Predictive Probability Path Planning Model For Dynamic Environments

Path planning in dynamic environments is essential to high-risk applications such as unmanned aerial vehicles, self-driving cars, and autonomous underwater vehicles. In this paper, we generate collision-free trajectories for a robot within any given environment with temporal and spatial uncertainties caused due to randomly moving obstacles. We use two Poisson distributions to model the movements of obstacles across the generated trajectory of a robot in both space and time to determine the probability of collision with an obstacle. Measures are taken to avoid an obstacle by intelligently manipulating the speed of the robot at space-time intervals where a larger number of obstacles intersect the trajectory of the robot. Our method potentially reduces the use of computationally expensive collision detection libraries. Based on our experiments, there has been a significant improvement over existing methods in terms of safety, accuracy, execution time and computational cost. Our results show a high level of accuracy between the predicted and actual number of collisions with moving obstacles.

Predicting Sample Collision with Neural Networks

Many state-of-art robotics applications require fast and efficient motion planning algorithms. Existing motion planning methods become less effective as the dimensionality of the robot and its workspace increases, especially the computational cost of collision detection routines. In this work, we present a framework to address the cost of expensive primitive operations in sampling-based motion planning. This framework determines the validity of a sample robot configuration through a novel combination of a Contractive AutoEncoder (CAE), which captures a occupancy grids representation of the robot's workspace, and a Multilayer Perceptron, which efficiently predicts the collision state of the robot from the CAE and the robot's configuration. We evaluate our framework on multiple planning problems with a variety of robots in 2D and 3D workspaces. The results show that (1) the framework is computationally efficient in all investigated problems, and (2) the framework generalizes well to new workspaces.

Solve fraud detection problem by using graph based learning methods

The credit cards' fraud transactions detection is the important problem in machine learning field. To detect the credit cards's fraud transactions help reduce the significant loss of the credit cards' holders and the banks. To detect the credit cards' fraud transactions, data scientists normally employ the unsupervised learning techniques and supervised learning techniques. In this paper, we employ the graph p-Laplacian based semi-supervised learning methods combined with the undersampling techniques such as Cluster Centroids to solve the credit cards' fraud transactions detection problem. Experimental results show that the graph p-Laplacian semi-supervised learning methods outperform the current state of the art graph Laplacian based semi-supervised learning method (p=2).

Point cloud denoising based on tensor Tucker decomposition

In this paper, we propose an algorithm for point cloud denoising based on the tensor Tucker decomposition. We first represent the local surface patches of a noisy point cloud to be matrices by their distances to a reference point, and stack the similar patch matrices to be a 3rd order tensor. Then we use the Tucker decomposition to compress this patch tensor to be a core tensor of smaller size. We consider this core tensor as the frequency domain and remove the noise by manipulating the hard thresholding. Finally, all the fibers of the denoised patch tensor are placed back, and the average is taken if there are more than one estimators overlapped. The experimental evaluation shows that the proposed algorithm outperforms the state-of-the-art graph Laplacian regularized (GLR) algorithm when the Gaussian noise is high ($\sigma=0.1$), and the GLR algorithm is better in lower noise cases ($\sigma=0.04, 0.05, 0.08$).

A Trio Neural Model for Dynamic Entity Relatedness Ranking

Measuring entity relatedness is a fundamental task for many natural language processing and information retrieval applications. Prior work often studies entity relatedness in static settings and an unsupervised manner. However, entities in real-world are often involved in many different relationships, consequently entity-relations are very dynamic over time. In this work, we propose a neural networkbased approach for dynamic entity relatedness, leveraging the collective attention as supervision. Our model is capable of learning rich and different entity representations in a joint framework. Through extensive experiments on large-scale datasets, we demonstrate that our method achieves better results than competitive baselines.

Balancing Novelty and Salience: Adaptive Learning to Rank Entities for Timeline Summarization of High-impact Events

Long-running, high-impact events such as the Boston Marathon bombing often develop through many stages and involve a large number of entities in their unfolding. Timeline summarization of an event by key sentences eases story digestion, but does not distinguish between what a user remembers and what she might want to re-check. In this work, we present a novel approach for timeline summarization of high-impact events, which uses entities instead of sentences for summarizing the event at each individual point in time. Such entity summaries can serve as both (1) important memory cues in a retrospective event consideration and (2) pointers for personalized event exploration. In order to automatically create such summaries, it is crucial to identify the "right" entities for inclusion. We propose to learn a ranking function for entities, with a dynamically adapted trade-off between the in-document salience of entities and the informativeness of entities across documents, i.e., the level of new information associated with an entity for a time point under consideration. Furthermore, for capturing collective attention for an entity we use an innovative soft labeling approach based on Wikipedia. Our experiments on a real large news datasets confirm the effectiveness of the proposed methods.

Hedera: Scalable Indexing and Exploring Entities in Wikipedia Revision History

Much of work in semantic web relying on Wikipedia as the main source of knowledge often work on static snapshots of the dataset. The full history of Wikipedia revisions, while contains much more useful information, is still difficult to access due to its exceptional volume. To enable further research on this collection, we developed a tool, named Hedera, that efficiently extracts semantic information from Wikipedia revision history datasets. Hedera exploits Map-Reduce paradigm to achieve rapid extraction, it is able to handle one entire Wikipedia articles revision history within a day in a medium-scale cluster, and supports flexible data structures for various kinds of semantic web study.