JohnVitz/NLP_Assignment_3_part_3 · Datasets at Hugging Face

2501.14322

Relative Layer-Wise Relevance Propagation: a more Robust Neural Networks eXplaination

Machine learning methods are solving very successfully a plethora of tasks, but they have the disadvantage of not providing any information about their decision. Consequently, estimating the reasoning of the system provides additional information. For this, Layer-Wise Relevance Propagation (LRP) is one of the methods in eXplainable Machine Learning (XML). Its purpose is to provide contributions of any neural network output in the domain of its input. The main drawback of current methods is mainly due to division by small values. To overcome this problem, we provide a new definition called Relative LRP where the classical conservation law is satisfied up to a multiplicative factor but without divisions by small values except for Resnet skip connection. In this article, we will focus on image classification. This allows us to visualize the contributions of a pixel to the predictions of a multi-layer neural network. Pixel contributions provide a focus to further analysis on regions of potential interest. R-LRP can be applied for any dense, CNN or residual neural networks. Moreover, R-LRP doesn't need any hyperparameters to tune contrary to other LRP methods. We then compare the R-LRP method on different datasets with simple CNN, VGG16, VGG19 and Resnet50 networks.

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527,082

1109.4104

VOGCLUSTERS: an example of DAME web application

We present the alpha release of the VOGCLUSTERS web application, specialized for data and text mining on globular clusters. It is one of the web2.0 technology based services of Data Mining & Exploration (DAME) Program, devoted to mine and explore heterogeneous information related to globular clusters data.

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false

12,235

2001.03869

Finite-Sample Analysis of Image Registration

We study the problem of image registration in the finite-resolution regime and characterize the error probability of algorithms as a function of properties of the transformation and the image capture noise. Specifically, we define a channel-aware Feinstein decoder to obtain upper bounds on the minimum achievable error probability under finite resolution. We specifically focus on the higher-order terms and use Berry-Esseen type CLTs to obtain a stronger characterization of the achievability condition for the problem. Then, we derive a strong type-counting result to characterize the performance of the MMI decoder in terms of the maximum likelihood decoder, in a simplified setting of the problem. We then describe how this analysis, when related to the results from the channel-aware context provide stronger characterization of the finite-sample performance of universal image registration.

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false

160,085

1601.00909

The high-conductance state enables neural sampling in networks of LIF neurons

The apparent stochasticity of in-vivo neural circuits has long been hypothesized to represent a signature of ongoing stochastic inference in the brain. More recently, a theoretical framework for neural sampling has been proposed, which explains how sample-based inference can be performed by networks of spiking neurons. One particular requirement of this approach is that the neural response function closely follows a logistic curve. Analytical approaches to calculating neural response functions have been the subject of many theoretical studies. In order to make the problem tractable, particular assumptions regarding the neural or synaptic parameters are usually made. However, biologically significant activity regimes exist which are not covered by these approaches: Under strong synaptic bombardment, as is often the case in cortex, the neuron is shifted into a high-conductance state (HCS) characterized by a small membrane time constant. In this regime, synaptic time constants and refractory periods dominate membrane dynamics. The core idea of our approach is to separately consider two different "modes" of spiking dynamics: burst spiking and transient quiescence, in which the neuron does not spike for longer periods. We treat the former by propagating the PDF of the effective membrane potential from spike to spike within a burst, while using a diffusion approximation for the latter. We find that our prediction of the neural response function closely matches simulation data. Moreover, in the HCS scenario, we show that the neural response function becomes symmetric and can be well approximated by a logistic function, thereby providing the correct dynamics in order to perform neural sampling. We hereby provide not only a normative framework for Bayesian inference in cortex, but also powerful applications of low-power, accelerated neuromorphic systems to relevant machine learning tasks.

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50,692

2208.10753

Neural PCA for Flow-Based Representation Learning

Of particular interest is to discover useful representations solely from observations in an unsupervised generative manner. However, the question of whether existing normalizing flows provide effective representations for downstream tasks remains mostly unanswered despite their strong ability for sample generation and density estimation. This paper investigates this problem for such a family of generative models that admits exact invertibility. We propose Neural Principal Component Analysis (Neural-PCA) that operates in full dimensionality while capturing principal components in \emph{descending} order. Without exploiting any label information, the principal components recovered store the most informative elements in their \emph{leading} dimensions and leave the negligible in the \emph{trailing} ones, allowing for clear performance improvements of $5\%$-$10\%$ in downstream tasks. Such improvements are empirically found consistent irrespective of the number of latent trailing dimensions dropped. Our work suggests that necessary inductive bias be introduced into generative modelling when representation quality is of interest.

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314,187

2202.08019

Model-Based and Data-Driven Control of Event- and Self-Triggered Discrete-Time LTI Systems

The present paper considers the model-based and data-driven control of unknown linear time-invariant discrete-time systems under event-triggering and self-triggering transmission schemes. To this end, we begin by presenting a dynamic event-triggering scheme (ETS) based on periodic sampling, and a discrete-time looped-functional approach, through which a model-based stability condition is derived. Combining the model-based condition with a recent data-based system representation, a data-driven stability criterion in the form of linear matrix inequalities (LMIs) is established, which also offers a way of co-designing the ETS matrix and the controller. To further alleviate the sampling burden of ETS due to its continuous/periodic detection, a self-triggering scheme (STS) is developed. Leveraging pre-collected input-state data, an algorithm for predicting the next transmission instant is given, while achieving system stability. Finally, numerical simulations showcase the efficacy of ETS and STS in reducing data transmissions as well as of the proposed co-design methods.

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280,737

1004.3966

A Message-Passing Algorithm for Counting Short Cycles in a Graph

A message-passing algorithm for counting short cycles in a graph is presented. For bipartite graphs, which are of particular interest in coding, the algorithm is capable of counting cycles of length g, g +2,..., 2g - 2, where g is the girth of the graph. For a general (non-bipartite) graph, cycles of length g; g + 1, ..., 2g - 1 can be counted. The algorithm is based on performing integer additions and subtractions in the nodes of the graph and passing extrinsic messages to adjacent nodes. The complexity of the proposed algorithm grows as $O(g|E|^2)$, where $|E|$ is the number of edges in the graph. For sparse graphs, the proposed algorithm significantly outperforms the existing algorithms in terms of computational complexity and memory requirements.

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6,247

2404.14117

Hierarchical localization with panoramic views and triplet loss functions

The main objective of this paper is to tackle visual localization, which is essential for the safe navigation of mobile robots. The solution we propose employs panoramic images and triplet convolutional neural networks. We seek to exploit the properties of such architectures to address both hierarchical and global localization in indoor environments, which are prone to visual aliasing and other phenomena. Considering their importance in these architectures, a complete comparative evaluation of different triplet loss functions is performed. The experimental section proves that triplet networks can be trained with a relatively low number of images captured under a specific lighting condition and even so, the resulting networks are a robust tool to perform visual localization under dynamic conditions. Our approach has been evaluated against some of these effects, such as changes in the lighting conditions, occlusions, noise and motion blurring. Furthermore, to explore the limits of our approach, triplet networks have been tested in different indoor environments simultaneously. In all the cases, these architectures have demonstrated a great capability to generalize to diverse and challenging scenarios. The code used in the experiments is available at https://github.com/MarcosAlfaro/TripletNetworksIndoorLocalization.git.

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448,579

1503.06982

Output Feedback Control of Inhomogeneous Parabolic PDEs with Point Actuation and Point Measurement using SOS and Semi-Separable Kernels

In this paper we use SOS and SDP to design output feedback controllers for a class of one-dimensional parabolic partial differential equations with point measurements and point actuation. Our approach is based on the use of SOS to search for positive quadratic Lyapunov functions, controllers and observers. These Lyapunov functions, controllers and observers are parameterized by linear operators which are defined by SOS polynomials. The main result of the paper is the development of an improved class of observer-based controllers and evidence which indicates that when the system is controllable and observable, these methods will find a observer-based controller for sufficiently high polynomial degree (similar to well-known results from backstepping).

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41,427

2412.14728

LTLf Synthesis Under Unreliable Input

We study the problem of realizing strategies for an LTLf goal specification while ensuring that at least an LTLf backup specification is satisfied in case of unreliability of certain input variables. We formally define the problem and characterize its worst-case complexity as 2EXPTIME-complete, like standard LTLf synthesis. Then we devise three different solution techniques: one based on direct automata manipulation, which is 2EXPTIME, one disregarding unreliable input variables by adopting a belief construction, which is 3EXPTIME, and one leveraging second-order quantified LTLf (QLTLf), which is 2EXPTIME and allows for a direct encoding into monadic second-order logic, which in turn is worst-case nonelementary. We prove their correctness and evaluate them against each other empirically. Interestingly, theoretical worst-case bounds do not translate into observed performance; the MSO technique performs best, followed by belief construction and direct automata manipulation. As a byproduct of our study, we provide a general synthesis procedure for arbitrary QLTLf specifications.

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518,839

2001.04238

Nmbr9 as a Constraint Programming Challenge

Modern board games are a rich source of interesting and new challenges for combinatorial problems. The game Nmbr9 is a solitaire style puzzle game using polyominoes. The rules of the game are simple to explain, but modelling the game effectively using constraint programming is hard. This abstract presents the game, contributes new generalized variants of the game suitable for benchmarking and testing, and describes a model for the presented variants. The question of the top possible score in the standard game is an open challenge.

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160,190

2006.13044

Scheduling Policy and Power Allocation for Federated Learning in NOMA Based MEC

Federated learning (FL) is a highly pursued machine learning technique that can train a model centrally while keeping data distributed. Distributed computation makes FL attractive for bandwidth limited applications especially in wireless communications. There can be a large number of distributed edge devices connected to a central parameter server (PS) and iteratively download/upload data from/to the PS. Due to the limited bandwidth, only a subset of connected devices can be scheduled in each round. There are usually millions of parameters in the state-of-art machine learning models such as deep learning, resulting in a high computation complexity as well as a high communication burden on collecting/distributing data for training. To improve communication efficiency and make the training model converge faster, we propose a new scheduling policy and power allocation scheme using non-orthogonal multiple access (NOMA) settings to maximize the weighted sum data rate under practical constraints during the entire learning process. NOMA allows multiple users to transmit on the same channel simultaneously. The user scheduling problem is transformed into a maximum-weight independent set problem that can be solved using graph theory. Simulation results show that the proposed scheduling and power allocation scheme can help achieve a higher FL testing accuracy in NOMA based wireless networks than other existing schemes.

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183,782

2404.02456

PhonologyBench: Evaluating Phonological Skills of Large Language Models

Phonology, the study of speech's structure and pronunciation rules, is a critical yet often overlooked component in Large Language Model (LLM) research. LLMs are widely used in various downstream applications that leverage phonology such as educational tools and poetry generation. Moreover, LLMs can potentially learn imperfect associations between orthographic and phonological forms from the training data. Thus, it is imperative to benchmark the phonological skills of LLMs. To this end, we present PhonologyBench, a novel benchmark consisting of three diagnostic tasks designed to explicitly test the phonological skills of LLMs in English: grapheme-to-phoneme conversion, syllable counting, and rhyme word generation. Despite having no access to speech data, LLMs showcased notable performance on the PhonologyBench tasks. However, we observe a significant gap of 17% and 45% on Rhyme Word Generation and Syllable counting, respectively, when compared to humans. Our findings underscore the importance of studying LLM performance on phonological tasks that inadvertently impact real-world applications. Furthermore, we encourage researchers to choose LLMs that perform well on the phonological task that is closely related to the downstream application since we find that no single model consistently outperforms the others on all the tasks.

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443,863

1711.03406

Machine Learning Based Fast Power Integrity Classifier

In this paper, we proposed a new machine learning based fast power integrity classifier that quickly flags the EM/IR hotspots. We discussed the features to extract to describe the power grid, cell power density, routing impact and controlled collapse chip connection (C4) bumps, etc. The continuous and discontinuous cases are identified and treated using different machine learning models. Nearest neighbors, random forest and neural network models are compared to select the best performance candidates. Experiments are run on open source benchmark, and result is showing promising prediction accuracy.

