Multimodal Hierarchical Dirichlet Process-based Active Perception

In this paper, we propose an active perception method for recognizing object categories based on the multimodal hierarchical Dirichlet process (MHDP). The MHDP enables a robot to form object categories using multimodal information, e.g., visual, auditory, and haptic information, which can be observed by performing actions on an object. However, performing many actions on a target object requires a long time. In a real-time scenario, i.e., when the time is limited, the robot has to determine the set of actions that is most effective for recognizing a target object. We propose an MHDP-based active perception method that uses the information gain (IG) maximization criterion and lazy greedy algorithm. We show that the IG maximization criterion is optimal in the sense that the criterion is equivalent to a minimization of the expected Kullback--Leibler divergence between a final recognition state and the recognition state after the next set of actions. However, a straightforward calculation of IG is practically impossible. Therefore, we derive an efficient Monte Carlo approximation method for IG by making use of a property of the MHDP. We also show that the IG has submodular and non-decreasing properties as a set function because of the structure of the graphical model of the MHDP. Therefore, the IG maximization problem is reduced to a submodular maximization problem. This means that greedy and lazy greedy algorithms are effective and have a theoretical justification for their performance. We conducted an experiment using an upper-torso humanoid robot and a second one using synthetic data. The experimental results show that the method enables the robot to select a set of actions that allow it to recognize target objects quickly and accurately. The results support our theoretical outcomes.Comment: submitte

Upper Cohen-Macaulay Dimension

In this paper, we define a homological invariant for finitely generated modules over a commutative noetherian local ring, which we call upper Cohen-Macaulay dimension. This invariant is quite similar to Cohen-Macaulay dimension that has been introduced by Gerko. Also we define a homological invariant with respect to a local homomorphism of local rings. This invariant links upper Cohen-Macaulay dimension with Gorenstein dimension.</p

Homological invariants associated to semi-dualizing bimodules

Cohen-Macaulay dimension for modules over a commutative noetherian local ring has been defined by A. A. Gerko. That is a homological invariant sharing many properties with projective dimension and Gorenstein dimension. The main purpose of this paper is to extend the notion of Cohen-Macaulay dimension for modules over commutative noetherian local rings to that for bounded complexes over non-commutative noetherian rings.Comment: 19 pages, to appear in J. Math. Kyoto Uni

Local cohomology based on a nonclosed support defined by a pair of ideals

We introduce an idea for generalization of a local cohomology module, which we call a local cohomology module with respect to a pair of ideals (I,J), and study their various properties. Some vanishing and nonvanishing theorems are given for this generalized version of local cohomology. We also discuss its connection with the ordinary local cohomology.Comment: 28 pages, minor corrections, to appear in J. Pure Appl. Algebr

The radius of a subcategory of modules

We introduce a new invariant for subcategories X of finitely generated modules over a local ring R which we call the radius of X. We show that if R is a complete intersection and X is resolving, then finiteness of the radius forces X to contain only maximal Cohen-Macaulay modules. We also show that the category of maximal Cohen-Macaulay modules has finite radius when R is a Cohen-Macaulay complete local ring with perfect coefficient field. We link the radius to many well-studied notions such as the dimension of the stable category of maximal Cohen-Macaulay modules, finite/countable Cohen-Macaulay representation type and the uniform Auslander condition.Comment: Final version, to appear in Algebra and Number Theor

Coexistence of Continuous Variable Quantum Key Distribution and 7 ×\times 12.5 Gbit/s Classical Channels

We study coexistence of CV-QKD and 7 classical 12.5 Gbit/s on-off keying channels in WDM transmission over the C-band. We demonstrate key generation with a distilled secret key rate between 20 to 50 kbit/s in experiments running continuously over 24 hours.Comment: 2018 IEEE Summer Topicals, paper MD4.

Noncommutative resolutions using syzygies

Given a noether algebra with a noncommutative resolution, a general construction of new noncommutative resolutions is given. As an application, it is proved that any finite length module over a regular local or polynomial ring gives rise, via suitable syzygies, to a noncommutative resolution