29,217 research outputs found
Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age
Simultaneous Localization and Mapping (SLAM)consists in the concurrent
construction of a model of the environment (the map), and the estimation of the
state of the robot moving within it. The SLAM community has made astonishing
progress over the last 30 years, enabling large-scale real-world applications,
and witnessing a steady transition of this technology to industry. We survey
the current state of SLAM. We start by presenting what is now the de-facto
standard formulation for SLAM. We then review related work, covering a broad
set of topics including robustness and scalability in long-term mapping, metric
and semantic representations for mapping, theoretical performance guarantees,
active SLAM and exploration, and other new frontiers. This paper simultaneously
serves as a position paper and tutorial to those who are users of SLAM. By
looking at the published research with a critical eye, we delineate open
challenges and new research issues, that still deserve careful scientific
investigation. The paper also contains the authors' take on two questions that
often animate discussions during robotics conferences: Do robots need SLAM? and
Is SLAM solved
6G White Paper on Machine Learning in Wireless Communication Networks
The focus of this white paper is on machine learning (ML) in wireless
communications. 6G wireless communication networks will be the backbone of the
digital transformation of societies by providing ubiquitous, reliable, and
near-instant wireless connectivity for humans and machines. Recent advances in
ML research has led enable a wide range of novel technologies such as
self-driving vehicles and voice assistants. Such innovation is possible as a
result of the availability of advanced ML models, large datasets, and high
computational power. On the other hand, the ever-increasing demand for
connectivity will require a lot of innovation in 6G wireless networks, and ML
tools will play a major role in solving problems in the wireless domain. In
this paper, we provide an overview of the vision of how ML will impact the
wireless communication systems. We first give an overview of the ML methods
that have the highest potential to be used in wireless networks. Then, we
discuss the problems that can be solved by using ML in various layers of the
network such as the physical layer, medium access layer, and application layer.
Zero-touch optimization of wireless networks using ML is another interesting
aspect that is discussed in this paper. Finally, at the end of each section,
important research questions that the section aims to answer are presented
Learning the Structure and Parameters of Large-Population Graphical Games from Behavioral Data
We consider learning, from strictly behavioral data, the structure and
parameters of linear influence games (LIGs), a class of parametric graphical
games introduced by Irfan and Ortiz (2014). LIGs facilitate causal strategic
inference (CSI): Making inferences from causal interventions on stable behavior
in strategic settings. Applications include the identification of the most
influential individuals in large (social) networks. Such tasks can also support
policy-making analysis. Motivated by the computational work on LIGs, we cast
the learning problem as maximum-likelihood estimation (MLE) of a generative
model defined by pure-strategy Nash equilibria (PSNE). Our simple formulation
uncovers the fundamental interplay between goodness-of-fit and model
complexity: good models capture equilibrium behavior within the data while
controlling the true number of equilibria, including those unobserved. We
provide a generalization bound establishing the sample complexity for MLE in
our framework. We propose several algorithms including convex loss minimization
(CLM) and sigmoidal approximations. We prove that the number of exact PSNE in
LIGs is small, with high probability; thus, CLM is sound. We illustrate our
approach on synthetic data and real-world U.S. congressional voting records. We
briefly discuss our learning framework's generality and potential applicability
to general graphical games.Comment: Journal of Machine Learning Research. (accepted, pending
publication.) Last conference version: submitted March 30, 2012 to UAI 2012.
First conference version: entitled, Learning Influence Games, initially
submitted on June 1, 2010 to NIPS 201
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