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84,205

1611.08024

EEGNet: A Compact Convolutional Network for EEG-based Brain-Computer Interfaces

Brain computer interfaces (BCI) enable direct communication with a computer, using neural activity as the control signal. This neural signal is generally chosen from a variety of well-studied electroencephalogram (EEG) signals. For a given BCI paradigm, feature extractors and classifiers are tailored to the distinct characteristics of its expected EEG control signal, limiting its application to that specific signal. Convolutional Neural Networks (CNNs), which have been used in computer vision and speech recognition, have successfully been applied to EEG-based BCIs; however, they have mainly been applied to single BCI paradigms and thus it remains unclear how these architectures generalize to other paradigms. Here, we ask if we can design a single CNN architecture to accurately classify EEG signals from different BCI paradigms, while simultaneously being as compact as possible. In this work we introduce EEGNet, a compact convolutional network for EEG-based BCIs. We introduce the use of depthwise and separable convolutions to construct an EEG-specific model which encapsulates well-known EEG feature extraction concepts for BCI. We compare EEGNet to current state-of-the-art approaches across four BCI paradigms: P300 visual-evoked potentials, error-related negativity responses (ERN), movement-related cortical potentials (MRCP), and sensory motor rhythms (SMR). We show that EEGNet generalizes across paradigms better than the reference algorithms when only limited training data is available. We demonstrate three different approaches to visualize the contents of a trained EEGNet model to enable interpretation of the learned features. Our results suggest that EEGNet is robust enough to learn a wide variety of interpretable features over a range of BCI tasks, suggesting that the observed performances were not due to artifact or noise sources in the data.

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64,433

2501.12390

GPS as a Control Signal for Image Generation

We show that the GPS tags contained in photo metadata provide a useful control signal for image generation. We train GPS-to-image models and use them for tasks that require a fine-grained understanding of how images vary within a city. In particular, we train a diffusion model to generate images conditioned on both GPS and text. The learned model generates images that capture the distinctive appearance of different neighborhoods, parks, and landmarks. We also extract 3D models from 2D GPS-to-image models through score distillation sampling, using GPS conditioning to constrain the appearance of the reconstruction from each viewpoint. Our evaluations suggest that our GPS-conditioned models successfully learn to generate images that vary based on location, and that GPS conditioning improves estimated 3D structure.

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true

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526,294

2108.13298

E-Commerce Promotions Personalization via Online Multiple-Choice Knapsack with Uplift Modeling

Promotions and discounts are essential components of modern e-commerce platforms, where they are often used to incentivize customers towards purchase completion. Promotions also affect revenue and may incur a monetary loss that is often limited by a dedicated promotional budget. We study the Online Constrained Multiple-Choice Promotions Personalization Problem, where the optimization goal is to select for each customer which promotion to present in order to maximize purchase completions, while also complying with global budget limitations. Our work formalizes the problem as an Online Multiple Choice Knapsack Problem and extends the existent literature by addressing cases with negative weights and values. We provide a real-time adaptive method that guarantees budget constraints compliance and achieves above 99.7% of the optimal promotional impact on various datasets. Our method is evaluated on a large-scale experimental study at one of the leading online travel platforms in the world.

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252,765

2007.15109

Outlier-Robust Estimation: Hardness, Minimally Tuned Algorithms, and Applications

Nonlinear estimation in robotics and vision is typically plagued with outliers due to wrong data association, or to incorrect detections from signal processing and machine learning methods. This paper introduces two unifying formulations for outlier-robust estimation, Generalized Maximum Consensus (G-MC) and Generalized Truncated Least Squares (G-TLS), and investigates fundamental limits, practical algorithms, and applications. Our first contribution is a proof that outlier-robust estimation is inapproximable: in the worst case, it is impossible to (even approximately) find the set of outliers, even with slower-than-polynomial-time algorithms (particularly, algorithms running in quasi-polynomial time). As a second contribution, we review and extend two general-purpose algorithms. The first, Adaptive Trimming (ADAPT), is combinatorial, and is suitable for G-MC; the second, Graduated Non-Convexity (GNC), is based on homotopy methods, and is suitable for G-TLS. We extend ADAPT and GNC to the case where the user does not have prior knowledge of the inlier-noise statistics (or the statistics may vary over time) and is unable to guess a reasonable threshold to separate inliers from outliers (as the one commonly used in RANSAC). We propose the first minimally tuned algorithms for outlier rejection, that dynamically decide how to separate inliers from outliers. Our third contribution is an evaluation of the proposed algorithms on robot perception problems: mesh registration, image-based object detection (shape alignment), and pose graph optimization. ADAPT and GNC execute in real-time, are deterministic, outperform RANSAC, and are robust up to 80-90% outliers. Their minimally tuned versions also compare favorably with the state of the art, even though they do not rely on a noise bound for the inliers.

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189,569

2406.13385

Explainable by-design Audio Segmentation through Non-Negative Matrix Factorization and Probing

Audio segmentation is a key task for many speech technologies, most of which are based on neural networks, usually considered as black boxes, with high-level performances. However, in many domains, among which health or forensics, there is not only a need for good performance but also for explanations about the output decision. Explanations derived directly from latent representations need to satisfy "good" properties, such as informativeness, compactness, or modularity, to be interpretable. In this article, we propose an explainable-by-design audio segmentation model based on non-negative matrix factorization (NMF) which is a good candidate for the design of interpretable representations. This paper shows that our model reaches good segmentation performances, and presents deep analyses of the latent representation extracted from the non-negative matrix. The proposed approach opens new perspectives toward the evaluation of interpretable representations according to "good" properties.

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false

465,832

1511.08299

Hierarchical classification of e-commerce related social media

In this paper, we attempt to classify tweets into root categories of the Amazon browse node hierarchy using a set of tweets with browse node ID labels, a much larger set of tweets without labels, and a set of Amazon reviews. Examining twitter data presents unique challenges in that the samples are short (under 140 characters) and often contain misspellings or abbreviations that are trivial for a human to decipher but difficult for a computer to parse. A variety of query and document expansion techniques are implemented in an effort to improve information retrieval to modest success.

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true

false

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false

49,520

2303.15100

An Information Extraction Study: Take In Mind the Tokenization!

Current research on the advantages and trade-offs of using characters, instead of tokenized text, as input for deep learning models, has evolved substantially. New token-free models remove the traditional tokenization step; however, their efficiency remains unclear. Moreover, the effect of tokenization is relatively unexplored in sequence tagging tasks. To this end, we investigate the impact of tokenization when extracting information from documents and present a comparative study and analysis of subword-based and character-based models. Specifically, we study Information Extraction (IE) from biomedical texts. The main outcome is twofold: tokenization patterns can introduce inductive bias that results in state-of-the-art performance, and the character-based models produce promising results; thus, transitioning to token-free IE models is feasible.

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true

false

354,360

2109.06817

Automatic hippocampal surface generation via 3D U-net and active shape modeling with hybrid particle swarm optimization

In this paper, we proposed and validated a fully automatic pipeline for hippocampal surface generation via 3D U-net coupled with active shape modeling (ASM). Principally, the proposed pipeline consisted of three steps. In the beginning, for each magnetic resonance image, a 3D U-net was employed to obtain the automatic hippocampus segmentation at each hemisphere. Secondly, ASM was performed on a group of pre-obtained template surfaces to generate mean shape and shape variation parameters through principal component analysis. Ultimately, hybrid particle swarm optimization was utilized to search for the optimal shape variation parameters that best match the segmentation. The hippocampal surface was then generated from the mean shape and the shape variation parameters. The proposed pipeline was observed to provide hippocampal surfaces at both hemispheres with high accuracy, correct anatomical topology, and sufficient smoothness.

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true

false

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false

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false

255,288

2110.09710

Inter-Sense: An Investigation of Sensory Blending in Fiction

This study reports on the semantic organization of English sensory descriptors of the five basic senses of sight, hearing, touch, taste, and smell in a large corpus of over 8,000 fiction books. We introduce a large-scale text data-driven approach based on distributional-semantic word embeddings to identify and extract these descriptors as well as analyze their mixing interconnections in the resulting conceptual and sensory space. The findings are relevant for research on concept acquisition and representation, as well as for applications that can benefit from a better understanding of perceptual spaces of sensory experiences, in fiction, in particular, and in language in general.

false

true

false

261,897

2405.11198

Adaptive Stabilization Based on Machine Learning for Column Generation

Column generation (CG) is a well-established method for solving large-scale linear programs. It involves iteratively optimizing a subproblem containing a subset of columns and using its dual solution to generate new columns with negative reduced costs. This process continues until the dual values converge to the optimal dual solution to the original problem. A natural phenomenon in CG is the heavy oscillation of the dual values during iterations, which can lead to a substantial slowdown in the convergence rate. Stabilization techniques are devised to accelerate the convergence of dual values by using information beyond the state of the current subproblem. However, there remains a significant gap in obtaining more accurate dual values at an earlier stage. To further narrow this gap, this paper introduces a novel approach consisting of 1) a machine learning approach for accurate prediction of optimal dual solutions and 2) an adaptive stabilization technique that effectively capitalizes on accurate predictions. On the graph coloring problem, we show that our method achieves a significantly improved convergence rate compared to traditional methods.

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455,041

1304.4028

A Fuzzy Logic Based Certain Trust Model for E-Commerce

Trustworthiness especially for service oriented system is very important topic now a day in IT field of the whole world. There are many successful E-commerce organizations presently run in the whole world, but E-commerce has not reached its full potential. The main reason behind this is lack of Trust of people in e-commerce. Again, proper models are still absent for calculating trust of different e-commerce organizations. Most of the present trust models are subjective and have failed to account vagueness and ambiguity of different domain. In this paper we have proposed a new fuzzy logic based Certain Trust model which considers these ambiguity and vagueness of different domain. Fuzzy Based Certain Trust Model depends on some certain values given by experts and developers. can be applied in a system like cloud computing, internet, website, e-commerce, etc. to ensure trustworthiness of these platforms. In this paper we show, although fuzzy works with uncertainties, proposed model works with some certain values. Some experimental results and validation of the model with linguistics terms are shown at the last part of the paper.

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23,972

2310.09755

Beyond Segmentation: Road Network Generation with Multi-Modal LLMs

This paper introduces an innovative approach to road network generation through the utilization of a multi-modal Large Language Model (LLM). Our model is specifically designed to process aerial images of road layouts and produce detailed, navigable road networks within the input images. The core innovation of our system lies in the unique training methodology employed for the large language model to generate road networks as its output. This approach draws inspiration from the BLIP-2 architecture arXiv:2301.12597, leveraging pre-trained frozen image encoders and large language models to create a versatile multi-modal LLM. Our work also offers an alternative to the reasoning segmentation method proposed in the LISA paper arXiv:2308.00692. By training the large language model with our approach, the necessity for generating binary segmentation masks, as suggested in the LISA paper arXiv:2308.00692, is effectively eliminated. Experimental results underscore the efficacy of our multi-modal LLM in providing precise and valuable navigational guidance. This research represents a significant stride in bolstering autonomous navigation systems, especially in road network scenarios, where accurate guidance is of paramount importance.

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399,929

2007.08714

Transfer Learning without Knowing: Reprogramming Black-box Machine Learning Models with Scarce Data and Limited Resources

Current transfer learning methods are mainly based on finetuning a pretrained model with target-domain data. Motivated by the techniques from adversarial machine learning (ML) that are capable of manipulating the model prediction via data perturbations, in this paper we propose a novel approach, black-box adversarial reprogramming (BAR), that repurposes a well-trained black-box ML model (e.g., a prediction API or a proprietary software) for solving different ML tasks, especially in the scenario with scarce data and constrained resources. The rationale lies in exploiting high-performance but unknown ML models to gain learning capability for transfer learning. Using zeroth order optimization and multi-label mapping techniques, BAR can reprogram a black-box ML model solely based on its input-output responses without knowing the model architecture or changing any parameter. More importantly, in the limited medical data setting, on autism spectrum disorder classification, diabetic retinopathy detection, and melanoma detection tasks, BAR outperforms state-of-the-art methods and yields comparable performance to the vanilla adversarial reprogramming method requiring complete knowledge of the target ML model. BAR also outperforms baseline transfer learning approaches by a significant margin, demonstrating cost-effective means and new insights for transfer learning.

