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

Selective robotic harvesting is a promising technological solution to address labour shortages which are affecting modern agriculture in many parts of the world. For an accurate and efficient picking process, a robotic harvester requires the precise location and orientation of the fruit to effectively plan the trajectory of the end effector. The current methods for estimating fruit orientation employ either complete 3D information which typically requires registration from multiple views or rely on fully-supervised learning techniques, which require difficult-to-obtain manual annotation of the reference orientation. In this paper, we introduce a novel key-point-based fruit orientation estimation method allowing for the prediction of 3D orientation from 2D images directly. The proposed technique can work without full 3D orientation annotations but can also exploit such information for improved accuracy. We evaluate our work on two separate datasets of strawberry images obtained from real-world data collection scenarios. Our proposed method achieves state-of-the-art performance with an average error as low as $8^{\circ}$, improving predictions by $\sim30\%$ compared to previous work presented in~\cite{wagner2021efficient}. Furthermore, our method is suited for real-time robotic applications with fast inference times of $\sim30$ms.

Running multiple deep neural networks (DNNs) in parallel has become an emerging workload in both edge devices, such as mobile phones where multiple tasks serve a single user for daily activities, and data centers, where various requests are raised from millions of users, as seen with large language models. To reduce the costly computational and memory requirements of these workloads, various efficient sparsification approaches have been introduced, resulting in widespread sparsity across different types of DNN models. In this context, there is an emerging need for scheduling sparse multi-DNN workloads, a problem that is largely unexplored in previous literature. This paper systematically analyses the use-cases of multiple sparse DNNs and investigates the opportunities for optimizations. Based on these findings, we propose Dysta, a novel bi-level dynamic and static scheduler that utilizes both static sparsity patterns and dynamic sparsity information for the sparse multi-DNN scheduling. Both static and dynamic components of Dysta are jointly designed at the software and hardware levels, respectively, to improve and refine the scheduling approach. To facilitate future progress in the study of this class of workloads, we construct a public benchmark that contains sparse multi-DNN workloads across different deployment scenarios, spanning from mobile phones and AR/VR wearables to data centers. A comprehensive evaluation on the sparse multi-DNN benchmark demonstrates that our proposed approach outperforms the state-of-the-art methods with up to 10% decrease in latency constraint violation rate and nearly 4X reduction in average normalized turnaround time. Our artifacts and code are publicly available at: //github.com/SamsungLabs/Sparse-Multi-DNN-Scheduling.

The impressive success of recent deep neural network (DNN)-based systems is significantly influenced by the high-quality datasets used in training. However, the effects of the datasets, especially how they interact with each other, remain underexplored. We propose a state-vector framework to enable rigorous studies in this direction. This framework uses idealized probing test results as the bases of a vector space. This framework allows us to quantify the effects of both standalone and interacting datasets. We show that the significant effects of some commonly-used language understanding datasets are characteristic and are concentrated on a few linguistic dimensions. Additionally, we observe some ``spill-over'' effects: the datasets could impact the models along dimensions that may seem unrelated to the intended tasks. Our state-vector framework paves the way for a systematic understanding of the dataset effects, a crucial component in responsible and robust model development.

The technical trends for the next-generation wireless network significantly extend the near-field region, necessitating a reevaluation for the performance of integrated sensing and communications (ISAC) to account for the effects introduced by the near field. In this paper, a near-field ISAC framework is proposed with a more accurate channel model than the three conventional models (TCMs): uniform plane wave, uniform spherical wave, and non-uniform spherical wave. Based on the proposed model, sensing and communication (S\&C) performance in both downlink and uplink scenarios are analyzed. For the downlink case, three different designs are investigated: the sensing-centric (S-C) design, the communications-centric (C-C) design, and the Pareto optimal design. For the uplink case, the S-C design, the C-C design and the time-sharing strategy are considered. Within each design, sensing rates (SRs) and communication rates (CRs) are derived. To gain further insights, high signal-to-noise ratio slopes and rate scaling laws concerning the number of antennas are also examined. Finally, the attainable SR-CR regions of the near-field ISAC are characterized. Numerical results reveal that 1) as the number of antennas grows, the SRs and CRs of the proposed model converges to constants, while those of the TCMs increase unboundedly; 2) ISAC achieves a more extensive rate region than the conventional frequency-division S\&C in both downlink and uplink cases.

Group-invariant generative adversarial networks (GANs) are a type of GANs in which the generators and discriminators are hardwired with group symmetries. Empirical studies have shown that these networks are capable of learning group-invariant distributions with significantly improved data efficiency. In this study, we aim to rigorously quantify this improvement by analyzing the reduction in sample complexity for group-invariant GANs. Our findings indicate that when learning group-invariant distributions, the number of samples required for group-invariant GANs decreases proportionally with a power of the group size, and this power depends on the intrinsic dimension of the distribution's support. To our knowledge, this work presents the first statistical estimation for group-invariant generative models, specifically for GANs, and it may shed light on the study of other group-invariant generative models.

Graph neural networks (GNNs) have demonstrated significant promise in modelling relational data and have been widely applied in various fields of interest. The key mechanism behind GNNs is the so-called message passing where information is being iteratively aggregated to central nodes from their neighbourhood. Such a scheme has been found to be intrinsically linked to a physical process known as heat diffusion, where the propagation of GNNs naturally corresponds to the evolution of heat density. Analogizing the process of message passing to the heat dynamics allows to fundamentally understand the power and pitfalls of GNNs and consequently informs better model design. Recently, there emerges a plethora of works that proposes GNNs inspired from the continuous dynamics formulation, in an attempt to mitigate the known limitations of GNNs, such as oversmoothing and oversquashing. In this survey, we provide the first systematic and comprehensive review of studies that leverage the continuous perspective of GNNs. To this end, we introduce foundational ingredients for adapting continuous dynamics to GNNs, along with a general framework for the design of graph neural dynamics. We then review and categorize existing works based on their driven mechanisms and underlying dynamics. We also summarize how the limitations of classic GNNs can be addressed under the continuous framework. We conclude by identifying multiple open research directions.

