Ultra-wideband (UWB) time difference of arrival(TDOA)-based localization has emerged as a low-cost and scalable indoor positioning solution. However, in cluttered environments, the performance of UWB TDOA-based localization deteriorates due to the biased and non-Gaussian noise distributions induced by obstacles. In this work, we present a bi-level optimization-based joint localization and noise model learning algorithm to address this problem. In particular, we use a Gaussian mixture model (GMM) to approximate the measurement noise distribution. We explicitly incorporate the estimated state's uncertainty into the GMM noise model learning, referred to as uncertainty-aware GMM, to improve both noise modeling and localization performance. We first evaluate the GMM noise model learning and localization performance in numerous simulation scenarios. We then demonstrate the effectiveness of our algorithm in extensive real-world experiments using two different cluttered environments. We show that our algorithm provides accurate position estimates with low-cost UWB sensors, no prior knowledge about the obstacles in the space, and a significant amount of UWB radios occluded.
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Realistic reservoir simulation is known to be prohibitively expensive in terms of computation time when increasing the accuracy of the simulation or by enlarging the model grid size. One method to address this issue is to parallelize the computation by dividing the model in several partitions and using multiple CPUs to compute the result using techniques such as MPI and multi-threading. Alternatively, GPUs are also a good candidate to accelerate the computation due to their massively parallel architecture that allows many floating point operations per second to be performed. The numerical iterative solver takes thus the most computational time and is challenging to solve efficiently due to the dependencies that exist in the model between cells. In this work, we evaluate the OPM Flow simulator and compare several state-of-the-art GPU solver libraries as well as custom developed solutions for a BiCGStab solver using an ILU0 preconditioner and benchmark their performance against the default DUNE library implementation running on multiple CPU processors using MPI. The evaluated GPU software libraries include a manual linear solver in OpenCL and the integration of several third party sparse linear algebra libraries, such as cuSparse, rocSparse, and amgcl. To perform our bench-marking, we use small, medium, and large use cases, starting with the public test case NORNE that includes approximately 50k active cells and ending with a large model that includes approximately 1 million active cells. We find that a GPU can accelerate a single dual-threaded MPI process up to 5.6 times, and that it can compare with around 8 dual-threaded MPI processes.
Explainable recommender systems (RS) have traditionally followed a one-size-fits-all approach, delivering the same explanation level of detail to each user, without considering their individual needs and goals. Further, explanations in RS have so far been presented mostly in a static and non-interactive manner. To fill these research gaps, we aim in this paper to adopt a user-centered, interactive explanation model that provides explanations with different levels of detail and empowers users to interact with, control, and personalize the explanations based on their needs and preferences. We followed a user-centered approach to design interactive explanations with three levels of detail (basic, intermediate, and advanced) and implemented them in the transparent Recommendation and Interest Modeling Application (RIMA). We conducted a qualitative user study (N=14) to investigate the impact of providing interactive explanations with varying level of details on the users' perception of the explainable RS. Our study showed qualitative evidence that fostering interaction and giving users control in deciding which explanation they would like to see can meet the demands of users with different needs, preferences, and goals, and consequently can have positive effects on different crucial aspects in explainable recommendation, including transparency, trust, satisfaction, and user experience.
Domain adaptation (DA) has been widely applied in the diabetic retinopathy (DR) grading of unannotated ultra-wide-field (UWF) fundus images, which can transfer annotated knowledge from labeled color fundus images. However, suffering from huge domain gaps and complex real-world scenarios, the DR grading performance of most mainstream DA is far from that of clinical diagnosis. To tackle this, we propose a novel source-free active domain adaptation (SFADA) in this paper. Specifically, we focus on DR grading problem itself and propose to generate features of color fundus images with continuously evolving relationships of DRs, actively select a few valuable UWF fundus images for labeling with local representation matching, and adapt model on UWF fundus images with DR lesion prototypes. Notably, the SFADA also takes data privacy and computational efficiency into consideration. Extensive experimental results demonstrate that our proposed SFADA achieves state-of-the-art DR grading performance, increasing accuracy by 20.9% and quadratic weighted kappa by 18.63% compared with baseline and reaching 85.36% and 92.38% respectively. These investigations show that the potential of our approach for real clinical practice is promising.
Open-domain table question answering aims to provide answers to a question by retrieving and extracting information from a large collection of tables. Existing studies of open-domain table QA either directly adopt text retrieval methods or consider the table structure only in the encoding layer for table retrieval, which may cause syntactical and structural information loss during table scoring. To address this issue, we propose a syntax- and structure-aware retrieval method for the open-domain table QA task. It provides syntactical representations for the question and uses the structural header and value representations for the tables to avoid the loss of fine-grained syntactical and structural information. Then, a syntactical-to-structural aggregator is used to obtain the matching score between the question and a candidate table by mimicking the human retrieval process. Experimental results show that our method achieves the state-of-the-art on the NQ-tables dataset and overwhelms strong baselines on a newly curated open-domain Text-to-SQL dataset.