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false

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false

187,717

2008.02198

Domain-Specific Mappings for Generative Adversarial Style Transfer

Style transfer generates an image whose content comes from one image and style from the other. Image-to-image translation approaches with disentangled representations have been shown effective for style transfer between two image categories. However, previous methods often assume a shared domain-invariant content space, which could compromise the content representation power. For addressing this issue, this paper leverages domain-specific mappings for remapping latent features in the shared content space to domain-specific content spaces. This way, images can be encoded more properly for style transfer. Experiments show that the proposed method outperforms previous style transfer methods, particularly on challenging scenarios that would require semantic correspondences between images. Code and results are available at https://acht7111020.github.io/DSMAP-demo/.

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true

false

190,552

2307.01312

Self-Tuning PID Control via a Hybrid Actor-Critic-Based Neural Structure for Quadcopter Control

Proportional-Integrator-Derivative (PID) controller is used in a wide range of industrial and experimental processes. There are a couple of offline methods for tuning PID gains. However, due to the uncertainty of model parameters and external disturbances, real systems such as Quadrotors need more robust and reliable PID controllers. In this research, a self-tuning PID controller using a Reinforcement-Learning-based Neural Network for attitude and altitude control of a Quadrotor has been investigated. An Incremental PID, which contains static and dynamic gains, has been considered and only the variable gains have been tuned. To tune dynamic gains, a model-free actor-critic-based hybrid neural structure was used that was able to properly tune PID gains, and also has done the best as an identifier. In both tunning and identification tasks, a Neural Network with two hidden layers and sigmoid activation functions has been learned using Adaptive Momentum (ADAM) optimizer and Back-Propagation (BP) algorithm. This method is online, able to tackle disturbance, and fast in training. In addition to robustness to mass uncertainty and wind gust disturbance, results showed that the proposed method had a better performance when compared to a PID controller with constant gains.

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true

false

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377,307

2401.05318

Analytical Model and Experimental Testing of the SoftFoot: an Adaptive Robot Foot for Walking over Obstacles and Irregular Terrains

Robot feet are crucial for maintaining dynamic stability and propelling the body during walking, especially on uneven terrains. Traditionally, robot feet were mostly designed as flat and stiff pieces of metal, which meets its limitations when the robot is required to step on irregular grounds, e.g. stones. While one could think that adding compliance under such feet would solve the problem, this is not the case. To address this problem, we introduced the SoftFoot, an adaptive foot design that can enhance walking performance over irregular grounds. The proposed design is completely passive and varies its shape and stiffness based on the exerted forces, through a system of pulley, tendons, and springs opportunely placed in the structure. This paper outlines the motivation behind the SoftFoot and describes the theoretical model which led to its final design. The proposed system has been experimentally tested and compared with two analogous conventional feet, a rigid one and a compliant one, with similar footprints and soles. The experimental validation focuses on the analysis of the standing performance, measured in terms of the equivalent support surface extension and the compensatory ankle angle, and the rejection of impulsive forces, which is important in events such as stepping on unforeseen obstacles. Results show that the SoftFoot has the largest equivalent support surface when standing on obstacles, and absorbs impulsive loads in a way almost as good as a compliant foot.

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true

false

420,714

2208.08200

AHEAD: A Triple Attention Based Heterogeneous Graph Anomaly Detection Approach

Graph anomaly detection on attributed networks has become a prevalent research topic due to its broad applications in many influential domains. In real-world scenarios, nodes and edges in attributed networks usually display distinct heterogeneity, i.e. attributes of different types of nodes show great variety, different types of relations represent diverse meanings. Anomalies usually perform differently from the majority in various perspectives of heterogeneity in these networks. However, existing graph anomaly detection approaches do not leverage heterogeneity in attributed networks, which is highly related to anomaly detection. In light of this problem, we propose AHEAD: a heterogeneity-aware unsupervised graph anomaly detection approach based on the encoder-decoder framework. Specifically, for the encoder, we design three levels of attention, i.e. attribute level, node type level, and edge level attentions to capture the heterogeneity of network structure, node properties and information of a single node, respectively. In the decoder, we exploit structure, attribute, and node type reconstruction terms to obtain an anomaly score for each node. Extensive experiments show the superiority of AHEAD on several real-world heterogeneous information networks compared with the state-of-arts in the unsupervised setting. Further experiments verify the effectiveness and robustness of our triple attention, model backbone, and decoder in general.

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313,296

2407.07492

Fine-Grained Classification for Poisonous Fungi Identification with Transfer Learning

FungiCLEF 2024 addresses the fine-grained visual categorization (FGVC) of fungi species, with a focus on identifying poisonous species. This task is challenging due to the size and class imbalance of the dataset, subtle inter-class variations, and significant intra-class variability amongst samples. In this paper, we document our approach in tackling this challenge through the use of ensemble classifier heads on pre-computed image embeddings. Our team (DS@GT) demonstrate that state-of-the-art self-supervised vision models can be utilized as robust feature extractors for downstream application of computer vision tasks without the need for task-specific fine-tuning on the vision backbone. Our approach achieved the best Track 3 score (0.345), accuracy (78.4%) and macro-F1 (0.577) on the private test set in post competition evaluation. Our code is available at https://github.com/dsgt-kaggle-clef/fungiclef-2024.

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471,783

1701.08254

Entropic Causality and Greedy Minimum Entropy Coupling

We study the problem of identifying the causal relationship between two discrete random variables from observational data. We recently proposed a novel framework called entropic causality that works in a very general functional model but makes the assumption that the unobserved exogenous variable has small entropy in the true causal direction. This framework requires the solution of a minimum entropy coupling problem: Given marginal distributions of m discrete random variables, each on n states, find the joint distribution with minimum entropy, that respects the given marginals. This corresponds to minimizing a concave function of nm variables over a convex polytope defined by nm linear constraints, called a transportation polytope. Unfortunately, it was recently shown that this minimum entropy coupling problem is NP-hard, even for 2 variables with n states. Even representing points (joint distributions) over this space can require exponential complexity (in n, m) if done naively. In our recent work we introduced an efficient greedy algorithm to find an approximate solution for this problem. In this paper we analyze this algorithm and establish two results: that our algorithm always finds a local minimum and also is within an additive approximation error from the unknown global optimum.

false

true

false

true

false

67,428

2111.12172

Multi-label Iterated Learning for Image Classification with Label Ambiguity

Transfer learning from large-scale pre-trained models has become essential for many computer vision tasks. Recent studies have shown that datasets like ImageNet are weakly labeled since images with multiple object classes present are assigned a single label. This ambiguity biases models towards a single prediction, which could result in the suppression of classes that tend to co-occur in the data. Inspired by language emergence literature, we propose multi-label iterated learning (MILe) to incorporate the inductive biases of multi-label learning from single labels using the framework of iterated learning. MILe is a simple yet effective procedure that builds a multi-label description of the image by propagating binary predictions through successive generations of teacher and student networks with a learning bottleneck. Experiments show that our approach exhibits systematic benefits on ImageNet accuracy as well as ReaL F1 score, which indicates that MILe deals better with label ambiguity than the standard training procedure, even when fine-tuning from self-supervised weights. We also show that MILe is effective reducing label noise, achieving state-of-the-art performance on real-world large-scale noisy data such as WebVision. Furthermore, MILe improves performance in class incremental settings such as IIRC and it is robust to distribution shifts. Code: https://github.com/rajeswar18/MILe

false

true

false

true

false

true

false

267,889

2406.06101

On the Consistency of Kernel Methods with Dependent Observations

The consistency of a learning method is usually established under the assumption that the observations are a realization of an independent and identically distributed (i.i.d.) or mixing process. Yet, kernel methods such as support vector machines (SVMs), Gaussian processes, or conditional kernel mean embeddings (CKMEs) all give excellent performance under sampling schemes that are obviously non-i.i.d., such as when data comes from a dynamical system. We propose the new notion of empirical weak convergence (EWC) as a general assumption explaining such phenomena for kernel methods. It assumes the existence of a random asymptotic data distribution and is a strict weakening of previous assumptions in the field. Our main results then establish consistency of SVMs, kernel mean embeddings, and general Hilbert-space valued empirical expectations with EWC data. Our analysis holds for both finite- and infinite-dimensional outputs, as we extend classical results of statistical learning to the latter case. In particular, it is also applicable to CKMEs. Overall, our results open new classes of processes to statistical learning and can serve as a foundation for a theory of learning beyond i.i.d. and mixing.

false

true

false

462,439

1506.08814

A differential analysis of the power flow equations

The AC power flow equations are fundamental in all aspects of power systems planning and operations. They are routinely solved using Newton-Raphson like methods. However, there is little theoretical understanding of when these algorithms are guaranteed to find a solution of the power flow equations or how long they may take to converge. Further, it is known that in general these equations have multiple solutions and can exhibit chaotic behavior. In this paper, we show that the power flow equations can be solved efficiently provided that the solution lies in a certain set. We introduce a family of convex domains, characterized by Linear Matrix Inequalities, in the space of voltages such that there is at most one power flow solution in each of these domains. Further, if a solution exists in one of these domains, it can be found efficiently, and if one does not exist, a certificate of non-existence can also be obtained efficiently. The approach is based on the theory of monotone operators and related algorithms for solving variational inequalities involving monotone operators. We validate our approach on IEEE test networks and show that practical power flow solutions lie within an appropriately chosen convex domain.

false

true

false

44,660

1806.00615

Multiplex Communities and the Emergence of International Conflict

Advances in community detection reveal new insights into multiplex and multilayer networks. Less work, however, investigates the relationship between these communities and outcomes in social systems. We leverage these advances to shed light on the relationship between the cooperative mesostructure of the international system and the onset of interstate conflict. We detect communities based upon weaker signals of affinity expressed in United Nations votes and speeches, as well as stronger signals observed across multiple layers of bilateral cooperation. Communities of diplomatic affinity display an expected negative relationship with conflict onset. Ties in communities based upon observed cooperation, however, display no effect under a standard model specification and a positive relationship with conflict under an alternative specification. These results align with some extant hypotheses but also point to a paucity in our understanding of the relationship between community structure and behavioral outcomes in networks.

false

true

false

true

false

true

false

99,348

2409.07581

Violence detection in videos using deep recurrent and convolutional neural networks

Violence and abnormal behavior detection research have known an increase of interest in recent years, due mainly to a rise in crimes in large cities worldwide. In this work, we propose a deep learning architecture for violence detection which combines both recurrent neural networks (RNNs) and 2-dimensional convolutional neural networks (2D CNN). In addition to video frames, we use optical flow computed using the captured sequences. CNN extracts spatial characteristics in each frame, while RNN extracts temporal characteristics. The use of optical flow allows to encode the movements in the scenes. The proposed approaches reach the same level as the state-of-the-art techniques and sometime surpass them. It was validated on 3 databases achieving good results.

false

true

false

true

false

487,572

1705.05590

Edge-Caching Wireless Networks: Performance Analysis and Optimization

Edge-caching has received much attention as an efficient technique to reduce delivery latency and network congestion during peak-traffic times by bringing data closer to end users. Existing works usually design caching algorithms separately from physical layer design. In this paper, we analyse edge-caching wireless networks by taking into account the caching capability when designing the signal transmission. Particularly, we investigate multi-layer caching where both base station (BS) and users are capable of storing content data in their local cache and analyse the performance of edge-caching wireless networks under two notable uncoded and coded caching strategies. Firstly, we propose a coded caching strategy that is applied to arbitrary values of cache size. The required backhaul and access rates are derived as a function of the BS and user cache size. Secondly, closed-form expressions for the system energy efficiency (EE) corresponding to the two caching methods are derived. Based on the derived formulas, the system EE is maximized via precoding vectors design and optimization while satisfying a predefined user request rate. Thirdly, two optimization problems are proposed to minimize the content delivery time for the two caching strategies. Finally, numerical results are presented to verify the effectiveness of the two caching methods.

false

true

false

73,518

2410.22594

Gaussian Derivative Change-point Detection for Early Warnings of Industrial System Failures

