Sparsity Oriented Importance Learning for High-dimensional Linear Regression

With now well-recognized non-negligible model selection uncertainty, data analysts should no longer be satisfied with the output of a single final model from a model selection process, regardless of its sophistication. To improve reliability and reproducibility in model choice, one constructive approach is to make good use of a sound variable importance measure. Although interesting importance measures are available and increasingly used in data analysis, little theoretical justification has been done. In this paper, we propose a new variable importance measure, sparsity oriented importance learning (SOIL), for high-dimensional regression from a sparse linear modeling perspective by taking into account the variable selection uncertainty via the use of a sensible model weighting. The SOIL method is theoretically shown to have the inclusion/exclusion property: When the model weights are properly around the true model, the SOIL importance can well separate the variables in the true model from the rest. In particular, even if the signal is weak, SOIL rarely gives variables not in the true model significantly higher important values than those in the true model. Extensive simulations in several illustrative settings and real data examples with guided simulations show desirable properties of the SOIL importance in contrast to other importance measures

Scene Graph for Embodied Exploration in Cluttered Scenario

The ability to handle objects in cluttered environment has been long anticipated by robotic community. However, most of works merely focus on manipulation instead of rendering hidden semantic information in cluttered objects. In this work, we introduce the scene graph for embodied exploration in cluttered scenarios to solve this problem. To validate our method in cluttered scenario, we adopt the Manipulation Question Answering (MQA) tasks as our test benchmark, which requires an embodied robot to have the active exploration ability and semantic understanding ability of vision and language.As a general solution framework to the task, we propose an imitation learning method to generate manipulations for exploration. Meanwhile, a VQA model based on dynamic scene graph is adopted to comprehend a series of RGB frames from wrist camera of manipulator along with every step of manipulation is conducted to answer questions in our framework.The experiments on of MQA dataset with different interaction requirements demonstrate that our proposed framework is effective for MQA task a representative of tasks in cluttered scenario

Interference-Limited Ultra-Reliable and Low-Latency Communications: Graph Neural Networks or Stochastic Geometry?

In this paper, we aim to improve the Quality-of-Service (QoS) of Ultra-Reliability and Low-Latency Communications (URLLC) in interference-limited wireless networks. To obtain time diversity within the channel coherence time, we first put forward a random repetition scheme that randomizes the interference power. Then, we optimize the number of reserved slots and the number of repetitions for each packet to minimize the QoS violation probability, defined as the percentage of users that cannot achieve URLLC. We build a cascaded Random Edge Graph Neural Network (REGNN) to represent the repetition scheme and develop a model-free unsupervised learning method to train it. We analyze the QoS violation probability using stochastic geometry in a symmetric scenario and apply a model-based Exhaustive Search (ES) method to find the optimal solution. Simulation results show that in the symmetric scenario, the QoS violation probabilities achieved by the model-free learning method and the model-based ES method are nearly the same. In more general scenarios, the cascaded REGNN generalizes very well in wireless networks with different scales, network topologies, cell densities, and frequency reuse factors. It outperforms the model-based ES method in the presence of the model mismatch.Comment: Submitted to IEEE journal for possible publicatio

Validation of Improved Broadband Shortwave and Longwave Fluxes Derived From GOES

Broadband (BB) shortwave (SW) and longwave (LW) fluxes at TOA (Top of Atmosphere) are crucial parameters in the study of climate and can be monitored over large portions of the Earth's surface using satellites. The VISST (Visible Infrared Solar Split-Window Technique) satellite retrieval algorithm facilitates derivation of these parameters from the Geostationery Operational Environmental Satellites (GOES). However, only narrowband (NB) fluxes are available from GOES, so this derivation requires use of narrowband-to-broadband (NB-BB) conversion coefficients. The accuracy of these coefficients affects the validity of the derived broadband (BB) fluxes. Most recently, NB-BB fits were re-derived using the NB fluxes from VISST/GOES data with BB fluxes observed by the CERES (Clouds and the Earth's Radiant Energy Budget) instrument aboard Terra, a sun-synchronous polar-orbiting satellite that crosses the equator at 10:30 LT. Subsequent comparison with ARM's (Atmospheric Radiation Measurement) BBHRP (Broadband Heating Rate Profile) BB fluxes revealed that while the derived broadband fluxes agreed well with CERES near the Terra overpass times, the accuracy of both LW and SW fluxes decreased farther away from the overpass times. Terra's orbit hampers the ability of the NB-BB fits to capture diurnal variability. To account for this in the LW, seasonal NB-BB fits are derived separately for day and night. Information from hourly SW BB fluxes from the Meteosat-8 Geostationary Earth Radiation Budget (GERB) is employed to include samples over the complete solar zenith angle (SZA) range sampled by Terra. The BB fluxes derived from these improved NB-BB fits are compared to BB fluxes computed with a radiative transfer model

