Geometric Analysis of Unconstrained Feature Models with $d=K$

Recently, interesting empirical phenomena known as Neural Collapse have been observed during the final phase of training deep neural networks for classification tasks. We examine this issue when the feature dimension d is equal to the number of classes K. We demonstrate that two popular unconstrained feature models are strict saddle functions, with every critical point being either a global minimum or a strict saddle point that can be exited using negative curvatures. The primary findings conclusively confirm the conjecture on the unconstrained feature models in previous articles.

Real-Time Summarization of Twitter

In this paper, we describe our approaches to TREC Real-Time Summarization of Twitter. We focus on real time push notification scenario, which requires a system monitors the stream of sampled tweets and returns the tweets relevant and novel to given interest profiles. Dirichlet score with and with very little smoothing (baseline) are employed to classify whether a tweet is relevant to a given interest profile. Using metrics including Mean Average Precision (MAP, cumulative gain (CG) and discount cumulative gain (DCG), the experiment indicates that our approach has a good performance. It is also desired to remove the redundant tweets from the pushing queue. Due to the precision limit, we only describe the algorithm in this paper.

Communication and Control Co-Design in 6G: Sequential Decision-Making with LLMs

This article investigates a control system within the context of six-generation wireless networks. The control performance optimization confronts the technical challenges that arise from the intricate interactions between communication and control sub-systems, asking for a co-design. Accounting for the system dynamics, we formulate the sequential co-design decision-makings of communication and control over the discrete time horizon as a Markov decision process, for which a practical offline learning framework is proposed. Our proposed framework integrates large language models into the elements of reinforcement learning. We present a case study on the age of semantics-aware communication and control co-design to showcase the potentials from our proposed learning framework. Furthermore, we discuss the open issues remaining to make our proposed offline learning framework feasible for real-world implementations, and highlight the research directions for future explorations.

Deep Learning Powered Estimate of The Extrinsic Parameters on Unmanned Surface Vehicles

Unmanned Surface Vehicles (USVs) are pivotal in marine exploration, but their sensors' accuracy is compromised by the dynamic marine environment. Traditional calibration methods fall short in these conditions. This paper introduces a deep learning architecture that predicts changes in the USV's dynamic metacenter and refines sensors' extrinsic parameters in real time using a Time-Sequence General Regression Neural Network (GRNN) with Euler angles as input. Simulation data from Unity3D ensures robust training and testing. Experimental results show that the Time-Sequence GRNN achieves the lowest mean squared error (MSE) loss, outperforming traditional neural networks. This method significantly enhances sensor calibration for USVs, promising improved data accuracy in challenging maritime conditions. Future work will refine the network and validate results with real-world data.

TD3 Based Collision Free Motion Planning for Robot Navigation

This paper addresses the challenge of collision-free motion planning in automated navigation within complex environments. Utilizing advancements in Deep Reinforcement Learning (DRL) and sensor technologies like LiDAR, we propose the TD3-DWA algorithm, an innovative fusion of the traditional Dynamic Window Approach (DWA) with the Twin Delayed Deep Deterministic Policy Gradient (TD3). This hybrid algorithm enhances the efficiency of robotic path planning by optimizing the sampling interval parameters of DWA to effectively navigate around both static and dynamic obstacles. The performance of the TD3-DWA algorithm is validated through various simulation experiments, demonstrating its potential to significantly improve the reliability and safety of autonomous navigation systems.

Optimizing Search Advertising Strategies: Integrating Reinforcement Learning with Generalized Second-Price Auctions for Enhanced Ad Ranking and Bidding

This paper explores the integration of strategic optimization methods in search advertising, focusing on ad ranking and bidding mechanisms within E-commerce platforms. By employing a combination of reinforcement learning and evolutionary strategies, we propose a dynamic model that adjusts to varying user interactions and optimizes the balance between advertiser cost, user relevance, and platform revenue. Our results suggest significant improvements in ad placement accuracy and cost efficiency, demonstrating the model's applicability in real-world scenarios.

Localization Through Particle Filter Powered Neural Network Estimated Monocular Camera Poses

The reduced cost and computational and calibration requirements of monocular cameras make them ideal positioning sensors for mobile robots, albeit at the expense of any meaningful depth measurement. Solutions proposed by some scholars to this localization problem involve fusing pose estimates from convolutional neural networks (CNNs) with pose estimates from geometric constraints on motion to generate accurate predictions of robot trajectories. However, the distribution of attitude estimation based on CNN is not uniform, resulting in certain translation problems in the prediction of robot trajectories. This paper proposes improving these CNN-based pose estimates by propagating a SE(3) uniform distribution driven by a particle filter. The particles utilize the same motion model used by the CNN, while updating their weights using CNN-based estimates. The results show that while the rotational component of pose estimation does not consistently improve relative to CNN-based estimation, the translational component is significantly more accurate. This factor combined with the superior smoothness of the filtered trajectories shows that the use of particle filters significantly improves the performance of CNN-based localization algorithms.

Adaptive speed planning for Unmanned Vehicle Based on Deep Reinforcement Learning

In order to solve the problem of frequent deceleration of unmanned vehicles when approaching obstacles, this article uses a Deep Q-Network (DQN) and its extension, the Double Deep Q-Network (DDQN), to develop a local navigation system that adapts to obstacles while maintaining optimal speed planning. By integrating improved reward functions and obstacle angle determination methods, the system demonstrates significant enhancements in maneuvering capabilities without frequent decelerations. Experiments conducted in simulated environments with varying obstacle densities confirm the effectiveness of the proposed method in achieving more stable and efficient path planning.

Deep Reinforcement Learning for Mobile Robot Path Planning

Path planning is an important problem with the the applications in many aspects, such as video games, robotics etc. This paper proposes a novel method to address the problem of Deep Reinforcement Learning (DRL) based path planning for a mobile robot. We design DRL-based algorithms, including reward functions, and parameter optimization, to avoid time-consuming work in a 2D environment. We also designed an Two-way search hybrid A* algorithm to improve the quality of local path planning. We transferred the designed algorithm to a simple embedded environment to test the computational load of the algorithm when running on a mobile robot. Experiments show that when deployed on a robot platform, the DRL-based algorithm in this article can achieve better planning results and consume less computing resources.

Grid-Mapping Pseudo-Count Constraint for Offline Reinforcement Learning

Offline reinforcement learning learns from a static dataset without interacting with the environment, which ensures security and thus owns a good prospect of application. However, directly applying naive reinforcement learning methods usually fails in an offline environment due to function approximation errors caused by out-of-distribution(OOD) actions. To solve this problem, existing algorithms mainly penalize the Q-value of OOD actions, the quality of whose constraints also matter. Imprecise constraints may lead to suboptimal solutions, while precise constraints require significant computational costs. In this paper, we propose a novel count-based method for continuous domains, called Grid-Mapping Pseudo-Count method(GPC), to penalize the Q-value appropriately and reduce the computational cost. The proposed method maps the state and action space to discrete space and constrains their Q-values through the pseudo-count. It is theoretically proved that only a few conditions are needed to obtain accurate uncertainty constraints in the proposed method. Moreover, we develop a Grid-Mapping Pseudo-Count Soft Actor-Critic(GPC-SAC) algorithm using GPC under the Soft Actor-Critic(SAC) framework to demonstrate the effectiveness of GPC. The experimental results on D4RL benchmark datasets show that GPC-SAC has better performance and less computational cost compared to other algorithms.