An early warning of future system failure is essential for conducting predictive maintenance and enhancing system availability. This paper introduces a three-step framework for assessing system health to predict imminent system breakdowns. First, the Gaussian Derivative Change-Point Detection (GDCPD) algorithm is proposed for detecting changes in the high-dimensional feature space. GDCPD conducts a multivariate Change-Point Detection (CPD) by implementing Gaussian derivative processes for identifying change locations on critical system features, as these changes eventually will lead to system failure. To assess the significance of these changes, Weighted Mahalanobis Distance (WMD) is applied in both offline and online analyses. In the offline setting, WMD helps establish a threshold that determines significant system variations, while in the online setting, it facilitates real-time monitoring, issuing alarms for potential future system breakdowns. Utilizing the insights gained from the GDCPD and monitoring scheme, Long Short-Term Memory (LSTM) network is then employed to estimate the Remaining Useful Life (RUL) of the system. The experimental study of a real-world system demonstrates the effectiveness of the proposed methodology in accurately forecasting system failures well before they occur. By integrating CPD with real-time monitoring and RUL prediction, this methodology significantly advances system health monitoring and early warning capabilities.

false

true

false

503,687

2104.11276

Constructing a personalized learning path using genetic algorithms approach

A substantial disadvantage of traditional learning is that all students follow the same learning sequence, but not all of them have the same background of knowledge, the same preferences, the same learning goals, and the same needs. Traditional teaching resources, such as textbooks, in most cases pursue students to follow fixed sequences during the learning process, thus impairing their performance. Learning sequencing is an important research issue as part of the learning process because no fixed learning paths will be appropriate for all learners. For this reason, many research papers are focused on the development of mechanisms to offer personalization on learning paths, considering the learner needs, interests, behaviors, and abilities. In most cases, these researchers are totally focused on the student's preferences, ignoring the level of difficulty and the relation degree that exists between various concepts in a course. This research paper presents the possibility of constructing personalized learning paths using genetic algorithm-based model, encountering the level of difficulty and relation degree of the constituent concepts of a course. The experimental results shows that the genetic algorithm is suitable to generate optimal learning paths based on learning object difficulty level, duration, rating, and relation degree between each learning object as elementary parts of the sequence of the learning path. From these results compared to the quality of the traditional learning path, we observed that even the quality of the weakest learning path generated by our GA approach is in a favor compared to quality of the traditional learning path, with a difference of 3.59\%, while the highest solution generated in the end resulted 8.34\% in favor of our proposal compared to the traditional learning paths.

true

false

true

false

true

false

231,868

2205.14136

PSL is Dead. Long Live PSL

Property Specification Language (PSL) is a form of temporal logic that has been mainly used in discrete domains (e.g. formal hardware verification). In this paper, we show that by merging machine learning techniques with PSL monitors, we can extend PSL to work on continuous domains. We apply this technique in machine learning-based anomaly detection to analyze scenarios of real-time streaming events from continuous variables in order to detect abnormal behaviors of a system. By using machine learning with formal models, we leverage the strengths of both machine learning methods and formal semantics of time. On one hand, machine learning techniques can produce distributions on continuous variables, where abnormalities can be captured as deviations from the distributions. On the other hand, formal methods can characterize discrete temporal behaviors and relations that cannot be easily learned by machine learning techniques. Interestingly, the anomalies detected by machine learning and the underlying time representation used are discrete events. We implemented a temporal monitoring package (TEF) that operates in conjunction with normal data science packages for anomaly detection machine learning systems, and we show that TEF can be used to perform accurate interpretation of temporal correlation between events.

false

true

false

true

299,234

2303.09458

Simulation and design of shaped pulses beyond the piecewise-constant approximation

Response functions of resonant circuits create ringing artefacts if their input changes rapidly. When physical limits of electromagnetic spectroscopies are explored, this creates two types of problems. Firstly, simulation: the system must be propagated accurately through every response transient, this may be computationally expensive. Secondly, optimal control: circuit response must be taken into account; it may be advantageous to design pulses that are resilient to such distortions. At the root of both problems is the popular piecewise-constant approximation for control sequences in the rotating frame; in magnetic resonance it has persisted since the earliest days and has become entrenched in the commercially available hardware. In this paper, we report an implementation and benchmarks of recent Lie-group methods that can efficiently simulate and optimise smooth control sequences.

false

true

false

352,052

2307.06088

Non-Ideal Program-Time Conservation in Charge Trap Flash for Deep Learning

Training deep neural networks (DNNs) is computationally intensive but arrays of non-volatile memories like Charge Trap Flash (CTF) can accelerate DNN operations using in-memory computing. Specifically, the Resistive Processing Unit (RPU) architecture uses the voltage-threshold program by stochastic encoded pulse trains and analog memory features to accelerate vector-vector outer product and weight update for the gradient descent algorithms. Although CTF, offering high precision, has been regarded as an excellent choice for implementing RPU, the accumulation of charge due to the applied stochastic pulse trains is ultimately of critical significance in determining the final weight update. In this paper, we report the non-ideal program-time conservation in CTF through pulsing input measurements. We experimentally measure the effect of pulse width and pulse gap, keeping the total ON-time of the input pulse train constant, and report three non-idealities: (1) Cumulative V_T shift reduces when total ON-time is fragmented into a larger number of shorter pulses, (2) Cumulative V_T shift drops abruptly for pulse widths < 2 {\mu}s, (3) Cumulative V_T shift depends on the gap between consecutive pulses and the V_T shift reduction gets recovered for smaller gaps. We present an explanation based on a transient tunneling field enhancement due to blocking oxide trap-charge dynamics to explain these non-idealities. Identifying and modeling the responsible mechanisms and predicting their system-level effects during learning is critical. This non-ideal accumulation is expected to affect algorithms and architectures relying on devices for implementing mathematically equivalent functions for in-memory computing-based acceleration.

false

true

false

true

378,961

2211.08812

The Levenshtein's Sequence Reconstruction Problem and the Length of the List

In the paper, the Levenshtein's sequence reconstruction problem is considered in the case where at most $t$ substitution errors occur in each of the $N$ channels and the decoder outputs a list of length $\mathcal{L}$. Moreover, it is assumed that the transmitted words are chosen from an $e$-error-correcting code $C \ (\subseteq \{0,1\}^n)$. Previously, when $t = e+\ell$ and the length $n$ of the transmitted word is large enough, the numbers of required channels are determined for $\mathcal{L} =1, 2 \text{ and } \ell+1$. Here we determine the exact number of channels in the cases $\mathcal{L} = 3, 4, \ldots, \ell$. Furthermore, with the aid of covering codes, we also consider the list sizes in the cases where the length $n$ is rather small (improving previously known results). After that we study how much we can decrease the number of required channels when we use list-decoding codes. Finally, the majority algorithm is discussed for decoding in a probabilistic set-up; in particular, we show that with high probability a decoder based on it is verifiably successful, i.e., the output word of the decoder can be verified to be the transmitted one.

false

true

false

330,782

2403.16524

Harnessing the power of LLMs for normative reasoning in MASs

Software agents, both human and computational, do not exist in isolation and often need to collaborate or coordinate with others to achieve their goals. In human society, social mechanisms such as norms ensure efficient functioning, and these techniques have been adopted by researchers in multi-agent systems (MAS) to create socially aware agents. However, traditional techniques have limitations, such as operating in limited environments often using brittle symbolic reasoning. The advent of Large Language Models (LLMs) offers a promising solution, providing a rich and expressive vocabulary for norms and enabling norm-capable agents that can perform a range of tasks such as norm discovery, normative reasoning and decision-making. This paper examines the potential of LLM-based agents to acquire normative capabilities, drawing on recent Natural Language Processing (NLP) and LLM research. We present our vision for creating normative LLM agents. In particular, we discuss how the recently proposed "LLM agent" approaches can be extended to implement such normative LLM agents. We also highlight challenges in this emerging field. This paper thus aims to foster collaboration between MAS, NLP and LLM researchers in order to advance the field of normative agents.

false

true

false

441,087

1906.00282

Biomedical Named Entity Recognition via Reference-Set Augmented Bootstrapping

We present a weakly-supervised data augmentation approach to improve Named Entity Recognition (NER) in a challenging domain: extracting biomedical entities (e.g., proteins) from the scientific literature. First, we train a neural NER (NNER) model over a small seed of fully-labeled examples. Second, we use a reference set of entity names (e.g., proteins in UniProt) to identify entity mentions with high precision, but low recall, on an unlabeled corpus. Third, we use the NNER model to assign weak labels to the corpus. Finally, we retrain our NNER model iteratively over the augmented training set, including the seed, the reference-set examples, and the weakly-labeled examples, which improves model performance. We show empirically that this augmented bootstrapping process significantly improves NER performance, and discuss the factors impacting the efficacy of the approach.

false

true

false

true

false

133,336

2305.04208

Segmentation and Vascular Vectorization for Coronary Artery by Geometry-based Cascaded Neural Network

Segmentation of the coronary artery is an important task for the quantitative analysis of coronary computed tomography angiography (CCTA) images and is being stimulated by the field of deep learning. However, the complex structures with tiny and narrow branches of the coronary artery bring it a great challenge. Coupled with the medical image limitations of low resolution and poor contrast, fragmentations of segmented vessels frequently occur in the prediction. Therefore, a geometry-based cascaded segmentation method is proposed for the coronary artery, which has the following innovations: 1) Integrating geometric deformation networks, we design a cascaded network for segmenting the coronary artery and vectorizing results. The generated meshes of the coronary artery are continuous and accurate for twisted and sophisticated coronary artery structures, without fragmentations. 2) Different from mesh annotations generated by the traditional marching cube method from voxel-based labels, a finer vectorized mesh of the coronary artery is reconstructed with the regularized morphology. The novel mesh annotation benefits the geometry-based segmentation network, avoiding bifurcation adhesion and point cloud dispersion in intricate branches. 3) A dataset named CCA-200 is collected, consisting of 200 CCTA images with coronary artery disease. The ground truths of 200 cases are coronary internal diameter annotations by professional radiologists. Extensive experiments verify our method on our collected dataset CCA-200 and public ASOCA dataset, with a Dice of 0.778 on CCA-200 and 0.895 on ASOCA, showing superior results. Especially, our geometry-based model generates an accurate, intact and smooth coronary artery, devoid of any fragmentations of segmented vessels.

false

true

false

362,680

2111.03495

Automated Supervised Feature Selection for Differentiated Patterns of Care

An automated feature selection pipeline was developed using several state-of-the-art feature selection techniques to select optimal features for Differentiating Patterns of Care (DPOC). The pipeline included three types of feature selection techniques; Filters, Wrappers and Embedded methods to select the top K features. Five different datasets with binary dependent variables were used and their different top K optimal features selected. The selected features were tested in the existing multi-dimensional subset scanning (MDSS) where the most anomalous subpopulations, most anomalous subsets, propensity scores, and effect of measures were recorded to test their performance. This performance was compared with four similar metrics gained after using all covariates in the dataset in the MDSS pipeline. We found out that despite the different feature selection techniques used, the data distribution is key to note when determining the technique to use.

false

true

false

true

false

265,191

1512.08178

Electricity Demand Forecasting by Multi-Task Learning

We explore the application of kernel-based multi-task learning techniques to forecast the demand of electricity in multiple nodes of a distribution network. We show that recently developed output kernel learning techniques are particularly well suited to solve this problem, as they allow to flexibly model the complex seasonal effects that characterize electricity demand data, while learning and exploiting correlations between multiple demand profiles. We also demonstrate that kernels with a multiplicative structure yield superior predictive performance with respect to the widely adopted (generalized) additive models. Our study is based on residential and industrial smart meter data provided by the Irish Commission for Energy Regulation (CER).

false

true

false

50,496

2107.02281

DeepCEL0 for 2D Single Molecule Localization in Fluorescence Microscopy

In fluorescence microscopy, Single Molecule Localization Microscopy (SMLM) techniques aim at localizing with high precision high density fluorescent molecules by stochastically activating and imaging small subsets of blinking emitters. Super Resolution (SR) plays an important role in this field since it allows to go beyond the intrinsic light diffraction limit. In this work, we propose a deep learning-based algorithm for precise molecule localization of high density frames acquired by SMLM techniques whose $\ell_{2}$-based loss function is regularized by positivity and $\ell_{0}$-based constraints. The $\ell_{0}$ is relaxed through its Continuous Exact $\ell_{0}$ (CEL0) counterpart. The arising approach, named DeepCEL0, is parameter-free, more flexible, faster and provides more precise molecule localization maps if compared to the other state-of-the-art methods. We validate our approach on both simulated and real fluorescence microscopy data.