Integrated Cloud-Aerosol-Radiation Product using CERES, MODIS, CALIPSO and CloudSat Data

This paper documents the development of the first integrated data set of global vertical profiles of clouds, aerosols, and radiation using the combined NASA A-Train data from the Aqua Clouds and Earth's Radiant Energy System (CERES) and Moderate Resolution Imaging Spectroradiometer (MODIS), Cloud-Aerosol Lidar and Infrared Pathfinder Satellite Observations (CALIPSO), and CloudSat. As part of this effort, cloud data from the CALIPSO lidar and the CloudSat radar are merged with the integrated column cloud properties from the CERES-MODIS analyses. The active and passive datasets are compared to determine commonalities and differences in order to facilitate the development of a 3- dimensional cloud and aerosol dataset that will then be integrated into the CERES broadband radiance footprint. Preliminary results from the comparisons for April 2007 reveal that the CERES-MODIS global cloud amounts are, on average, 0.14 less and 0.15 greater than those from CALIPSO and CloudSat, respectively. These new data will provide unprecedented ability to test and improve global cloud and aerosol models, to investigate aerosol direct and indirect radiative forcing, and to validate the accuracy of global aerosol, cloud, and radiation data sets especially in polar regions and for multi-layered cloud conditions

Determination of Ice Water Path in Ice-over-Water Cloud Systems Using Combined MODIS and AMSR-E Measurements

To provide more accurate ice cloud properties for evaluating climate models, the updated version of multi-layered cloud retrieval system (MCRS) is used to retrieve ice water path (IWP) in ice-over-water cloud systems over global ocean using combined instrument data from the Aqua satellite. The liquid water path (LWP) of lower layer water clouds is estimated from the Advanced Microwave Scanning Radiometer for EOS (AMSR-E) measurements. With the lower layer LWP known, the properties of the upper-level ice clouds are then derived from Moderate Resolution Imaging Spectroradiometer measurements by matching simulated radiances from a two-cloud layer radiative transfer model. Comparisons with single-layer cirrus systems and surface-based radar retrievals show that the MCRS can significantly improve the accuracy and reduce the over-estimation of optical depth and ice water path retrievals for ice over-water cloud systems. During the period from December 2004 through February 2005, the mean daytime ice cloud optical depth and IWP for overlapped ice-over-water clouds over ocean from Aqua are 7.6 and 146.4 gm(sup -2), respectively, significantly less than the initial single layer retrievals of 17.3 and 322.3 gm(sup -2). The mean IWP for actual single-layer clouds was 128.2 gm(sup -2)

The Effect of Asian Dust Aerosols on Cloud Properties and Radiative Forcing from MODIS and CERES

The effects of dust storms on cloud properties and radiative forcing are analyzed over northwestern China from April 2001 to June 2004 using data collected by the Moderate Resolution Imaging Spectroradiometer (MODIS) and Clouds and the Earth's Radiant Energy System (CERES) instruments on the Aqua and Terra satellites. On average, ice cloud effective particle diameter, optical depth and ice water path of the cirrus clouds under dust polluted conditions are 11%, 32.8%, and 42% less, respectively, than those derived from ice clouds in dust-free atmospheric environments. The humidity differences are larger in the dusty region than in the dust-free region, and may be caused by removal of moisture by wet dust precipitation. Due to changes in cloud microphysics, the instantaneous net radiative forcing is reduced from -71.2 W/m2 for dust contaminated clouds to -182.7 W/m2 for dust-free clouds. The reduced cooling effects of dusts may lead to a net warming of 1 W/m2, which, if confirmed, would be the strongest aerosol forcing during later winter and early spring dust storm seasons over the studied region

Satellite-Based Assessment of Possible Dust Aerosols Semi-Direct Effect on Cloud Water Path over East Asia

The semi-direct effects of dust aerosols are analyzed over eastern Asia using 2 years (June 2002 to June 2004) of data from the Clouds and the Earth s Radiant Energy System (CERES) scanning radiometer and MODerate Resolution Imaging Spectroradiometer (MODIS) on the Aqua satellite, and 18 years (1984 to 2001) of International Satellite Cloud Climatology Project (ISCCP) data. The results show that the water path of dust-contaminated clouds is considerably smaller than that of dust-free clouds. The mean ice water path (IWP) and liquid water path (LWP) of dusty clouds are less than their dust-free counterparts by 23.7% and 49.8%, respectively. The long-term statistical relationship derived from ISCCP also confirms that there is significant negative correlation between dust storm index and ISCCP cloud water path. These results suggest that dust aerosols warm clouds, increase the evaporation of cloud droplets and further reduce cloud water path, the so-called semi-direct effect. The semi-direct effect may play a role in cloud development over arid and semi-arid areas of East Asia and contribute to the reduction of precipitation