5,582 research outputs found
Bootstrap joint prediction regions
Many statistical applications require the forecast of a random variable of interest over several periods into the future. The sequence of individual forecasts, one period at a time, is called a path forecast, where the term path refers to the sequence of individual future realizations of the random variable. The problem of constructing a corresponding joint prediction region has been rather neglected in the literature so far: such a region is supposed to contain the entire future path with a prespecified probability. We develop bootstrap methods to construct joint prediction regions. The resulting regions are proven to be asymptotically consistent under a mild high-level assumption. We compare the finitesample performance of our joint prediction regions to some previous proposals via Monte Carlo simulations. An empirical application to a real data set is also provided.Generalized error rates, path forecast, simultaneous prediction intervals
GP-Localize: Persistent Mobile Robot Localization using Online Sparse Gaussian Process Observation Model
Central to robot exploration and mapping is the task of persistent
localization in environmental fields characterized by spatially correlated
measurements. This paper presents a Gaussian process localization (GP-Localize)
algorithm that, in contrast to existing works, can exploit the spatially
correlated field measurements taken during a robot's exploration (instead of
relying on prior training data) for efficiently and scalably learning the GP
observation model online through our proposed novel online sparse GP. As a
result, GP-Localize is capable of achieving constant time and memory (i.e.,
independent of the size of the data) per filtering step, which demonstrates the
practical feasibility of using GPs for persistent robot localization and
autonomy. Empirical evaluation via simulated experiments with real-world
datasets and a real robot experiment shows that GP-Localize outperforms
existing GP localization algorithms.Comment: 28th AAAI Conference on Artificial Intelligence (AAAI 2014), Extended
version with proofs, 10 page
A design flow for performance planning : new paradigms for iteration free synthesis
In conventional design, higher levels of synthesis produce a netlist, from which layout synthesis builds a mask specification for manufacturing. Timing anal ysis is built into a feedback loop to detect timing violations which are then used to update specifications to synthesis. Such iteration is undesirable, and for very high performance designs, infeasible. The problem is likely to become much worse with future generations of technology. To achieve a non-iterative design flow, early synthesis stages should use wire planning to distribute delays over the functional elements and interconnect, and layout synthesis should use its degrees of freedom to realize those delays
Deep learning for video game playing
In this article, we review recent Deep Learning advances in the context of
how they have been applied to play different types of video games such as
first-person shooters, arcade games, and real-time strategy games. We analyze
the unique requirements that different game genres pose to a deep learning
system and highlight important open challenges in the context of applying these
machine learning methods to video games, such as general game playing, dealing
with extremely large decision spaces and sparse rewards
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Fully Three-Dimensional Toolpath Generation for Point-Based Additive Manufacturing Systems
While additive manufacturing and 3D printing achieved notoriety for their abilities to
manufacture complex three-dimensional parts, the state of the art is not truly three-dimensional.
Rather, the process plans for the majority of these machines rely on a stack of discretized, two-dimensional layers, which results in parts with stair-stepped surfaces, as opposed to being
smooth and freeform. This work proposes a change to the 2.5D paradigm by using a
configuration space approach to enable toolpath planning in a full three-dimensional space,
allowing movements beyond planar slices. Algorithms are also presented to compute toolpaths
on non-planar regions. Since the toolpaths take part and machine geometries into account, they
are guaranteed to be collision-free. These techniques are relevant to many additive
manufacturing technologies, including fused deposition modeling (FDM), directed energy
deposition (DED), material jetting, and nozzle-based variants. The result of implementing nonplanar toolpaths is smoother, more continuous part surfaces.Mechanical Engineerin
Machine Learning For In-Region Location Verification In Wireless Networks
In-region location verification (IRLV) aims at verifying whether a user is
inside a region of interest (ROI). In wireless networks, IRLV can exploit the
features of the channel between the user and a set of trusted access points. In
practice, the channel feature statistics is not available and we resort to
machine learning (ML) solutions for IRLV. We first show that solutions based on
either neural networks (NNs) or support vector machines (SVMs) and typical loss
functions are Neyman-Pearson (N-P)-optimal at learning convergence for
sufficiently complex learning machines and large training datasets . Indeed,
for finite training, ML solutions are more accurate than the N-P test based on
estimated channel statistics. Then, as estimating channel features outside the
ROI may be difficult, we consider one-class classifiers, namely auto-encoders
NNs and one-class SVMs, which however are not equivalent to the generalized
likelihood ratio test (GLRT), typically replacing the N-P test in the one-class
problem. Numerical results support the results in realistic wireless networks,
with channel models including path-loss, shadowing, and fading
Integrated robot planning, path following, and obstacle avoidance in two and three dimensions: Wheeled robots, underwater vehicles, and multicopters
We propose an innovative, integrated solution to path planning, path following, and obstacle avoidance that is suitable both for 2D and 3D navigation. The proposed method takes as input a generic curve connecting a start and a goal position, and is able to find a corresponding path from start to goal in a maze-like environment even in the absence of global information, it guarantees convergence to the path with kinematic control, and finally avoids locally sensed obstacles without becoming trapped in deadlocks. This is achieved by computing a closed-form expression in which the control variables are a continuous function of the input curve, the robot\u2019s state, and the distance of all the locally sensed obstacles. Specifically, we introduce a novel formalism for describing the path in two and three dimensions, as well as a computationally efficient method for path deformation (based only on local sensor readings) that is able to find a path to the goal even when such path cannot be produced through continuous deformations of the original. The article provides formal proofs of all the properties above, as well as simulated results in a simulated environment with a wheeled robot, an underwater vehicle, and a multicopter
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