false

true

false

true

244,750

2311.14641

Neuromorphic Intermediate Representation: A Unified Instruction Set for Interoperable Brain-Inspired Computing

Spiking neural networks and neuromorphic hardware platforms that simulate neuronal dynamics are getting wide attention and are being applied to many relevant problems using Machine Learning. Despite a well-established mathematical foundation for neural dynamics, there exists numerous software and hardware solutions and stacks whose variability makes it difficult to reproduce findings. Here, we establish a common reference frame for computations in digital neuromorphic systems, titled Neuromorphic Intermediate Representation (NIR). NIR defines a set of computational and composable model primitives as hybrid systems combining continuous-time dynamics and discrete events. By abstracting away assumptions around discretization and hardware constraints, NIR faithfully captures the computational model, while bridging differences between the evaluated implementation and the underlying mathematical formalism. NIR supports an unprecedented number of neuromorphic systems, which we demonstrate by reproducing three spiking neural network models of different complexity across 7 neuromorphic simulators and 4 digital hardware platforms. NIR decouples the development of neuromorphic hardware and software, enabling interoperability between platforms and improving accessibility to multiple neuromorphic technologies. We believe that NIR is a key next step in brain-inspired hardware-software co-evolution, enabling research towards the implementation of energy efficient computational principles of nervous systems. NIR is available at neuroir.org

false

true

false

410,177

2406.12202

Fast Global Localization on Neural Radiance Field

Neural Radiance Fields (NeRF) presented a novel way to represent scenes, allowing for high-quality 3D reconstruction from 2D images. Following its remarkable achievements, global localization within NeRF maps is an essential task for enabling a wide range of applications. Recently, Loc-NeRF demonstrated a localization approach that combines traditional Monte Carlo Localization with NeRF, showing promising results for using NeRF as an environment map. However, despite its advancements, Loc-NeRF encounters the challenge of a time-intensive ray rendering process, which can be a significant limitation in practical applications. To address this issue, we introduce Fast Loc-NeRF, which leverages a coarse-to-fine approach to enable more efficient and accurate NeRF map-based global localization. Specifically, Fast Loc-NeRF matches rendered pixels and observed images on a multi-resolution from low to high resolution. As a result, it speeds up the costly particle update process while maintaining precise localization results. Additionally, to reject the abnormal particles, we propose particle rejection weighting, which estimates the uncertainty of particles by exploiting NeRF's characteristics and considers them in the particle weighting process. Our Fast Loc-NeRF sets new state-of-the-art localization performances on several benchmarks, convincing its accuracy and efficiency.

false

true

false

465,267

2405.17227

Learning Generic and Dynamic Locomotion of Humanoids Across Discrete Terrains

This paper addresses the challenge of terrain-adaptive dynamic locomotion in humanoid robots, a problem traditionally tackled by optimization-based methods or reinforcement learning (RL). Optimization-based methods, such as model-predictive control, excel in finding optimal reaction forces and achieving agile locomotion, especially in quadruped, but struggle with the nonlinear hybrid dynamics of legged systems and the real-time computation of step location, timing, and reaction forces. Conversely, RL-based methods show promise in navigating dynamic and rough terrains but are limited by their extensive data requirements. We introduce a novel locomotion architecture that integrates a neural network policy, trained through RL in simplified environments, with a state-of-the-art motion controller combining model-predictive control (MPC) and whole-body impulse control (WBIC). The policy efficiently learns high-level locomotion strategies, such as gait selection and step positioning, without the need for full dynamics simulations. This control architecture enables humanoid robots to dynamically navigate discrete terrains, making strategic locomotion decisions (e.g., walking, jumping, and leaping) based on ground height maps. Our results demonstrate that this integrated control architecture achieves dynamic locomotion with significantly fewer training samples than conventional RL-based methods and can be transferred to different humanoid platforms without additional training. The control architecture has been extensively tested in dynamic simulations, accomplishing terrain height-based dynamic locomotion for three different robots.

false

true

false

457,817

2010.13357

Where to Look and How to Describe: Fashion Image Retrieval with an Attentional Heterogeneous Bilinear Network

Fashion products typically feature in compositions of a variety of styles at different clothing parts. In order to distinguish images of different fashion products, we need to extract both appearance (i.e., "how to describe") and localization (i.e.,"where to look") information, and their interactions. To this end, we propose a biologically inspired framework for image-based fashion product retrieval, which mimics the hypothesized twostream visual processing system of human brain. The proposed attentional heterogeneous bilinear network (AHBN) consists of two branches: a deep CNN branch to extract fine-grained appearance attributes and a fully convolutional branch to extract landmark localization information. A joint channel-wise attention mechanism is further applied to the extracted heterogeneous features to focus on important channels, followed by a compact bilinear pooling layer to model the interaction of the two streams. Our proposed framework achieves satisfactory performance on three image-based fashion product retrieval benchmarks.

false

true

false

203,097

0804.1033

A Semi-Automatic Framework to Discover Epistemic Modalities in Scientific Articles

Documents in scientific newspapers are often marked by attitudes and opinions of the author and/or other persons, who contribute with objective and subjective statements and arguments as well. In this respect, the attitude is often accomplished by a linguistic modality. As in languages like english, french and german, the modality is expressed by special verbs like can, must, may, etc. and the subjunctive mood, an occurrence of modalities often induces that these verbs take over the role of modality. This is not correct as it is proven that modality is the instrument of the whole sentence where both the adverbs, modal particles, punctuation marks, and the intonation of a sentence contribute. Often, a combination of all these instruments are necessary to express a modality. In this work, we concern with the finding of modal verbs in scientific texts as a pre-step towards the discovery of the attitude of an author. Whereas the input will be an arbitrary text, the output consists of zones representing modalities.

false

true

false

true

1,542

cs/0511004

Evolutionary Computing

Evolutionary computing (EC) is an exciting development in Computer Science. It amounts to building, applying and studying algorithms based on the Darwinian principles of natural selection. In this paper we briefly introduce the main concepts behind evolutionary computing. We present the main components all evolutionary algorithms (EA), sketch the differences between different types of EAs and survey application areas ranging from optimization, modeling and simulation to entertainment.

false

true

false

539,052

1706.08336

Semantically Informed Multiview Surface Refinement

We present a method to jointly refine the geometry and semantic segmentation of 3D surface meshes. Our method alternates between updating the shape and the semantic labels. In the geometry refinement step, the mesh is deformed with variational energy minimization, such that it simultaneously maximizes photo-consistency and the compatibility of the semantic segmentations across a set of calibrated images. Label-specific shape priors account for interactions between the geometry and the semantic labels in 3D. In the semantic segmentation step, the labels on the mesh are updated with MRF inference, such that they are compatible with the semantic segmentations in the input images. Also, this step includes prior assumptions about the surface shape of different semantic classes. The priors induce a tight coupling, where semantic information influences the shape update and vice versa. Specifically, we introduce priors that favor (i) adaptive smoothing, depending on the class label; (ii) straightness of class boundaries; and (iii) semantic labels that are consistent with the surface orientation. The novel mesh-based reconstruction is evaluated in a series of experiments with real and synthetic data. We compare both to state-of-the-art, voxel-based semantic 3D reconstruction, and to purely geometric mesh refinement, and demonstrate that the proposed scheme yields improved 3D geometry as well as an improved semantic segmentation.

false

true

false

75,982

2211.13331

Using Focal Loss to Fight Shallow Heuristics: An Empirical Analysis of Modulated Cross-Entropy in Natural Language Inference

There is no such thing as a perfect dataset. In some datasets, deep neural networks discover underlying heuristics that allow them to take shortcuts in the learning process, resulting in poor generalization capability. Instead of using standard cross-entropy, we explore whether a modulated version of cross-entropy called focal loss can constrain the model so as not to use heuristics and improve generalization performance. Our experiments in natural language inference show that focal loss has a regularizing impact on the learning process, increasing accuracy on out-of-distribution data, but slightly decreasing performance on in-distribution data. Despite the improved out-of-distribution performance, we demonstrate the shortcomings of focal loss and its inferiority in comparison to the performance of methods such as unbiased focal loss and self-debiasing ensembles.

false

true

false

true

false

332,438

2303.00111

PixCUE: Joint Uncertainty Estimation and Image Reconstruction in MRI using Deep Pixel Classification

Deep learning (DL) models are capable of successfully exploiting latent representations in MR data and have become state-of-the-art for accelerated MRI reconstruction. However, undersampling the measurements in k-space as well as the over- or under-parameterized and non-transparent nature of DL make these models exposed to uncertainty. Consequently, uncertainty estimation has become a major issue in DL MRI reconstruction. To estimate uncertainty, Monte Carlo (MC) inference techniques have become a common practice where multiple reconstructions are utilized to compute the variance in reconstruction as a measurement of uncertainty. However, these methods demand high computational costs as they require multiple inferences through the DL model. To this end, we introduce a method to estimate uncertainty during MRI reconstruction using a pixel classification framework. The proposed method, PixCUE (stands for Pixel Classification Uncertainty Estimation) produces the reconstructed image along with an uncertainty map during a single forward pass through the DL model. We demonstrate that this approach generates uncertainty maps that highly correlate with the reconstruction errors with respect to various MR imaging sequences and under numerous adversarial conditions. We also show that the estimated uncertainties are correlated to that of the conventional MC method. We further provide an empirical relationship between the uncertainty estimations using PixCUE and well-established reconstruction metrics such as NMSE, PSNR, and SSIM. We conclude that PixCUE is capable of reliably estimating the uncertainty in MRI reconstruction with a minimum additional computational cost.

false

true

false

true

false

true

false

348,487

2202.11180

Selecting cells in a raster database for maximal impact intervention in the presence of spatial interaction: Computational complexity of a Multiple vs. a Single Flow Direction Method

To minimize the sediment flowing to the outlet of a river catchment with minimal effort or cost, it is important to select the best areas to perform a certain intervention, e.g., afforestation. CAMF (Cellular Automata based heuristic for Minimizing Flow) is a method that performs this selection process iteratively in a raster geodatabase environment. To simulate the flow paths, the original CAMF uses a Single Flow Direction (SFD) algorithm. However, SFD fails to reflect the real nature of flow transport, especially in areas with low relief. This paper describes and analyzes the integration of a Multiple Flow Direction (MFD) algorithm in CAMF, in order to provide a more realistic flow simulation. We compare the computational complexity of CAMF-SFD and CAMF-MFD and we discuss the scalability w.r.t. the number of cells involved. We evaluate the behavior of both variants for sediment yield minimization by afforestation in two catchments with different properties.

false

true

false

281,790

2105.14682

Zero-shot Fact Verification by Claim Generation

Neural models for automated fact verification have achieved promising results thanks to the availability of large, human-annotated datasets. However, for each new domain that requires fact verification, creating a dataset by manually writing claims and linking them to their supporting evidence is expensive. We develop QACG, a framework for training a robust fact verification model by using automatically generated claims that can be supported, refuted, or unverifiable from evidence from Wikipedia. QACG generates question-answer pairs from the evidence and then converts them into different types of claims. Experiments on the FEVER dataset show that our QACG framework significantly reduces the demand for human-annotated training data. In a zero-shot scenario, QACG improves a RoBERTa model's F1 from 50% to 77%, equivalent in performance to 2K+ manually-curated examples. Our QACG code is publicly available.

false

true

false

true

false

237,766

1410.6976

Distance-Based Influence in Networks: Computation and Maximization

A premise at a heart of network analysis is that entities in a network derive utilities from their connections. The {\em influence} of a seed set $S$ of nodes is defined as the sum over nodes $u$ of the {\em utility} of $S$ to $u$. {\em Distance-based} utility, which is a decreasing function of the distance from $S$ to $u$, was explored in several successful research threads from social network analysis and economics: Network formation games [Bloch andJackson 2007], Reachability-based influence [Richardson and Domingos 2002, Kempe et al. 2003], "threshold" influence [Gomez-Rodriguez et al. 2011], and {\em closeness centrality} [Bavelas 1948]. We formulate a model that unifies and extends this previous work and address the two fundamental computational problems in this domain: {\em Influence oracles} and {\em influence maximization} (IM). An oracle performs some preprocessing, after which influence queries for arbitrary seed sets can be efficiently computed. With IM, we seek a set of nodes of a given size with maximum influence. Since the IM problem is computationally hard, we instead seek a {\em greedy sequence} of nodes, with each prefix having influence that is at least $1-1/e$ of that of the optimal seed set of the same size. We present the first highly scalable algorithms for both problems, providing statistical guarantees on approximation quality and near-linear worst-case bounds on the computation. We perform an experimental evaluation which demonstrates the effectiveness of our designs on networks with hundreds of millions of edges.

