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We propose a novel type of map for visual navigation, a renderable neural radiance map (RNR-Map), which is designed to contain the overall visual information of a 3D environment. The RNR-Map has a grid form and consists of latent codes at each pixel. These latent codes are embedded from image observations, and can be converted to the neural radiance field which enables image rendering given a camera pose. The recorded latent codes implicitly contain visual information about the environment, which makes the RNR-Map visually descriptive. This visual information in RNR-Map can be a useful guideline for visual localization and navigation. We develop localization and navigation frameworks that can effectively utilize the RNR-Map. We evaluate the proposed frameworks on camera tracking, visual localization, and image-goal navigation. Experimental results show that the RNR-Map-based localization framework can find the target location based on a single query image with fast speed and competitive accuracy compared to other baselines. Also, this localization framework is robust to environmental changes, and even finds the most visually similar places when a query image from a different environment is given. The proposed navigation framework outperforms the existing image-goal navigation methods in difficult scenarios, under odometry and actuation noises. The navigation framework shows 65.7% success rate in curved scenarios of the NRNS dataset, which is an improvement of 18.6% over the current state-of-the-art. Project page: //rllab-snu.github.io/projects/RNR-Map/

Efficient integration of reconfigurable intelligent surfaces (RISs) into the current wireless network standard is not a trivial task due to the overhead generated by performing channel estimation (CE) and phase-shift optimization. In this paper, we propose a framework enabling the coexistence between orthogonal-frequency division multiplexing (OFDM) and RIS technologies. Instead of wasting communication symbols for the CE and optimization, the proposed framework exploits the localization information obtainable by RIS-aided communications to provide a robust allocation strategy for user multiplexing. The results demonstrate the effectiveness of the proposed approach with respect to CE-based transmission methods.

In the most extensive robot evolution systems, both the bodies and the brains of the robots undergo evolution and the brains of 'infant' robots are also optimized by a learning process immediately after 'birth'. This paper is concerned with the brain evolution mechanism in such a system. In particular, we compare four options obtained by combining asexual or sexual brain reproduction with Darwinian or Lamarckian evolution mechanisms. We conduct experiments in simulation with a system of evolvable modular robots on two different tasks. The results show that sexual reproduction of the robots' brains is preferable in the Darwinian framework, but the effect is the opposite in the Lamarckian system (both using the same infant learning method). Our experiments suggest that the overall best option is asexual reproduction combined with the Lamarckian framework, as it obtains better robots in terms of fitness than the other three. Considering the evolved morphologies, the different brain reproduction methods do not lead to differences. This result indicates that the morphology of the robot is mainly determined by the task and the environment, not by the brain reproduction methods.

Physical-layer key generation (PKG) exploits the reciprocity and randomness of wireless channels to generate a symmetric key between two legitimate communication ends. However, in multi-cell systems, PKG suffers from severe pilot contamination due to the reuse of pilots in different cells. In this paper, we invoke multiple reconfigurable intelligent surfaces (RISs) for adaptively shaping the environment and enhancing the PKG performance. To this end, we formulate an optimization problem to maximize the weighted sum key rate (WSKR) by jointly optimizing the precoding matrices at the base stations (BSs) and the phase shifts at the RISs. For addressing the non-convexity of the problem, we derive an upper bound of the WSKR and prove its tightness. To tackle the upper bound maximization problem, we apply an alternating optimization (AO)-based algorithm to divide the joint optimization into two sub-problems. We apply the Lagrangian dual approach based on the Karush-Kuhn-Tucker (KKT) conditions for the sub-problem of precoding matrices and adopt a projected gradient ascent (PGA) algorithm for the sub-problem of phase shifts. Simulation results confirm the near-optimal performance of the proposed algorithm and the effectiveness of RISs for improving the WSKR via mitigating pilot contamination.

