Using deep autoencoders to investigate image matching in visual navigation

This paper discusses the use of deep autoencoder networks to find a compressed representation of an image, which can be used for visual naviga-tion. Images reconstructed from the compressed representation are tested to see if they retain enough information to be used as a visual compass (in which an image is matched with another to recall a bearing/movement direction) as this ability is at the heart of a visual route navigation algorithm. We show that both reconstructed images and compressed representations from different layers of the autoencoder can be used in this way, suggesting that a compact image code is sufficient for visual navigation and that deep networks hold promise for find-ing optimal visual encodings for this task

How do field of view and resolution affect the information content of panoramic scenes for visual navigation? A computational investigation

The visual systems of animals have to provide information to guide behaviour and the informational requirements of an animal’s behavioural repertoire are often reflected in its sensory system. For insects, this is often evident in the optical array of the compound eye. One behaviour that insects share with many animals is the use of learnt visual information for navigation. As ants are expert visual navigators it may be that their vision is optimised for navigation. Here we take a computational approach in asking how the details of the optical array influence the informational content of scenes used in simple view matching strategies for orientation. We find that robust orientation is best achieved with low-resolution visual information and a large field of view, similar to the optical properties seen for many ant species. A lower resolution allows for a trade-off between specificity and generalisation for stored views. Additionally, our simulations show that orientation performance increases if different portions of the visual field are considered as discrete visual sensors, each giving an independent directional estimate. This suggests that ants might benefit by processing information from their two eyes independently

Insect inspired view based navigation exploiting temporal information

Visual navigation is a key capability for robots. There is a family of insect-inspired algorithms that use panoramic images encountered during a training route to derive directional information from regions around the training route and thus subsequently visually navigate. As these algorithms do not incorporate information about the temporal order of training images, we describe one way this could be done to highlight this information’s utility. We benchmark our algorithms in a simulation of a real world environment and show that incorporating temporal information improves performance and reduces algorithmic complexity

The pinch technique at two-loops: The case of mass-less Yang-Mills theories

The generalization of the pinch technique beyond one loop is presented. It is shown that the crucial physical principles of gauge-invariance, unitarity, and gauge-fixing-parameter independence single out at two loops exactly the same algorithm which has been used to define the pinch technique at one loop, without any additional assumptions. The two-loop construction of the pinch technique gluon self-energy, and quark-gluon vertex are carried out in detail for the case of mass-less Yang-Mills theories, such as perturbative QCD. We present two different but complementary derivations. First we carry out the construction by directly rearranging two-loop diagrams. The analysis reveals that, quite interestingly, the well-known one-loop correspondence between the pinch technique and the background field method in the Feynman gauge persists also at two-loops. The renormalization is discussed in detail, and is shown to respect the aforementioned correspondence. Second, we present an absorptive derivation, exploiting the unitarity of the $S$-matrix and the underlying BRS symmetry; at this stage we deal only with tree-level and one-loop physical amplitudes. The gauge-invariant sub-amplitudes defined by means of this absorptive construction correspond precisely to the imaginary parts of the $n$-point functions defined in the full two-loop derivation, thus furnishing a highly non-trivial self-consistency check for the entire method. Various future applications are briefly discussed.Comment: 29 pages, uses Revtex, 22 Figures in a separate ps fil

Gauge Invariant Higgs mass bounds from the Physical Effective Potential

We study a simplified version of the Standard Electroweak Model and introduce the concept of the physical gauge invariant effective potential in terms of matrix elements of the Hamiltonian in physical states. This procedure allows an unambiguous identification of the symmetry breaking order parameter and the resulting effective potential as the energy in a constrained state. We explicitly compute the physical effective potential at one loop order and improve it using the RG. This construction allows us to extract a reliable, gauge invariant bound on the Higgs mass by unambiguously obtaining the scale at which new physics should emerge to preclude vacuum instability. Comparison is made with popular gauge fixing procedures and an ``error'' estimate is provided between the Landau gauge fixed and the gauge invariant results.Comment: 23 pages, 2 figures, REVTE

A multiloop improvement of non-singlet QCD evolution equations

An approach is elaborated for calculation of "all loop" contributions to the non-singlet evolution kernels from the diagrams with renormalon chain insertions. Closed expressions are obtained for sums of contributions to kernels $P(z)$ for the DGLAP equation and $V(x,y)$ for the "nonforward" ER-BL equation from these diagrams that dominate for a large value of $b_0$, the first $\beta$-function coefficient. Calculations are performed in the covariant $\xi$-gauge in a MS-like scheme. It is established that a special choice of the gauge parameter $\xi=-3$ generalizes the standard "naive nonabelianization" approximation. The solutions are obtained to the ER-BL evolution equation (taken at the "all loop" improved kernel), which are in form similar to one-loop solutions. A consequence for QCD descriptions of hard processes and the benefits and incompleteness of the approach are briefly discussed.Comment: 13 pages, revtex, 2 figures are enclosed as eps-file, the text style and figures are corrected following version, accepted for publication to Phys. Rev.

The gauge invariant effective potential: equilibrium and non-equilibrium aspects

We propose a gauge invariant formulation of the effective potential in terms of a gauge invariant order parameter, for the Abelian Higgs model. The one-loop contribution at zero and finite temperature is computed explicitly, and the leading terms in the high temperature expansion are obtained. The result is contrasted to the effective potential obtained in several covariant gauge-fixing schemes, and the gauge invariant quantities that can be reliably extracted from these are identified. It is pointed out that the gauge invariant effective potential in the one-loop approximation is complex for {\em all values} of the order parameter between the maximum and the minimum of the tree level potential, both at zero and non-zero temperature. The imaginary part is related to long-wavelength instabilities towards phase separation. We study the real-time dynamics of initial states in the spinodal region, and relate the imaginary part of the effective potential to the growth rate of equal-time gauge invariant correlation functions in these states. We conjecture that the spinodal instabilities may play a role in non-equilibrium processes {\em inside} the nucleating bubbles if the transition is first order.Comment: 27 pages revtex 3.0, no figures; one reference adde

Leptogenesis in Theories with Large Extra Dimensions

We study the scenario of baryogenesis through leptogenesis in higher-dimensional theories, in which the scale of quantum gravity is many orders of magnitude smaller than the usual Planck mass. The minimal realization of these theories includes an isosinglet neutrino which feels the presence of large compact dimensions, whereas all the SM particles are localized on a $(1+3)$-dimensional subspace. In the formulation of minimal leptogenesis models, we pay particular attention to the existence of Majorana spinors in higher dimensions. After compactification of the extra dimensions, we obtain a tower of Majorana Kaluza-Klein excitations which act as an infinite series of CP-violating resonators, and derive the necessary conditions for their constructive interference. Based on this CP-violating mechanism, we find that the decays of the heavy Majorana excitations can produce a leptonic asymmetry which is reprocessed into the observed baryonic asymmetry of the Universe by means of out-of-equilibrium sphaleron interactions, provided the reheat temperature is above 5 GeV.Comment: 34 pages, minor rewordings, to appear in Physical Review

Top-quark pole mass

The top quark decays more quickly than the strong-interaction time scale, \lqcd^{-1}, and might be expected to escape the effects of nonperturbative QCD. Nevertheless, the top-quark pole mass, like the mass of a stable heavy quark, is ambiguous by an amount proportional to \lqcd.Comment: 9 pages, LaTe