(Abridged) Quantitative three-dimensional (3D) position and velocity estimates obtained by passive radar will assist the Galileo Project in the detection and classification of aerial objects by providing critical measurements of range, location, and kinematics. These parameters will be combined with those derived from the Project{\textquoteright}s suite of electromagnetic sensors and used to separate known aerial objects from those exhibiting anomalous kinematics. SkyWatch, a passive multistatic radar system based on commercial broadcast FM radio transmitters of opportunity, is a network of receivers spaced at geographical scales that enables estimation of the 3D position and velocity time series of objects at altitudes up to 80km, horizontal distances up to 150km, and at velocities to {\textpm}2{\textpm}2km/s ({\textpm}6{\textpm}6Mach). The receivers are designed to collect useful data in a variety of environments varying by terrain, transmitter power, relative transmitter distance, adjacent channel strength, etc. In some cases, the direct signal from the transmitter may be large enough to be used as the reference with which the echoes are correlated. In other cases, the direct signal may be weak or absent, in which case a reference is communicated to the receiver from another network node via the internet for echo correlation. Various techniques are discussed specific to the two modes of operation and a hybrid mode. Delay and Doppler data are sent via internet to a central server where triangulation is used to deduce time series of 3D positions and velocities. A multiple receiver (multistatic) radar experiment is undergoing Phase 1 testing, with several receivers placed at various distances around the Harvard{\textendash}Smithsonian Center for Astrophysics (CfA), to validate full 3D position and velocity recovery.
In this paper, we introduce a novel algorithm to solve projected model counting (PMC). PMC asks to count solutions of a Boolean formula with respect to a given set of projection variables, where multiple solutions that are identical when restricted to the projection variables count as only one solution. Inspired by the observation that the so-called "treewidth" is one of the most prominent structural parameters, our algorithm utilizes small treewidth of the primal graph of the input instance. More precisely, it runs in time O(2^2k+4n2) where k is the treewidth and n is the input size of the instance. In other words, we obtain that the problem PMC is fixed-parameter tractable when parameterized by treewidth. Further, we take the exponential time hypothesis (ETH) into consideration and establish lower bounds of bounded treewidth algorithms for PMC, yielding asymptotically tight runtime bounds of our algorithm. While the algorithm above serves as a first theoretical upper bound and although it might be quite appealing for small values of k, unsurprisingly a naive implementation adhering to this runtime bound suffers already from instances of relatively small width. Therefore, we turn our attention to several measures in order to resolve this issue towards exploiting treewidth in practice: We present a technique called nested dynamic programming, where different levels of abstractions of the primal graph are used to (recursively) compute and refine tree decompositions of a given instance. Finally, we provide a nested dynamic programming algorithm and an implementation that relies on database technology for PMC and a prominent special case of PMC, namely model counting (#Sat). Experiments indicate that the advancements are promising, allowing us to solve instances of treewidth upper bounds beyond 200.
The problems of selecting partial correlation and causality graphs for count data are considered. A parameter driven generalized linear model is used to describe the observed multivariate time series of counts. Partial correlation and causality graphs corresponding to this model explain the dependencies between each time series of the multivariate count data. In order to estimate these graphs with tunable sparsity, an appropriate likelihood function maximization is regularized with an l1-type constraint. A novel MCEM algorithm is proposed to iteratively solve this regularized MLE. Asymptotic convergence results are proved for the sequence generated by the proposed MCEM algorithm with l1-type regularization. The algorithm is first successfully tested on simulated data. Thereafter, it is applied to observed weekly dengue disease counts from each ward of Greater Mumbai city. The interdependence of various wards in the proliferation of the disease is characterized by the edges of the inferred partial correlation graph. On the other hand, the relative roles of various wards as sources and sinks of dengue spread is quantified by the number and weights of the directed edges originating from and incident upon each ward. From these estimated graphs, it is observed that some special wards act as epicentres of dengue spread even though their disease counts are relatively low.
Much of the previous work towards digital agents for graphical user interfaces (GUIs) has relied on text-based representations (derived from HTML or other structured data sources), which are not always readily available. These input representations have been often coupled with custom, task-specific action spaces. This paper focuses on creating agents that interact with the digital world using the same conceptual interface that humans commonly use -- via pixel-based screenshots and a generic action space corresponding to keyboard and mouse actions. Building upon recent progress in pixel-based pretraining, we show, for the first time, that it is possible for such agents to outperform human crowdworkers on the MiniWob++ benchmark of GUI-based instruction following tasks.
The ever-increasing demands of computationally expensive and high-dimensional problems require novel optimization methods to find near-optimal solutions in a reasonable amount of time. Bayesian Optimization (BO) stands as one of the best methodologies for learning the underlying relationships within multi-variate problems. This allows users to optimize time consuming and computationally expensive black-box functions in feasible time frames. Existing BO implementations use traditional von-Neumann architectures, in which data and memory are separate. In this work, we introduce Lava Bayesian Optimization (LavaBO) as a contribution to the open-source Lava Software Framework. LavaBO is the first step towards developing a BO system compatible with heterogeneous, fine-grained parallel, in-memory neuromorphic computing architectures (e.g., Intel's Loihi platform). We evaluate the algorithmic performance of the LavaBO system on multiple problems such as training state-of-the-art spiking neural network through back-propagation and evolutionary learning. Compared to traditional algorithms (such as grid and random search), we highlight the ability of LavaBO to explore the parameter search space with fewer expensive function evaluations, while discovering the optimal solutions.
