The realization of motion description is a challenging work for fixed-wing Unmanned Aerial Vehicle (UAV) acrobatic flight, due to the inherent coupling problem in ranslational-rotational motion. This paper aims to develop a novel maneuver description method through the idea of imitation learning, and there are two main contributions of our work: 1) A dual quaternion based dynamic motion primitives (DQ-DMP) is proposed and the state equations of the position and attitude can be combined without loss of accuracy. 2) An online hardware-inthe-loop (HITL) training system is established. Based on the DQDMP method, the geometric features of the demonstrated maneuver can be obtained in real-time, and the stability of the DQ-DMP is theoretically proved. The simulation results illustrate the superiority of the proposed method compared to the traditional position/attitude decoupling method.
Multi-image super-resolution (MISR) usually outperforms single-image super-resolution (SISR) under a proper inter-image alignment by explicitly exploiting the inter-image correlation. However, the large computational demand encumbers the deployment of MISR methods in practice. In this work, we propose a distributed optimization framework based on data parallelism for fast large-scale MISR which supports multi- GPU acceleration, named FL-MISR. Inter-GPU communication for the exchange of local variables and over-lapped regions is enabled to impose a consensus convergence of the distributed task allocated to each GPU node. We have seamlessly integrated FL-MISR into the computed tomography (CT) imaging system by super-resolving multiple projections of the same view acquired by subpixel detector shift. The SR reconstruction is performed on the fly during the CT acquisition such that no additional computation time is introduced. We evaluated FL-MISR quantitatively and qualitatively on multiple objects including aluminium cylindrical phantoms, QRM bar pattern phantoms, and concrete joints. Experiments show that FL-MISR can effectively improve the spatial resolution of CT systems in modulation transfer function (MTF) and visual perception. Besides, comparing to a multi-core CPU implementation, FL-MISR achieves a more than 50x speedup on an off-the-shelf 4-GPU system.
Finding a parking space nowadays becomes an issue that is not to be neglected, it consumes time and energy. We have used computer vision techniques to infer the state of the parking lot given the data collected from the University of The Witwatersrand. This paper presents an approach for a real-time parking space classification based on Convolutional Neural Networks (CNN) using Caffe and Nvidia DiGITS framework. The training process has been done using DiGITS and the output is a caffemodel used for predictions to detect vacant and occupied parking spots. The system checks a defined area whether a parking spot (bounding boxes defined at initialization of the system) is containing a car or not (occupied or vacant). Those bounding box coordinates are saved from a frame of the video of the parking lot in a JSON format, to be later used by the system for sequential prediction on each parking spot. The system has been trained using the LeNet network with the Nesterov Accelerated Gradient as solver and the AlexNet network with the Stochastic Gradient Descent as solver. We were able to get an accuracy on the validation set of 99\% for both networks. The accuracy on a foreign dataset(PKLot) returned as well 99\%. Those are experimental results based on the training set shows how robust the system can be when the prediction has to take place in a different parking space.
Emotion stimulus extraction is a fine-grained subtask of emotion analysis that focuses on identifying the description of the cause behind an emotion expression from a text passage (e.g., in the sentence "I am happy that I passed my exam" the phrase "passed my exam" corresponds to the stimulus.). Previous work mainly focused on Mandarin and English, with no resources or models for German. We fill this research gap by developing a corpus of 2006 German news headlines annotated with emotions and 811 instances with annotations of stimulus phrases. Given that such corpus creation efforts are time-consuming and expensive, we additionally work on an approach for projecting the existing English GoodNewsEveryone (GNE) corpus to a machine-translated German version. We compare the performance of a conditional random field (CRF) model (trained monolingually on German and cross-lingually via projection) with a multilingual XLM-RoBERTa (XLM-R) model. Our results show that training with the German corpus achieves higher F1 scores than projection. Experiments with XLM-R outperform their respective CRF counterparts.
The sensitivity of millimeter-wave (mmWave) radio channel to blockage is a fundamental challenge in achieving low-latency and ultra-reliable connectivity. In this paper, we explore the viability of using coordinated multi-point (CoMP) transmission for a delay bounded and reliable mmWave communication. We propose a novel blockage-aware algorithm for the sum-power minimization problem under the user-specific latency requirements in a dynamic mobile access network. We use the Lyapunov optimization framework, and provide a dynamic control algorithm, which efficiently transforms a time-average stochastic problem into a sequence of deterministic subproblems. A robust beamformer design is then proposed by exploiting the queue backlogs and channel information, that efficiently allocates the required radio and cooperation resources, and proactively leverages the multi-antenna spatial diversity according to the instantaneous needs of the users. Further, to adapt to the uncertainties of the mmWave channel, we consider a pessimistic estimate of the rates over link blockage combinations and an adaptive selection of the CoMP serving set from the available remote radio units (RRUs). Moreover, after the relaxation of coupled and non-convex constraints via the Fractional Program (FP) techniques, a low-complexity closed-form iterative algorithm is provided by solving a system of Karush-Kuhn-Tucker (KKT) optimality conditions. The simulation results manifest that, in the presence of random blockages, the proposed methods outperform the baseline scenarios and provide power-efficient, high-reliable, and low-latency mmWave communication.
