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

Accurate and dense mapping in large-scale environments is essential for various robot applications. Recently, implicit neural signed distance fields (SDFs) have shown promising advances in this task. However, most existing approaches employ projective distances from range data as SDF supervision, introducing approximation errors and thus degrading the mapping quality. To address this problem, we introduce N$^{3}$-Mapping, an implicit neural mapping system featuring normal-guided neural non-projective signed distance fields. Specifically, we directly sample points along the surface normal, instead of the ray, to obtain more accurate non-projective distance values from range data. Then these distance values are used as supervision to train the implicit map. For large-scale mapping, we apply a voxel-oriented sliding window mechanism to alleviate the forgetting issue with a bounded memory footprint. Besides, considering the uneven distribution of measured point clouds, a hierarchical sampling strategy is designed to improve training efficiency. Experiments demonstrate that our method effectively mitigates SDF approximation errors and achieves state-of-the-art mapping quality compared to existing approaches.

Federated Learning (FL) allows multiple privacy-sensitive applications to leverage their dataset for a global model construction without any disclosure of the information. One of those domains is healthcare, where groups of silos collaborate in order to generate a global predictor with improved accuracy and generalization. However, the inherent challenge lies in the high heterogeneity of medical data, necessitating sophisticated techniques for assessment and compensation. This paper presents a comprehensive exploration of the mathematical formalization and taxonomy of heterogeneity within FL environments, focusing on the intricacies of medical data. In particular, we address the evaluation and comparison of the most popular FL algorithms with respect to their ability to cope with quantity-based, feature and label distribution-based heterogeneity. The goal is to provide a quantitative evaluation of the impact of data heterogeneity in FL systems for healthcare networks as well as a guideline on FL algorithm selection. Our research extends beyond existing studies by benchmarking seven of the most common FL algorithms against the unique challenges posed by medical data use cases. The paper targets the prediction of the risk of stroke recurrence through a set of tabular clinical reports collected by different federated hospital silos: data heterogeneity frequently encountered in this scenario and its impact on FL performance are discussed.

A new representation is proposed for functions in a Sobolev space with dominating mixed smoothness on an $N$-dimensional hyperrectangle. In particular, it is shown that these functions can be expressed in terms of their highest-order mixed derivative, as well as their lower-order derivatives evaluated along suitable boundaries of the domain. The proposed expansion is proven to be invertible, uniquely identifying any function in the Sobolev space with its derivatives and boundary values. Since these boundary values are either finite-dimensional, or exist in the space of square-integrable functions, this offers a bijective relation between the Sobolev space and $L_{2}$. Using this bijection, it is shown how approximation of functions in Sobolev space can be performed in the less restrictive space $L_{2}$, reconstructing such an approximation of the function from an $L_{2}$-optimal projection of its boundary values and highest-order derivative. This approximation method is presented using a basis of Legendre polynomials and a basis of step functions, and results using both bases are demonstrated to exhibit better convergence behavior than a direct projection approach for two numerical examples.

The class of $\mathsf{Ga}$lled-$\mathsf{T}$ree $\mathsf{Ex}$plainable ($\mathsf{GaTEx}$) graphs has recently been discovered as a natural generalization of cographs. Cographs are precisely those graphs that can be uniquely represented by a rooted tree where the leaves correspond to the vertices of the graph. As a generalization, $\mathsf{GaTEx}$ graphs are precisely those that can be uniquely represented by a particular rooted acyclic network, called a galled-tree. This paper explores the use of galled-trees to solve combinatorial problems on $\mathsf{GaTEx}$ graphs that are, in general, NP-hard. We demonstrate that finding a maximum clique, an optimal vertex coloring, a perfect order, as well as a maximum independent set in $\mathsf{GaTEx}$ graphs can be efficiently done in linear time. The key idea behind the linear-time algorithms is to utilize the galled-trees that explain the $\mathsf{GaTEx}$ graphs as a guide for computing the respective cliques, colorings, perfect orders, or independent sets.

Sampling trajectories from a distribution followed by ranking them based on a specified cost function is a common approach in autonomous driving. Typically, the sampling distribution is hand-crafted (e.g a Gaussian, or a grid). Recently, there have been efforts towards learning the sampling distribution through generative models such as Conditional Variational Autoencoder (CVAE). However, these approaches fail to capture the multi-modality of the driving behaviour due to the Gaussian latent prior of the CVAE. Thus, in this paper, we re-imagine the distribution learning through vector quantized variational autoencoder (VQ-VAE), whose discrete latent-space is well equipped to capture multi-modal sampling distribution. The VQ-VAE is trained with demonstration data of optimal trajectories. We further propose a differentiable optimization based safety filter to minimally correct the VQVAE sampled trajectories to ensure collision avoidance. We use backpropagation through the optimization layers in a self-supervised learning set-up to learn good initialization and optimal parameters of the safety filter. We perform extensive comparisons with state-of-the-art CVAE-based baseline in dense and aggressive traffic scenarios and show a reduction of up to 12 times in collision-rate while being competitive in driving speeds.