Latest diffusion-based methods for many image restoration tasks outperform traditional models, but they encounter the long-time inference problem. To tackle it, this paper proposes a Wavelet-Based Diffusion Model (WaveDM) with an Efficient Conditional Sampling (ECS) strategy. WaveDM learns the distribution of clean images in the wavelet domain conditioned on the wavelet spectrum of degraded images after wavelet transform, which is more time-saving in each step of sampling than modeling in the spatial domain. In addition, ECS follows the same procedure as the deterministic implicit sampling in the initial sampling period and then stops to predict clean images directly, which reduces the number of total sampling steps to around 5. Evaluations on four benchmark datasets including image raindrop removal, defocus deblurring, demoir\'eing, and denoising demonstrate that WaveDM achieves state-of-the-art performance with the efficiency that is comparable to traditional one-pass methods and over 100 times faster than existing image restoration methods using vanilla diffusion models.
State of the art (SOTA) neural text to speech (TTS) models can generate natural-sounding synthetic voices. These models are characterized by large memory footprints and substantial number of operations due to the long-standing focus on speech quality with cloud inference in mind. Neural TTS models are generally not designed to perform standalone speech syntheses on resource-constrained and no Internet access edge devices. In this work, an efficient neural TTS called EfficientSpeech that synthesizes speech on an ARM CPU in real-time is proposed. EfficientSpeech uses a shallow non-autoregressive pyramid-structure transformer forming a U-Network. EfficientSpeech has 266k parameters and consumes 90 MFLOPS only or about 1% of the size and amount of computation in modern compact models such as Mixer-TTS. EfficientSpeech achieves an average mel generation real-time factor of 104.3 on an RPi4. Human evaluation shows only a slight degradation in audio quality as compared to FastSpeech2.
Web-scale search systems learn an encoder to embed a given query which is then hooked into an approximate nearest neighbor search (ANNS) pipeline to retrieve similar data points. To accurately capture tail queries and data points, learned representations typically are rigid, high-dimensional vectors that are generally used as-is in the entire ANNS pipeline and can lead to computationally expensive retrieval. In this paper, we argue that instead of rigid representations, different stages of ANNS can leverage adaptive representations of varying capacities to achieve significantly better accuracy-compute trade-offs, i.e., stages of ANNS that can get away with more approximate computation should use a lower-capacity representation of the same data point. To this end, we introduce AdANNS, a novel ANNS design framework that explicitly leverages the flexibility of Matryoshka Representations. We demonstrate state-of-the-art accuracy-compute trade-offs using novel AdANNS-based key ANNS building blocks like search data structures (AdANNS-IVF) and quantization (AdANNS-OPQ). For example on ImageNet retrieval, AdANNS-IVF is up to 1.5% more accurate than the rigid representations-based IVF at the same compute budget; and matches accuracy while being up to 90x faster in wall-clock time. For Natural Questions, 32-byte AdANNS-OPQ matches the accuracy of the 64-byte OPQ baseline constructed using rigid representations -- same accuracy at half the cost! We further show that the gains from AdANNS translate to modern-day composite ANNS indices that combine search structures and quantization. Finally, we demonstrate that AdANNS can enable inference-time adaptivity for compute-aware search on ANNS indices built non-adaptively on matryoshka representations. Code is open-sourced at https://github.com/RAIVNLab/AdANNS.
Underactuated tower crane lifting requires time-energy optimal trajectories for the trolley/slew operations and reduction of the unactuated swings resulting from the trolley/jib motion. In scenarios involving non-negligible hook mass or long rig-cable, the hook-payload unit exhibits double-pendulum behaviour, making the problem highly challenging. This article introduces an offline multi-objective anti-swing trajectory planning module for a Computer-Aided Lift Planning (CALP) system of autonomous double-pendulum tower cranes, addressing all the transient state constraints. A set of auxiliary outputs are selected by methodically analyzing the payload swing dynamics and are used to prove the differential flatness property of the crane operations. The flat outputs are parameterized via suitable B\'{e}zier curves to formulate the multi-objective trajectory optimization problems in the flat output space. A novel multi-objective evolutionary algorithm called Collective Oppositional Generalized Differential Evolution 3 (CO-GDE3) is employed as the optimizer. To obtain faster convergence and better consistency in getting a wide range of good solutions, a new population initialization strategy is integrated into the conventional GDE3. The computationally efficient initialization method incorporates various concepts of computational opposition. Statistical comparisons based on trolley and slew operations verify the superiority of convergence and reliability of CO-GDE3 over the standard GDE3. Trolley and slew operations of a collision-free lifting path computed via the path planner of the CALP system are selected for a simulation study. The simulated trajectories demonstrate that the proposed planner can produce time-energy optimal solutions, keeping all the state variables within their respective limits and restricting the hook and payload swings.
This paper studies the time-optimal path tracking problem for a team of cooperating robotic manipulators carrying an object. Considering the problem for rigidly grasped objects, we show that it can be cast as a convex optimization problem and solved efficiently with a guarantee of optimality. When formulating the problem, we avoid using a particular wrench distribution and exploit the full actuation available to the system. Then, we consider the problem for grasps using frictional forces and show that this problem also, under a force-closure grasp assumption, can be formulated as a convex optimization problem and solved efficiently and to optimality. To ensure a firm grasp, internal forces have been taken into account in this approach.