In a recent paper by a superset of the authors it was proved that for every primitive 3-constrained space $\Gamma$ of finite diameter $\delta$ from Cherlin's catalogue of metrically homogeneous graphs, there exists a finite family $\mathcal F$ of $\{1,\ldots, \delta\}$-edge-labelled cycles such that a $\{1,\ldots, \delta\}$-edge-labelled graph is a subgraph of $\Gamma$ if and only if it contains no homomorphic images of cycles from $\mathcal F$. However, the cycles in the families $\mathcal F$ were not described explicitly as it was not necessary for the analysis of Ramsey expansions and the extension property for partial automorphisms. This paper fills this gap by providing an explicit description of the cycles in the families $\mathcal F$, heavily using the previous result in the process. Additionally, we explore the potential applications of this result, such as interpreting the graphs as semigroup-valued metric spaces or homogenizations of $\omega$-categorical $\{1,\delta\}$-edge-labelled graphs.

The traditional simulation methods present some limitations, such as the reality gap between simulated experiences and real-world performance. In the field of autonomous driving research, we propose the handling of an immersive virtual reality system for pedestrians to include in simulations real behaviors of agents that interact with the simulated environment in real time, to improve the quality of the virtual-world data and reduce the gap. In this paper we employ a digital twin to replicate a study on communication interfaces between autonomous vehicles and pedestrians, generating an equivalent virtual scenario to compare the results and establish qualitative and quantitative measurements of the discrepancy. The goal is to evaluate the effectiveness and acceptability of implicit and explicit forms of communication in both scenarios and to verify that the behavior carried out by the pedestrian inside the simulator through a virtual reality interface is directly comparable with their role performed in a real traffic situation.

When robots entered our day-to-day life, the shared space surrounding humans and robots is critical for effective Human-Robot collaboration. The design of shared space should satisfy humans' preferences and robots' efficiency. This work uses kitchen design as an example to illustrate the importance of good space design in facilitating such collaboration. Given the kitchen boundary, counters, and recipes, the proposed method computes the optimal placement of counters that meet the requirement of kitchen design rules and improve Human-Robot collaboration. The key technical challenge is that the optimization method usually evaluates thousands of designs and the computational cost of motion planning, which is part of the evaluation function, is expensive. We use a decentralized motion planner that can solve multi-agent motion planning efficiently. Our results indicate that optimized kitchen designs can provide noticeable performance improvement to Human-Robot collaboration.

We describe ACE0, a lightweight platform for evaluating the suitability and viability of AI methods for behaviour discovery in multiagent simulations. Specifically, ACE0 was designed to explore AI methods for multi-agent simulations used in operations research studies related to new technologies such as autonomous aircraft. Simulation environments used in production are often high-fidelity, complex, require significant domain knowledge and as a result have high R&D costs. Minimal and lightweight simulation environments can help researchers and engineers evaluate the viability of new AI technologies for behaviour discovery in a more agile and potentially cost effective manner. In this paper we describe the motivation for the development of ACE0.We provide a technical overview of the system architecture, describe a case study of behaviour discovery in the aerospace domain, and provide a qualitative evaluation of the system. The evaluation includes a brief description of collaborative research projects with academic partners, exploring different AI behaviour discovery methods.

The U-Net was presented in 2015. With its straight-forward and successful architecture it quickly evolved to a commonly used benchmark in medical image segmentation. The adaptation of the U-Net to novel problems, however, comprises several degrees of freedom regarding the exact architecture, preprocessing, training and inference. These choices are not independent of each other and substantially impact the overall performance. The present paper introduces the nnU-Net ('no-new-Net'), which refers to a robust and self-adapting framework on the basis of 2D and 3D vanilla U-Nets. We argue the strong case for taking away superfluous bells and whistles of many proposed network designs and instead focus on the remaining aspects that make out the performance and generalizability of a method. We evaluate the nnU-Net in the context of the Medical Segmentation Decathlon challenge, which measures segmentation performance in ten disciplines comprising distinct entities, image modalities, image geometries and dataset sizes, with no manual adjustments between datasets allowed. At the time of manuscript submission, nnU-Net achieves the highest mean dice scores across all classes and seven phase 1 tasks (except class 1 in BrainTumour) in the online leaderboard of the challenge.