false

true

false

37,027

2402.00197

Determination of Trace Organic Contaminant Concentration via Machine Classification of Surface-Enhanced Raman Spectra

Accurate detection and analysis of traces of persistent organic pollutants in water is important in many areas, including environmental monitoring and food quality control, due to their long environmental stability and potential bioaccumulation. While conventional analysis of organic pollutants requires expensive equipment, surface enhanced Raman spectroscopy (SERS) has demonstrated great potential for accurate detection of these contaminants. However, SERS analytical difficulties, such as spectral preprocessing, denoising, and substrate-based spectral variation, have hindered widespread use of the technique. Here, we demonstrate an approach for predicting the concentration of sample pollutants from messy, unprocessed Raman data using machine learning. Frequency domain transform methods, including the Fourier and Walsh Hadamard transforms, are applied to sets of Raman spectra of three model micropollutants in water (rhodamine 6G, chlorpyrifos, and triclosan), which are then used to train machine learning algorithms. Using standard machine learning models, the concentration of sample pollutants are predicted with more than 80 percent cross-validation accuracy from raw Raman data. cross-validation accuracy of 85 percent was achieved using deep learning for a moderately sized dataset (100 spectra), and 70 to 80 percent cross-validation accuracy was achieved even for very small datasets (50 spectra). Additionally, standard models were shown to accurately identify characteristic peaks via analysis of their importance scores. The approach shown here has the potential to be applied to facilitate accurate detection and analysis of persistent organic pollutants by surface-enhanced Raman spectroscopy.

false

true

false

425,514

1012.5754

Software Effort Estimation with Ridge Regression and Evolutionary Attribute Selection

Software cost estimation is one of the prerequisite managerial activities carried out at the software development initiation stages and also repeated throughout the whole software life-cycle so that amendments to the total cost are made. In software cost estimation typically, a selection of project attributes is employed to produce effort estimations of the expected human resources to deliver a software product. However, choosing the appropriate project cost drivers in each case requires a lot of experience and knowledge on behalf of the project manager which can only be obtained through years of software engineering practice. A number of studies indicate that popular methods applied in the literature for software cost estimation, such as linear regression, are not robust enough and do not yield accurate predictions. Recently the dual variables Ridge Regression (RR) technique has been used for effort estimation yielding promising results. In this work we show that results may be further improved if an AI method is used to automatically select appropriate project cost drivers (inputs) for the technique. We propose a hybrid approach combining RR with a Genetic Algorithm, the latter evolving the subset of attributes for approximating effort more accurately. The proposed hybrid cost model has been applied on a widely known high-dimensional dataset of software project samples and the results obtained show that accuracy may be increased if redundant attributes are eliminated.

false

true

false

true

false

true

8,662

2201.05570

Precise Stock Price Prediction for Robust Portfolio Design from Selected Sectors of the Indian Stock Market

Stock price prediction is a challenging task and a lot of propositions exist in the literature in this area. Portfolio construction is a process of choosing a group of stocks and investing in them optimally to maximize the return while minimizing the risk. Since the time when Markowitz proposed the Modern Portfolio Theory, several advancements have happened in the area of building efficient portfolios. An investor can get the best benefit out of the stock market if the investor invests in an efficient portfolio and could take the buy or sell decision in advance, by estimating the future asset value of the portfolio with a high level of precision. In this project, we have built an efficient portfolio and to predict the future asset value by means of individual stock price prediction of the stocks in the portfolio. As part of building an efficient portfolio we have studied multiple portfolio optimization methods beginning with the Modern Portfolio theory. We have built the minimum variance portfolio and optimal risk portfolio for all the five chosen sectors by using past daily stock prices over the past five years as the training data, and have also conducted back testing to check the performance of the portfolio. A comparative study of minimum variance portfolio and optimal risk portfolio with equal weight portfolio is done by backtesting.

false

true

false

275,426

2406.15675

Combining Neural Networks and Symbolic Regression for Analytical Lyapunov Function Discovery

We propose CoNSAL (Combining Neural networks and Symbolic regression for Analytical Lyapunov function) to construct analytical Lyapunov functions for nonlinear dynamic systems. This framework contains a neural Lyapunov function and a symbolic regression component, where symbolic regression is applied to distill the neural network to precise analytical forms. Our approach utilizes symbolic regression not only as a tool for translation but also as a means to uncover counterexamples. This procedure terminates when no counterexamples are found in the analytical formulation. Compared with previous results, CoNSAL directly produces an analytical form of the Lyapunov function with improved interpretability in both the learning process and the final results. We apply CoNSAL to 2-D inverted pendulum, path following, Van Der Pol Oscillator, 3-D trig dynamics, 4-D rotating wheel pendulum, 6-D 3-bus power system, and demonstrate that our algorithm successfully finds their valid Lyapunov functions. Code examples are available at https://github.com/HaohanZou/CoNSAL.

false

true

false

true

false

true

466,818

1707.01161

Shakespearizing Modern Language Using Copy-Enriched Sequence-to-Sequence Models

Variations in writing styles are commonly used to adapt the content to a specific context, audience, or purpose. However, applying stylistic variations is still by and large a manual process, and there have been little efforts towards automating it. In this paper we explore automated methods to transform text from modern English to Shakespearean English using an end to end trainable neural model with pointers to enable copy action. To tackle limited amount of parallel data, we pre-train embeddings of words by leveraging external dictionaries mapping Shakespearean words to modern English words as well as additional text. Our methods are able to get a BLEU score of 31+, an improvement of ~6 points above the strongest baseline. We publicly release our code to foster further research in this area.

false

true

false

76,480

2103.17020

Semantic-guided Automatic Natural Image Matting with Trimap Generation Network and Light-weight Non-local Attention

Natural image matting aims to precisely separate foreground objects from background using alpha matte. Fully automatic natural image matting without external annotation is challenging. Well-performed matting methods usually require accurate labor-intensive handcrafted trimap as extra input, while the performance of automatic trimap generation method of dilating foreground segmentation fluctuates with segmentation quality. Therefore, we argue that how to handle trade-off of additional information input is a major issue in automatic matting. This paper presents a semantic-guided automatic natural image matting pipeline with Trimap Generation Network and light-weight non-local attention, which does not need trimap and background as input. Specifically, guided by foreground segmentation, Trimap Generation Network estimates accurate trimap. Then, with estimated trimap as guidance, our light-weight Non-local Matting Network with Refinement produces final alpha matte, whose trimap-guided global aggregation attention block is equipped with stride downsampling convolution, reducing computation complexity and promoting performance. Experimental results show that our matting algorithm has competitive performance with state-of-the-art methods in both trimap-free and trimap-needed aspects.

false

true

false

227,766

2106.12226

Spatio-Temporal SAR-Optical Data Fusion for Cloud Removal via a Deep Hierarchical Model

Cloud removal is a relevant topic in Remote Sensing as it fosters the usability of high-resolution optical images for Earth monitoring and study. Related techniques have been analyzed for years with a progressively clearer view of the appropriate methods to adopt, from multi-spectral to inpainting methods. Recent applications of deep generative models and sequence-to-sequence-based models have proved their capability to advance the field significantly. Nevertheless, there are still some gaps, mostly related to the amount of cloud coverage, the density and thickness of clouds, and the occurred temporal landscape changes. In this work, we fill some of these gaps by introducing a novel multi-modal method that uses different sources of information, both spatial and temporal, to restore the whole optical scene of interest. The proposed method introduces an innovative deep model, using the outcomes of both temporal-sequence blending and direct translation from Synthetic Aperture Radar (SAR) to optical images to obtain a pixel-wise restoration of the whole scene. The advantage of our approach is demonstrated across a variety of atmospheric conditions tested on a dataset we have generated and made available. Quantitative and qualitative results prove that the proposed method obtains cloud-free images, preserving scene details without resorting to a huge portion of a clean image and coping with landscape changes.

false

true

false

true

false

242,666

1802.08924

Time Series Learning using Monotonic Logical Properties

Cyber-physical systems of today are generating large volumes of time-series data. As manual inspection of such data is not tractable, the need for learning methods to help discover logical structure in the data has increased. We propose a logic-based framework that allows domain-specific knowledge to be embedded into formulas in a parametric logical specification over time-series data. The key idea is to then map a time series to a surface in the parameter space of the formula. Given this mapping, we identify the Hausdorff distance between boundaries as a natural distance metric between two time-series data under the lens of the parametric specification. This enables embedding non-trivial domain-specific knowledge into the distance metric and then using off-the-shelf machine learning tools to label the data. After labeling the data, we demonstrate how to extract a logical specification for each label. Finally, we showcase our technique on real world traffic data to learn classifiers/monitors for slow-downs and traffic jams.

false

true

false

91,219

1810.05426

On the Existence and Uniqueness of Poincar\'e Maps for Systems with Impulse Effects

The Poincar\'e map is widely used to study the qualitative behavior of dynamical systems. For instance, it can be used to describe the existence of periodic solutions. The Poincar\'e map for dynamical systems with impulse effects was introduced in the last decade and mainly employed to study the existence of limit cycles (periodic gaits) for the locomotion of bipedal robots. We investigate sufficient conditions for the existence and uniqueness of Poincar\'e maps for dynamical systems with impulse effects evolving on a differentiable manifold. We apply the results to show the existence and uniqueness of Poincar\'e maps for systems with multiple domains.

false

true

false

110,227

2305.00799

How to address monotonicity for model risk management?

In this paper, we study the problem of establishing the accountability and fairness of transparent machine learning models through monotonicity. Although there have been numerous studies on individual monotonicity, pairwise monotonicity is often overlooked in the existing literature. This paper studies transparent neural networks in the presence of three types of monotonicity: individual monotonicity, weak pairwise monotonicity, and strong pairwise monotonicity. As a means of achieving monotonicity while maintaining transparency, we propose the monotonic groves of neural additive models. As a result of empirical examples, we demonstrate that monotonicity is often violated in practice and that monotonic groves of neural additive models are transparent, accountable, and fair.

false

true

false

361,457

2203.06456

Energy networks for state estimation with random sensors using sparse labels

State estimation is required whenever we deal with high-dimensional dynamical systems, as the complete measurement is often unavailable. It is key to gaining insight, performing control or optimizing design tasks. Most deep learning-based approaches require high-resolution labels and work with fixed sensor locations, thus being restrictive in their scope. Also, doing Proper orthogonal decomposition (POD) on sparse data is nontrivial. To tackle these problems, we propose a technique with an implicit optimization layer and a physics-based loss function that can learn from sparse labels. It works by minimizing the energy of the neural network prediction, enabling it to work with a varying number of sensors at different locations. Based on this technique we present two models for discrete and continuous prediction in space. We demonstrate the performance using two high-dimensional fluid problems of Burgers' equation and Flow Past Cylinder for discrete model and using Allen Cahn equation and Convection-diffusion equations for continuous model. We show the models are also robust to noise in measurements.

false

true

false

285,121

2007.11986

Dog Identification using Soft Biometrics and Neural Networks

This paper addresses the problem of biometric identification of animals, specifically dogs. We apply advanced machine learning models such as deep neural network on the photographs of pets in order to determine the pet identity. In this paper, we explore the possibility of using different types of "soft" biometrics, such as breed, height, or gender, in fusion with "hard" biometrics such as photographs of the pet's face. We apply the principle of transfer learning on different Convolutional Neural Networks, in order to create a network designed specifically for breed classification. The proposed network is able to achieve an accuracy of 90.80% and 91.29% when differentiating between the two dog breeds, for two different datasets. Without the use of "soft" biometrics, the identification rate of dogs is 78.09% but by using a decision network to incorporate "soft" biometrics, the identification rate can achieve an accuracy of 84.94%.