The Capacitated Vehicle Routing Problem (CVRP) is an NP-optimization problem (NPO) that arises in various fields including transportation and logistics. The CVRP extends from the Vehicle Routing Problem (VRP), aiming to determine the most efficient plan for a fleet of vehicles to deliver goods to a set of customers, subject to the limited carrying capacity of each vehicle. As the number of possible solutions skyrockets when the number of customers increases, finding the optimal solution remains a significant challenge. Recently, a quantum-classical hybrid algorithm known as Quantum Approximate Optimization Algorithm (QAOA) can provide better solutions in some cases of combinatorial optimization problems, compared to classical heuristics. However, the QAOA exhibits a diminished ability to produce high-quality solutions for some constrained optimization problems including the CVRP. One potential approach for improvement involves a variation of the QAOA known as the Grover-Mixer Quantum Alternating Operator Ansatz (GM-QAOA). In this work, we attempt to use GM-QAOA to solve the CVRP. We present a new binary encoding for the CVRP, with an alternative objective function of minimizing the shortest path that bypasses the vehicle capacity constraint of the CVRP. The search space is further restricted by the Grover-Mixer. We examine and discuss the effectiveness of the proposed solver through its application to several illustrative examples.
Robotic surgical subtask automation has the potential to reduce the per-patient workload of human surgeons. There are a variety of surgical subtasks that require geometric information of subsurface anatomy, such as the location of tumors, which necessitates accurate and efficient surgical sensing. In this work, we propose an automated sensing method that maps 3D subsurface anatomy to provide such geometric knowledge. We model the anatomy via a Bayesian Hilbert map-based probabilistic 3D occupancy map. Using the 3D occupancy map, we plan sensing paths on the surface of the anatomy via a graph search algorithm, $A^*$ search, with a cost function that enables the trajectories generated to balance between exploration of unsensed regions and refining the existing probabilistic understanding. We demonstrate the performance of our proposed method by comparing it against 3 different methods in several anatomical environments including a real-life CT scan dataset. The experimental results show that our method efficiently detects relevant subsurface anatomy with shorter trajectories than the comparison methods, and the resulting occupancy map achieves high accuracy.
The communities of blockchains and distributed ledgers have been stirred up by the introduction of zero-knowledge proofs (ZKPs). Originally designed to solve privacy issues, ZKPs have now evolved into an effective remedy for scalability concerns and are applied in Zcash (internet money like Bitcoin). To enable ZKPs, Rank-1 Constraint Systems (R1CS) offer a verifier for bi-linear equations. To accurately and efficiently represent R1CS, several language tools like Circom, Noir, and Snarky have been proposed to automate the compilation of advanced programs into R1CS. However, due to the flexible nature of R1CS representation, there can be significant differences in the compiled R1CS forms generated from circuit language programs with the same underlying semantics. To address this issue, this paper uses a data-flow-based R1CS paradigm algorithm, which produces a standardized format for different R1CS instances with identical semantics. By using the normalized R1CS format circuits, the complexity of circuits' verification can be reduced. In addition, this paper presents an R1CS normalization algorithm benchmark, and our experimental evaluation demonstrates the effectiveness and correctness of our methods.
The parallel alternating direction method of multipliers (ADMM) algorithms have gained popularity in statistics and machine learning for their efficient handling of large sample data problems. However, the parallel structure of these algorithms is based on the consensus problem, which can lead to an excessive number of auxiliary variables for high-dimensional data. In this paper, we propose a partition-insensitive parallel framework based on the linearized ADMM (LADMM) algorithm and apply it to solve nonconvex penalized smooth quantile regression problems. Compared to existing parallel ADMM algorithms, our algorithm does not rely on the consensus problem, resulting in a significant reduction in the number of variables that need to be updated at each iteration. It is worth noting that the solution of our algorithm remains unchanged regardless of how the total sample is divided, which is also known as partition-insensitivity. Furthermore, under some mild assumptions, we prove that the iterative sequence generated by the parallel LADMM algorithm converges to a critical point of the nonconvex optimization problem. Numerical experiments on synthetic and real datasets demonstrate the feasibility and validity of the proposed algorithm.
Residual networks (ResNets) have displayed impressive results in pattern recognition and, recently, have garnered considerable theoretical interest due to a perceived link with neural ordinary differential equations (neural ODEs). This link relies on the convergence of network weights to a smooth function as the number of layers increases. We investigate the properties of weights trained by stochastic gradient descent and their scaling with network depth through detailed numerical experiments. We observe the existence of scaling regimes markedly different from those assumed in neural ODE literature. Depending on certain features of the network architecture, such as the smoothness of the activation function, one may obtain an alternative ODE limit, a stochastic differential equation or neither of these. These findings cast doubts on the validity of the neural ODE model as an adequate asymptotic description of deep ResNets and point to an alternative class of differential equations as a better description of the deep network limit.
With the rapid increase of large-scale, real-world datasets, it becomes critical to address the problem of long-tailed data distribution (i.e., a few classes account for most of the data, while most classes are under-represented). Existing solutions typically adopt class re-balancing strategies such as re-sampling and re-weighting based on the number of observations for each class. In this work, we argue that as the number of samples increases, the additional benefit of a newly added data point will diminish. We introduce a novel theoretical framework to measure data overlap by associating with each sample a small neighboring region rather than a single point. The effective number of samples is defined as the volume of samples and can be calculated by a simple formula $(1-\beta^{n})/(1-\beta)$, where $n$ is the number of samples and $\beta \in [0,1)$ is a hyperparameter. We design a re-weighting scheme that uses the effective number of samples for each class to re-balance the loss, thereby yielding a class-balanced loss. Comprehensive experiments are conducted on artificially induced long-tailed CIFAR datasets and large-scale datasets including ImageNet and iNaturalist. Our results show that when trained with the proposed class-balanced loss, the network is able to achieve significant performance gains on long-tailed datasets.
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