Simulation analysis of UAV autonomous landing system based on TECs

Aiming at the decoupling control problem of velocity and altitude in the process of unmanned aerial vehicles (UAV) autonomous landing under visual guidance, this paper establishes the fl ight control model of fi xed wing UAV, and deduces the coupling relationship between airspeed and altitude in the process of UAV glide, The total energy control system (TECs) is used for decoupling control to realize the autonomous fi xed-point landing of UAV. The simulation results show that the designed control law can decouple the airspeed and altitude of the UAV, so that the UAV can land at the predetermined place autonomously and accurately

Bypassing the Simulator: Near-Optimal Adversarial Linear Contextual Bandits

We consider the adversarial linear contextual bandit problem, where the loss vectors are selected fully adversarially and the per-round action set (i.e. the context) is drawn from a fixed distribution. Existing methods for this problem either require access to a simulator to generate free i.i.d. contexts, achieve a sub-optimal regret no better than $\widetilde{O}(T^{\frac{5}{6}})$, or are computationally inefficient. We greatly improve these results by achieving a regret of $\widetilde{O}(\sqrt{T})$ without a simulator, while maintaining computational efficiency when the action set in each round is small. In the special case of sleeping bandits with adversarial loss and stochastic arm availability, our result answers affirmatively the open question by Saha et al. [2020] on whether there exists a polynomial-time algorithm with $poly(d)\sqrt{T}$ regret. Our approach naturally handles the case where the loss is linear up to an additive misspecification error, and our regret shows near-optimal dependence on the magnitude of the error

Towards Optimal Regret in Adversarial Linear MDPs with Bandit Feedback

We study online reinforcement learning in linear Markov decision processes with adversarial losses and bandit feedback, without prior knowledge on transitions or access to simulators. We introduce two algorithms that achieve improved regret performance compared to existing approaches. The first algorithm, although computationally inefficient, ensures a regret of $\widetilde{\mathcal{O}}\left(\sqrt{K}\right)$, where $K$ is the number of episodes. This is the first result with the optimal $K$ dependence in the considered setting. The second algorithm, which is based on the policy optimization framework, guarantees a regret of $\widetilde{\mathcal{O}}\left(K^{\frac{3}{4}} \right)$ and is computationally efficient. Both our results significantly improve over the state-of-the-art: a computationally inefficient algorithm by Kong et al. [2023] with $\widetilde{\mathcal{O}}\left(K^{\frac{4}{5}}+poly\left(\frac{1}{\lambda_{\min}}\right) \right)$ regret, for some problem-dependent constant $\lambda_{\min}$ that can be arbitrarily close to zero, and a computationally efficient algorithm by Sherman et al. [2023b] with $\widetilde{\mathcal{O}}\left(K^{\frac{6}{7}} \right)$ regret

Evaluation of Individual Contribution in Blended Collaborative Learning

With the deepening of classroom teaching reform, blended collaborative learning has become a common collaborative learning method, and its significance and value has been verified by many parties. However, there is still a lack of quantitative analysis and detailed insight into the internal interaction dynamics of the group at the individual level. There are limitations in the evaluation dimensions and methods of individual contribution in collaborative learning in previous studies, so it is difficult to obtain a comprehensive evaluation of individual contribution. The purpose of this study is to build an effective evaluation model of individual contribution in blended collaborative learning. Discussion recordings and text data in collaboration were collected in a non-invasive way to validate the model. Based on evaluation model, the characteristics and rules behind the data deeply were explored, the collaborative process of the blended collaborative learning was analyzed and mined, and the characteristics of learners\u27 contribution were summarized to support the development of blended collaborative learning

Explicit Intensity Control for Accented Text-to-speech

Accented text-to-speech (TTS) synthesis seeks to generate speech with an accent (L2) as a variant of the standard version (L1). How to control the intensity of accent in the process of TTS is a very interesting research direction, and has attracted more and more attention. Recent work design a speaker-adversarial loss to disentangle the speaker and accent information, and then adjust the loss weight to control the accent intensity. However, such a control method lacks interpretability, and there is no direct correlation between the controlling factor and natural accent intensity. To this end, this paper propose a new intuitive and explicit accent intensity control scheme for accented TTS. Specifically, we first extract the posterior probability, called as ``goodness of pronunciation (GoP)'' from the L1 speech recognition model to quantify the phoneme accent intensity for accented speech, then design a FastSpeech2 based TTS model, named Ai-TTS, to take the accent intensity expression into account during speech generation. Experiments show that the our method outperforms the baseline model in terms of accent rendering and intensity control.Comment: 5 pages, 3 figures. Submitted to ICASSP 2023. arXiv admin note: text overlap with arXiv:2209.1080

Learning Diverse Tone Styles for Image Retouching

Image retouching, aiming to regenerate the visually pleasing renditions of given images, is a subjective task where the users are with different aesthetic sensations. Most existing methods deploy a deterministic model to learn the retouching style from a specific expert, making it less flexible to meet diverse subjective preferences. Besides, the intrinsic diversity of an expert due to the targeted processing on different images is also deficiently described. To circumvent such issues, we propose to learn diverse image retouching with normalizing flow-based architectures. Unlike current flow-based methods which directly generate the output image, we argue that learning in a style domain could (i) disentangle the retouching styles from the image content, (ii) lead to a stable style presentation form, and (iii) avoid the spatial disharmony effects. For obtaining meaningful image tone style representations, a joint-training pipeline is delicately designed, which is composed of a style encoder, a conditional RetouchNet, and the image tone style normalizing flow (TSFlow) module. In particular, the style encoder predicts the target style representation of an input image, which serves as the conditional information in the RetouchNet for retouching, while the TSFlow maps the style representation vector into a Gaussian distribution in the forward pass. After training, the TSFlow can generate diverse image tone style vectors by sampling from the Gaussian distribution. Extensive experiments on MIT-Adobe FiveK and PPR10K datasets show that our proposed method performs favorably against state-of-the-art methods and is effective in generating diverse results to satisfy different human aesthetic preferences. Source code and pre-trained models are publicly available at https://github.com/SSRHeart/TSFlow

Exploiting modality-invariant feature for robust multimodal emotion recognition with missing modalities

Multimodal emotion recognition leverages complementary information across modalities to gain performance. However, we cannot guarantee that the data of all modalities are always present in practice. In the studies to predict the missing data across modalities, the inherent difference between heterogeneous modalities, namely the modality gap, presents a challenge. To address this, we propose to use invariant features for a missing modality imagination network (IF-MMIN) which includes two novel mechanisms: 1) an invariant feature learning strategy that is based on the central moment discrepancy (CMD) distance under the full-modality scenario; 2) an invariant feature based imagination module (IF-IM) to alleviate the modality gap during the missing modalities prediction, thus improving the robustness of multimodal joint representation. Comprehensive experiments on the benchmark dataset IEMOCAP demonstrate that the proposed model outperforms all baselines and invariantly improves the overall emotion recognition performance under uncertain missing-modality conditions. We release the code at: https://github.com/ZhuoYulang/IF-MMIN.Comment: 5 pages, 3 figures, 1 table. Submitted to ICASSP 2023. We release the code at: https://github.com/ZhuoYulang/IF-MMI