false

true

false

188,697

2311.05309

Liquid phase fast electron tomography unravels the true 3D structure of colloidal assemblies

Electron tomography has become a commonly used tool to investigate the three-dimensional (3D) structure of nanomaterials, including colloidal nanoparticle assemblies. However, electron microscopy is typically carried out under high vacuum conditions. Therefore, pre-treatment sample preparation is needed for assemblies obtained by (wet) colloid chemistry methods, including solvent evaporation and deposition on a solid TEM support. As a result of this procedure, changes are consistently imposed on the actual nanoparticle organization. Therefore, we propose herein the application of electron tomography of nanoparticle assemblies while in their original colloidal liquid environment. To address the challenges related to electron tomography in liquid, we devised a method that combines fast data acquisition in a commercial liquid-TEM cell, with a dedicated alignment and reconstruction workflow. We present the application of this method to two different systems, which exemplify the difference between conventional and liquid tomography, depending on the nature of the protecting ligands. 3D reconstructions of assemblies comprising polystyrene-capped Au nanoparticles encapsulated in polymeric shells revealed less compact and more distorted configurations for experiments performed in a liquid medium compared to their dried counterparts. On the other hand, quantitative analysis of the surface-to-surface distance of self-assembled Au nanorods in water agrees with previously reported dimensions of the ligand layers surrounding the nanorods, which are in much closer contact when in similar but dried assemblies. This study, therefore, emphasizes the importance of developing high-resolution characterization tools that preserve the native environment of colloidal nanostructures.

false

true

false

406,541

2204.12144

Motion Planning and Robust Tracking for the Heat Equation using Boundary Control

Robust output tracking is addressed in this paper for a heat equation with Neumann boundary conditions and anti-collocated boundary input and output. The desired reference tracking is solved using the well-known flatness and Lyapunov approaches. The reference profile is obtained by solving the motion planning problem for the nominal plant. To robustify the closed-loop system in the presence of the disturbances and uncertainties, it is then augmented with PI feedback plus a discontinuous component responsible for rejecting matched disturbances with \textit{a priori} known magnitude bounds. Such control law only requires the information of the system at the same boundary as the control input is located. The resulting dynamic controller globally exponentially stabilizes the error dynamics while also attenuating the influence of Lipschitz-in-time external disturbances and parameter uncertainties. For the case when the motion planning is performed over the uncertain plant, an exponential Input-to-State Stability is obtained, preserving the boundedness of the tracking error norm. The proposed controller relies on a discontinuous term that however passes through an integrator, thereby minimizing the chattering effect in the plant dynamics. The performance of the closed-loop system, thus designed, is illustrated in simulations under different kinds of reference trajectories in the presence of external disturbances and parameter uncertainties.

false

true

false

293,388

2406.02272

Computation-Aware Learning for Stable Control with Gaussian Process

In Gaussian Process (GP) dynamical model learning for robot control, particularly for systems constrained by computational resources like small quadrotors equipped with low-end processors, analyzing stability and designing a stable controller present significant challenges. This paper distinguishes between two types of uncertainty within the posteriors of GP dynamical models: the well-documented mathematical uncertainty stemming from limited data and computational uncertainty arising from constrained computational capabilities, which has been largely overlooked in prior research. Our work demonstrates that computational uncertainty, quantified through a probabilistic approximation of the inverse covariance matrix in GP dynamical models, is essential for stable control under computational constraints. We show that incorporating computational uncertainty can prevent overestimating the region of attraction, a safe subset of the state space with asymptotic stability, thus improving system safety. Building on these insights, we propose an innovative controller design methodology that integrates computational uncertainty within a second-order cone programming framework. Simulations of canonical stable control tasks and experiments of quadrotor tracking exhibit the effectiveness of our method under computational constraints.

false

true

false

460,695

2408.09727

Quantitative 3D Map Accuracy Evaluation Hardware and Algorithm for LiDAR(-Inertial) SLAM

Accuracy evaluation of a 3D pointcloud map is crucial for the development of autonomous driving systems. In this work, we propose a user-independent software/hardware system that can quantitatively evaluate the accuracy of a 3D pointcloud map acquired from LiDAR(-Inertial) SLAM. We introduce a LiDAR target that functions robustly in the outdoor environment, while remaining observable by LiDAR. We also propose a software algorithm that automatically extracts representative points and calculates the accuracy of the 3D pointcloud map by leveraging GPS position data. This methodology overcomes the limitations of the manual selection method, that its result varies between users. Furthermore, two different error metrics, relative and absolute errors, are introduced to analyze the accuracy from different perspectives. Our implementations are available at: https://github.com/SangwooJung98/3D_Map_Evaluation

false

true

false

481,561

2105.07666

Cortado---An Interactive Tool for Data-Driven Process Discovery and Modeling

Process mining aims to diagnose and improve operational processes. Process mining techniques allow analyzing the event data generated and recorded during the execution of (business) processes to gain valuable insights. Process discovery is a key discipline in process mining that comprises the discovery of process models on the basis of the recorded event data. Most process discovery algorithms work in a fully automated fashion. Apart from adjusting their configuration parameters, conventional process discovery algorithms offer limited to no user interaction, i.e., we either edit the discovered process model by hand or change the algorithm's input by, for instance, filtering the event data. However, recent work indicates that the integration of domain knowledge in (semi-)automated process discovery algorithms often enhances the quality of the process models discovered. Therefore, this paper introduces Cortado, a novel process discovery tool that leverages domain knowledge while incrementally discovering a process model from given event data. Starting from an initial process model, Cortado enables the user to incrementally add new process behavior to the process model under construction in a visual and intuitive manner. As such, Cortado unifies the world of manual process modeling with that of automated process discovery.

false

true

false

235,517

2404.13040

Analysis of Classifier-Free Guidance Weight Schedulers

Classifier-Free Guidance (CFG) enhances the quality and condition adherence of text-to-image diffusion models. It operates by combining the conditional and unconditional predictions using a fixed weight. However, recent works vary the weights throughout the diffusion process, reporting superior results but without providing any rationale or analysis. By conducting comprehensive experiments, this paper provides insights into CFG weight schedulers. Our findings suggest that simple, monotonically increasing weight schedulers consistently lead to improved performances, requiring merely a single line of code. In addition, more complex parametrized schedulers can be optimized for further improvement, but do not generalize across different models and tasks.

false

true

false

true

false

448,128

2203.03598

Audio-visual Generalised Zero-shot Learning with Cross-modal Attention and Language

Learning to classify video data from classes not included in the training data, i.e. video-based zero-shot learning, is challenging. We conjecture that the natural alignment between the audio and visual modalities in video data provides a rich training signal for learning discriminative multi-modal representations. Focusing on the relatively underexplored task of audio-visual zero-shot learning, we propose to learn multi-modal representations from audio-visual data using cross-modal attention and exploit textual label embeddings for transferring knowledge from seen classes to unseen classes. Taking this one step further, in our generalised audio-visual zero-shot learning setting, we include all the training classes in the test-time search space which act as distractors and increase the difficulty while making the setting more realistic. Due to the lack of a unified benchmark in this domain, we introduce a (generalised) zero-shot learning benchmark on three audio-visual datasets of varying sizes and difficulty, VGGSound, UCF, and ActivityNet, ensuring that the unseen test classes do not appear in the dataset used for supervised training of the backbone deep models. Comparing multiple relevant and recent methods, we demonstrate that our proposed AVCA model achieves state-of-the-art performance on all three datasets. Code and data are available at \url{https://github.com/ExplainableML/AVCA-GZSL}.

false

true

false

true

false

284,149

2106.09174

Can I Be of Further Assistance? Using Unstructured Knowledge Access to Improve Task-oriented Conversational Modeling

Most prior work on task-oriented dialogue systems are restricted to limited coverage of domain APIs. However, users oftentimes have requests that are out of the scope of these APIs. This work focuses on responding to these beyond-API-coverage user turns by incorporating external, unstructured knowledge sources. Our approach works in a pipelined manner with knowledge-seeking turn detection, knowledge selection, and response generation in sequence. We introduce novel data augmentation methods for the first two steps and demonstrate that the use of information extracted from dialogue context improves the knowledge selection and end-to-end performances. Through experiments, we achieve state-of-the-art performance for both automatic and human evaluation metrics on the DSTC9 Track 1 benchmark dataset, validating the effectiveness of our contributions.

false

true

false

true

false

true

false

241,564

1903.08398

Modelling Graph Errors: Towards Robust Graph Signal Processing

The first step for any graph signal processing (GSP) procedure is to learn the graph signal representation, i.e., to capture the dependence structure of the data into an adjacency matrix. Indeed, the adjacency matrix is typically not known a priori and has to be learned. However, it is learned with errors. A little attention has been paid to modelling such errors in the adjacency matrix, and studying their effects on GSP methods. However, modelling errors in the adjacency matrix will enable both to study the graph error effects in GSP and to develop robust GSP algorithms. In this paper, we therefore introduce practically justifiable graph error models. We also study, both analytically when possible and numerically, the graph error effect on the performance of GSP methods in different types of problems such as filtering of graph signals and independent component analysis of graph signals (graph decorrelation).

false

true

false

124,823

2107.10602

CNN-based Realized Covariance Matrix Forecasting

It is well known that modeling and forecasting realized covariance matrices of asset returns play a crucial role in the field of finance. The availability of high frequency intraday data enables the modeling of the realized covariance matrices directly. However, most of the models available in the literature depend on strong structural assumptions and they often suffer from the curse of dimensionality. We propose an end-to-end trainable model built on the CNN and Convolutional LSTM (ConvLSTM) which does not require to make any distributional or structural assumption but could handle high-dimensional realized covariance matrices consistently. The proposed model focuses on local structures and spatiotemporal correlations. It learns a nonlinear mapping that connect the historical realized covariance matrices to the future one. Our empirical studies on synthetic and real-world datasets demonstrate its excellent forecasting ability compared with several advanced volatility models.

false

true

false

true

false

247,342

1404.0101

Quantization for Uplink Transmissions in Two-tier Networks with Femtocells

We propose two novel schemes to level up the sum--rate for a two-tier network with femtocell where the backhaul uplink and downlink connecting the Base Stations have limited capacity. The backhaul links are exploited to transport the information in order to improve the decoding of the macrocell and femtocell messages. In the first scheme, Quantize-and-Forward, the Femto Base Station (FBS) quantizes what it receives and forwards it to the Macro Base Station (MBS). Two quantization methods are considered: Elementary Quantization and Wyner-Ziv Quantization. In the second scheme, called Decode-and-Forward with Quantized Side Information (DFQSI) to be distinguished with the considered conventional Decode-and-Forward (DF) scheme. The DFQSI scheme exploits the backhaul downlink to quantize and send the information about the message in the macrocell to the FBS to help it better decode the message, cancel it and decode the message in the femtocell. The results show that there are interesting scenarios in which the proposed techniques offer considerable gains in terms of maximal sum rate and max minimal rate.

false

true

false

true

31,985

2203.08992

AdaLoGN: Adaptive Logic Graph Network for Reasoning-Based Machine Reading Comprehension

Recent machine reading comprehension datasets such as ReClor and LogiQA require performing logical reasoning over text. Conventional neural models are insufficient for logical reasoning, while symbolic reasoners cannot directly apply to text. To meet the challenge, we present a neural-symbolic approach which, to predict an answer, passes messages over a graph representing logical relations between text units. It incorporates an adaptive logic graph network (AdaLoGN) which adaptively infers logical relations to extend the graph and, essentially, realizes mutual and iterative reinforcement between neural and symbolic reasoning. We also implement a novel subgraph-to-node message passing mechanism to enhance context-option interaction for answering multiple-choice questions. Our approach shows promising results on ReClor and LogiQA.

false

true

false

true

false

true

false

true

285,984

2002.10025

Triple Wins: Boosting Accuracy, Robustness and Efficiency Together by Enabling Input-Adaptive Inference

Deep networks were recently suggested to face the odds between accuracy (on clean natural images) and robustness (on adversarially perturbed images) (Tsipras et al., 2019). Such a dilemma is shown to be rooted in the inherently higher sample complexity (Schmidt et al., 2018) and/or model capacity (Nakkiran, 2019), for learning a high-accuracy and robust classifier. In view of that, give a classification task, growing the model capacity appears to help draw a win-win between accuracy and robustness, yet at the expense of model size and latency, therefore posing challenges for resource-constrained applications. Is it possible to co-design model accuracy, robustness and efficiency to achieve their triple wins? This paper studies multi-exit networks associated with input-adaptive efficient inference, showing their strong promise in achieving a "sweet point" in cooptimizing model accuracy, robustness and efficiency. Our proposed solution, dubbed Robust Dynamic Inference Networks (RDI-Nets), allows for each input (either clean or adversarial) to adaptively choose one of the multiple output layers (early branches or the final one) to output its prediction. That multi-loss adaptivity adds new variations and flexibility to adversarial attacks and defenses, on which we present a systematical investigation. We show experimentally that by equipping existing backbones with such robust adaptive inference, the resulting RDI-Nets can achieve better accuracy and robustness, yet with over 30% computational savings, compared to the defended original models.

false

true

false

true

false

165,258

cmp-lg/9410012

Does Baum-Welch Re-estimation Help Taggers?

