continues to be a fundamental challenge. The integration of AI/ML to achieve such autonomic and self-management of systems can be achieved at different levels of granularity, from full to human-in-the-loop automation. In this article, leading academics, researchers, practitioners, engineers, and scientists in the fields of cloud computing, AI/ML, and quantum computing join to discuss current research and potential future directions for these fields. Further, we discuss challenges and opportunities for leveraging AI and ML in next generation computing for emerging computing paradigms, including cloud, fog, edge, serverless and quantum computing environments.

Data processing and analytics are fundamental and pervasive. Algorithms play a vital role in data processing and analytics where many algorithm designs have incorporated heuristics and general rules from human knowledge and experience to improve their effectiveness. Recently, reinforcement learning, deep reinforcement learning (DRL) in particular, is increasingly explored and exploited in many areas because it can learn better strategies in complicated environments it is interacting with than statically designed algorithms. Motivated by this trend, we provide a comprehensive review of recent works focusing on utilizing DRL to improve data processing and analytics. First, we present an introduction to key concepts, theories, and methods in DRL. Next, we discuss DRL deployment on database systems, facilitating data processing and analytics in various aspects, including data organization, scheduling, tuning, and indexing. Then, we survey the application of DRL in data processing and analytics, ranging from data preparation, natural language processing to healthcare, fintech, etc. Finally, we discuss important open challenges and future research directions of using DRL in data processing and analytics.

Deep learning has emerged as a powerful machine learning technique that learns multiple layers of representations or features of the data and produces state-of-the-art prediction results. Along with the success of deep learning in many other application domains, deep learning is also popularly used in sentiment analysis in recent years. This paper first gives an overview of deep learning and then provides a comprehensive survey of its current applications in sentiment analysis.

Dialogue systems have attracted more and more attention. Recent advances on dialogue systems are overwhelmingly contributed by deep learning techniques, which have been employed to enhance a wide range of big data applications such as computer vision, natural language processing, and recommender systems. For dialogue systems, deep learning can leverage a massive amount of data to learn meaningful feature representations and response generation strategies, while requiring a minimum amount of hand-crafting. In this article, we give an overview to these recent advances on dialogue systems from various perspectives and discuss some possible research directions. In particular, we generally divide existing dialogue systems into task-oriented and non-task-oriented models, then detail how deep learning techniques help them with representative algorithms and finally discuss some appealing research directions that can bring the dialogue system research into a new frontier.