1,018 research outputs found
Optimization as a design strategy. Considerations based on building simulation-assisted experiments about problem decomposition
In this article the most fundamental decomposition-based optimization method
- block coordinate search, based on the sequential decomposition of problems in
subproblems - and building performance simulation programs are used to reason
about a building design process at micro-urban scale and strategies are defined
to make the search more efficient. Cyclic overlapping block coordinate search
is here considered in its double nature of optimization method and surrogate
model (and metaphore) of a sequential design process. Heuristic indicators apt
to support the design of search structures suited to that method are developed
from building-simulation-assisted computational experiments, aimed to choose
the form and position of a small building in a plot. Those indicators link the
sharing of structure between subspaces ("commonality") to recursive
recombination, measured as freshness of the search wake and novelty of the
search moves. The aim of these indicators is to measure the relative
effectiveness of decomposition-based design moves and create efficient block
searches. Implications of a possible use of these indicators in genetic
algorithms are also highlighted.Comment: 48 pages. 12 figures, 3 table
Attention and Anticipation in Fast Visual-Inertial Navigation
We study a Visual-Inertial Navigation (VIN) problem in which a robot needs to
estimate its state using an on-board camera and an inertial sensor, without any
prior knowledge of the external environment. We consider the case in which the
robot can allocate limited resources to VIN, due to tight computational
constraints. Therefore, we answer the following question: under limited
resources, what are the most relevant visual cues to maximize the performance
of visual-inertial navigation? Our approach has four key ingredients. First, it
is task-driven, in that the selection of the visual cues is guided by a metric
quantifying the VIN performance. Second, it exploits the notion of
anticipation, since it uses a simplified model for forward-simulation of robot
dynamics, predicting the utility of a set of visual cues over a future time
horizon. Third, it is efficient and easy to implement, since it leads to a
greedy algorithm for the selection of the most relevant visual cues. Fourth, it
provides formal performance guarantees: we leverage submodularity to prove that
the greedy selection cannot be far from the optimal (combinatorial) selection.
Simulations and real experiments on agile drones show that our approach ensures
state-of-the-art VIN performance while maintaining a lean processing time. In
the easy scenarios, our approach outperforms appearance-based feature selection
in terms of localization errors. In the most challenging scenarios, it enables
accurate visual-inertial navigation while appearance-based feature selection
fails to track robot's motion during aggressive maneuvers.Comment: 20 pages, 7 figures, 2 table
Fundamentals
Volume 1 establishes the foundations of this new field. It goes through all the steps from data collection, their summary and clustering, to different aspects of resource-aware learning, i.e., hardware, memory, energy, and communication awareness. Machine learning methods are inspected with respect to resource requirements and how to enhance scalability on diverse computing architectures ranging from embedded systems to large computing clusters
Distinguishing cause from effect using observational data: methods and benchmarks
The discovery of causal relationships from purely observational data is a
fundamental problem in science. The most elementary form of such a causal
discovery problem is to decide whether X causes Y or, alternatively, Y causes
X, given joint observations of two variables X, Y. An example is to decide
whether altitude causes temperature, or vice versa, given only joint
measurements of both variables. Even under the simplifying assumptions of no
confounding, no feedback loops, and no selection bias, such bivariate causal
discovery problems are challenging. Nevertheless, several approaches for
addressing those problems have been proposed in recent years. We review two
families of such methods: Additive Noise Methods (ANM) and Information
Geometric Causal Inference (IGCI). We present the benchmark CauseEffectPairs
that consists of data for 100 different cause-effect pairs selected from 37
datasets from various domains (e.g., meteorology, biology, medicine,
engineering, economy, etc.) and motivate our decisions regarding the "ground
truth" causal directions of all pairs. We evaluate the performance of several
bivariate causal discovery methods on these real-world benchmark data and in
addition on artificially simulated data. Our empirical results on real-world
data indicate that certain methods are indeed able to distinguish cause from
effect using only purely observational data, although more benchmark data would
be needed to obtain statistically significant conclusions. One of the best
performing methods overall is the additive-noise method originally proposed by
Hoyer et al. (2009), which obtains an accuracy of 63+-10 % and an AUC of
0.74+-0.05 on the real-world benchmark. As the main theoretical contribution of
this work we prove the consistency of that method.Comment: 101 pages, second revision submitted to Journal of Machine Learning
Researc
Models, services and security in modern online social networks
Modern online social networks have revolutionized the world the same way the radio and the plane did, crossing geographical and time boundaries, not without problems, more can be learned, they can still change our world and that their true worth is still a question for the future
Fundamentals
Volume 1 establishes the foundations of this new field. It goes through all the steps from data collection, their summary and clustering, to different aspects of resource-aware learning, i.e., hardware, memory, energy, and communication awareness. Machine learning methods are inspected with respect to resource requirements and how to enhance scalability on diverse computing architectures ranging from embedded systems to large computing clusters
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