Sixth-generation (6G) communication systems are poised to accommodate high data-rate wireless communication services in highly dynamic channels, with applications including high-speed trains, unmanned aerial vehicles, and intelligent transportation systems. Orthogonal frequency-division multiplexing (OFDM) modulation suffers from performance degradation in such high-mobility applications due to high Doppler spread in the channel. The recently proposed Orthogonal Time Frequency Space (OTFS) modulation scheme outperforms OFDM in terms of supporting a higher transmitter (Tx) and receiver (Rx) user velocity. Additionally, the highly-dynamic time-frequency (TF) channel has little effect on OTFS modulated signals, which enables the realization of low-complexity pre-processing architectures for implementing massive-multiple input multiple outputs (MIMO) based OTFS systems. However, while OTFS has received attention in the literature from a theory and simulation perspective, there has been comparatively little work on real-time FPGA implementation of OTFS waveforms. Thus, in this paper, we first present a mathematical overview of OTFS modulation and then describe an FPGA implementation of OTFS implementation on hardware. Power, area, and timing analysis of the implemented design on a Zynq UltraScale+ RFSoC FPGA are provided for benchmarking purposes.

Backpressure (BP) routing is a well-established framework for distributed routing and scheduling in wireless multi-hop networks. However, the basic BP scheme suffers from poor end-to-end delay due to the drawbacks of slow startup, random walk, and the last packet problem. Biased BP with shortest path awareness can address the first two drawbacks, and sojourn time-based backlog metrics were proposed for the last packet problem. Furthermore, these BP variations require no additional signaling overhead in each time step compared to the basic BP. In this work, we further address three long-standing challenges associated with the aforementioned low-cost BP variations, including optimal scaling of the biases, bias maintenance under mobility, and incorporating sojourn time awareness into biased BP. Our analysis and experimental results show that proper scaling of biases can be achieved with the help of common link features, which can effectively reduce end-to-end delay of BP by mitigating the random walk of packets under low-to-medium traffic, including the last packet scenario. In addition, our low-overhead bias maintenance scheme is shown to be effective under mobility, and our bio-inspired sojourn time-aware backlog metric is demonstrated to be more efficient and effective for the last packet problem than existing approaches when incorporated into biased BP.

This work designs a novel semantic communication (SemCom) framework for the next-generation wireless network to tackle the challenges of unnecessary transmission of vast amounts that cause high bandwidth consumption, more latency, and experience with bad quality of services (QoS). In particular, these challenges hinder applications like intelligent transportation systems (ITS), metaverse, mixed reality, and the Internet of Everything, where real-time and efficient data transmission is paramount. Therefore, to reduce communication overhead and maintain the QoS of emerging applications such as metaverse, ITS, and digital twin creation, this work proposes a novel semantic communication framework. First, an intelligent semantic transmitter is designed to capture the meaningful information (e.g., the rode-side image in ITS) by designing a domain-specific Mobile Segment Anything Model (MSAM)-based mechanism to reduce the potential communication traffic while QoS remains intact. Second, the concept of generative AI is introduced for building the SemCom to reconstruct and denoise the received semantic data frame at the receiver end. In particular, the Generative Adversarial Network (GAN) mechanism is designed to maintain a superior quality reconstruction under different signal-to-noise (SNR) channel conditions. Finally, we have tested and evaluated the proposed semantic communication (SemCom) framework with the real-world 6G scenario of ITS; in particular, the base station equipped with an RGB camera and a mmWave phased array. Experimental results demonstrate the efficacy of the proposed SemCom framework by achieving high-quality reconstruction across various SNR channel conditions, resulting in 93.45% data reduction in communication.

Modern IEEE 802.11 (Wi-Fi) networks extensively rely on multiple-input multiple-output (MIMO) to significantly improve throughput. To correctly beamform MIMO transmissions, the access point needs to frequently acquire a beamforming matrix (BM) from each connected station. However, the size of the matrix grows with the number of antennas and subcarriers, resulting in an increasing amount of airtime overhead and computational load at the station. Conventional approaches come with either excessive computational load or loss of beamforming precision. For this reason, we propose SplitBeam, a new framework where we train a split deep neural network (DNN) to directly output the BM given the channel state information (CSI) matrix as input. We formulate and solve a bottleneck optimization problem (BOP) to keep computation, airtime overhead, and bit error rate (BER) below application requirements. We perform extensive experimental CSI collection with off-the-shelf Wi-Fi devices in two distinct environments and compare the performance of SplitBeam with the standard IEEE 802.11 algorithm for BM feedback and the state-of-the-art DNN-based approach LB-SciFi. Our experimental results show that SplitBeam reduces the beamforming feedback size and computational complexity by respectively up to 81% and 84% while maintaining BER within about 10^-3 of existing approaches. We also implement the SplitBeam DNNs on FPGA hardware to estimate the end-to-end BM reporting delay, and show that the latter is less than 10 milliseconds in the most complex scenario, which is the target channel sounding frequency in realistic multi-user MIMO scenarios.