STAR-loc: Dataset for STereo And Range-based localization

This document contains a detailed description of the STAR-loc dataset. For a quick starting guide please refer to the associated Github repository (https://github.com/utiasASRL/starloc). The dataset consists of stereo camera data (rectified/raw images and inertial measurement unit measurements) and ultra-wideband (UWB) data (range measurements) collected on a sensor rig in a Vicon motion capture arena. The UWB anchors and visual landmarks (Apriltags) are of known position, so the dataset can be used for both localization and Simultaneous Localization and Mapping (SLAM).Comment: 15 pages, 15 figure

A13K-0336: Airborne Multi-Wavelength High Spectral Resolution Lidar for Process Studies and Assessment of Future Satellite Remote Sensing Concepts

NASA Langley recently developed the world's first airborne multi-wavelength high spectral resolution lidar (HSRL). This lidar employs the HSRL technique at 355 and 532 nm to make independent, unambiguous retrievals of aerosol extinction and backscatter. It also employs the standard backscatter technique at 1064 nm and is polarization-sensitive at all three wavelengths. This instrument, dubbed HSRL-2 (the secondgeneration HSRL developed by NASA Langley), is a prototype for the lidar on NASA's planned Aerosols- Clouds-Ecosystems (ACE) mission. HSRL-2 completed its first science mission in July 2012, the Two-Column Aerosol Project (TCAP) conducted by the Department of Energy (DOE) in Hyannis, MA. TCAP presents an excellent opportunity to assess some of the remote sensing concepts planned for ACE: HSRL-2 was deployed on the Langley King Air aircraft with another ACE-relevant instrument, the NASA GISS Research Scanning Polarimeter (RSP), and flights were closely coordinated with the DOE's Gulfstream-1 aircraft, which deployed a variety of in situ aerosol and trace gas instruments and the new Spectrometer for Sky-Scanning, Sun-Tracking Atmospheric Research (4STAR). The DOE also deployed their Atmospheric Radiation Measurement Mobile Facility and their Mobile Aerosol Observing System at a ground site located on the northeastern coast of Cape Cod for this mission. In this presentation we focus on the capabilities, data products, and applications of the new HSRL-2 instrument. Data products include aerosol extinction, backscatter, depolarization, and optical depth; aerosol type identification; mixed layer depth; and rangeresolved aerosol microphysical parameters (e.g., effective radius, index of refraction, single scatter albedo, and concentration). Applications include radiative closure studies, studies of aerosol direct and indirect effects, investigations of aerosol-cloud interactions, assessment of chemical transport models, air quality studies, present (e.g., CALIPSO) and future (e.g., EarthCARE) satellite calibration/validation, and development/assessment of advanced retrieval techniques for future satellite applications (e.g., lidar+polarimeter retrievals of aerosol and cloud properties). We will also discuss the relevance of HSRL-2 measurement capabilities to the ACE remote sensing concept

Developing, Evaluating and Scaling Learning Agents in Multi-Agent Environments

The Game Theory & Multi-Agent team at DeepMind studies several aspects of multi-agent learning ranging from computing approximations to fundamental concepts in game theory to simulating social dilemmas in rich spatial environments and training 3-d humanoids in difficult team coordination tasks. A signature aim of our group is to use the resources and expertise made available to us at DeepMind in deep reinforcement learning to explore multi-agent systems in complex environments and use these benchmarks to advance our understanding. Here, we summarise the recent work of our team and present a taxonomy that we feel highlights many important open challenges in multi-agent research.Comment: Published in AI Communications 202

Large-scale genome-wide association studies and meta-analyses of longitudinal change in adult lung function.

BACKGROUND: Genome-wide association studies (GWAS) have identified numerous loci influencing cross-sectional lung function, but less is known about genes influencing longitudinal change in lung function. METHODS: We performed GWAS of the rate of change in forced expiratory volume in the first second (FEV1) in 14 longitudinal, population-based cohort studies comprising 27,249 adults of European ancestry using linear mixed effects model and combined cohort-specific results using fixed effect meta-analysis to identify novel genetic loci associated with longitudinal change in lung function. Gene expression analyses were subsequently performed for identified genetic loci. As a secondary aim, we estimated the mean rate of decline in FEV1 by smoking pattern, irrespective of genotypes, across these 14 studies using meta-analysis. RESULTS: The overall meta-analysis produced suggestive evidence for association at the novel IL16/STARD5/TMC3 locus on chromosome 15 (P  =  5.71 × 10(-7)). In addition, meta-analysis using the five cohorts with ≥3 FEV1 measurements per participant identified the novel ME3 locus on chromosome 11 (P  =  2.18 × 10(-8)) at genome-wide significance. Neither locus was associated with FEV1 decline in two additional cohort studies. We confirmed gene expression of IL16, STARD5, and ME3 in multiple lung tissues. Publicly available microarray data confirmed differential expression of all three genes in lung samples from COPD patients compared with controls. Irrespective of genotypes, the combined estimate for FEV1 decline was 26.9, 29.2 and 35.7 mL/year in never, former, and persistent smokers, respectively. CONCLUSIONS: In this large-scale GWAS, we identified two novel genetic loci in association with the rate of change in FEV1 that harbor candidate genes with biologically plausible functional links to lung function

Multiagent off-screen behavior prediction in football

In multiagent worlds, several decision-making individuals interact while adhering to the dynamics constraints imposed by the environment. These interactions, combined with the potential stochasticity of the agents' dynamic behaviors, make such systems complex and interesting to study from a decision-making perspective. Significant research has been conducted on learning models for forward-direction estimation of agent behaviors, for example, pedestrian predictions used for collision-avoidance in self-driving cars. In many settings, only sporadic observations of agents may be available in a given trajectory sequence. In football, subsets of players may come in and out of view of broadcast video footage, while unobserved players continue to interact off-screen. In this paper, we study the problem of multiagent time-series imputation in the context of human football play, where available past and future observations of subsets of agents are used to estimate missing observations for other agents. Our approach, called the Graph Imputer, uses past and future information in combination with graph networks and variational autoencoders to enable learning of a distribution of imputed trajectories. We demonstrate our approach on multiagent settings involving players that are partially-observable, using the Graph Imputer to predict the behaviors of off-screen players. To quantitatively evaluate the approach, we conduct experiments on football matches with ground truth trajectory data, using a camera module to simulate the off-screen player state estimation setting. We subsequently use our approach for downstream football analytics under partial observability using the well-established framework of pitch control, which traditionally relies on fully observed data. We illustrate that our method outperforms several state-of-the-art approaches, including those hand-crafted for football, across all considered metrics