Conformal prediction is a general distribution-free approach for constructing prediction sets combined with any machine learning algorithm that achieve valid marginal or conditional coverage in finite samples. Ordinal classification is common in real applications where the target variable has natural ordering among the class labels. In this paper, we discuss constructing distribution-free prediction sets for such ordinal classification problems by leveraging the ideas of conformal prediction and multiple testing with FWER control. Newer conformal prediction methods are developed for constructing contiguous and non-contiguous prediction sets based on marginal and conditional (class-specific) conformal $p$-values, respectively. Theoretically, we prove that the proposed methods respectively achieve satisfactory levels of marginal and class-specific conditional coverages. Through simulation study and real data analysis, these proposed methods show promising performance compared to the existing conformal method.

Despite the exceptional performance of multi-modal large language models (MLLMs), their deployment requires substantial computational resources. Once malicious users induce high energy consumption and latency time (energy-latency cost), it will exhaust computational resources and harm availability of service. In this paper, we investigate this vulnerability for MLLMs, particularly image-based and video-based ones, and aim to induce high energy-latency cost during inference by crafting an imperceptible perturbation. We find that high energy-latency cost can be manipulated by maximizing the length of generated sequences, which motivates us to propose verbose samples, including verbose images and videos. Concretely, two modality non-specific losses are proposed, including a loss to delay end-of-sequence (EOS) token and an uncertainty loss to increase the uncertainty over each generated token. In addition, improving diversity is important to encourage longer responses by increasing the complexity, which inspires the following modality specific loss. For verbose images, a token diversity loss is proposed to promote diverse hidden states. For verbose videos, a frame feature diversity loss is proposed to increase the feature diversity among frames. To balance these losses, we propose a temporal weight adjustment algorithm. Experiments demonstrate that our verbose samples can largely extend the length of generated sequences.

MAG$\pi$ is a Multiparty, Asynchronous and Generalised $\pi$-calculus that introduces timeouts into session types as a means of reasoning about failure-prone communication. Its type system guarantees that all possible message-loss is handled by timeout branches. In this work, we argue that the previous is unnecessarily strict. We present MAG$\pi$!, an extension serving as the first introduction of replication into Multiparty Session Types (MPST). Replication is a standard $\pi$-calculus construct used to model infinitely available servers. We lift this construct to type-level, and show that it simplifies specification of distributed client-server interactions. We prove properties relevant to generalised MPST: subject reduction, session fidelity and process property verification.

Software engineers develop, fine-tune, and deploy deep learning (DL) models using a variety of development frameworks and runtime environments. DL model converters move models between frameworks and to runtime environments. Conversion errors compromise model quality and disrupt deployment. However, the failure characteristics of DL model converters are unknown, adding risk when using DL interoperability technologies. This paper analyzes failures in DL model converters. We survey software engineers about DL interoperability tools, use cases, and pain points (N=92). Then, we characterize failures in model converters associated with the main interoperability tool, ONNX (N=200 issues in PyTorch and TensorFlow). Finally, we formulate and test two hypotheses about structural causes for the failures we studied. We find that the node conversion stage of a model converter accounts for ~75% of the defects and 33% of reported failure are related to semantically incorrect models. The cause of semantically incorrect models is elusive, but models with behaviour inconsistencies share operator sequences. Our results motivate future research on making DL interoperability software simpler to maintain, extend, and validate. Research into behavioural tolerances and architectural coverage metrics could be fruitful.

We introduce a new generalization of relative entropy to non-negative vectors with sums $\gt 1$. We show in a purely combinatorial setting, with no probabilistic considerations, that in the presence of linear constraints defining a convex polytope, a concentration phenomenon arises for this generalized relative entropy, and we quantify the concentration precisely. We also present a probabilistic formulation, and extend the concentration results to it. In addition, we provide a number of simplifications and improvements to our previous work, notably in dualizing the optimization problem, in the concentration with respect to $\ell_{\infty}$ distance, and in the relationship to generalized KL-divergence. A number of our results apply to general compact convex sets, not necessarily polyhedral.