5,750 research outputs found
Proceedings of the 2022 Joint Workshop of Fraunhofer IOSB and Institute for Anthropomatics, Vision and Fusion Laboratory
In August 2022, Fraunhofer IOSB and IES of KIT held a joint workshop in a Schwarzwaldhaus near Triberg. Doctoral students presented research reports and discussed various topics like computer vision, optical metrology, network security, usage control, and machine learning. This book compiles the workshop\u27s results and ideas, offering a comprehensive overview of the research program of IES and Fraunhofer IOSB
Algorithmic Analysis of Qualitative and Quantitative Termination Problems for Affine Probabilistic Programs
In this paper, we consider termination of probabilistic programs with
real-valued variables. The questions concerned are:
1. qualitative ones that ask (i) whether the program terminates with
probability 1 (almost-sure termination) and (ii) whether the expected
termination time is finite (finite termination); 2. quantitative ones that ask
(i) to approximate the expected termination time (expectation problem) and (ii)
to compute a bound B such that the probability to terminate after B steps
decreases exponentially (concentration problem).
To solve these questions, we utilize the notion of ranking supermartingales
which is a powerful approach for proving termination of probabilistic programs.
In detail, we focus on algorithmic synthesis of linear ranking-supermartingales
over affine probabilistic programs (APP's) with both angelic and demonic
non-determinism. An important subclass of APP's is LRAPP which is defined as
the class of all APP's over which a linear ranking-supermartingale exists.
Our main contributions are as follows. Firstly, we show that the membership
problem of LRAPP (i) can be decided in polynomial time for APP's with at most
demonic non-determinism, and (ii) is NP-hard and in PSPACE for APP's with
angelic non-determinism; moreover, the NP-hardness result holds already for
APP's without probability and demonic non-determinism. Secondly, we show that
the concentration problem over LRAPP can be solved in the same complexity as
for the membership problem of LRAPP. Finally, we show that the expectation
problem over LRAPP can be solved in 2EXPTIME and is PSPACE-hard even for APP's
without probability and non-determinism (i.e., deterministic programs). Our
experimental results demonstrate the effectiveness of our approach to answer
the qualitative and quantitative questions over APP's with at most demonic
non-determinism.Comment: 24 pages, full version to the conference paper on POPL 201
Human Motion Trajectory Prediction: A Survey
With growing numbers of intelligent autonomous systems in human environments,
the ability of such systems to perceive, understand and anticipate human
behavior becomes increasingly important. Specifically, predicting future
positions of dynamic agents and planning considering such predictions are key
tasks for self-driving vehicles, service robots and advanced surveillance
systems. This paper provides a survey of human motion trajectory prediction. We
review, analyze and structure a large selection of work from different
communities and propose a taxonomy that categorizes existing methods based on
the motion modeling approach and level of contextual information used. We
provide an overview of the existing datasets and performance metrics. We
discuss limitations of the state of the art and outline directions for further
research.Comment: Submitted to the International Journal of Robotics Research (IJRR),
37 page
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