FDG PET/CT imaging is a resource intensive examination critical for managing malignant disease and is particularly important for longitudinal assessment during therapy. Approaches to automate longtudinal analysis present many challenges including lack of available longitudinal datasets, managing complex large multimodal imaging examinations, and need for detailed annotations for traditional supervised machine learning. In this work we develop OncoNet, novel machine learning algorithm that assesses treatment response from a 1,954 pairs of sequential FDG PET/CT exams through weak supervision using the standard uptake values (SUVmax) in associated radiology reports. OncoNet demonstrates an AUROC of 0.86 and 0.84 on internal and external institution test sets respectively for determination of change between scans while also showing strong agreement to clinical scoring systems with a kappa score of 0.8. We also curated a dataset of 1,954 paired FDG PET/CT exams designed for response assessment for the broader machine learning in healthcare research community. Automated assessment of radiographic response from FDG PET/CT with OncoNet could provide clinicians with a valuable tool to rapidly and consistently interpret change over time in longitudinal multi-modal imaging exams.
We study the selective learning problem introduced by Qiao and Valiant (2019), in which the learner observes $n$ labeled data points one at a time. At a time of its choosing, the learner selects a window length $w$ and a model $\hat\ell$ from the model class $\mathcal{L}$, and then labels the next $w$ data points using $\hat\ell$. The excess risk incurred by the learner is defined as the difference between the average loss of $\hat\ell$ over those $w$ data points and the smallest possible average loss among all models in $\mathcal{L}$ over those $w$ data points. We give an improved algorithm, termed the hybrid exponential weights algorithm, that achieves an expected excess risk of $O((\log\log|\mathcal{L}| + \log\log n)/\log n)$. This result gives a doubly exponential improvement in the dependence on $|\mathcal{L}|$ over the best known bound of $O(\sqrt{|\mathcal{L}|/\log n})$. We complement the positive result with an almost matching lower bound, which suggests the worst-case optimality of the algorithm. We also study a more restrictive family of learning algorithms that are bounded-recall in the sense that when a prediction window of length $w$ is chosen, the learner's decision only depends on the most recent $w$ data points. We analyze an exponential weights variant of the ERM algorithm in Qiao and Valiant (2019). This new algorithm achieves an expected excess risk of $O(\sqrt{\log |\mathcal{L}|/\log n})$, which is shown to be nearly optimal among all bounded-recall learners. Our analysis builds on a generalized version of the selective mean prediction problem in Drucker (2013); Qiao and Valiant (2019), which may be of independent interest.
The problem of autonomous navigation is to generate a set of navigation references which when followed move the vehicle from a starting position to and end goal location while avoiding obstacles. Autonomous racing complicates the navigation problem by adding the objective of minimising the time to complete a track. Solutions aiming for a minimum time solution require that the planner is concerned with the optimality of the trajectory according to the vehicle dynamics. Neural networks, trained from experience with reinforcement learning, have shown to be effective local planners which generate navigation references to follow a global plan and avoid obstacles. We address the problem designing a reward signal which can be used to train neural network-based local planners to race in a time-efficient manner and avoid obstacles. The general challenge of reward signal design is to represent a desired behavior in an equation that can be calculated at each time step. The specific challenge of designing a reward signal for autonomous racing is to encode obstacle-free, time optimal racing trajectories in a clear signal We propose several methods of encoding ideal racing behavior based using a combination of the position and velocity of the vehicle and the actions taken by the network. The reward function candidates are expressed as equations and evaluated in the context of F1/10th autonomous racing. The results show that the best reward signal rewards velocity along, and punishes the lateral deviation from a precalculated, optimal reference trajectory.
A new method for stochastic control based on neural networks and using randomisation of discrete random variables is proposed and applied to optimal stopping time problems. Numerical tests are done on the pricing of American and swing options. An extension to impulse control problems is described and applied to options hedging under fixed transaction costs. The proposed algorithms seem to be competitive with the best existing algorithms both in terms of precision and in terms of computation time.
A common lens to theoretically study neural net architectures is to analyze the functions they can approximate. However, the constructions from approximation theory often have unrealistic aspects, for example, reliance on infinite precision to memorize target function values, which make these results potentially less meaningful. To address these issues, this work proposes a formal definition of statistically meaningful approximation which requires the approximating network to exhibit good statistical learnability. We present case studies on statistically meaningful approximation for two classes of functions: boolean circuits and Turing machines. We show that overparameterized feedforward neural nets can statistically meaningfully approximate boolean circuits with sample complexity depending only polynomially on the circuit size, not the size of the approximating network. In addition, we show that transformers can statistically meaningfully approximate Turing machines with computation time bounded by $T$, requiring sample complexity polynomial in the alphabet size, state space size, and $\log (T)$. Our analysis introduces new tools for generalization bounds that provide much tighter sample complexity guarantees than the typical VC-dimension or norm-based bounds, which may be of independent interest.