In part of speech tagging by Hidden Markov Model, a statistical model is used to assign grammatical categories to words in a text. Early work in the field relied on a corpus which had been tagged by a human annotator to train the model. More recently, Cutting {\it et al.} (1992) suggest that training can be achieved with a minimal lexicon and a limited amount of {\em a priori} information about probabilities, by using Baum-Welch re-estimation to automatically refine the model. In this paper, I report two experiments designed to determine how much manual training information is needed. The first experiment suggests that initial biasing of either lexical or transition probabilities is essential to achieve a good accuracy. The second experiment reveals that there are three distinct patterns of Baum-Welch re-estimation. In two of the patterns, the re-estimation ultimately reduces the accuracy of the tagging rather than improving it. The pattern which is applicable can be predicted from the quality of the initial model and the similarity between the tagged training corpus (if any) and the corpus to be tagged. Heuristics for deciding how to use re-estimation in an effective manner are given. The conclusions are broadly in agreement with those of Merialdo (1994), but give greater detail about the contributions of different parts of the model.

false

true

false

536,194

2205.08910

Strong Converses using Change of Measure and Asymptotic Markov Chains

The main contribution of this paper is a strong converse result for $K$-hop distributed hypothesis testing against independence with multiple (intermediate) decision centers under a Markov condition. Our result shows that the set of type-II error exponents that can simultaneously be achieved at all the terminals does not depend on the maximum permissible type-I error probabilities. Our strong converse proof is based on a change of measure argument and on the asymptotic proof of specific Markov chains. This proof method can also be used for other converse proofs, and is appealing because it does not require resorting to variational characterizations or blowing-up methods as in previous related proofs.

false

true

false

297,094

1904.13154

Facial Expressions Analysis Under Occlusions Based on Specificities of Facial Motion Propagation

Although much progress has been made in the facial expression analysis field, facial occlusions are still challenging. The main innovation brought by this contribution consists in exploiting the specificities of facial movement propagation for recognizing expressions in presence of important occlusions. The movement induced by an expression extends beyond the movement epicenter. Thus, the movement occurring in an occluded region propagates towards neighboring visible regions. In presence of occlusions, per expression, we compute the importance of each unoccluded facial region and we construct adapted facial frameworks that boost the performance of per expression binary classifier. The output of each expression-dependant binary classifier is then aggregated and fed into a fusion process that aims constructing, per occlusion, a unique model that recognizes all the facial expressions considered. The evaluations highlight the robustness of this approach in presence of significant facial occlusions.

false

true

false

129,310

2403.17801

Towards 3D Vision with Low-Cost Single-Photon Cameras

We present a method for reconstructing 3D shape of arbitrary Lambertian objects based on measurements by miniature, energy-efficient, low-cost single-photon cameras. These cameras, operating as time resolved image sensors, illuminate the scene with a very fast pulse of diffuse light and record the shape of that pulse as it returns back from the scene at a high temporal resolution. We propose to model this image formation process, account for its non-idealities, and adapt neural rendering to reconstruct 3D geometry from a set of spatially distributed sensors with known poses. We show that our approach can successfully recover complex 3D shapes from simulated data. We further demonstrate 3D object reconstruction from real-world captures, utilizing measurements from a commodity proximity sensor. Our work draws a connection between image-based modeling and active range scanning and is a step towards 3D vision with single-photon cameras.

false

true

false

441,634

2408.06345

Deep Learning based Key Information Extraction from Business Documents: Systematic Literature Review

Extracting key information from documents represents a large portion of business workloads and therefore offers a high potential for efficiency improvements and process automation. With recent advances in deep learning, a plethora of deep learning-based approaches for Key Information Extraction have been proposed under the umbrella term Document Understanding that enable the processing of complex business documents. The goal of this systematic literature review is an in-depth analysis of existing approaches in this domain and the identification of opportunities for further research. To this end, 96 approaches published between 2017 and 2023 are analyzed in this study.

false

true

false

true

false

480,169

2104.10974

Abstraction-Based Output-Feedback Control with State-Based Specifications

We consider abstraction-based design of output-feedback controllers for non-linear dynamical systems against specifications over state-based predicates in linear-time temporal logic (LTL). In this context, our contribution is two-fold: (I) we generalize feedback-refinement relations for abstraction-based output-feedback control to systems with arbitrary predicate and observation maps, and (II) we introduce a new algorithm for the synthesis of abstract output-feedback controllers w.r.t. LTL specifications over unobservable state-based predicates. Our abstraction-based output-feedback controller synthesis algorithm consists of two steps. First, we compute a finite state abstraction of the original system using existing techniques. This process typically leads to an abstract system with non-deterministic predicate and observation maps which are not necessarily related to each other. Second, we introduce an algorithm to compute an output-feedback controller for such abstract systems. Our algorithm is inspired by reactive synthesis under partial observation and utilizes bounded synthesis.

false

true

false

231,775

1607.03483

Block Models and Personalized PageRank

Methods for ranking the importance of nodes in a network have a rich history in machine learning and across domains that analyze structured data. Recent work has evaluated these methods though the seed set expansion problem: given a subset $S$ of nodes from a community of interest in an underlying graph, can we reliably identify the rest of the community? We start from the observation that the most widely used techniques for this problem, personalized PageRank and heat kernel methods, operate in the space of landing probabilities of a random walk rooted at the seed set, ranking nodes according to weighted sums of landing probabilities of different length walks. Both schemes, however, lack an a priori relationship to the seed set objective. In this work we develop a principled framework for evaluating ranking methods by studying seed set expansion applied to the stochastic block model. We derive the optimal gradient for separating the landing probabilities of two classes in a stochastic block model, and find, surprisingly, that under reasonable assumptions the gradient is asymptotically equivalent to personalized PageRank for a specific choice of the PageRank parameter $\alpha$ that depends on the block model parameters. This connection provides a novel formal motivation for the success of personalized PageRank in seed set expansion and node ranking generally. We use this connection to propose more advanced techniques incorporating higher moments of landing probabilities; our advanced methods exhibit greatly improved performance despite being simple linear classification rules, and are even competitive with belief propagation.

false

true

false

58,524

2212.02746

UniGeo: Unifying Geometry Logical Reasoning via Reformulating Mathematical Expression

Geometry problem solving is a well-recognized testbed for evaluating the high-level multi-modal reasoning capability of deep models. In most existing works, two main geometry problems: calculation and proving, are usually treated as two specific tasks, hindering a deep model to unify its reasoning capability on multiple math tasks. However, in essence, these two tasks have similar problem representations and overlapped math knowledge which can improve the understanding and reasoning ability of a deep model on both two tasks. Therefore, we construct a large-scale Unified Geometry problem benchmark, UniGeo, which contains 4,998 calculation problems and 9,543 proving problems. Each proving problem is annotated with a multi-step proof with reasons and mathematical expressions. The proof can be easily reformulated as a proving sequence that shares the same formats with the annotated program sequence for calculation problems. Naturally, we also present a unified multi-task Geometric Transformer framework, Geoformer, to tackle calculation and proving problems simultaneously in the form of sequence generation, which finally shows the reasoning ability can be improved on both two tasks by unifying formulation. Furthermore, we propose a Mathematical Expression Pretraining (MEP) method that aims to predict the mathematical expressions in the problem solution, thus improving the Geoformer model. Experiments on the UniGeo demonstrate that our proposed Geoformer obtains state-of-the-art performance by outperforming task-specific model NGS with over 5.6% and 3.2% accuracies on calculation and proving problems, respectively.

false

true

false

true

false

334,867

2308.03811

Non-Convex Bilevel Optimization with Time-Varying Objective Functions

Bilevel optimization has become a powerful tool in a wide variety of machine learning problems. However, the current nonconvex bilevel optimization considers an offline dataset and static functions, which may not work well in emerging online applications with streaming data and time-varying functions. In this work, we study online bilevel optimization (OBO) where the functions can be time-varying and the agent continuously updates the decisions with online streaming data. To deal with the function variations and the unavailability of the true hypergradients in OBO, we propose a single-loop online bilevel optimizer with window averaging (SOBOW), which updates the outer-level decision based on a window average of the most recent hypergradient estimations stored in the memory. Compared to existing algorithms, SOBOW is computationally efficient and does not need to know previous functions. To handle the unique technical difficulties rooted in single-loop update and function variations for OBO, we develop a novel analytical technique that disentangles the complex couplings between decision variables, and carefully controls the hypergradient estimation error. We show that SOBOW can achieve a sublinear bilevel local regret under mild conditions. Extensive experiments across multiple domains corroborate the effectiveness of SOBOW.

false

true

false

384,177

2006.11141

Control of a Rigid Wing Pumping Airborne Wind Energy System in all Operational Phases

The control design of an airborne wind energy system with rigid aircraft, vertical take-off and landing, and pumping operation is described. A hierarchical control structure is implemented, in order to address all operational phases: take-off, transition to power generation, pumping energy generation cycles, transition to hovering, and landing. Control design at all hierarchical levels is described. The design approach is conceived and developed with real-world applicability as main driver. Aircraft design considerations in light of system maneuverability are presented, too, as well as three possible alternative strategies for the retraction phase of the pumping cycle. The automatic control approach is assessed in simulation with a realistic model of the overall system, and the results yield a comparison among the three retraction strategies, clearly indicating the most efficient one. The presented results allow one to simulate the dynamical behavior of an AWE system in all operational phases, enabling further studies on all-round system automation, towards fully autonomous and reliable operation.

false

true

false

183,117

1707.08005

Towards Evolutional Compression

Compressing convolutional neural networks (CNNs) is essential for transferring the success of CNNs to a wide variety of applications to mobile devices. In contrast to directly recognizing subtle weights or filters as redundant in a given CNN, this paper presents an evolutionary method to automatically eliminate redundant convolution filters. We represent each compressed network as a binary individual of specific fitness. Then, the population is upgraded at each evolutionary iteration using genetic operations. As a result, an extremely compact CNN is generated using the fittest individual. In this approach, either large or small convolution filters can be redundant, and filters in the compressed network are more distinct. In addition, since the number of filters in each convolutional layer is reduced, the number of filter channels and the size of feature maps are also decreased, naturally improving both the compression and speed-up ratios. Experiments on benchmark deep CNN models suggest the superiority of the proposed algorithm over the state-of-the-art compression methods.

false

true

false

77,730

2501.06974

Downlink OFDM-FAMA in 5G-NR Systems

Fluid antenna multiple access (FAMA), enabled by the fluid antenna system (FAS), offers a new and straightforward solution to massive connectivity. Previous results on FAMA were primarily based on narrowband channels. This paper studies the adoption of FAMA within the fifth-generation (5G) orthogonal frequency division multiplexing (OFDM) framework, referred to as OFDM-FAMA, and evaluate its performance in broadband multipath channels. We first design the OFDM-FAMA system, taking into account 5G channel coding and OFDM modulation. Then the system's achievable rate is analyzed, and an algorithm to approximate the FAS configuration at each user is proposed based on the rate. Extensive link-level simulation results reveal that OFDM-FAMA can significantly improve the multiplexing gain over the OFDM system with fixed-position antenna (FPA) users, especially when robust channel coding is applied and the number of radio-frequency (RF) chains at each user is small.

false

true

false

524,209